Eagle: posix-arm and qurt changes to support Eagle HW platform

The Eagle HW platform contains both a Krait (ARMv4hf compatible) cpu
cluster and a Hexagon DSP running QuRT.

These changes support the PX4 build for Eagle.

Signed-off-by: Mark Charlebois <charlebm@gmail.com>

Tools/qurt_apps.py

@@ -48,6 +48,8 @@ print """
 
 #include <px4_tasks.h>
 #include <px4_posix.h>
+#include <px4_log.h>
+#include <stdlib.h>
 
 using namespace std;
 
@@ -64,6 +66,7 @@ static int list_tasks_main(int argc, char *argv[]);
 static int list_files_main(int argc, char *argv[]);
 static int list_devices_main(int argc, char *argv[]);
 static int list_topics_main(int argc, char *argv[]);
+static int sleep_main(int argc, char *argv[]);
 }
 
 
@@ -78,6 +81,7 @@ print '\tapps["list_tasks"] = list_tasks_main;'
 print '\tapps["list_files"] = list_files_main;'
 print '\tapps["list_devices"] = list_devices_main;'
 print '\tapps["list_topics"] = list_topics_main;'
+print '\tapps["sleep"] = sleep_main;'
 
 print """
 }
@@ -117,5 +121,17 @@ static int list_files_main(int argc, char *argv[])
 	px4_show_files();
 	return 0;
 }
+static int sleep_main(int argc, char *argv[])
+{
+        if (argc != 2) {
+           PX4_WARN( "Usage: sleep <seconds>" );
+           return 1;
+        }
+
+        unsigned long usecs = ( (unsigned long) atol( argv[1] ) ) * 1000 * 1000;
+        PX4_WARN("Sleeping for %s, %ld",argv[1],usecs);
+        usleep( usecs );
+        return 0;
+}
 """
 

makefiles/posix-arm/config_eagle_default.mk

@@ -18,7 +18,8 @@ MODULES		+= modules/sensors
 #
 MODULES	+= systemcmds/param
 MODULES += systemcmds/mixer
-MODULES += systemcmds/topic_listener
+MODULES += systemcmds/ver
+#MODULES += systemcmds/topic_listener
 
 #
 # General system control
@@ -34,7 +35,7 @@ MODULES		+= modules/ekf_att_pos_estimator
 #
 # Vehicle Control
 #
-MODULES 	+= modules/navigator
+#MODULES 	+= modules/navigator
 MODULES 	+= modules/mc_pos_control
 MODULES		+= modules/mc_att_control
 
@@ -48,7 +49,7 @@ MODULES		+= modules/dataman
 MODULES		+= modules/sdlog2
 MODULES		+= modules/simulator
 MODULES		+= modules/commander
-MODULES 	+= modules/controllib
+#MODULES 	+= modules/controllib
 
 #
 # Libraries
@@ -58,18 +59,10 @@ MODULES		+= lib/mathlib/math/filter
 MODULES		+= lib/geo
 MODULES		+= lib/geo_lookup
 MODULES		+= lib/conversion
-
 #
 # Linux port
 #
 MODULES		+= platforms/posix/px4_layer
-MODULES		+= platforms/posix/drivers/accelsim
-MODULES		+= platforms/posix/drivers/gyrosim
-MODULES		+= platforms/posix/drivers/adcsim
-MODULES		+= platforms/posix/drivers/barosim
-MODULES		+= platforms/posix/drivers/tonealrmsim
-MODULES		+= platforms/posix/drivers/airspeedsim
-MODULES 	+= platforms/posix/drivers/gpssim
 
