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352 lines
9.0 KiB
352 lines
9.0 KiB
# |
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# Copyright (C) 2012-2014 PX4 Development Team. All rights reuint32_tserved. |
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# |
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# 2005 Modified for clang and GCC on Linux: |
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# Author: Mark Charlebois <charlebm@gmail.com> |
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# |
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# Redistribution and use in source and binary forms, with or without |
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# modification, are permitted provided that the following conditions |
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# are met: |
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# |
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# 1. Redistributions of source code must retain the above copyright |
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# notice, this list of conditions and the following disclaimer. |
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# 2. Redistributions in binary form must reproduce the above copyright |
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# notice, this list of conditions and the following disclaimer in |
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# the documentation and/or other materials provided with the |
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# distribution. |
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# 3. Neither the name PX4 nor the names of its contributors may be |
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# used to endorse or promote products derived from this software |
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# without specific prior written permission. |
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# |
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# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS |
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# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT |
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# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS |
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# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE |
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# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, |
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# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, |
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# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS |
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# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED |
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# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT |
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# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN |
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# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE |
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# POSSIBILITY OF SUCH DAMAGE. |
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# |
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# |
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# Definitions for a native GCC toolchain |
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# |
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#$(info TOOLCHAIN native) |
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# Toolchain commands. Normally only used inside this file. |
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# |
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# Set to 1 for GCC-4.8.2 and to 0 for Clang-3.5 (Ubuntu 14.04) |
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USE_GCC?=1 |
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ifneq ($(USE_GCC),1) |
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HAVE_CLANG35=$(shell clang-3.5 -dumpversion) |
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# Clang will report 4.2.1 as GCC version |
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HAVE_CLANG=$(shell clang -dumpversion) |
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#If using ubuntu 14.04 and packaged clang 4.2.1 |
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ifeq ($(HAVE_CLANG35),4.2.1) |
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USE_GCC=0 |
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CLANGVER=-3.5 |
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else |
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#If using ubuntu 12.04 and downloaded clang 3.4.1 |
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ifeq ($(HAVE_CLANG),4.2.1) |
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USE_GCC=0 |
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CLANGVER= |
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endif |
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endif |
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# If no version of clang was found |
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ifeq ($(HAVE_CLANG35),) |
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ifeq ($(HAVE_CLANG35),) |
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$(error Clang not found. Try make USE_GCC=1) |
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endif |
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endif |
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endif # USE_GCC is not 1 |
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ifeq ($(USE_GCC),1) |
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# GCC Options: |
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CC = gcc |
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CXX = g++ |
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CPP = gcc -E |
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# GCC Version |
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DEV_VER_SUPPORTED = 4.8.1 4.8.2 4.9.1 |
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else |
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# Clang options |
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CC = clang$(CLANGVER) |
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CXX = clang++$(CLANGVER) |
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CPP = clang$(CLANGVER) -E |
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# Clang GCC reported version |
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DEV_VER_SUPPORTED = 4.2.1 |
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endif |
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#LD = ld.gold |
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LD = ld |
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AR = ar rcs |
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NM = nm |
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OBJCOPY = objcopy |
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OBJDUMP = objdump |
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# Check if the right version of the toolchain is available |
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# |
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DEV_VER_FOUND = $(shell $(CC) -dumpversion) |
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ifeq (,$(findstring $(DEV_VER_FOUND), $(DEV_VER_SUPPORTED))) |
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$(error Unsupported version of $(CC), found: $(DEV_VER_FOUND) instead of one in: $(DEV_VER_SUPPORTED)) |
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endif |
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# XXX this is pulled pretty directly from the fmu Make.defs - needs cleanup |
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MAXOPTIMIZATION ?= -O3 |
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# Enabling stack checks if OS was build with them |
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# |
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# Set the board flags |
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# |
