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Makefile
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# the leg tester
AVR_DIR := /root/arduino-1.8.15/hardware/tools/avr/bin/
AVR_GCC := $(AVR_DIR)avr-gcc
AVR_CFLAGS := -O2 -mmcu=atmega8
AVR_CFLAGS2 := -O2 -mmcu=atmega328p
AVR_LFLAGS := -O2 -mmcu=atmega8 -Wl,--section-start=.text=0x0000 -nostdlib
AVR_LFLAGS2 := -O2 -mmcu=atmega328p -Wl,--section-start=.text=0x0000 -nostdlib
AVR_OBJCOPY := $(AVR_DIR)avr-objcopy -j .text -j .data -O ihex
AVR_DUDE := avrdude -v -patmega8 -cstk500v1 -P/dev/ttyACM0 -b19200
AVR_DUDE2 := avrdude -v -patmega328p -cstk500v1 -P/dev/ttyACM0 -b19200
# other vehicles
PICMODEL := 18f26k20
SDCC_PATH := /root/sdcc
SDCC := $(SDCC_PATH)/bin/sdcc
#SDCC_CFLAGS := --optimize-df --optimize-cmp --obanksel=2 -mpic16 -p$(PICMODEL) -Dpic$(PICMODEL) -I/usr/local/share/sdcc/non-free/include/pic16/
#SDCC_LFLAGS := $(SDCC_CFLAGS) --no-crt -Wl -s,linker.lkr -L/usr/local/share/sdcc/non-free/lib/pic16/
GCC := gcc
GXX := g++
USB_DIR := ../copter/libusb-1.0.0/libusb
USB_LIB := $(USB_DIR)/.libs/libusb-1.0.a
OBJDIR := $(shell uname --machine)
SDCC_PICMODEL := 18f1320
SDCC_PATH := /usr/local/
SDCC := sdcc
# --obanksel=2 isn't working
SDCC_CFLAGS := --optimize-df --optimize-cmp --obanksel=1 -mpic16 -p$(SDCC_PICMODEL) -Dpic$(SDCC_PICMODEL) -I. -I$(SDCC_PATH)/share/sdcc/include/pic16/ -I$(SDCC_PATH)/share/sdcc/non-free/include/pic16 -I../copter/pic
SDCC_LFLAGS := $(SDCC_CFLAGS) --no-crt -Wl -s,18f1320.lkr -L$(SDCC_PATH)/share/sdcc/non-free/lib/pic16
# float, no USB
GCC_ARM := /opt/gcc-arm-none-eabi-4_6-2012q2/bin/arm-none-eabi-gcc
OBJCOPY := /opt/gcc-arm-none-eabi-4_6-2012q2/bin/arm-none-eabi-objcopy
ARM_CFLAGS := \
-O2 \
-c \
-mcpu=cortex-m4 \
-mthumb \
-march=armv7e-m \
-mfpu=fpv4-sp-d16 \
-mfloat-abi=hard \
-mlittle-endian \
-ffreestanding \
-I. \
-I../stm32stuff \
-DENABLE_PRINT
ARM_LIBM := $(shell $(GCC_ARM) $(ARM_CFLAGS) -print-file-name=libm.a)
ARM_LIBC := $(shell $(GCC_ARM) $(ARM_CFLAGS) -print-libgcc-file-name)
ARM_LFLAGS := -mcpu=cortex-m4 \
-mthumb \
-march=armv7e-m \
-mfpu=fpv4-sp-d16 \
-mfloat-abi=hard \
-mlittle-endian \
-ffreestanding \
-nostdlib \
-nostdinc \
$(ARM_LIBM) $(ARM_LIBC)
GCC_PI := /opt/pi/bin/bcm2708hardfp-g++
#OPENCV_DIR := ../opencv-2.4.11/bin/
#OPENCV_CFLAGS := $(shell PKG_CONFIG_PATH=$(OPENCV_DIR)/lib/pkgconfig pkg-config --cflags opencv )
#OPENCV_LFLAGS := $(shell PKG_CONFIG_PATH=$(OPENCV_DIR)/lib/pkgconfig pkg-config --libs opencv )
OPENCV_PI_DIR := ../opencv-2.4.11.arm/