 #
 # Unit tests

makefiles/posix-arm/config_eagle_hil.mk

@@ -0,0 +1,86 @@
+#
+# Makefile for the POSIXTEST *default* configuration
+#
+
+#
+# Board support modules
+#
+MODULES		+= drivers/device
+#MODULES		+= drivers/blinkm
+#MODULES		+= drivers/hil
+#MODULES		+= drivers/rgbled
+MODULES		+= drivers/led
+#MODULES		+= modules/sensors
+#MODULES		+= drivers/ms5611
+
+#
+# System commands
+#
+MODULES	+= systemcmds/param
+#MODULES += systemcmds/mixer
+#MODULES += systemcmds/topic_listener
+MODULES	+= systemcmds/ver
+
+#
+# General system control
+#
+MODULES		+= modules/mavlink
+
+#
+# Estimation modules (EKF/ SO3 / other filters)
+#
+#MODULES		+= modules/attitude_estimator_ekf
+#MODULES		+= modules/ekf_att_pos_estimator
+
+#
+# Vehicle Control
+#
+#MODULES 	+= modules/navigator
+#MODULES 	+= modules/mc_pos_control
+#MODULES		+= modules/mc_att_control
+
+#
+# Library modules
+#
+MODULES		+= modules/systemlib
+#MODULES		+= modules/systemlib/mixer
+MODULES		+= modules/uORB
+MODULES		+= modules/dataman
+MODULES		+= modules/sdlog2
+MODULES		+= modules/simulator
+MODULES		+= modules/commander
+#MODULES 	+= modules/controllib
+
+#
+# Libraries
+#
+MODULES		+= lib/mathlib
+MODULES		+= lib/mathlib/math/filter
+MODULES		+= lib/geo
+MODULES		+= lib/geo_lookup
+MODULES		+= lib/conversion
+
+#
+# Linux port
+#
+MODULES		+= platforms/posix/px4_layer
+#MODULES		+= platforms/posix/drivers/accelsim
+#MODULES		+= platforms/posix/drivers/gyrosim
+#MODULES		+= platforms/posix/drivers/adcsim
+#MODULES		+= platforms/posix/drivers/barosim
+#MODULES		+= platforms/posix/drivers/tonealrmsim
+#MODULES		+= platforms/posix/drivers/airspeedsim
+#MODULES 	+= platforms/posix/drivers/gpssim
+
+#
+# Unit tests
+#
+#MODULES		+= platforms/posix/tests/hello
+#MODULES		+= platforms/posix/tests/vcdev_test
+#MODULES		+= platforms/posix/tests/hrt_test
+#MODULES		+= platforms/posix/tests/wqueue
+
+#
+# muorb fastrpc changes.
+#
+MODULES		+= modules/muorb/krait

makefiles/posix-arm/config_eagle_muorb_test.mk

@@ -0,0 +1,89 @@
+#
+# Makefile for the POSIXTEST *default* configuration
+#
+
+#
+# Board support modules
+#
+MODULES		+= drivers/device
+#MODULES		+= drivers/blinkm
+#MODULES		+= drivers/hil
+#MODULES		+= drivers/rgbled
+#MODULES		+= drivers/led
+#MODULES		+= modules/sensors
+#MODULES		+= drivers/ms5611
+
+#
+# System commands
+#
+#MODULES	+= systemcmds/param
+#MODULES += systemcmds/mixer
+#MODULES += systemcmds/topic_listener
+
+#
+# General system control
+#
+#MODULES		+= modules/mavlink
+
+#
+# Estimation modules (EKF/ SO3 / other filters)
+#
+#MODULES		+= modules/attitude_estimator_ekf
+#MODULES		+= modules/ekf_att_pos_estimator
+
+#
+# Vehicle Control
+#
+#MODULES 	+= modules/navigator
+#MODULES 	+= modules/mc_pos_control
+#MODULES		+= modules/mc_att_control
+
+#
+# Library modules
+#
+#MODULES		+= modules/systemlib
+#MODULES		+= modules/systemlib/mixer
+MODULES		+= modules/uORB
+#MODULES		+= modules/dataman
+#MODULES		+= modules/sdlog2
+#MODULES		+= modules/simulator
+#MODULES		+= modules/commander
+#MODULES 	+= modules/controllib
+
+#
+# Libraries
+#
+#MODULES		+= lib/mathlib
+#MODULES		+= lib/mathlib/math/filter
+#MODULES		+= lib/geo
+#MODULES		+= lib/geo_lookup
+#MODULES		+= lib/conversion
+
+#
+# Linux port
+#
+MODULES		+= platforms/posix/px4_layer
+#MODULES		+= platforms/posix/drivers/accelsim
+#MODULES		+= platforms/posix/drivers/gyrosim
+#MODULES		+= platforms/posix/drivers/adcsim
+#MODULES		+= platforms/posix/drivers/barosim
+#MODULES		+= platforms/posix/drivers/tonealrmsim
+#MODULES		+= platforms/posix/drivers/airspeedsim
+#MODULES 	+= platforms/posix/drivers/gpssim
+
+#
+# muorb fastrpc changes.
+#
+MODULES		+= modules/muorb/krait
+
+
+#
+#
+# Unit tests
+#
+#MODULES		+= platforms/posix/tests/hello
+#MODULES		+= platforms/posix/tests/vcdev_test
+#MODULES		+= platforms/posix/tests/hrt_test
+#MODULES		+= platforms/posix/tests/wqueue
+MODULES		+= platforms/posix/tests/muorb
+