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ifeq ($(CONFIG_BOARD),) |
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$(error Board config does not define CONFIG_BOARD) |
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endif |
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ARCHDEFINES += -DCONFIG_ARCH_BOARD_$(CONFIG_BOARD) \ |
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-D__PX4_LINUX \ |
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-Dnoreturn_function= \ |
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-I$(PX4_BASE)/src/lib/eigen \ |
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-I$(PX4_BASE)/src/platforms/linux/include \ |
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-Wno-error=shadow |
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# optimisation flags |
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# |
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ARCHOPTIMIZATION = $(MAXOPTIMIZATION) \ |
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-g3 \ |
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-fno-strict-aliasing \ |
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-fomit-frame-pointer \ |
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-funsafe-math-optimizations \ |
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-fno-builtin-printf \ |
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-ffunction-sections \ |
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-fdata-sections |
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# Language-specific flags |
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# |
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ARCHCFLAGS = -std=gnu99 -g |
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ARCHCXXFLAGS = -fno-exceptions -fno-rtti -std=c++0x -fno-threadsafe-statics -D__CUSTOM_FILE_IO__ -g |
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# Generic warnings |
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# |
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# Disabled |
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# -Wshadow - Breaks for the libeigen package headers |
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# -Wframe-larger-than=1024 - Only needed for embedded |
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ARCHWARNINGS = -Wall \ |
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-Wextra \ |
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-Werror \ |
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-Wfloat-equal \ |
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-Wpointer-arith \ |
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-Wmissing-declarations \ |
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-Wpacked \ |
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-Wno-unused-parameter \ |
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-Werror=format-security \ |
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-Werror=array-bounds \ |
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-Wfatal-errors \ |
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-Werror=unused-variable \ |
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-Werror=reorder \ |
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-Werror=uninitialized \ |
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-Werror=init-self |
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# Add compiler specific options |
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ifeq ($(USE_GCC),1) |
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ARCHDEFINES += -Wno-error=logical-op |
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ARCHWARNINGS += -Wdouble-promotion \ |
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-Wlogical-op \ |
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-Wformat=1 \ |
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-Werror=unused-but-set-variable \ |
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-Werror=double-promotion |
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ARCHOPTIMIZATION += -fno-strength-reduce |
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endif |
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# -Werror=float-conversion - works, just needs to be phased in with some effort and needs GCC 4.9+ |
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# -Wcast-qual - generates spurious noreturn attribute warnings, try again later |
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# -Wconversion - would be nice, but too many "risky-but-safe" conversions in the code |
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# -Wcast-align - would help catch bad casts in some cases, but generates too many false positives |
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# C-specific warnings |
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# |
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ARCHCWARNINGS = $(ARCHWARNINGS) \ |
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-Wbad-function-cast \ |
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-Wstrict-prototypes \ |
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-Wmissing-prototypes \ |
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-Wnested-externs |
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# Add compiler specific options |
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ifeq ($(USE_GCC),1) |
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ARCHCWARNINGS += -Wold-style-declaration \ |
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-Wmissing-parameter-type \ |
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-Wno-error=unused-local-typedefs \ |
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-Wno-error=enum-compare \ |
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-Wno-error=float-equal |
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endif |
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# C++-specific warnings |
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# |
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ARCHWARNINGSXX = $(ARCHWARNINGS) \ |
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-Wno-missing-field-initializers |
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# pull in *just* libm from the toolchain ... this is grody |
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LIBM := $(shell $(CC) $(ARCHCPUFLAGS) -print-file-name=libm.a) |
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#EXTRA_LIBS += $(LIBM) |
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EXTRA_LIBS += -pthread -lm -lrt |
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# Flags we pass to the C compiler |
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# |
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CFLAGS = $(ARCHCFLAGS) \ |
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$(ARCHCWARNINGS) \ |
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$(ARCHOPTIMIZATION) \ |
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$(ARCHCPUFLAGS) \ |
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$(ARCHINCLUDES) \ |
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$(INSTRUMENTATIONDEFINES) \ |
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$(ARCHDEFINES) \ |
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$(EXTRADEFINES) \ |
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$(EXTRACFLAGS) \ |
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-fno-common \ |
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$(addprefix -I,$(INCLUDE_DIRS)) |
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# Flags we pass to the C++ compiler |
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# |
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CXXFLAGS = $(ARCHCXXFLAGS) \ |
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$(ARCHWARNINGSXX) \ |
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$(ARCHOPTIMIZATION) \ |
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$(ARCHCPUFLAGS) \ |
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$(ARCHXXINCLUDES) \ |
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$(INSTRUMENTATIONDEFINES) \ |
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$(ARCHDEFINES) \ |
