2016-05-12 14:12:55 -03:00
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# extra rules for qualcomm flight build targeting the DSPs
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2015-03-24 20:28:59 -03:00
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# host name of flight board for "qurt_send" target
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FLIGHT_BOARD ?= flight4
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HEXAGON_TOOLS_ROOT ?= $(HOME)/Qualcomm/HEXAGON_Tools/7.2.11
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HEXAGON_SDK_ROOT ?= $(HOME)/Qualcomm/Hexagon_SDK/2.0
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HEXAGON_FC_ADDON ?= $(HOME)/Qualcomm/HexagonFCAddon/flight_controller
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V_ARCH = v5
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CROSSDEV = hexagon-
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HEXAGON_BIN = $(addsuffix /Tools/bin,$(HEXAGON_TOOLS_ROOT))
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HEXAGON_CLANG_BIN = $(addsuffix /Tools/bin,$(HEXAGON_TOOLS_ROOT))
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QURT_CC = $(HEXAGON_CLANG_BIN)/$(CROSSDEV)clang
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QURT_CXX = $(HEXAGON_CLANG_BIN)/$(CROSSDEV)clang++
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LINUX_QAIC = $(HEXAGON_SDK_ROOT)/tools/qaic/Linux/qaic
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QURT_ARM_GCC_ROOT = $(HEXAGON_SDK_ROOT)/gcc-linaro-arm-linux-gnueabihf-4.8-2013.08_linux
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QURT_ARM_CC = $(QURT_ARM_GCC_ROOT)/bin/arm-linux-gnueabihf-gcc
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QURT_ARM_CXX = $(QURT_ARM_GCC_ROOT)/bin/arm-linux-gnueabihf-g++
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HEXAGON_LINK = $(QURT_CC)
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LIBSTDCXX = $(HEXAGON_TOOLS_ROOT)/Tools/target/hexagon/lib/v5/G0/pic/libstdc++.a
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LIBQCC = $(HEXAGON_TOOLS_ROOT)/Tools/target/hexagon/lib/v5/G0/pic/libqcc.a
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QFLIGHT_CC = $(QURT_ARM_CC)
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QFLIGHT_CXX = $(QURT_ARM_CXX)
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OPT = -O3
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include $(MK_DIR)/find_tools.mk
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2016-04-04 19:41:27 -03:00
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# Hardcoded libraries/AP_Common/missing/cmath defines in "make" to retain the current behavior
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2016-07-08 10:49:47 -03:00
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EXTRAFLAGS += -DHAVE_CMATH_ISFINITE -DNEED_CMATH_ISFINITE_STD_NAMESPACE -DHAVE_BYTESWAP_H=1 -DHAVE_ENDIAN_H=1
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2016-04-04 19:41:27 -03:00
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2016-07-13 00:11:51 -03:00
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EXTRAFLAGS += -D__STDC_FORMAT_MACROS
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2015-03-24 20:28:59 -03:00
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DEFINES += -DSKETCH=\"$(SKETCH)\" -DSKETCHNAME="\"$(SKETCH)\"" -DSKETCHBOOK="\"$(SKETCHBOOK)\"" -DAPM_BUILD_DIRECTORY=APM_BUILD_$(SKETCH)
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DEFINES += $(EXTRAFLAGS)
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DEFINES += -DCONFIG_HAL_BOARD=$(HAL_BOARD) -DCONFIG_HAL_BOARD_SUBTYPE=$(HAL_BOARD_SUBTYPE) -DAP_MAIN=ArduPilot_main
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DEPFLAGS = -MD -MP -MT $@
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CXXOPTS = -ffunction-sections -fdata-sections -fno-exceptions -fsigned-char $(DSP_CFLAGS) $(WARNFLAGSCXX)
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COPTS = -ffunction-sections -fdata-sections -fsigned-char $(DSP_CFLAGS)
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# DSP build flags
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DSP_INC=-I$(HEXAGON_SDK_ROOT)/gnu/hexagon/include -I$(HEXAGON_FC_ADDON)/hexagon/inc -I$(HEXAGON_FC_ADDON)/hexagon/inc/dspal/sys -I$(HEXAGON_FC_ADDON)/hexagon/inc/dspal/sys/sys -I$(HEXAGON_FC_ADDON)/hexagon/inc/dspal/include -I$(HEXAGON_SDK_ROOT)/lib/common/qurt/ADSPv5MP/include -I$(HEXAGON_SDK_ROOT)/lib/common/remote/ship/hexagon_Debug_dynamic -I$(HEXAGON_SDK_ROOT)/inc/stddef -I$(HAL_QURT_BUILD)