makefiles/posix-arm/ld.script

@@ -0,0 +1,46 @@
+/****************************************************************************
+ * ld.script
+ *
+ * Copyright (C) 2015 Mark Charlebois. All rights reserved.
+ * Author: Mark Charlebois <charlebm@gmail.com>
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+SECTIONS
+{
+	/*
+	 * Construction data for parameters.
+	 */
+	__param : ALIGN(8) {
+		__param_start = .;
+		KEEP(*(__param*))
+		__param_end = .;
+	}
+}

makefiles/posix-arm/toolchain_gnu-arm-linux-gnueabihf.mk

@@ -57,6 +57,7 @@ ifeq (,$(findstring $(CROSSDEV_VER_FOUND), $(CROSSDEV_VER_SUPPORTED)))
 $(error Unsupported version of $(CC), found: $(CROSSDEV_VER_FOUND) instead of one in: $(CROSSDEV_VER_SUPPORTED))
 endif
 
+EXT_MUORB_LIB_ROOT = /opt/muorb_libs
 
 # XXX this is pulled pretty directly from the fmu Make.defs - needs cleanup
 
@@ -156,12 +157,11 @@ ARCHWARNINGS		 = -Wall \
 			   -Werror=reorder \
 			   -Werror=uninitialized \
 			   -Werror=init-self \
-               		   -Wno-error=logical-op \
-			   -Wdouble-promotion \
+			   -Wno-error=logical-op \
 			   -Wlogical-op \
 			   -Wformat=1 \
 			   -Werror=unused-but-set-variable \
-			   -Werror=double-promotion \
+			   -Wno-error=double-promotion \
 			   -fno-strength-reduce \
                            -Wno-error=unused-value
 
@@ -188,9 +188,11 @@ ARCHWARNINGSXX		 = $(ARCHWARNINGS) \
 # pull in *just* libm from the toolchain ... this is grody
 LIBM			:= $(shell $(CC) $(ARCHCPUFLAGS) -print-file-name=libm.a)
 #EXTRA_LIBS		+= $(LIBM)
-#EXTRA_LIBS		+= ${PX4_BASE}../muorb_krait/lib/libmuorb.so
+EXTRA_LIBS		+= -lpx4muorb -ladsprpc
 EXTRA_LIBS		+= -pthread -lm -lrt
 
+LIB_DIRS                += $(EXT_MUORB_LIB_ROOT)/krait/libs
+
 # Flags we pass to the C compiler
 #
 CFLAGS			 = $(ARCHCFLAGS) \
@@ -226,7 +228,7 @@ AFLAGS			 = $(CFLAGS) -D__ASSEMBLY__ \
 			   $(EXTRADEFINES) \
 			   $(EXTRAAFLAGS)
 