OPENCV_PI_CFLAGS := -I$(OPENCV_PI_DIR)/build/ \
-I$(OPENCV_PI_DIR)/modules/core/include/ \
-I$(OPENCV_PI_DIR)/modules/features2d/include/ \
-I$(OPENCV_PI_DIR)/modules/legacy/include/ \
-I$(OPENCV_PI_DIR)/modules/calib3d/include/ \
-I$(OPENCV_PI_DIR)/modules/flann/include/ \
-I$(OPENCV_PI_DIR)/modules/imgproc/include/ \
-I$(OPENCV_PI_DIR)/modules/highgui/include/ \
-I$(OPENCV_PI_DIR)/modules/video/include/ \
-I$(OPENCV_PI_DIR)/modules/ml/include/ \
-I$(OPENCV_PI_DIR)/modules/nonfree/include/ \
-I$(OPENCV_PI_DIR)/modules/ocl/include/ \
-I$(OPENCV_PI_DIR)/modules/objdetect/include/
OPENCV_PI_LFLAGS := $(OPENCV_PI_DIR)/libopencv.a
PI_CFLAGS := -O2 -D_LARGEFILE_SOURCE -D_LARGEFILE64_SOURCE -D_FILE_OFFSET_BITS=64 -Ijpeg
GCC_ODROID := /opt/gcc-linaro-arm-linux-gnueabihf-4.9-2014.09_linux/bin/arm-linux-gnueabihf-g++
#ODROID_CFLAGS := -O3 -pipe -march=armv7-a -mcpu=cortex-a9 -mfloat-abi=hard -D_LARGEFILE_SOURCE -D_LARGEFILE64_SOURCE -D_FILE_OFFSET_BITS=64 -Ijpeg
ODROID_CFLAGS := -O3 -pipe -mcpu=cortex-a15 -mfloat-abi=hard -mfpu=neon-vfpv4 -D_LARGEFILE_SOURCE -D_LARGEFILE64_SOURCE -D_FILE_OFFSET_BITS=64 -Ijpeg
ODROID_LFLAGS :=
$(shell echo $(SDCC_CFLAGS) > sdcc_cflags)
$(shell echo $(SDCC_LFLAGS) > sdcc_lflags)
$(shell echo $(GCC_ARM) $(ARM_CFLAGS) > arm_gcc )
SRCS := \
buttons.s \
buttons.inc \
display.s \
display.inc \
distance.s \
distance.inc \
dock.inc \
dock.s \
gps.s \
gps.inc \
lcd.inc \
lcd.s \
mmc.inc \
mmc.s \
pic_util.inc \
sound.inc \
sound.s \
sounds.hex \
speedo.s \
state.inc \
state.s
INTERVAL_SRCS := \
pic_mrf49xa.inc \
pic_mrf49xa.s \
pic_util.inc \
interval.inc \
interval.s \
interval_buttons.inc \
interval_buttons.s \
interval_rec.s \
interval_disp.inc \
interval_disp.s \
interval_state.inc \
interval_state.s \
lcd.inc \
lcd.s \
touch_buttons.inc \
touch_buttons.s
ARM_OBJS := \
../stm32stuff/startup_main.o \
../stm32stuff/arm_math2.o \
../stm32stuff/uart.o \
../stm32stuff/linux.o \
../stm32stuff/misc.o \
../stm32stuff/stm32f4xx_rcc.o \
../stm32stuff/stm32f4xx_usart.o \
../stm32stuff/stm32f4xx_gpio.o \
../stm32stuff/stm32f4xx_dcmi.o \
../stm32stuff/stm32f4xx_dma.o \
../stm32stuff/stm32f4xx_i2c.o \
stm32f4xx_it.o \
../stm32stuff/stm32f4xx_iwdg.o \
../stm32stuff/stm32f4xx_tim.o \
../stm32stuff/stm32f4xx_adc.o \
../stm32stuff/stm32f4xx_flash.o \
stm32f4xx_exti.o \
../stm32stuff/stm32f4xx_syscfg.o \
../stm32stuff/system_stm32f4xx.o
USB_OBJS := \
usb_dcd_int.o \
../stm32stuff/usb_bsp.o \
../stm32stuff/usb_core.o \
../stm32stuff/usb_dcd.o \