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2016-02-11 00:50:46 -04:00
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DSP_WARN=-Wno-unused-parameter -Wno-gnu-variable-sized-type-not-at-end -Wno-gnu-designator -Wno-absolute-value
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2015-03-24 20:28:59 -03:00
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DSP_FLAGS=-mv5 -G0 -g $(OPT) $(DSP_WARN) -fno-exceptions -fno-strict-aliasing -fno-zero-initialized-in-bss -fdata-sections -fpic -D__V_DYNAMIC__ -D_DEBUG $(DSP_INC) -D_PID_T -D_UID_T -D_TIMER_T -D_HAS_C9X
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DSP_LINK_FLAGS = -mv5 -G0 -fpic -shared -Wl,-Bsymbolic -Wl,--wrap=malloc -Wl,--wrap=calloc -Wl,--wrap=free -Wl,--wrap=realloc -Wl,--wrap=memalign -Wl,--wrap=__stack_chk_fail -Wl,-soname=lib$(SKETCHNAME)_skel.so
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2016-02-13 14:19:46 -04:00
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# Add missing parts from libc and libstdc++
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2016-03-07 11:45:01 -04:00
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MISSING_TOOLCHAIN_FLAGS += -DHAVE_STD_NULLPTR_T=0 -DHAVE_STD_MOVE=0 -DHAVE_STD_REMOVE_REFERENCE=0 -DHAVE_TYPE_TRAITS_H=0 -DHAVE_BYTESWAP_H=0
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2016-02-13 14:19:46 -04:00
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CXXFLAGS += -std=gnu++11 $(WARNFLAGS) $(WARNFLAGSCXX) $(DEPFLAGS) $(MISSING_TOOLCHAIN_FLAGS) $(CXXOPTS) $(DEFINES) $(DSP_FLAGS)
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2015-03-24 20:28:59 -03:00
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CFLAGS += $(WARNFLAGS) $(DEPFLAGS) $(COPTS) $(DEFINES) $(DSP_FLAGS)
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ARM_INC=-I$(HEXAGON_SDK_ROOT)/lib/common/remote/ship/UbuntuARM_Debug -I$(SKETCHBOOK)/libraries/
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2016-03-28 20:06:05 -03:00
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ARM_WARN=-Wno-unused-parameter -Wno-unknown-pragmas
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2015-03-24 20:28:59 -03:00
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ARM_CFLAGS=$(ARM_WARN) -fPIC -mword-relocations -mthumb-interwork -mfloat-abi=hard -mfpu=neon -mtune=cortex-a8 -march=armv7-a -g -O0 -fno-strict-aliasing -DARM_ARCH_7A -DUSE_SYSLOG $(ARM_INC) -I$(HEXAGON_SDK_ROOT)/inc/stddef -DCONFIG_HAL_BOARD=HAL_BOARD_LINUX -DCONFIG_HAL_BOARD_SUBTYPE=HAL_BOARD_SUBTYPE_LINUX_QFLIGHT
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ifeq ($(VERBOSE),)
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v = @
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else
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v =
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endif
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# Library object files
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LIBOBJS := $(SKETCHLIBOBJS)
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# The ELF file
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SKETCHELF = $(BUILDROOT)/$(SKETCH).elf
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LIBSKETCH_SKEL_SO = $(BUILDROOT)/libardupilot_skel.so
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BUILDELF = $(notdir $(SKETCHELF))
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# All of the objects that may be built
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ALLOBJS = $(SKETCHOBJS) $(LIBOBJS)
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# All of the dependency files that may be generated
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ALLDEPS = $(ALLOBJS:%.o=%.d)
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HAL_QURT_SRC = $(SKETCHBOOK)/libraries/AP_HAL_QURT
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HAL_QURT_BUILD = $(BUILDROOT)/libraries/AP_HAL_QURT
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# main app sources
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MAINAPP_SRC = $(wildcard $(HAL_QURT_SRC)/mainapp/*.cpp) $(wildcard $(SKETCHBOOK)/libraries/AP_HAL/utility/*.cpp)
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MAINAPPOBJS = $(subst $(SKETCHBOOK)/,$(BUILDROOT)/,$(MAINAPP_SRC:%.cpp=%.ao)) $(HAL_QURT_BUILD)/ardupilot_stub.ao
