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305 lines
8.5 KiB
305 lines
8.5 KiB
# |
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# Copyright (C) 2012-2014 PX4 Development Team. All rights reserved. |
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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 generic GNU ARM-EABI toolchain |
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# |
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#$(info TOOLCHAIN arm-linux-gnueabihf) |
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# Toolchain commands. Normally only used inside this file. |
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# |
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CROSSDEV = arm-linux-gnueabihf- |
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CC ?= $(CROSSDEV)gcc |
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CXX ?= $(CROSSDEV)g++ |
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CPP ?= $(CROSSDEV)gcc -E |
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LD ?= $(CROSSDEV)ld |
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AR ?= $(CROSSDEV)ar rcs |
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NM ?= $(CROSSDEV)nm |
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OBJCOPY ?= $(CROSSDEV)objcopy |
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OBJDUMP ?= $(CROSSDEV)objdump |
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ifdef OECORE_NATIVE_SYSROOT |
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AR := $(AR) rcs |
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endif |
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# Check if the right version of the toolchain is available |
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# |
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CROSSDEV_VER_SUPPORTED = 4.7.4 4.7.5 4.7.6 4.8.2 4.8.4 4.9.3 |
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CROSSDEV_VER_FOUND = $(shell $(CC) -dumpversion) |
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ifeq (,$(findstring $(CROSSDEV_VER_FOUND), $(CROSSDEV_VER_SUPPORTED))) |
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$(error Unsupported version of $(CC), found: $(CROSSDEV_VER_FOUND) instead of one in: $(CROSSDEV_VER_SUPPORTED)) |
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endif |
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ifndef POSIX_EXT_LIB_ROOT |
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$(error POSIX_EXT_LIB_ROOT is not set) |
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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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# Base CPU flags for each of the supported architectures. |
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# |
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ARCHCPUFLAGS_CORTEXA8 = -mtune=cortex-a8 \ |
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-mthumb-interwork \ |
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-march=armv7-a \ |
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-mfloat-abi=hard \ |
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-mfpu=neon |
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# Pick the right set of flags for the architecture. |
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# |
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ARCHCPUFLAGS = $(ARCHCPUFLAGS_$(CONFIG_ARCH)) |
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ifeq ($(ARCHCPUFLAGS),) |
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$(error Must set CONFIG_ARCH to one of CORTEXA8 CORTEXM4F, CORTEXM4 or CORTEXM3) |
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endif |
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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_$(CONFIG_BOARD) \ |
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-D__PX4_LINUX -D__PX4_POSIX \ |
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-Dnoreturn_function= \ |
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-I$(PX4_BASE)/src/modules/systemlib \ |
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-I$(PX4_BASE)/src/lib/eigen \ |
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-I$(PX4_BASE)/src/platforms/posix/include \ |
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-I$(PX4_BASE)/mavlink/include/mavlink \ |
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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 |
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ARCHCXXFLAGS = -fno-exceptions -fno-rtti -std=c++0x -fno-threadsafe-statics -D__CUSTOM_FILE_IO__ |
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# Generic warnings |
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# |
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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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-Wno-packed \ |
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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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-Wformat=1 \ |
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-Werror=unused-but-set-variable \ |
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-Wno-error=double-promotion \ |
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-fno-strength-reduce \ |
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-Wno-error=unused-value |
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ARCHOPTIMIZATION += -fno-strength-reduce |
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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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# 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 += -lpx4muorb -ladsprpc |
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EXTRA_LIBS += -pthread -lm -lrt |
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LIB_DIRS += $(POSIX_EXT_LIB_ROOT)/libs |
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INCLUDE_DIRS += $(POSIX_EXT_LIB_ROOT)/inc |
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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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# 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)/makefiles/posix-arm/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 $1) |
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echo "$(Q) $(CXX) $(CXXFLAGS) $(LDFLAGS) -o $1 $2 $(LIBS) $(EXTRA_LIBS) $(LIBGCC)" |
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$(Q) $(CXX) $(CXXFLAGS) $(LDFLAGS) -o $1 $2 $(LIBS) $(EXTRA_LIBS) $(LIBGCC) |
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endef |
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