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# This is only a stub for various commands.
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# Tup is used for the actual compilation.
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BUILD_DIR = build
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FIRMWARE = $(BUILD_DIR)/ODriveFirmware.elf
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FIRMWARE_HEX = $(BUILD_DIR)/ODriveFirmware.hex
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PROGRAMMER_CMD=$(if $(value PROGRAMMER),-c 'hla_serial $(PROGRAMMER)',)
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include tup.config # source build configuration to get CONFIG_BOARD_VERSION
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ifeq ($(shell python -c "import sys; print(sys.version_info.major)"), 3)
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PY_CMD := python -B
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else
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PY_CMD := python3 -B
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endif
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ifneq (,$(findstring v3.,$(CONFIG_BOARD_VERSION)))
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OPENOCD := openocd -f interface/stlink-v2.cfg $(PROGRAMMER_CMD) -f target/stm32f4x.cfg -c init
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GDB := arm-none-eabi-gdb --ex 'target extended-remote | openocd -f "interface/stlink-v2.cfg" -f "target/stm32f4x.cfg" -c "gdb_port pipe; log_output openocd.log"' --ex 'monitor reset halt'
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else ifneq (,$(findstring v4.,$(CONFIG_BOARD_VERSION)))
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OPENOCD := openocd -f interface/stlink.cfg $(PROGRAMMER_CMD) -f target/stm32f7x.cfg -c 'reset_config none separate' -c init
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GDB := arm-none-eabi-gdb --ex 'target extended-remote | openocd -f "interface/stlink-v2.cfg" -f "target/stm32f7x.cfg" -c "reset_config none separate" -c "gdb_port pipe; log_output openocd.log"' --ex 'monitor reset halt'
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else
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$(error unknown board version)
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endif
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$(info board version: $(CONFIG_BOARD_VERSION))
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all:
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@mkdir -p autogen
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@$(PY_CMD) ../tools/odrive/version.py --output autogen/version.c
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@tup --quiet -no-environ-check
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@$(PY_CMD) interface_generator_stub.py --definitions odrive-interface.yaml --template ../tools/enums_template.j2 --output ../tools/odrive/enums.py
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@$(PY_CMD) interface_generator_stub.py --definitions odrive-interface.yaml --template ../tools/arduino_enums_template.j2 --output ../Arduino/ODriveArduino/ODriveEnums.h
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@cd ../tools/ && $(PY_CMD) create_can_dbc.py
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# Copy libfibre files to odrivetool if they were built
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@ ! test -f "fibre-cpp/build/libfibre-linux-amd64.so" || cp fibre-cpp/build/libfibre-linux-amd64.so ../tools/odrive/pyfibre/fibre/
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@ ! test -f "fibre-cpp/build/libfibre-linux-armhf.so" || cp fibre-cpp/build/libfibre-linux-armhf.so ../tools/odrive/pyfibre/fibre/
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@ ! test -f "fibre-cpp/build/libfibre-linux-aarch64.so" || cp fibre-cpp/build/libfibre-linux-aarch64.so ../tools/odrive/pyfibre/fibre/
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@ ! test -f "fibre-cpp/build/libfibre-macos-x86.dylib" || cp fibre-cpp/build/libfibre-macos-x86.dylib ../tools/odrive/pyfibre/fibre/
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@ ! test -f "fibre-cpp/build/libfibre-windows-amd64.dll" || cp fibre-cpp/build/libfibre-windows-amd64.dll ../tools/odrive/pyfibre/fibre/
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libfibre-linux-armhf:
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docker run -it -v "`pwd`/fibre-cpp":/build -v /tmp/fibre-linux-armhf-build:/build/build -w /build fibre-compiler configs/linux-armhf.config
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cp /tmp/fibre-linux-armhf-build/libfibre-*.so ../tools/odrive/pyfibre/fibre/
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libfibre-all:
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docker run -it -v "`pwd`/fibre-cpp":/build -v /tmp/libfibre-build:/build/build -w /build fibre-compiler configs/linux-amd64.config
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cp /tmp/libfibre-build/libfibre-linux-amd64.so ../tools/odrive/pyfibre/fibre/
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docker run -it -v "`pwd`/fibre-cpp":/build -v /tmp/libfibre-build:/build/build -w /build fibre-compiler configs/linux-armhf.config
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cp /tmp/libfibre-build/libfibre-linux-armhf.so ../tools/odrive/pyfibre/fibre/
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docker run -it -v "`pwd`/fibre-cpp":/build -v /tmp/libfibre-build:/build/build -w /build fibre-compiler configs/linux-aarch64.config
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cp /tmp/libfibre-build/libfibre-linux-aarch64.so ../tools/odrive/pyfibre/fibre/
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docker run -it -v "`pwd`/fibre-cpp":/build -v /tmp/libfibre-build:/build/build -w /build fibre-compiler configs/macos-x86.config
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cp /tmp/libfibre-build/libfibre-macos-x86.dylib ../tools/odrive/pyfibre/fibre/
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docker run -it -v "`pwd`/fibre-cpp":/build -v /tmp/libfibre-build:/build/build -w /build fibre-compiler configs/windows-amd64.config
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cp /tmp/libfibre-build/libfibre-windows-amd64.dll ../tools/odrive/pyfibre/fibre/
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docker run -it -v "`pwd`/fibre-cpp":/build -v /tmp/libfibre-build:/build/build -w /build fibre-compiler configs/wasm.config
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cp /tmp/libfibre-build/libfibre-wasm.* ../GUI/fibre-js/
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clean:
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-rm -fR .dep $(BUILD_DIR)
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flash-stlink2: all
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$(OPENOCD) \
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-c 'reset halt' \
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-c 'flash write_image erase $(FIRMWARE)' \
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-c 'reset run' \
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-c exit
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gdb-stlink2:
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$(GDB) $(FIRMWARE)
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# Erase entire STM32
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erase-stlink2:
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$(OPENOCD) -c 'reset halt' -c 'flash erase_sector 0 0 last' -c exit
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# Sometimes the STM32 will get it's protection bits set for unknown reasons. Unlock it with this command
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unlock-stlink2:
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$(OPENOCD) -c 'reset halt' -c 'stm32f2x unlock 0'
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flash-bmp: all
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arm-none-eabi-gdb --ex 'target extended-remote $(BMP_PORT)' \
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--ex 'monitor swdp_scan' \
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--ex 'attach 1' \
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--ex 'load' \
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--ex 'detach' \
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--ex 'quit' \
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$(FIRMWARE)
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gdb-bmp: all
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arm-none-eabi-gdb --ex 'target extended-remote /dev/stlink' \
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--ex 'monitor swdp_scan' \
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--ex 'attach 1' \
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--ex 'load' $(FIRMWARE)
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dfu: all
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python ../tools/odrivetool $(if $(value SERIAL_NUMBER),--serial-number $(SERIAL_NUMBER),) dfu $(FIRMWARE_HEX)
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flash: flash-stlink2
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gdb: gdb-stlink2
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erase: erase-stlink2
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unlock: unlock-stlink2
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.PHONY: stlink2-config flash-stlink2 gdb-stlink2 erase-stlink2 unlock-stlink2
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.PHONY: flash-bmp gdb-bmp
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.PHONY: all clean flash gdb erase unlock dfu fibre
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