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-DCONFIG_WCHAR_BUILTIN \ |
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$(EXTRADEFINES) \ |
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$(EXTRACXXFLAGS) \ |
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-Wno-effc++ \ |
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$(addprefix -I,$(INCLUDE_DIRS)) |
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ifeq ($(USE_GCC),0) |
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CXXFLAGS += -Wno-deprecated-register \ |
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-Wno-tautological-constant-out-of-range-compare \ |
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-Wno-unused-private-field \ |
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-Wno-unused-const-variable |
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endif |
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# Flags we pass to the assembler |
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# |
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AFLAGS = $(CFLAGS) -D__ASSEMBLY__ \ |
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$(EXTRADEFINES) \ |
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$(EXTRAAFLAGS) |
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LDSCRIPT = $(PX4_BASE)/linux-configs/linuxtest/scripts/ld.script |
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# Flags we pass to the linker |
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# |
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LDFLAGS += $(EXTRALDFLAGS) \ |
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$(addprefix -L,$(LIB_DIRS)) |
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# Compiler support library |
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# |
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LIBGCC := $(shell $(CC) $(ARCHCPUFLAGS) -print-libgcc-file-name) |
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# Files that the final link depends on |
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# |
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#LINK_DEPS += $(LDSCRIPT) |
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LINK_DEPS += |
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# Files to include to get automated dependencies |
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# |
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DEP_INCLUDES = $(subst .o,.d,$(OBJS)) |
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# Compile C source $1 to object $2 |
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# as a side-effect, generate a dependency file |
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# |
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define COMPILE |
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@$(ECHO) "CC: $1" |
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@$(MKDIR) -p $(dir $2) |
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$(Q) $(CCACHE) $(CC) -MD -c $(CFLAGS) $(abspath $1) -o $2 |
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endef |
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# Compile C++ source $1 to $2 |
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# as a side-effect, generate a dependency file |
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# |
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define COMPILEXX |
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@$(ECHO) "CXX: $1" |
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@$(MKDIR) -p $(dir $2) |
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@echo $(Q) $(CCACHE) $(CXX) -MD -c $(CXXFLAGS) $(abspath $1) -o $2 |
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$(Q) $(CCACHE) $(CXX) -MD -c $(CXXFLAGS) $(abspath $1) -o $2 |
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endef |
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# Assemble $1 into $2 |
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# |
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define ASSEMBLE |
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@$(ECHO) "AS: $1" |
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@$(MKDIR) -p $(dir $2) |
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$(Q) $(CC) -c $(AFLAGS) $(abspath $1) -o $2 |
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endef |
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# Produce partially-linked $1 from files in $2 |
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# |
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#$(Q) $(LD) -Ur -o $1 $2 # -Ur not supported in ld.gold |
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define PRELINK |
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@$(ECHO) "PRELINK: $1" |
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@$(MKDIR) -p $(dir $1) |
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$(Q) $(LD) -Ur -o $1 $2 |
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endef |
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# Produce partially-linked $1 from files in $2 |
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# |
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#$(Q) $(LD) -Ur -o $1 $2 # -Ur not supported in ld.gold |
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define PRELINKF |
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@$(ECHO) "PRELINK: $1" |
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@$(MKDIR) -p $(dir $1) |
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$(Q) $(LD) -Ur -T$(LDSCRIPT) -o $1 $2 |
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endef |
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# $(Q) $(LD) -Ur -o $1 $2 && $(OBJCOPY) --localize-hidden $1 |
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# Update the archive $1 with the files in $2 |
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# |
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define ARCHIVE |
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@$(ECHO) "AR: $2" |
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@$(MKDIR) -p $(dir $1) |
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$(Q) $(AR) $1 $2 |
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endef |
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# Link the objects in $2 into the shared library $1 |
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# |
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define LINK_A |
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@$(ECHO) "LINK_A: $1" |
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@$(MKDIR) -p $(dir $1) |
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echo "$(Q) $(AR) $1 $2" |
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$(Q) $(AR) $1 $2 |
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endef |
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# Link the objects in $2 into the shared library $1 |
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# |
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define LINK_SO |
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@$(ECHO) "LINK_SO: $1" |
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@$(MKDIR) -p $(dir $1) |
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echo "$(Q) $(CXX) $(LDFLAGS) -shared -Wl,-soname,`basename $1`.1 -o $1 $2 $(LIBS) $(EXTRA_LIBS)" |
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$(Q) $(CXX) $(LDFLAGS) -shared -Wl,-soname,`basename $1`.1 -o $1 $2 $(LIBS) -pthread -lc |
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endef |
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# Link the objects in $2 into the application $1 |
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# |
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define LINK |
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@$(ECHO) "LINK: $1" |
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@$(MKDIR) -p $(dir $1) |
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$(Q) $(CXX) $(CXXFLAGS) $(LDFLAGS) -o $1 $2 $(LIBS) $(EXTRA_LIBS) $(LIBGCC) |
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endef |
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