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Makefile
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Makefile
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# Set verbosity
ifeq ($(V), 1)
Q =
else
Q = @
endif
# Commands
CC = $(Q)arm-none-eabi-gcc
AS = $(Q)arm-none-eabi-as
LD = $(Q)arm-none-eabi-ld
AR = $(Q)arm-none-eabi-ar
RM = $(Q)rm
CPP = $(Q)arm-none-eabi-cpp
SIZE = $(Q)arm-none-eabi-size
STRIP = $(Q)arm-none-eabi-strip -s
OBJCOPY = $(Q)arm-none-eabi-objcopy
OBJDUMP = $(Q)arm-none-eabi-objdump
PYTHON = $(Q)python
MKDFU = micropython/tools/dfu.py
PYDFU = $(Q)../usr/pydfu.py
MKDIR = $(Q)mkdir
ECHO = $(Q)@echo
MAKE = $(Q)make
CAT = $(Q)cat
# Targets
OPENMV = openmv
BOOTLOADER = bootloader
UVC = uvc
FIRMWARE = firmware
# Directories
TOP_DIR=$(shell pwd)
BUILD=$(TOP_DIR)/build
CMSIS_DIR=cmsis
STUSB_DIR=stusb
MICROPY_DIR=micropython
OMV_DIR=omv
LEPTON_DIR=lepton
MLX_DIR=mlx
WINC1500_DIR=winc1500
BOOTLDR_DIR=bootloader
UVC_DIR=uvc
# Additional qstr definitions for OpenMV
OMV_QSTR_DEFS = $(TOP_DIR)/$(OMV_DIR)/py/qstrdefsomv.h
# Target
TARGET ?= OPENMV3
FW_DIR=$(TOP_DIR)/../firmware/$(TARGET)
OMV_BOARD_CONFIG_DIR=$(TOP_DIR)/$(OMV_DIR)/boards/$(TARGET)/
MP_BOARD_CONFIG_DIR=$(TOP_DIR)/$(MICROPY_DIR)/ports/stm32/boards/$(TARGET)/
# Debugging/Optimization
ifeq ($(DEBUG), 1)
CFLAGS += -O0 -ggdb3 -DPENDSV_DEBUG
else
CFLAGS += -O2 -ggdb3 -DNDEBUG
endif
# OpenMV1 is No longer supported
ifeq ($(TARGET), OPENMV1)
BRACKET = :)
$(error "This camera is no longer supported :O Have fun hacking the code $(BRACKET)")
endif
# Enable debug printf
ifeq ($(DEBUG_PRINTF), 1)
CFLAGS += -DDEBUG_PRINTF
endif
# Enable stack protection
ifeq ($(STACK_PROTECTOR), 1)
CFLAGS += -fstack-protector-all -DSTACK_PROTECTOR
endif
# Compiler Flags
include $(OMV_BOARD_CONFIG_DIR)/omv_boardconfig.mk
CFLAGS += -std=gnu99 -Wall -Werror -Warray-bounds -mthumb -nostartfiles -fdata-sections -ffunction-sections
CFLAGS += -D$(MCU) -D$(CFLAGS_MCU) -D$(ARM_MATH) -DARM_MATH_DSP -DARM_NN_TRUNCATE\
-fsingle-precision-constant -Wdouble-promotion -mcpu=$(CPU) -mtune=$(CPU) -mfpu=$(FPU) -mfloat-abi=hard
CFLAGS += -D__FPU_PRESENT=1 -D__VFP_FP__ -DUSE_USB_FS -DUSE_DEVICE_MODE -DUSE_USB_OTG_ID=0 -DHSE_VALUE=12000000\
-D$(TARGET) -DSTM32_HAL_H=$(HAL_INC) -DVECT_TAB_OFFSET=$(VECT_TAB_OFFSET) -DMAIN_APP_ADDR=$(MAIN_APP_ADDR)