../stm32stuff/usb_hcd.o \
../stm32stuff/usbd_core.o \
../stm32stuff/usbd_req.o \
../stm32stuff/usbd_ioreq.o \
../stm32stuff/usbh_core.o \
../stm32stuff/usbh_hcs.o \
../stm32stuff/usbh_ioreq.o \
../stm32stuff/usbh_stdreq.o
VISION_OBJS := \
vision.o \
vision_engine.o \
vision_server.o \
jpeg/cdjpeg.o \
jpeg/jcapimin.o \
jpeg/jcapistd.o \
jpeg/jccoefct.o \
jpeg/jccolor.o \
jpeg/jcdctmgr.o \
jpeg/jchuff.o \
jpeg/jcinit.o \
jpeg/jcmainct.o \
jpeg/jcmarker.o \
jpeg/jcmaster.o \
jpeg/jcomapi.o \
jpeg/jcparam.o \
jpeg/jcphuff.o \
jpeg/jcprepct.o \
jpeg/jcsample.o \
jpeg/jctrans.o \
jpeg/jdapimin.o \
jpeg/jdapistd.o \
jpeg/jdatadst.o \
jpeg/jdatasrc.o \
jpeg/jdcoefct.o \
jpeg/jdcolor.o \
jpeg/jddctmgr.o \
jpeg/jdhuff.o \
jpeg/jdinput.o \
jpeg/jdmainct.o \
jpeg/jdmarker.o \
jpeg/jdmaster.o \
jpeg/jdmerge.o \
jpeg/jdphuff.o \
jpeg/jdpostct.o \
jpeg/jdsample.o \
jpeg/jdtrans.o \
jpeg/jerror.o \
jpeg/jfdctflt.o \
jpeg/jfdctfst.o \
jpeg/jfdctint.o \
jpeg/jidctflt.o \
jpeg/jidctfst.o \
jpeg/jidctint.o \
jpeg/jidctred.o \
jpeg/jmemmgr.o \
jpeg/jmemnobs.o \
jpeg/jquant1.o \
jpeg/jquant2.o \
jpeg/jutils.o \
jpeg/rdbmp.o \
jpeg/rdcolmap.o \
jpeg/rdgif.o \
jpeg/rdppm.o \
jpeg/rdrle.o \
jpeg/rdswitch.o \
jpeg/rdtarga.o \
jpeg/transupp.o \
jpeg/wrbmp.o \
jpeg/wrgif.o \
jpeg/wrppm.o \
jpeg/wrrle.o \
jpeg/wrtarga.o
ARM_CAR_OBJS := \
arm_car.o \
ARM_TRUCK_OBJS := \
arm_nav.o \
arm_truck.o \
arm_imu.o \
arm_soft2c.o \
arm_xbee.o
ARM_TRUCK2_OBJS := \
arm_fs.o \
arm_motors.o \
arm_truck2.o \
arm_softi2c.o
ARM_CAM_OBJS := \
arm_cam.o \
arm_fs_.o \
arm_usb.o
PI_OBJS := \
vision.o
all: truck2.bin cam.bin
# program atmega328 fuse. page 283
leash_fuse:
$(AVR_DUDE2) -e -Ulock:w:0x3F:m -Uefuse:w:0x05:m -Uhfuse:w:0xD3:m -Ulfuse:w:0xE2:m
# elbow 1 board
leash.hex: leash.c
$(AVR_GCC) $(AVR_CFLAGS2) -o leash.o leash.c
$(AVR_GCC) $(AVR_LFLAGS2) -o leash.elf leash.o
$(AVR_OBJCOPY) leash.elf leash.hex
leash_isp: leash.hex
$(AVR_DUDE2) -Uflash:w:leash.hex:i -Ulock:w:0x0F:m
motor: motor.c avr_debug.c motor.h
$(AVR_GCC) $(AVR_CFLAGS) -o motor.o motor.c
$(AVR_GCC) $(AVR_LFLAGS) -o motor.elf motor.o
$(AVR_OBJCOPY) motor.elf motor.hex
# program motor.hex
motor_isp: motor
$(AVR_DUDE) -Uflash:w:motor.hex:i -Ulock:w:0x0F:m
leg: arm_leg.c arm_debug.c leg.c avr_debug.c pwm_routines.c leg.h
$(GCC) -O3 -o leg arm_leg.c arm_debug.c
$(AVR_GCC) $(AVR_CFLAGS) -o leg.o leg.c avr_debug.c
$(AVR_GCC) $(AVR_LFLAGS) -o leg.elf leg.o
$(AVR_OBJCOPY) leg.elf leg.hex
# program leg.hex
leg_isp: leg
$(AVR_DUDE) -Uflash:w:leg.hex:i -Ulock:w:0x0F:m
