forked from Archive/PX4-Autopilot
306 lines
8.5 KiB
Makefile
306 lines
8.5 KiB
Makefile
#
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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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