ST_CFLAGS += -I. -Iinclude
ST_CFLAGS += -I$(TOP_DIR)/$(CMSIS_DIR)/include/
ST_CFLAGS += -I$(TOP_DIR)/$(CMSIS_DIR)/include/st
ST_CFLAGS += -I$(TOP_DIR)/$(STHAL_DIR)/include/
ST_CFLAGS += -I$(TOP_DIR)/$(STHAL_DIR)/include/Legacy/
MP_CFLAGS += -I$(BUILD)/$(MICROPY_DIR)/
MP_CFLAGS += -I$(TOP_DIR)/$(MICROPY_DIR)/
MP_CFLAGS += -I$(TOP_DIR)/$(MICROPY_DIR)/py/
MP_CFLAGS += -I$(TOP_DIR)/$(MICROPY_DIR)/lib/mp-readline
MP_CFLAGS += -I$(TOP_DIR)/$(MICROPY_DIR)/lib/oofatfs
MP_CFLAGS += -I$(TOP_DIR)/$(MICROPY_DIR)/ports/stm32/
MP_CFLAGS += -I$(TOP_DIR)/$(MICROPY_DIR)/ports/stm32/usbdev/core/inc/
MP_CFLAGS += -I$(TOP_DIR)/$(MICROPY_DIR)/ports/stm32/usbdev/class/inc/
MP_CFLAGS += -I$(MP_BOARD_CONFIG_DIR)
OMV_CFLAGS += -I$(TOP_DIR)/$(OMV_DIR)/
OMV_CFLAGS += -I$(TOP_DIR)/$(OMV_DIR)/py/
OMV_CFLAGS += -I$(TOP_DIR)/$(OMV_DIR)/nn/
OMV_CFLAGS += -I$(TOP_DIR)/$(OMV_DIR)/img/
OMV_CFLAGS += -I$(OMV_BOARD_CONFIG_DIR)
OMV_CFLAGS += -I$(TOP_DIR)/$(LEPTON_DIR)/include/
OMV_CFLAGS += -I$(TOP_DIR)/$(MLX_DIR)/include/
OMV_CFLAGS += -I$(TOP_DIR)/$(WINC1500_DIR)/include/
UVC_CFLAGS = $(CFLAGS)
UVC_CFLAGS += -I$(OMV_BOARD_CONFIG_DIR)
UVC_CFLAGS += -I$(TOP_DIR)/$(UVC_DIR)/include/
BOOTLDR_CFLAGS = $(CFLAGS)
BOOTLDR_CFLAGS += -I$(OMV_BOARD_CONFIG_DIR)
BOOTLDR_CFLAGS += -I$(TOP_DIR)/$(BOOTLDR_DIR)/include/
CFLAGS += $(ST_CFLAGS) $(MP_CFLAGS) $(OMV_CFLAGS)
# Linker Flags
LDFLAGS = -mcpu=$(CPU) -mabi=aapcs-linux -mthumb -mfpu=$(FPU) -mfloat-abi=hard\
-nostdlib -Wl,--gc-sections -Wl,-T$(BUILD)/stm32fxxx.lds
# Linker Flags
BOOTLDR_LDFLAGS = -mcpu=$(CPU) -mabi=aapcs-linux -mthumb -mfpu=$(FPU) -mfloat-abi=hard\
-nostdlib -Wl,--gc-sections -Wl,-T$(BUILD)/$(BOOTLDR_DIR)/stm32fxxx.lds
# Linker Flags
UVC_LDFLAGS = -mcpu=$(CPU) -mabi=aapcs-linux -mthumb -mfpu=$(FPU) -mfloat-abi=hard\
-nostdlib -Wl,--gc-sections -Wl,-T$(BUILD)/$(UVC_DIR)/stm32fxxx.lds
#------------- Libraries ----------------#
FIRM_OBJ += $(wildcard $(BUILD)/$(CMSIS_DIR)/src/dsp/CommonTables/*.o)
FIRM_OBJ += $(wildcard $(BUILD)/$(CMSIS_DIR)/src/dsp/FastMathFunctions/*.o)
FIRM_OBJ += $(wildcard $(BUILD)/$(CMSIS_DIR)/src/dsp/MatrixFunctions/*.o)
FIRM_OBJ += $(wildcard $(BUILD)/$(CMSIS_DIR)/src/nn/ActivationFunctions/*.o)
FIRM_OBJ += $(wildcard $(BUILD)/$(CMSIS_DIR)/src/nn/ConvolutionFunctions/*.o)
FIRM_OBJ += $(wildcard $(BUILD)/$(CMSIS_DIR)/src/nn/FullyConnectedFunctions/*.o)