# reset it
reset:
avrdude -v -patmega8 -cstk500v1 -P/dev/ttyACM0 -b19200
# ODROID versions
#vision: $(VISION_OBJS)
# $(GCC_ODROID) -g -o vision $(VISION_OBJS) -lpthread -lm
#$(VISION_OBJS):
# $(GCC_ODROID) -g $(ODROID_CFLAGS) -c $*.c -o $*.o
# PI version
#vision: $(VISION_OBJS)
# $(GCC_PI) $(PI_CFLAGS) -o vision $(VISION_OBJS) $(OPENCV_PI_LFLAGS) -lpthread -lm
# $(GCC_PI) $(PI_CFLAGS) -o vision $(VISION_OBJS) -lpthread -lm
#$(VISION_OBJS):
# $(GCC_PI) $(PI_CFLAGS) $(OPENCV_PI_CFLAGS) -c $*.c -o $*.o
# $(GCC_PI) $(PI_CFLAGS) -c $*.c -o $*.o
# X86 version
vision: $(VISION_OBJS)
# $(GXX) -DX86 -O2 -g -o vision $(VISION_OBJS) $(OPENCV_LFLAGS) -lpthread -lm
$(GXX) -DX86 -O2 -g -o vision $(VISION_OBJS) -lpthread -lm
$(VISION_OBJS):
# $(GXX) -O2 $(OPENCV_CFLAGS) -g -c $*.c -o $*.o -DX86 -Ijpeg
$(GXX) -O2 -g -c $*.c -o $*.o -DX86 -Ijpeg
#car: car.bin
#car_remote.hex: car_remote.s
# gpasm -I../copter/pic -o car_remote.hex car_remote.s
#car.bin: $(ARM_CAR_OBJS) $(ARM_OBJS)
# $(GCC_ARM) -o car.elf \
# $(ARM_CAR_OBJS) \
# $(ARM_OBJS) \
# $(ARM_LFLAGS) \
# -T../stm32stuff/main.ld
# $(OBJCOPY) -O binary car.elf car.bin
#truck.bin: $(ARM_TRUCK_OBJS) $(ARM_OBJS)
# $(GCC_ARM) -o truck.elf \
# $(ARM_TRUCK_OBJS) \
# $(ARM_OBJS) \
# $(ARM_LFLAGS) \
# -T../stm32stuff/main.ld
# $(OBJCOPY) -O binary truck.elf truck.bin
truck2.bin: $(ARM_TRUCK2_OBJS) $(ARM_OBJS) motor_table
$(GCC_ARM) -o truck2.elf \
$(ARM_TRUCK2_OBJS) \
$(ARM_OBJS) \
$(ARM_LFLAGS) \
-T../stm32stuff/main.ld
$(OBJCOPY) -O binary truck2.elf truck2.bin
cam.bin: $(ARM_CAM_OBJS) $(ARM_OBJS) $(USB_OBJS)
$(GCC_ARM) -o cam.elf \
$(ARM_CAM_OBJS) \
$(ARM_OBJS) \
$(USB_OBJS) \
$(ARM_LFLAGS) \
-T../stm32stuff/main.ld
$(OBJCOPY) -O binary cam.elf cam.bin
$(ARM_OBJS) $(ARM_TRUCK_OBJS) $(ARM_TRUCK2_OBJS) $(ARM_CAR_OBJS) $(ARM_CAM_OBJS) $(USB_OBJS):
`cat arm_gcc` -c $< -o $*.o
car: car.hex car_remote.s
gpasm -I../copter/pic -o car_remote.hex car_remote.s
car.hex: car.o
$(SDCC) $(SDCC_LFLAGS) -o $@ car.o
car.o: car.c
$(SDCC) $(SDCC_CFLAGS) -c $< -o $@
sensor: sensor.s
gpasm -I../copter/pic -o sensor.hex sensor.s
remote: remote_tx.s remote_rx.s
gpasm -I../copter/pic -o remote_tx.hex remote_tx.s
gpasm -I../copter/pic -o remote_rx.hex remote_rx.s
motor_table: motor_table.c
gcc -o motor_table motor_table.c -lm
cfl2.hex: cfl2.s
gpasm -o cfl2.hex cfl2.s
speedo.hex: $(SRCS)
gpasm -o speedo.hex speedo.s
blink.hex: blink.s
gpasm -o blink.hex blink.s -I../copter/pic
interval.hex: $(INTERVAL_SRCS)
gpasm -o interval.hex interval.s
