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345 lines
10 KiB
345 lines
10 KiB
# |
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# Copyright (C) 2015 Mark Charlebois. 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 gnu-arm-eabi) |
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# Toolchain commands. Normally only used inside this file. |
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# |
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HEXAGON_TOOLS_ROOT ?= /opt/6.4.03 |
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#HEXAGON_TOOLS_ROOT = /opt/6.4.05 |
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HEXAGON_SDK_ROOT ?= /opt/Hexagon_SDK/2.0 |
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V_ARCH = v5 |
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CROSSDEV = hexagon- |
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HEXAGON_BIN = $(addsuffix /gnu/bin,$(HEXAGON_TOOLS_ROOT)) |
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HEXAGON_CLANG_BIN = $(addsuffix /qc/bin,$(HEXAGON_TOOLS_ROOT)) |
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HEXAGON_LIB_DIR = $(HEXAGON_TOOLS_ROOT)/gnu/hexagon/lib |
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HEXAGON_ISS_DIR = $(HEXAGON_TOOLS_ROOT)/qc/lib/iss |
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TOOLSLIB = $(HEXAGON_TOOLS_ROOT)/dinkumware/lib/$(V_ARCH)/G0 |
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QCTOOLSLIB = $(HEXAGON_TOOLS_ROOT)/qc/lib/$(V_ARCH)/G0 |
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QURTLIB = $(HEXAGON_SDK_ROOT)/lib/common/qurt/ADSP$(V_ARCH)MP/lib |
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DSPAL_INCS ?= $(PX4_BASE)/src/lib/dspal |
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CC = $(HEXAGON_CLANG_BIN)/$(CROSSDEV)clang |
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CXX = $(HEXAGON_CLANG_BIN)/$(CROSSDEV)clang++ |
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CPP = $(HEXAGON_CLANG_BIN)/$(CROSSDEV)clang -E |
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LD = $(HEXAGON_BIN)/$(CROSSDEV)ld |
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AR = $(HEXAGON_BIN)/$(CROSSDEV)ar rcs |
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NM = $(HEXAGON_BIN)/$(CROSSDEV)nm |
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OBJCOPY = $(HEXAGON_BIN)/$(CROSSDEV)objcopy |
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OBJDUMP = $(HEXAGON_BIN)/$(CROSSDEV)objdump |
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HEXAGON_GCC = $(HEXAGON_BIN)/$(CROSSDEV)gcc |
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QURTLIBS = \ |
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$(QCTOOLSLIB)/libdl.a \ |
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$(TOOLSLIB)/init.o \ |
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$(TOOLSLIB)/libc.a \ |
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$(TOOLSLIB)/libqcc.a \ |
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$(TOOLSLIB)/libstdc++.a \ |
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$(QURTLIB)/crt0.o \ |
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$(QURTLIB)/libqurt.a \ |
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$(QURTLIB)/libqurtkernel.a \ |
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$(QURTLIB)/libqurtcfs.a \ |
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$(QURTLIB)/libqube_compat.a \ |
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$(QURTLIB)/libtimer.a \ |
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$(QURTLIB)/libposix.a \ |
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$(QURTLIB)/../examples/cust_config.o \ |
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$(QCTOOLSLIB)/libhexagon.a \ |
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$(TOOLSLIB)/fini.o |
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DYNAMIC_LIBS = \ |
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-Wl,$(TOOLSLIB)/pic/libstdc++.a |
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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 = 6.4.03 6.4.05 |
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CROSSDEV_VER_FOUND = $(shell $(CC) --version | sed -n 's/^.*version \([\. 0-9]*\),.*$$/\1/p') |
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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: $(CROSSDEV_VER_SUPPORTED)) |
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endif |
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# XXX this is pulled pretty directly from the fmu Make.defs - needs cleanup |
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MAXOPTIMIZATION := -O0 |
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# Base CPU flags for each of the supported architectures. |
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# |
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ARCHCPUFLAGS = -m$(V_ARCH) -G0 |
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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_$(CONFIG_BOARD) \ |
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-D__PX4_QURT -D__PX4_POSIX \ |
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-D_PID_T -D_UID_T -D_TIMER_T\ |
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-Dnoreturn_function= \ |
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-D__EXPORT= \ |
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-Drestrict= \ |
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-D_DEBUG \ |
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-I$(DSPAL_INCS)/include \ |
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-I$(DSPAL_INCS)/sys \ |
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-I$(HEXAGON_TOOLS_ROOT)/gnu/hexagon/include \ |
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-I$(PX4_BASE)/src/lib/eigen \ |
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-I$(PX4_BASE)/src/platforms/qurt/include \ |
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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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-I$(PX4_BASE)/../inc \ |
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-I$(QURTLIB)/..//include \ |
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-I$(HEXAGON_SDK_ROOT)/inc \ |
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-I$(HEXAGON_SDK_ROOT)/inc/stddef \ |
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-Wno-error=shadow |
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# optimisation flags |
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# |
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ARCHOPTIMIZATION = \ |
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-O0 \ |
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-g \ |
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-fno-strict-aliasing \ |
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-fdata-sections \ |
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-fpic \ |
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-fno-zero-initialized-in-bss |
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#-fomit-frame-pointer \ |