FIRM_OBJ += $(wildcard $(BUILD)/$(CMSIS_DIR)/src/nn/NNSupportFunctions/*.o)
FIRM_OBJ += $(wildcard $(BUILD)/$(CMSIS_DIR)/src/nn/PoolingFunctions/*.o)
FIRM_OBJ += $(wildcard $(BUILD)/$(CMSIS_DIR)/src/nn/SoftmaxFunctions/*.o)
#FIRM_OBJ += $(wildcard $(BUILD)/$(CMSIS_DIR)/src/dsp/ComplexMathFunctions/*.o)
#FIRM_OBJ += $(wildcard $(BUILD)/$(CMSIS_DIR)/src/dsp/ControllerFunctions/*.o)
#FIRM_OBJ += $(wildcard $(BUILD)/$(CMSIS_DIR)/src/dsp/FilteringFunctions/*.o)
#FIRM_OBJ += $(wildcard $(BUILD)/$(CMSIS_DIR)/src/dsp/StatisticsFunctions/*.o)
#FIRM_OBJ += $(wildcard $(BUILD)/$(CMSIS_DIR)/src/dsp/SupportFunctions/*.o)
#FIRM_OBJ += $(wildcard $(BUILD)/$(CMSIS_DIR)/src/dsp/TransformFunctions/*.o)
FIRM_OBJ += $(wildcard $(BUILD)/$(STHAL_DIR)/src/*.o)
FIRM_OBJ += $(wildcard $(BUILD)/$(LEPTON_DIR)/src/*.o)
FIRM_OBJ += $(wildcard $(BUILD)/$(MLX_DIR)/src/*.o)
FIRM_OBJ += $(wildcard $(BUILD)/$(WINC1500_DIR)/src/*.o)
#------------- OpenMV Objects ----------------#
FIRM_OBJ += $(addprefix $(BUILD)/$(OMV_DIR)/, \
main.o \
xalloc.o \
fb_alloc.o \
umm_malloc.o \
ff_wrapper.o \
ini.o \
framebuffer.o \
array.o \
usbdbg.o \
wifidbg.o \
cambus.o \
ov9650.o \
ov2640.o \
ov7725.o \
mt9v034.o \
lepton.o \
sensor.o \
stm32fxxx_hal_msp.o \
soft_i2c.o \
mutex.o \
trace.o \
)
FIRM_OBJ += $(addprefix $(BUILD)/$(OMV_DIR)/img/,\
binary.o \
blob.o \
clahe.o \
draw.o \
qrcode.o \
apriltag.o \
dmtx.o \
zbar.o \
fmath.o \
fsort.o \
qsort.o \
fft.o \
filter.o \
haar.o \
imlib.o \
collections.o \
stats.o \
integral.o \
integral_mw.o \
kmeans.o \
lab_tab.o \
xyz_tab.o \
yuv_tab.o \
rainbow_tab.o \
rgb2rgb_tab.o \
invariant_tab.o \
mathop.o \
pool.o \
point.o \
rectangle.o \
bmp.o \
ppm.o \
gif.o \
mjpeg.o \
fast.o \
agast.o \
orb.o \
template.o \
phasecorrelation.o \
shadow_removal.o \
font.o \
jpeg.o \
lbp.o \
eye.o \
hough.o \
line.o \
lsd.o \
sincos_tab.o \
edge.o \
hog.o \
selective_search.o \
)
FIRM_OBJ += $(addprefix $(BUILD)/$(OMV_DIR)/nn/,\
nn.o \
)
FIRM_OBJ += $(addprefix $(BUILD)/$(OMV_DIR)/py/, \
py_helper.o \
py_omv.o \
py_sensor.o \
py_image.o \
py_time.o \
py_lcd.o \
py_tv.o \
py_fir.o \
py_gif.o \
py_mjpeg.o \
py_winc.o \
py_cpufreq.o \
py_nn.o \
)
FIRM_OBJ += $(addprefix $(BUILD)/$(CMSIS_DIR)/src/st/,\
$(STARTUP).o \
system_stm32fxxx.o \
)
#------------- MicroPy Core -------------------#