-LDSCRIPT		 = $(PX4_BASE)/posix-configs/posixtest/scripts/ld.script
+LDSCRIPT		 = $(PX4_BASE)/makefiles/posix-arm/ld.script
 # Flags we pass to the linker
 #
 LDFLAGS			+= $(EXTRALDFLAGS) \
@@ -323,6 +325,7 @@ endef
 define LINK
 	@$(ECHO) "LINK:    $1"
 	@$(MKDIR) -p $(dir $1)
+	echo "$(Q) $(CXX) $(CXXFLAGS) $(LDFLAGS) -o $1 $2 $(LIBS) $(EXTRA_LIBS) $(LIBGCC)"
 	$(Q) $(CXX) $(CXXFLAGS) $(LDFLAGS) -o $1 $2 $(LIBS) $(EXTRA_LIBS) $(LIBGCC)
 
 endef

makefiles/qurt/config_qurt_hil.mk

@@ -0,0 +1,81 @@
+#
+# Makefile for the Foo *default* configuration
+#
+
+#
+# Board support modules
+#
+MODULES		+= drivers/device
+#MODULES		+= drivers/blinkm
+MODULES		+= drivers/hil
+MODULES		+= drivers/led
+MODULES		+= drivers/rgbled
+MODULES		+= modules/sensors
+#MODULES		+= drivers/ms5611
+
+#
+# System commands
+#
+MODULES	+= systemcmds/param
+MODULES += systemcmds/mixer
+
+#
+# General system control
+#
+#MODULES		+= modules/mavlink
+
+#
+# Estimation modules (EKF/ SO3 / other filters)
+#
+#MODULES		+= modules/attitude_estimator_ekf
+MODULES		+= modules/ekf_att_pos_estimator
+MODULES		+= modules/attitude_estimator_q
+MODULES		+= modules/position_estimator_inav
+
+#
+# Vehicle Control
+#
+MODULES		+= modules/mc_att_control
+MODULES		+= modules/mc_pos_control
+
+#
+# Library modules
+#
+MODULES		+= modules/systemlib
+MODULES		+= modules/systemlib/mixer
+MODULES		+= modules/uORB
+#MODULES		+= modules/dataman
+#MODULES		+= modules/sdlog2
+MODULES		+= modules/simulator
+MODULES		+= modules/commander
+
+#
+# Libraries
+#
+MODULES		+= lib/mathlib
+MODULES		+= lib/mathlib/math/filter
+MODULES		+= lib/geo
+MODULES		+= lib/geo_lookup
+MODULES		+= lib/conversion
+
+#
+# QuRT port
+#
+MODULES		+= platforms/qurt/px4_layer
+#MODULES		+= platforms/posix/drivers/accelsim
+#MODULES		+= platforms/posix/drivers/gyrosim
+#MODULES		+= platforms/posix/drivers/adcsim
+#MODULES		+= platforms/posix/drivers/barosim
+
+#
+# Unit tests
+#
+#MODULES		+= platforms/qurt/tests/muorb
+#MODULES		+= platforms/posix/tests/vcdev_test
+#MODULES		+= platforms/posix/tests/hrt_test
+#MODULES		+= platforms/posix/tests/wqueue
+
+#
+# sources for muorb over fastrpc
+#
+MODULES         += modules/muorb/adsp/