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.SUFFIXES: .ao .o .c .so .do
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# build arm object
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$(BUILDROOT)/libraries/%.ao: $(SKETCHBOOK)/libraries/%.c
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$(RULEHDR)
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$(v)$(QURT_ARM_CC) -c $(ARM_CFLAGS) -I$(HAL_QURT_BUILD) -o $@ $< -DSKETCHNAME="\"$(SKETCH)\""
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# build arm C++ object
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$(BUILDROOT)/libraries/%.ao: $(SKETCHBOOK)/libraries/%.cpp $(HAL_QURT_BUILD)/qurt_dsp.h
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$(RULEHDR)
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$(v)$(QURT_ARM_CXX) -std=gnu++11 -c $(ARM_CFLAGS) -I$(HAL_QURT_BUILD) -o $@ $< -DSKETCHNAME="\"$(SKETCH)\""
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$(BUILDROOT)/libraries/%.ao: $(BUILDROOT)/libraries/%.c
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$(RULEHDR)
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$(v)$(QURT_ARM_CC) -c $(ARM_CFLAGS) -I$(HAL_QURT_BUILD) -o $@ $< -DSKETCHNAME="\"$(SKETCH)\""
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# build DSP object from C file
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$(BUILDROOT)/libraries/%.do: $(BUILDROOT)/libraries/%.c
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$(RULEHDR)
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$(v)$(QURT_CC) $(CFLAGS) -I$(HEXAGON_SDK_ROOT)/inc/stddef -DSKEL_INVOKE=$(SKETCH)_skel_invoke -c -o $@ $<
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################################################################################
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# Targets
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#
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all: $(SKETCHELF)
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print-%:
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echo "$*=$($*)"
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################################################################################
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# Rules
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#
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SKETCH_INCLUDES = $(SKETCHLIBINCLUDES)
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SLIB_INCLUDES = $(SKETCHLIBINCLUDES)
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# fetch dependency info from a previous build if any of it exists
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-include $(ALLDEPS)
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GENERATE_DSP_C = $(HAL_QURT_BUILD)/ardupilot_skel.c
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GENERATE_ARM_C = $(HAL_QURT_BUILD)/ardupilot_stub.c
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GENERATE_TARGETS = $(HAL_QURT_BUILD)/qurt_dsp.h $(GENERATE_DSP_C) $(GENERATE_ARM_C)
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$(GENERATE_TARGETS): $(HAL_QURT_SRC)/qurt_dsp.idl
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@echo Generating DSP IDL sources for $^
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$(v)mkdir -p $(HAL_QURT_BUILD)
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$(v)$(LINUX_QAIC) -mdll -o $(HAL_QURT_BUILD) -I$(HAL_QURT_SRC) -I$(HEXAGON_SDK_ROOT)/inc/stddef $<
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# Link the final object
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$(SKETCHELF): $(MAINAPPOBJS) $(LIBSKETCH_SKEL_SO) $(GENERATE_TARGETS)
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@echo "Building $(SKETCHELF)"
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$(RULEHDR)
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$(v)$(QFLIGHT_CXX) -march=armv7-a -mthumb-interwork -mfloat-abi=hard -mfpu=neon -mtune=cortex-a8 -Wl,-unresolved-symbols=ignore-in-shared-libs -Wl,-ldl -o $@ -Wl,"-(" $(MAINAPPOBJS) -L$(HEXAGON_SDK_ROOT)/lib/common/remote/ship/UbuntuARM_ReleaseG/ -ladsprpc $(HEXAGON_SDK_ROOT)/lib/common/rpcmem/UbuntuARM_ReleaseG/ship/rpcmem.a $(HEXAGON_SDK_ROOT)/lib/common/adspmsgd/ship/UbuntuARM_ReleaseG/adspmsgd.a -Wl,"-)" -lm -lc -lsupc++ -lgcc_eh -lgcc -lpthread -lstdc++
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$(v)cp $(SKETCHELF) .