FIRM_OBJ += $(wildcard $(BUILD)/$(MICROPY_DIR)/py/*.o)
#------------- MicroPy Objects ----------------#
FIRM_OBJ += $(addprefix $(BUILD)/$(MICROPY_DIR)/,\
stm32_it.o \
usbd_conf.o \
usbd_desc.o \
usbd_cdc_interface.o \
usbd_hid_interface.o \
usbd_msc_storage.o \
pendsv.o \
bufhelper.o \
usb.o \
gchelper.o \
gccollect.o \
help.o \
flash.o \
flashbdev.o \
storage.o \
rtc.o \
irq.o \
adc.o \
dac.o \
dma.o \
uart.o \
systick.o \
i2c.o \
pyb_i2c.o \
spi.o \
can.o \
pin.o \
pin_defs_stm32.o \
pin_named_pins.o \
pins_$(TARGET).o \
timer.o \
servo.o \
rng.o \
led.o \
wdt.o \
mphalport.o \
sdcard.o \
fatfs_port.o \
extint.o \
modpyb.o \
modstm.o \
moduos.o \
modutime.o \
modusocket.o \
modnetwork.o \
modmachine.o \
machine_i2c.o \
pybthread.o \
mpthreadport.o \
)
#------------- MicroPy Objects ----------------#
FIRM_OBJ += $(addprefix $(BUILD)/$(MICROPY_DIR)/lib/,\
utils/pyexec.o \
utils/printf.o \
utils/interrupt_char.o \
utils/sys_stdio_mphal.o \
libc/string0.o \
netutils/netutils.o \
timeutils/timeutils.o \
)
FIRM_OBJ += $(addprefix $(BUILD)/$(MICROPY_DIR)/lib/libm/,\
math.o \
roundf.o \
asinfacosf.o \
atanf.o \
atan2f.o \
fmodf.o \
log1pf.o \
acoshf.o \
asinhf.o \
atanhf.o \
kf_rem_pio2.o \
kf_sin.o \
kf_cos.o \
kf_tan.o \
ef_rem_pio2.o \
erf_lgamma.o \
sf_sin.o \
sf_cos.o \
sf_tan.o \
sf_frexp.o \
sf_modf.o \
sf_ldexp.o \
sf_erf.o \
wf_lgamma.o \
wf_tgamma.o \
nearbyintf.o \
)
FIRM_OBJ += $(addprefix $(BUILD)/$(MICROPY_DIR)/lib/mp-readline/,\
readline.o \
)
FIRM_OBJ += $(addprefix $(BUILD)/$(MICROPY_DIR)/usbdev/, \
core/src/usbd_core.o \
core/src/usbd_ctlreq.o \
core/src/usbd_ioreq.o \
class/src/usbd_cdc_msc_hid.o \
class/src/usbd_msc_bot.o \
class/src/usbd_msc_scsi.o \
class/src/usbd_msc_data.o \
)
FIRM_OBJ += $(addprefix $(BUILD)/$(MICROPY_DIR)/extmod/,\
modujson.o \
modure.o \
moduzlib.o \
moduhashlib.o \
modubinascii.o \
modurandom.o \
moduselect.o \
modutimeq.o \
moduheapq.o \
moductypes.o \
vfs.o \
vfs_fat.o \
vfs_fat_file.o \
vfs_reader.o \
vfs_fat_diskio.o \
virtpin.o \
machine_mem.o \
machine_i2c.o \
machine_spi.o \
machine_pulse.o \
machine_signal.o \
machine_pinbase.o \
utime_mphal.o \
modonewire.o \
uos_dupterm.o \
)
FIRM_OBJ += $(addprefix $(BUILD)/$(MICROPY_DIR)/lib/oofatfs/,\
ff.o \
option/unicode.o \
)
FIRM_OBJ += $(addprefix $(BUILD)/$(MICROPY_DIR)/drivers/,\
bus/softspi.o \
dht/dht.o \
memory/spiflash.o \