makefiles/qurt/config_qurt_muorb_test.mk

@@ -0,0 +1,79 @@
+#
+# Makefile for the Foo *default* configuration
+#
+
+#
+# Board support modules
+#
+MODULES		+= drivers/device
+#MODULES		+= drivers/blinkm
+MODULES		+= drivers/hil
+MODULES		+= drivers/led
+MODULES		+= drivers/rgbled
+MODULES		+= modules/sensors
+#MODULES		+= drivers/ms5611
+
+#
+# System commands
+#
+MODULES	+= systemcmds/param
+MODULES += systemcmds/mixer
+
+#
+# General system control
+#
+#MODULES		+= modules/mavlink
+
+#
+# Estimation modules (EKF/ SO3 / other filters)
+#
+#MODULES		+= modules/attitude_estimator_ekf
+MODULES		+= modules/ekf_att_pos_estimator
+
+#
+# Vehicle Control
+#
+MODULES		+= modules/mc_att_control
+MODULES		+= modules/mc_pos_control
+
+#
+# Library modules
+#
+MODULES		+= modules/systemlib
+MODULES		+= modules/systemlib/mixer
+MODULES		+= modules/uORB
+#MODULES		+= modules/dataman
+#MODULES		+= modules/sdlog2
+MODULES		+= modules/simulator
+MODULES		+= modules/commander
+
+#
+# Libraries
+#
+MODULES		+= lib/mathlib
+MODULES		+= lib/mathlib/math/filter
+MODULES		+= lib/geo
+MODULES		+= lib/geo_lookup
+MODULES		+= lib/conversion
+
+#
+# QuRT port
+#
+MODULES		+= platforms/qurt/px4_layer
+MODULES		+= platforms/posix/drivers/accelsim
+MODULES		+= platforms/posix/drivers/gyrosim
+MODULES		+= platforms/posix/drivers/adcsim
+MODULES		+= platforms/posix/drivers/barosim
+
+#
+# Unit tests
+#
+MODULES		+= platforms/qurt/tests/muorb
+#MODULES		+= platforms/posix/tests/vcdev_test
+#MODULES		+= platforms/posix/tests/hrt_test
+#MODULES		+= platforms/posix/tests/wqueue
+
+#
+# sources for muorb over fastrpc
+#
+MODULES         += modules/muorb/adsp/

makefiles/qurt/qurt_elf.mk

@@ -41,12 +41,12 @@
 # What we're going to build.
 #
 
-EXTRALDFLAGS = -Wl,-soname=libdspal_client.so
+EXTRALDFLAGS = -Wl,-soname=libpx4.so
 PRODUCT_SHARED_LIB	= $(WORK_DIR)firmware.a
 PRODUCT_SHARED_PRELINK	= $(WORK_DIR)firmware.o
 
 .PHONY:			firmware
-firmware:		$(PRODUCT_SHARED_LIB) $(WORK_DIR)libdspal_client.so $(WORK_DIR)mainapp
+firmware:		$(PRODUCT_SHARED_LIB) $(WORK_DIR)libpx4.so $(WORK_DIR)mainapp
 
 #
 # Built product rules
@@ -65,7 +65,7 @@ $(WORK_DIR)apps.o: $(WORK_DIR)apps.cpp
 	$(call COMPILEXX,$<, $@)
 	mv $(WORK_DIR)apps.cpp $(WORK_DIR)apps.cpp_sav
 
-$(WORK_DIR)libdspal_client.so: $(WORK_DIR)apps.o $(PRODUCT_SHARED_LIB)
+$(WORK_DIR)libpx4.so: $(WORK_DIR)apps.o $(PRODUCT_SHARED_LIB)
 	$(call LINK_SO,$@, $^)
 
 $(WORK_DIR)dspal_stub.o: $(PX4_BASE)/src/platforms/qurt/dspal/dspal_stub.c

makefiles/qurt/toolchain_hexagon.mk

@@ -37,7 +37,8 @@
 
 # Toolchain commands. Normally only used inside this file.
 #
-HEXAGON_TOOLS_ROOT	 = /opt/6.4.05
+HEXAGON_TOOLS_ROOT	 = /opt/6.4.03
+#HEXAGON_TOOLS_ROOT	 = /opt/6.4.05
 HEXAGON_SDK_ROOT	 = /opt/Hexagon_SDK/2.0
 V_ARCH			 = v5
 CROSSDEV		 = hexagon-
@@ -84,7 +85,8 @@ DYNAMIC_LIBS            = \
 