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@echo "Firmware is in $(BUILDELF)"
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DSPSKELOBJS=$(HAL_QURT_BUILD)/ardupilot_skel.do
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# this is quite bizarre. The provided libc mixes PIC and non-PIC code,
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# which seems to confuse the linker. In order to link to some critical
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# system objects we need to extract them from libc into a new library
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LIBC_SRC=$(HEXAGON_TOOLS_ROOT)/Tools/target/hexagon/lib/v5/G0/pic/libc.a
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LIBC_EXTRACTDIR=$(BUILDROOT)/libc_extracted
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LIBC_OBJECTS=xfdtest.o xdtest.o feclearexcept.o fegetenv.o fesetenv.o
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LIBC_EXTRACTED=$(LIBC_EXTRACTDIR)/libc_extracted.a
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$(LIBC_EXTRACTED): $(LIBC_SRC)
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$(v)echo Extracting libc objects into $@
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$(v)mkdir -p $(LIBC_EXTRACTDIR)
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$(v)(cd $(LIBC_EXTRACTDIR) && ar x $(LIBC_SRC) $(LIBC_OBJECTS) && ar crs libc_extracted.a $(LIBC_OBJECTS))
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$(LIBSKETCH_SKEL_SO): $(DSPSKELOBJS) $(ALLOBJS) $(GENERATE_TARGETS) $(LIBC_EXTRACTED)
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@echo Linking $@
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$(v)$(HEXAGON_LINK) -L$(HEXAGON_FC_ADDON)/hexagon/libs -lmpu9x50 -lbmp280 -lcsr_gps -g -mv5 -mG0lib -G0 -fpic -shared -Wl,-Bsymbolic -Wl,--wrap=malloc -Wl,--wrap=calloc -Wl,--wrap=free -Wl,--wrap=realloc -Wl,--wrap=memalign -Wl,--wrap=__stack_chk_fail -lc -lm -Wl,-soname=libqflight_skel.so -o $@ -Wl,--whole-archive $(DSPSKELOBJS) $(ALLOBJS) $(LIBC_EXTRACTED) -Wl,--no-whole-archive -Wl,$(LIBSTDCXX) -Wl,$(LIBQCC) -Wl,$(HEXAGON_TOOLS_ROOT)/Tools/target/hexagon/lib/v5/G0/libdl.a
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$(v)cp $(LIBSKETCH_SKEL_SO) .
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@echo "DSP skel firmware is in $(BUILDELF)"
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include $(MK_DIR)/build_rules.mk
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qurt_send: qurt
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rsync -av $(LIBSKETCH_SKEL_SO) root@$(FLIGHT_BOARD):/usr/share/data/adsp
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rsync -av $(SKETCHELF) root@$(FLIGHT_BOARD):
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