boost.hex: boost.s
gpasm -o boost.hex boost.s
flashlight.hex: flashlight.s
gpasm -o flashlight.hex flashlight.s
ping.hex: ping.s
gpasm -o ping.hex ping.s
ping_rx.hex: ping_rx.s pic_mrf49xa.s pic_mrf49xa.inc
gpasm -o ping_rx.hex ping_rx.s
ping_tx.hex: ping_tx.s pic_mrf49xa.s pic_mrf49xa.inc
gpasm -o ping_tx.hex ping_tx.s
gain.hex: gain.s
gpasm -o gain.hex gain.s
preamp.hex: preamp.s
gpasm -o preamp.hex preamp.s
projector.hex: projector.s
gpasm -o projector.hex projector.s
turret.hex: turret.s
gpasm -o turret.hex turret.s
pump.hex: pump.s
gpasm -o pump.hex pump.s
interval_rec.hex: $(INTERVAL_SRCS)
gpasm -o interval_rec.hex interval_rec.s
sonar.hex: sonar.s
gpasm -o sonar.hex sonar.s
usb_programmer: usb_programmer.c parapin.c
$(GCC) -O3 -o usb_programmer usb_programmer.c parapin.c -I$(USB_DIR) $(USB_LIB) -lpthread -lrt
usb_download: usb_download.c
$(GCC) -O3 -o usb_download usb_download.c -I$(USB_DIR) $(USB_LIB) -lpthread -lrt
sonar: sonar.c
$(GCC) -O3 -o sonar sonar.c
parse: parse.c
$(GCC) -O3 -o parse parse.c -lm
laser_painting: laser_painting.c laser_birthday.h
$(GCC) -O3 -o laser_painting laser_painting.c -lpthread -lm
edit_painting: edit_painting.C
$(GXX) -O3 -o edit_painting edit_painting.C \
-I../hvirtual/guicast \
../hvirtual/guicast/$(OBJDIR)/libguicast.a \
-lX11 \
-lXext \
-lXv \
-lpthread \
-lm \
-lpng
compressaudio: compressaudio.c
$(GCC) -O3 -o compressaudio compressaudio.c
decompressaudio: decompressaudio.c
$(GCC) -O3 -o decompressaudio decompressaudio.c
pcmtoasm: pcmtoasm.c
$(GCC) -O3 -o pcmtoasm pcmtoasm.c
mmc.hex: mmc.s mmc.inc pic_util.inc
gpasm -o $@ mmc.s
sounds.hex: pcmtoasm
pcmtoasm sounds.inc sounds.s *.pcm
# pcmtoasm sounds.inc sounds.s 0.pcm
gpasm -o $@ sounds.s
distance.hex: distance.s distance.inc
gpasm -o $@ distance.s
lidar_test: lidar_test.c
gcc -g lidar_test.c -o lidar_test -lm -lX11 -lXext -ljpeg
clean:
rm -f $(ARM_OBJS) \
$(ARM_CAM_OBJS) \
$(USB_OBJS) \
$(VISION_OBJS) \
vision \
*.o \
*.hex \
*.lst \
*.asm \
*.cod \
*.ps \
*.z \
motor_table
test.hex: test.s pic_util.inc
gpasm -o test.hex test.s
test_button.hex: test_button.s pic_util.inc
gpasm -o test_button.hex test_button.s
test2.hex: test2.s pic_util.inc
gpasm -o test2.hex test2.s
test4.hex: test4.s pic_util.inc
gpasm -o test4.hex test4.s
speedo.o:
$(SDCC) `cat sdcc_cflags` -c $< -o $*.o
speedo.o: speedo.c
tables: tables.c
gcc -o tables tables.c -lm
teleprompt.hex: teleprompt.s pic_util.inc
gpasm -o teleprompt.hex teleprompt.s
teleprompt: teleprompt.C
$(GXX) -O3 -g -o teleprompt teleprompt.C \