 # Check if the right version of the toolchain is available
 #
-CROSSDEV_VER_SUPPORTED	 = 6.4.05
+CROSSDEV_VER_SUPPORTED	 = 6.4.03
+#CROSSDEV_VER_SUPPORTED	 = 6.4.05
 CROSSDEV_VER_FOUND	 = $(shell $(CC) --version | sed -n 's/^.*version \([\. 0-9]*\),.*$$/\1/p')
 
 ifeq (,$(findstring $(CROSSDEV_VER_FOUND), $(CROSSDEV_VER_SUPPORTED)))
@@ -94,7 +96,7 @@ endif
 
 # XXX this is pulled pretty directly from the fmu Make.defs - needs cleanup
 
-MAXOPTIMIZATION		 ?= -O0
+MAXOPTIMIZATION		 := -O0
 
 # Base CPU flags for each of the supported architectures.
 #
@@ -108,31 +110,38 @@ $(error Board config does not define CONFIG_BOARD)
 endif
 ARCHDEFINES		+= -DCONFIG_ARCH_BOARD_$(CONFIG_BOARD) \
 			    -D__PX4_QURT -D__PX4_POSIX \
-			    -D__EXPORT= \
-			    -D__QDSP6_DINKUM_PTHREAD_TYPES__ \
+			    -D_PID_T -D_UID_T -D_TIMER_T\
 			    -Dnoreturn_function= \
+			    -D__EXPORT= \
 			    -Drestrict= \
+                            -D_DEBUG \
+			    -I$(PX4_BASE)/../dspal/include \
+			    -I$(PX4_BASE)/../dspal/sys \
 			    -I$(HEXAGON_TOOLS_ROOT)/gnu/hexagon/include \
 			    -I$(PX4_BASE)/src/lib/eigen \
 			    -I$(PX4_BASE)/src/platforms/qurt/include \
-			    -I$(PX4_BASE)/../dspal/include \
-			    -I$(PX4_BASE)/../dspal/sys \
 			    -I$(PX4_BASE)/mavlink/include/mavlink \
 			    -I$(QURTLIB)/..//include \
 			    -I$(HEXAGON_SDK_ROOT)/inc \
 			    -I$(HEXAGON_SDK_ROOT)/inc/stddef \
 			    -Wno-error=shadow
 
+
+
 # optimisation flags
 #
-ARCHOPTIMIZATION	 = $(MAXOPTIMIZATION) \
-			   -g3 \
+ARCHOPTIMIZATION	 = \
+                           -O0 \
+			   -g \
 			   -fno-strict-aliasing \
-			   -fomit-frame-pointer \
-			   -funsafe-math-optimizations \
-			   -ffunction-sections \
 			   -fdata-sections \
-                           -fpic
+                           -fpic  \
+                           -fno-zero-initialized-in-bss
+
+#-fomit-frame-pointer \
+#-funsafe-math-optimizations \
+#-ffunction-sections
+#$(MAXOPTIMIZATION)
 
 # enable precise stack overflow tracking
 # note - requires corresponding support in NuttX
@@ -140,7 +149,7 @@ INSTRUMENTATIONDEFINES	 = $(ARCHINSTRUMENTATIONDEFINES_$(CONFIG_ARCH))
 
 # Language-specific flags
 #
-ARCHCFLAGS		 = -std=gnu99
+ARCHCFLAGS		 = -std=gnu99 -D__CUSTOM_FILE_IO__
 ARCHCXXFLAGS		 = -fno-exceptions -fno-rtti -std=gnu++0x -fno-threadsafe-statics -D__CUSTOM_FILE_IO__
 
