Start work on ztheta firmware
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[submodule "controller-board/fw/libopencm3"]
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path = controller-board/fw/libopencm3
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url = https://github.com/libopencm3/libopencm3
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Subproject commit aeb3cee0235dd3e8784c003ff1af82ce44b7b38c
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# This version of rules.mk expects the following to be defined before
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# inclusion..
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### REQUIRED ###
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# OPENCM3_DIR - duh
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# PROJECT - will be the basename of the output elf, eg usb-gadget0-stm32f4disco
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# CFILES - basenames only, eg main.c blah.c
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# CXXFILES - same for C++ files. Must have cxx suffix!
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# DEVICE - the full device name, eg stm32f405ret6
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# _or_
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# LDSCRIPT - full path, eg ../../examples/stm32/f4/stm32f4-discovery/stm32f4-discovery.ld
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# OPENCM3_LIB - the basename, eg: opencm3_stm32f4
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# OPENCM3_DEFS - the target define eg: -DSTM32F4
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# ARCH_FLAGS - eg, -mthumb -mcpu=cortex-m4 -mfloat-abi=hard -mfpu=fpv4-sp-d16
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# (ie, the full set of cpu arch flags, _none_ are defined in this file)
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#
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### OPTIONAL ###
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# INCLUDES - fully formed -I paths, if you want extra, eg -I../shared
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# BUILD_DIR - defaults to bin, should set this if you are building multiarch
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# OPT - full -O flag, defaults to -Os
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# CSTD - defaults -std=c99
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# CXXSTD - no default.
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# OOCD_INTERFACE - eg stlink-v2
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# OOCD_TARGET - eg stm32f4x
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# both only used if you use the "make flash" target.
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# OOCD_FILE - eg my.openocd.cfg
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# This overrides interface/target above, and is used as just -f FILE
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### TODO/FIXME/notes ###
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# No support for stylecheck.
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# No support for BMP/texane/random flash methods, no plans either
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# No support for magically finding the library.
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# C++ hasn't been actually tested with this..... sorry bout that. ;)
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# Second expansion/secondary not set, add this if you need them.
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BUILD_DIR ?= bin
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OPT ?= -Os
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CSTD ?= -std=c99
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# Be silent per default, but 'make V=1' will show all compiler calls.
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# If you're insane, V=99 will print out all sorts of things.
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V?=0
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ifeq ($(V),0)
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Q := @
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NULL := 2>/dev/null
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endif
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# Tool paths.
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PREFIX ?= arm-none-eabi-
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CC = $(PREFIX)gcc
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CXX = $(PREFIX)g++
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LD = $(PREFIX)gcc
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OBJCOPY = $(PREFIX)objcopy
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OBJDUMP = $(PREFIX)objdump
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OOCD ?= openocd
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OPENCM3_INC = $(OPENCM3_DIR)/include
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# Inclusion of library header files
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INCLUDES += $(patsubst %,-I%, . $(OPENCM3_INC) )
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OBJS = $(CFILES:%.c=$(BUILD_DIR)/%.o)
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OBJS += $(CXXFILES:%.cxx=$(BUILD_DIR)/%.o)
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OBJS += $(AFILES:%.S=$(BUILD_DIR)/%.o)
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GENERATED_BINS = $(PROJECT).elf $(PROJECT).bin $(PROJECT).map $(PROJECT).list $(PROJECT).lss
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TGT_CPPFLAGS += -MD
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TGT_CPPFLAGS += -Wall -Wundef $(INCLUDES)
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TGT_CPPFLAGS += $(INCLUDES) $(OPENCM3_DEFS)
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TGT_CFLAGS += $(OPT) $(CSTD) -ggdb3
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TGT_CFLAGS += $(ARCH_FLAGS)
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TGT_CFLAGS += -fno-common
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TGT_CFLAGS += -ffunction-sections -fdata-sections
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TGT_CFLAGS += -Wextra -Wshadow -Wno-unused-variable -Wimplicit-function-declaration
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TGT_CFLAGS += -Wredundant-decls -Wstrict-prototypes -Wmissing-prototypes
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TGT_CXXFLAGS += $(OPT) $(CXXSTD) -ggdb3
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TGT_CXXFLAGS += $(ARCH_FLAGS)
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TGT_CXXFLAGS += -fno-common
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TGT_CXXFLAGS += -ffunction-sections -fdata-sections
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TGT_CXXFLAGS += -Wextra -Wshadow -Wredundant-decls -Weffc++
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TGT_ASFLAGS += $(OPT) $(ARCH_FLAGS) -ggdb3
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TGT_LDFLAGS += -T$(LDSCRIPT) -L$(OPENCM3_DIR)/lib -nostartfiles
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TGT_LDFLAGS += $(ARCH_FLAGS)
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TGT_LDFLAGS += -specs=nano.specs
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TGT_LDFLAGS += -Wl,--gc-sections
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# OPTIONAL
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#TGT_LDFLAGS += -Wl,-Map=$(PROJECT).map
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ifeq ($(V),99)
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TGT_LDFLAGS += -Wl,--print-gc-sections
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endif
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# Linker script generator fills this in for us.
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ifeq (,$(DEVICE))
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LDLIBS += -l$(OPENCM3_LIB)
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endif
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# nosys is only in newer gcc-arm-embedded...
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#LDLIBS += -specs=nosys.specs
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LDLIBS += -Wl,--start-group -lc -lgcc -lnosys -Wl,--end-group
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# Burn in legacy hell fortran modula pascal yacc idontevenwat
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.SUFFIXES:
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.SUFFIXES: .c .S .h .o .cxx .elf .bin .list .lss
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# Bad make, never *ever* try to get a file out of source control by yourself.