-I../hvirtual/guicast \
-I../hvirtual/thirdparty/freetype-2.1.4/include \
-I$(USB_DIR) \
$(USB_DIR)/.libs/libusb-1.0.a \
../hvirtual/guicast/$(OBJDIR)/libguicast.a \
../hvirtual/thirdparty/freetype-2.1.4/$(OBJDIR)/libfreetype.a \
-lX11 \
-lXext \
-lXv \
-lpthread \
-lm \
-lpng \
-lrt
oscilloscope: oscilloscope.c
$(GXX) -O3 -g -o oscilloscope oscilloscope.c \
-I$(USB_DIR) \
$(USB_DIR)/.libs/libusb-1.0.a \
-lpthread \
-lrt
../stm32stuff/arm_math2.o: ../stm32stuff/arm_math2.c
../stm32stuff/uart.o: ../stm32stuff/uart.c
../stm32stuff/linux.o: ../stm32stuff/linux.c
../stm32stuff/startup_main.o: ../stm32stuff/startup_main.s
../stm32stuff/misc.o: ../stm32stuff/misc.c
../stm32stuff/stm32f4xx_rcc.o: ../stm32stuff/stm32f4xx_rcc.c
../stm32stuff/stm32f4xx_usart.o: ../stm32stuff/stm32f4xx_usart.c
../stm32stuff/stm32f4xx_gpio.o: ../stm32stuff/stm32f4xx_gpio.c
../stm32stuff/stm32f4xx_dcmi.o: ../stm32stuff/stm32f4xx_dcmi.c
../stm32stuff/stm32f4xx_dma.o: ../stm32stuff/stm32f4xx_dma.c
../stm32stuff/stm32f4xx_i2c.o: ../stm32stuff/stm32f4xx_i2c.c
stm32f4xx_it.o: stm32f4xx_it.c
../stm32stuff/stm32f4xx_iwdg.o: ../stm32stuff/stm32f4xx_iwdg.c
../stm32stuff/stm32f4xx_tim.o: ../stm32stuff/stm32f4xx_tim.c
../stm32stuff/stm32f4xx_adc.o: ../stm32stuff/stm32f4xx_adc.c
../stm32stuff/stm32f4xx_flash.o: ../stm32stuff/stm32f4xx_flash.c
stm32f4xx_exti.o: stm32f4xx_exti.c
../stm32stuff/stm32f4xx_syscfg.o: ../stm32stuff/stm32f4xx_syscfg.c
../stm32stuff/system_stm32f4xx.o: ../stm32stuff/system_stm32f4xx.c
arm_cam.o: arm_cam.c
arm_car.o: arm_car.c
arm_fs.o: arm_fs.c
arm_fs_.o: arm_fs.c
arm_motors.o: arm_motors.c
arm_nav.o: arm_nav.c
arm_truck.o: arm_truck.c
arm_truck2.o: arm_truck2.c
arm_usb.o: arm_usb.c
arm_xbee.o: arm_xbee.c
arm_softi2c.o: arm_softi2c.c
arm_imu.o: arm_imu.c
vision.o: vision.c
vision_surface.o: vision_surface.c
vision_engine.o: vision_engine.c
vision_server.o: vision_server.c
../stm32stuff/usb_bsp.o: ../stm32stuff/usb_bsp.c
../stm32stuff/usb_core.o: ../stm32stuff/usb_core.c
../stm32stuff/usb_dcd.o: ../stm32stuff/usb_dcd.c
../stm32stuff/usb_hcd.o: ../stm32stuff/usb_hcd.c
../stm32stuff/usbd_core.o: ../stm32stuff/usbd_core.c
../stm32stuff/usbd_req.o: ../stm32stuff/usbd_req.c
../stm32stuff/usbd_ioreq.o: ../stm32stuff/usbd_ioreq.c
usb_dcd_int.o: usb_dcd_int.c
../stm32stuff/usbh_core.o: ../stm32stuff/usbh_core.c
../stm32stuff/usbh_hcs.o: ../stm32stuff/usbh_hcs.c
../stm32stuff/usbh_ioreq.o: ../stm32stuff/usbh_ioreq.c
../stm32stuff/usbh_stdreq.o: ../stm32stuff/usbh_stdreq.c