 # Generic warnings
@@ -186,9 +195,9 @@ CFLAGS			 = $(ARCHCFLAGS) \
 			   $(ARCHDEFINES) \
 			   $(EXTRADEFINES) \
 			   $(EXTRACFLAGS) \
-			   -fno-common \
 			   $(addprefix -I,$(INCLUDE_DIRS))
 
+			   #-fno-common
 # Flags we pass to the C++ compiler
 #
 CXXFLAGS		 = $(ARCHCXXFLAGS) \
@@ -212,8 +221,7 @@ AFLAGS			 = $(CFLAGS) -D__ASSEMBLY__ \
 LDSCRIPT		 = $(PX4_BASE)/makefiles/posix/ld.script
 # Flags we pass to the linker
 #
-LDFLAGS			+=  -g -mv5 -nostdlib -mG0lib -G0 -fpic -shared \
-			   -nostartfiles \
+LDFLAGS			+=  -g -mv5 -mG0lib -G0 -fpic -shared \
 			   -Wl,-Bsymbolic \
 			   -Wl,--wrap=malloc \
 			   -Wl,--wrap=calloc \
@@ -254,7 +262,9 @@ define COMPILE
 	@$(ECHO) "CC:      $1"
 	@$(MKDIR) -p $(dir $2)
 	@echo $(Q) $(CCACHE) $(CC) -MD -c $(CFLAGS) $(abspath $1) -o $2
-	$(Q) $(CCACHE) $(CC) -MD -c $(CFLAGS) -D__V_DYNAMIC__ -fPIC $(abspath $1) -o $2
+	#$(Q) $(CCACHE) $(CC) -MD -c $(CFLAGS) -D__V_DYNAMIC__ -fPIC $(abspath $1) -o $2
+	#$(CCACHE) $(CC) -MD -c $(CFLAGS) -D__V_DYNAMIC__  -D__FILENAME__=\"$(notdir $1)\" -fPIC $(abspath $1) -o $2
+	$(CCACHE) $(CC) -c $(CFLAGS) -D__V_DYNAMIC__  -D__FILENAME__=\"$(notdir $1)\" $(abspath $1) -o $2
 endef
 
 # Compile C++ source $1 to $2 for use in shared library
@@ -264,7 +274,9 @@ define COMPILEXX
 	@$(ECHO) "CXX:     $1"
 	@$(MKDIR) -p $(dir $2)
 	@echo $(Q) $(CCACHE) $(CXX) -MD -c $(CXXFLAGS) $(abspath $1) -o $2
-	$(Q) $(CCACHE) $(CXX) -MD -c $(CXXFLAGS) -D__V_DYNAMIC__ -fPIC $(abspath $1) -o $2
+	#$(Q) $(CCACHE) $(CXX) -MD -c $(CXXFLAGS) -D__V_DYNAMIC__ -fPIC $(abspath $1) -o $2
+	#$(CCACHE) $(CXX) -MD -c $(CXXFLAGS) -D__V_DYNAMIC__ -D__FILENAME__=\"$(notdir $1)\" -fPIC $(abspath $1) -o $2
+	$(CCACHE) $(CXX) -c $(CXXFLAGS) -D__V_DYNAMIC__ -D__FILENAME__=\"$(notdir $1)\" $(abspath $1) -o $2
 endef
 
 # Assemble $1 into $2
@@ -319,7 +331,7 @@ endef
 define LINK_SO
 	@$(ECHO) "LINK_SO:    $1"
 	@$(MKDIR) -p $(dir $1)
-	$(HEXAGON_GCC) $(LDFLAGS) -fPIC -shared -nostartfiles -o $1 -Wl,--whole-archive $2 -Wl,--no-whole-archive $(LIBS) $(DYNAMIC_LIBS)
+	$(HEXAGON_GCC) $(LDFLAGS) -o $1 -Wl,--whole-archive $2 -Wl,--no-whole-archive $(LIBS) $(DYNAMIC_LIBS)
 endef
 
 # Link the objects in $2 into the application $1