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#-funsafe-math-optimizations \ |
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#-ffunction-sections |
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#$(MAXOPTIMIZATION) |
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# enable precise stack overflow tracking |
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# note - requires corresponding support in NuttX |
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INSTRUMENTATIONDEFINES = $(ARCHINSTRUMENTATIONDEFINES_$(CONFIG_ARCH)) |
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# Language-specific flags |
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# |
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ARCHCFLAGS = -std=gnu99 -D__CUSTOM_FILE_IO__ |
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ARCHCXXFLAGS = -fno-exceptions -fno-rtti -std=gnu++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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-Wno-unused-parameter \ |
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-Wno-unused-function \ |
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-Wno-unused-variable \ |
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-Wno-gnu-array-member-paren-init \ |
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-Wno-cast-align \ |
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-Wno-missing-braces \ |
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-Wno-strict-aliasing |
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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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-Wstrict-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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# 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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$(EXTRACFLAGS) \ |
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$(addprefix -I,$(INCLUDE_DIRS)) |
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#-fno-common |
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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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$(EXTRACXXFLAGS) \ |
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$(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 = $(PX4_BASE)/makefiles/posix/ld.script |
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# Flags we pass to the linker |
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# |
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LDFLAGS += -g -mv5 -mG0lib -G0 -fpic -shared \ |
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-Wl,-Bsymbolic \ |
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-Wl,--wrap=malloc \ |
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-Wl,--wrap=calloc \ |
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-Wl,--wrap=free \ |
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-Wl,--wrap=realloc \ |
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-Wl,--wrap=memalign \ |
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-Wl,--wrap=__stack_chk_fail \ |
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-lc \ |
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$(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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# 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 $2 |
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# as a side-effect, generate a dependency file |
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# |
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define COMPILENOSHARED |
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@$(ECHO) "CC: $1" |
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@$(MKDIR) -p $(dir $2) |
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@echo $(Q) $(CCACHE) $(CC) -MD -c $(CFLAGS) $(abspath $1) -o $2 |
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$(Q) $(CCACHE) $(CC) -MD -c $(CFLAGS) $(abspath $1) -o $2 |
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endef |
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# Compile C source $1 to object $2 for use in shared library |
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# as a side-effect, generate a dependency file |
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# |
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define COMPILE |
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@$(ECHO) "CC: $1" |
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@$(MKDIR) -p $(dir $2) |
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@echo $(Q) $(CCACHE) $(CC) -MD -c $(CFLAGS) $(abspath $1) -o $2 |
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#$(Q) $(CCACHE) $(CC) -MD -c $(CFLAGS) -D__V_DYNAMIC__ -fPIC $(abspath $1) -o $2 |
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#$(CCACHE) $(CC) -MD -c $(CFLAGS) -D__V_DYNAMIC__ -D__FILENAME__=\"$(notdir $1)\" -fPIC $(abspath $1) -o $2 |
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$(CCACHE) $(CC) -c $(CFLAGS) -D__V_DYNAMIC__ -D__FILENAME__=\"$(notdir $1)\" $(abspath $1) -o $2 |
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endef |
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# Compile C++ source $1 to $2 for use in shared library |
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# as a side-effect, generate a dependency file |
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# |
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define COMPILEXX |
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@$(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) -D__V_DYNAMIC__ -fPIC $(abspath $1) -o $2 |
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#$(CCACHE) $(CXX) -MD -c $(CXXFLAGS) -D__V_DYNAMIC__ -D__FILENAME__=\"$(notdir $1)\" -fPIC $(abspath $1) -o $2 |
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$(CCACHE) $(CXX) -c $(CXXFLAGS) -D__V_DYNAMIC__ -D__FILENAME__=\"$(notdir $1)\" $(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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@echo $(Q) $(LD) -Ur -o $1 $2 |
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$(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) "PRELINKF: $1" |
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@$(MKDIR) -p $(dir $1) |
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@echo $(Q) $(LD) -Ur -T$(LDSCRIPT) -o $1 $2 |
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$(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 $1) |
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$(HEXAGON_GCC) $(LDFLAGS) -o $1 -Wl,--whole-archive $2 -Wl,--no-whole-archive $(LIBS) $(DYNAMIC_LIBS) |
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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 $1) |
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$(LD) --section-start .start=0x1d000000 -o $1 --start-group $2 $(EXTRA_LIBS) $(QURTLIBS) --end-group --dynamic-linker= -E --force-dynamic |
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endef |
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