)
# Bootloader object files
BOOT_OBJ += $(wildcard $(BUILD)/$(BOOTLDR_DIR)/src/*.o)
BOOT_OBJ += $(wildcard $(BUILD)/$(STHAL_DIR)/src/*.o)
BOOT_OBJ += $(addprefix $(BUILD)/$(CMSIS_DIR)/src/st/,\
$(STARTUP).o \
system_stm32fxxx.o \
)
# UVC object files
UVC_OBJ += $(wildcard $(BUILD)/$(UVC_DIR)/src/*.o)
UVC_OBJ += $(wildcard $(BUILD)/$(STHAL_DIR)/src/*.o)
UVC_OBJ += $(addprefix $(BUILD)/$(CMSIS_DIR)/src/st/,\
$(STARTUP).o \
system_stm32fxxx.o \
)
UVC_OBJ += $(addprefix $(BUILD)/$(OMV_DIR)/, \
fb_alloc.o \
framebuffer.o \
array.o \
cambus.o \
ov9650.o \
ov2640.o \
ov7725.o \
mt9v034.o \
lepton.o \
sensor.o \
stm32fxxx_hal_msp.o \
soft_i2c.o \
mutex.o \
trace.o \
)
UVC_OBJ += $(addprefix $(BUILD)/$(OMV_DIR)/img/,\
lab_tab.o \
xyz_tab.o \
yuv_tab.o \
rainbow_tab.o \
rgb2rgb_tab.o \
invariant_tab.o \
jpeg.o \
fmath.o \
imlib.o \
)
UVC_OBJ += $(wildcard $(BUILD)/$(LEPTON_DIR)/src/*.o)
UVC_OBJ += $(wildcard $(BUILD)/$(MLX_DIR)/src/*.o)
###################################################
#Export Variables
export Q
export CC
export AS
export LD
export AR
export SIZE
export OBJCOPY
export OBJDUMP
export MKDIR
export ECHO
export CFLAGS
export LDFLAGS
export TOP_DIR
export BUILD
export TARGET
export STARTUP
###################################################
all: $(OPENMV)
$(BUILD):
$(MKDIR) -p $@
BOOTLOADER_OBJS: FIRMWARE_OBJS
$(MAKE) -C $(BOOTLDR_DIR) BUILD=$(BUILD)/$(BOOTLDR_DIR) CFLAGS="$(BOOTLDR_CFLAGS) -MMD"
UVC_OBJS: FIRMWARE_OBJS
$(MAKE) -C $(UVC_DIR) BUILD=$(BUILD)/$(UVC_DIR) CFLAGS="$(UVC_CFLAGS) -MMD"
FIRMWARE_OBJS:
$(MAKE) -C $(CMSIS_DIR) BUILD=$(BUILD)/$(CMSIS_DIR) CFLAGS="$(CFLAGS) -fno-strict-aliasing -MMD"
$(MAKE) -C $(STHAL_DIR) BUILD=$(BUILD)/$(STHAL_DIR) CFLAGS="$(CFLAGS) -MMD"
$(MAKE) -C $(MICROPY_DIR)/ports/stm32 BUILD=$(BUILD)/$(MICROPY_DIR) BOARD=$(TARGET) QSTR_DEFS=$(OMV_QSTR_DEFS)
$(MAKE) -C $(LEPTON_DIR) BUILD=$(BUILD)/$(LEPTON_DIR) CFLAGS="$(CFLAGS) -MMD"
$(MAKE) -C $(MLX_DIR) BUILD=$(BUILD)/$(MLX_DIR) CFLAGS="$(CFLAGS) -MMD"
$(MAKE) -C $(WINC1500_DIR) BUILD=$(BUILD)/$(WINC1500_DIR) CFLAGS="$(CFLAGS) -MMD"
$(MAKE) -C $(OMV_DIR) BUILD=$(BUILD)/$(OMV_DIR) CFLAGS="$(CFLAGS) -MMD"
# This target generates the main/app firmware image located at 0x08010000
$(FIRMWARE): FIRMWARE_OBJS
$(CPP) -P -E -I$(OMV_BOARD_CONFIG_DIR) $(OMV_DIR)/stm32fxxx.ld.S > $(BUILD)/stm32fxxx.lds