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%: %,v
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%: RCS/%,v
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%: RCS/%
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%: s.%
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%: SCCS/s.%
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all: $(PROJECT).elf $(PROJECT).bin
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flash: $(PROJECT).flash
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# error if not using linker script generator
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ifeq (,$(DEVICE))
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$(LDSCRIPT):
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ifeq (,$(wildcard $(LDSCRIPT)))
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$(error Unable to find specified linker script: $(LDSCRIPT))
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endif
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else
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# if linker script generator was used, make sure it's cleaned.
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GENERATED_BINS += $(LDSCRIPT)
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endif
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# Need a special rule to have a bin dir
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$(BUILD_DIR)/%.o: %.c
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@printf " CC\t$<\n"
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@mkdir -p $(dir $@)
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$(Q)$(CC) $(TGT_CFLAGS) $(CFLAGS) $(TGT_CPPFLAGS) $(CPPFLAGS) -o $@ -c $<
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$(BUILD_DIR)/%.o: %.cxx
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@printf " CXX\t$<\n"
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@mkdir -p $(dir $@)
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$(Q)$(CXX) $(TGT_CXXFLAGS) $(CXXFLAGS) $(TGT_CPPFLAGS) $(CPPFLAGS) -o $@ -c $<
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$(BUILD_DIR)/%.o: %.S
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@printf " AS\t$<\n"
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@mkdir -p $(dir $@)
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$(Q)$(CC) $(TGT_ASFLAGS) $(ASFLAGS) $(TGT_CPPFLAGS) $(CPPFLAGS) -o $@ -c $<
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$(PROJECT).elf: $(OBJS) $(LDSCRIPT) $(LIBDEPS)
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@printf " LD\t$@\n"
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$(Q)$(LD) $(TGT_LDFLAGS) $(LDFLAGS) $(OBJS) $(LDLIBS) -o $@
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%.bin: %.elf
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@printf " OBJCOPY\t$@\n"
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$(Q)$(OBJCOPY) -O binary $< $@
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%.lss: %.elf
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$(OBJDUMP) -h -S $< > $@
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%.list: %.elf
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$(OBJDUMP) -S $< > $@
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%.flash: %.elf
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@printf " FLASH\t$<\n"
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ifeq (,$(OOCD_FILE))
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$(Q)(echo "halt; program $(realpath $(*).elf) verify reset" | nc -4 localhost 4444 2>/dev/null) || \
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$(OOCD) -f interface/$(OOCD_INTERFACE).cfg \
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-f target/$(OOCD_TARGET).cfg \
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-c "program $(realpath $(*).elf) verify reset exit" \
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$(NULL)
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else
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$(Q)(echo "halt; program $(realpath $(*).elf) verify reset" | nc -4 localhost 4444 2>/dev/null) || \
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$(OOCD) -f $(OOCD_FILE) \
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-c "program $(realpath $(*).elf) verify reset exit" \
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$(NULL)
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endif
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clean:
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rm -rf $(BUILD_DIR) $(GENERATED_BINS)
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.PHONY: all clean flash
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-include $(OBJS:.o=.d)
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bin/
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*.bin
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PROJECT = ztheta-controller
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BUILD_DIR = bin
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#SHARED_DIR =
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CFILES = main.c
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# TODO - you will need to edit these two lines!
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DEVICE=stm32l011f4p6
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OOCD_FILE = board/stm32f4discovery.cfg
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# You shouldn't have to edit anything below here.
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VPATH += $(SHARED_DIR)
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INCLUDES += $(patsubst %,-I%, . $(SHARED_DIR))
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OPENCM3_DIR=../libopencm3
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include $(OPENCM3_DIR)/mk/genlink-config.mk
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include ../rules.mk
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include $(OPENCM3_DIR)/mk/genlink-rules.mk
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EXTERN(vector_table)
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ENTRY(reset_handler)
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MEMORY
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{
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ram (rwx) : ORIGIN = 0x20000000, LENGTH = 2K
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rom (rx) : ORIGIN = 0x08000000, LENGTH = 16K
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}
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SECTIONS
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{
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.text : {
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*(.vectors)
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*(.text*)
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. = ALIGN(4);
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*(.rodata*)
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. = ALIGN(4);
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} >rom
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.preinit_array : {
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. = ALIGN(4);
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__preinit_array_start = .;
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KEEP (*(.preinit_array))
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__preinit_array_end = .;
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} >rom
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.init_array : {
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. = ALIGN(4);
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__init_array_start = .;
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KEEP (*(SORT(.init_array.*)))
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KEEP (*(.init_array))
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__init_array_end = .;
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} >rom
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.fini_array : {
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. = ALIGN(4);
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__fini_array_start = .;
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KEEP (*(.fini_array))
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KEEP (*(SORT(.fini_array.*)))
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__fini_array_end = .;
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} >rom
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.ARM.extab : {
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*(.ARM.extab*)
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} >rom
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.ARM.exidx : {
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__exidx_start = .;
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*(.ARM.exidx*)
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__exidx_end = .;
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} >rom
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. = ALIGN(4);
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_etext = .;
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.noinit (NOLOAD) : {
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*(.noinit*)
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} >ram
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. = ALIGN(4);
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.data : {
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_data = .;
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*(.data*)
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*(.ramtext*)
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. = ALIGN(4);
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_edata = .;
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} >ram AT >rom
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_data_loadaddr = LOADADDR(.data);
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.bss : {
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*(.bss*)
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*(COMMON)
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. = ALIGN(4);
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_ebss = .;
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} >ram
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/DISCARD/ : { *(.eh_frame) }
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. = ALIGN(4);
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end = .;
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}
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PROVIDE(_stack = ORIGIN(ram) + LENGTH(ram));
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int main(void) {
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// TODO
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}
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