$(CC) $(LDFLAGS) $(FIRM_OBJ) -o $(FW_DIR)/$(FIRMWARE).elf -lgcc
$(OBJCOPY) -Obinary $(FW_DIR)/$(FIRMWARE).elf $(FW_DIR)/$(FIRMWARE).bin
$(PYTHON) $(MKDFU) -b $(MAIN_APP_ADDR):$(FW_DIR)/$(FIRMWARE).bin $(FW_DIR)/$(FIRMWARE).dfu
# This target generates the bootloader. The bootloader binary is generated twice,
# once without padding, to generate the bootloader.dfu file, and once with padding
# up to the main fw image (MAIN_APP_ADDR), to generate a contiguous firmware.bin image.
$(BOOTLOADER): FIRMWARE_OBJS BOOTLOADER_OBJS
$(CPP) -P -E -I$(OMV_BOARD_CONFIG_DIR) $(BOOTLDR_DIR)/stm32fxxx.ld.S > $(BUILD)/$(BOOTLDR_DIR)/stm32fxxx.lds
$(CC) $(BOOTLDR_LDFLAGS) $(BOOT_OBJ) -o $(FW_DIR)/$(BOOTLOADER).elf
$(OBJCOPY) -Obinary $(FW_DIR)/$(BOOTLOADER).elf $(FW_DIR)/$(BOOTLOADER).bin
$(PYTHON) $(MKDFU) -b 0x08000000:$(FW_DIR)/$(BOOTLOADER).bin $(FW_DIR)/$(BOOTLOADER).dfu
$(OBJCOPY) -Obinary --pad-to=$(MAIN_APP_ADDR) --gap-fill=0xFF $(FW_DIR)/$(BOOTLOADER).elf $(FW_DIR)/$(BOOTLOADER).bin
# This target generates the UVC firmware.
$(UVC): FIRMWARE_OBJS UVC_OBJS
$(CPP) -P -E -I$(OMV_BOARD_CONFIG_DIR) $(UVC_DIR)/stm32fxxx.ld.S > $(BUILD)/$(UVC_DIR)/stm32fxxx.lds
$(CC) $(UVC_LDFLAGS) $(UVC_OBJ) -o $(FW_DIR)/$(UVC).elf
$(OBJCOPY) -Obinary $(FW_DIR)/$(UVC).elf $(FW_DIR)/$(UVC).bin
$(PYTHON) $(MKDFU) -b $(MAIN_APP_ADDR):$(FW_DIR)/$(UVC).bin $(FW_DIR)/$(UVC).dfu
# This target generates a combined bootloader+main firmware image.
$(OPENMV): $(BOOTLOADER) $(UVC) $(FIRMWARE) | $(BUILD)
$(CAT) $(FW_DIR)/$(BOOTLOADER).bin $(FW_DIR)/$(FIRMWARE).bin > $(FW_DIR)/$(OPENMV).bin
$(PYTHON) $(MKDFU) -b 0x08000000:$(FW_DIR)/$(BOOTLOADER).bin -b $(MAIN_APP_ADDR):$(FW_DIR)/$(FIRMWARE).bin $(FW_DIR)/$(OPENMV).dfu
$(SIZE) $(FW_DIR)/$(BOOTLOADER).elf
$(SIZE) $(FW_DIR)/$(FIRMWARE).elf
size:
$(SIZE) --format=SysV $(FW_DIR)/$(BOOTLOADER).elf
$(SIZE) --format=SysV $(FW_DIR)/$(FIRMWARE).elf
clean:
$(RM) -fr $(BUILD)
# Flash the bootloader
flash_boot::
$(PYDFU) -u $(FW_DIR)/$(BOOTLOADER).dfu
# Flash the main firmware image
flash_image::
$(PYDFU) -u $(FW_DIR)/$(FIRMWARE).dfu
# Flash the bootloader + main firmware image (DFU)
flash_dfu::
$(PYDFU) -m -u $(FW_DIR)/$(OPENMV).dfu
# Flash the bootloader + main firmware image (binary)
flash_bin::
$(PYDFU) -m -u $(FW_DIR)/$(OPENMV).bin
# Flash the bootloader using dfu_util
flash_boot_dfu_util::
dfu-util -a 0 -d 0483:df11 -D $(FW_DIR)/$(BOOTLOADER).dfu
# Flash the main firmware image using dfu_util
flash_image_dfu_util::
dfu-util -a 0 -d 0483:df11 -D $(FW_DIR)/$(FIRMWARE).dfu
# Flash the bootloader + main firmware image (DFU) using dfu_util
flash_dfu_util::
dfu-util -a 0 -d 0483:df11 -D $(FW_DIR)/$(OPENMV).dfu