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px4-firmware/makefiles/qurt/toolchain_hexagon.mk

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#
# Copyright (C) 2015 Mark Charlebois. All rights reserved.
#
# Redistribution and use in source and binary forms, with or without
# modification, are permitted provided that the following conditions
# are met:
#
# 1. Redistributions of source code must retain the above copyright
# notice, this list of conditions and the following disclaimer.
# 2. Redistributions in binary form must reproduce the above copyright
# notice, this list of conditions and the following disclaimer in
# the documentation and/or other materials provided with the
# distribution.
# 3. Neither the name PX4 nor the names of its contributors may be
# used to endorse or promote products derived from this software
# without specific prior written permission.
#
# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
# POSSIBILITY OF SUCH DAMAGE.
#
#
# Definitions for a generic GNU ARM-EABI toolchain
#
#$(info TOOLCHAIN gnu-arm-eabi)
# Toolchain commands. Normally only used inside this file.
#
HEXAGON_TOOLS_ROOT ?= /opt/6.4.03
#HEXAGON_TOOLS_ROOT = /opt/6.4.05
HEXAGON_SDK_ROOT ?= /opt/Hexagon_SDK/2.0
V_ARCH = v5
CROSSDEV = hexagon-
HEXAGON_BIN = $(addsuffix /gnu/bin,$(HEXAGON_TOOLS_ROOT))
HEXAGON_CLANG_BIN = $(addsuffix /qc/bin,$(HEXAGON_TOOLS_ROOT))
HEXAGON_LIB_DIR = $(HEXAGON_TOOLS_ROOT)/gnu/hexagon/lib
HEXAGON_ISS_DIR = $(HEXAGON_TOOLS_ROOT)/qc/lib/iss
TOOLSLIB = $(HEXAGON_TOOLS_ROOT)/dinkumware/lib/$(V_ARCH)/G0
QCTOOLSLIB = $(HEXAGON_TOOLS_ROOT)/qc/lib/$(V_ARCH)/G0
QURTLIB = $(HEXAGON_SDK_ROOT)/lib/common/qurt/ADSP$(V_ARCH)MP/lib
DSPAL_INCS ?= $(PX4_BASE)/src/lib/dspal
CC = $(HEXAGON_CLANG_BIN)/$(CROSSDEV)clang
CXX = $(HEXAGON_CLANG_BIN)/$(CROSSDEV)clang++
CPP = $(HEXAGON_CLANG_BIN)/$(CROSSDEV)clang -E
LD = $(HEXAGON_BIN)/$(CROSSDEV)ld
AR = $(HEXAGON_BIN)/$(CROSSDEV)ar rcs
NM = $(HEXAGON_BIN)/$(CROSSDEV)nm
OBJCOPY = $(HEXAGON_BIN)/$(CROSSDEV)objcopy
OBJDUMP = $(HEXAGON_BIN)/$(CROSSDEV)objdump
HEXAGON_GCC = $(HEXAGON_BIN)/$(CROSSDEV)gcc
QURTLIBS = \
$(QCTOOLSLIB)/libdl.a \
$(TOOLSLIB)/init.o \
$(TOOLSLIB)/libc.a \
$(TOOLSLIB)/libqcc.a \
$(TOOLSLIB)/libstdc++.a \
$(QURTLIB)/crt0.o \
$(QURTLIB)/libqurt.a \
$(QURTLIB)/libqurtkernel.a \
$(QURTLIB)/libqurtcfs.a \
$(QURTLIB)/libqube_compat.a \
$(QURTLIB)/libtimer.a \
$(QURTLIB)/libposix.a \
$(QURTLIB)/../examples/cust_config.o \
$(QCTOOLSLIB)/libhexagon.a \
$(TOOLSLIB)/fini.o
DYNAMIC_LIBS = \
-Wl,$(TOOLSLIB)/pic/libstdc++.a
# Check if the right version of the toolchain is available
#
CROSSDEV_VER_SUPPORTED = 6.4.03 6.4.05
CROSSDEV_VER_FOUND = $(shell $(CC) --version | sed -n 's/^.*version \([\. 0-9]*\),.*$$/\1/p')
ifeq (,$(findstring $(CROSSDEV_VER_FOUND), $(CROSSDEV_VER_SUPPORTED)))
$(error Unsupported version of $(CC), found: $(CROSSDEV_VER_FOUND) instead of one in: $(CROSSDEV_VER_SUPPORTED))
endif
# XXX this is pulled pretty directly from the fmu Make.defs - needs cleanup
MAXOPTIMIZATION := -O0
# Base CPU flags for each of the supported architectures.
#
ARCHCPUFLAGS = -m$(V_ARCH) -G0
# Set the board flags
#
ifeq ($(CONFIG_BOARD),)
$(error Board config does not define CONFIG_BOARD)
endif
ARCHDEFINES += -DCONFIG_ARCH_BOARD_$(CONFIG_BOARD) \
-D__PX4_QURT -D__PX4_POSIX \
-D_PID_T -D_UID_T -D_TIMER_T\
-Dnoreturn_function= \
-D__EXPORT= \
-Drestrict= \
-D_DEBUG \
-I$(DSPAL_INCS)/include \
-I$(DSPAL_INCS)/sys \
-I$(HEXAGON_TOOLS_ROOT)/gnu/hexagon/include \
-I$(PX4_BASE)/src/lib/eigen \
-I$(PX4_BASE)/src/platforms/qurt/include \
-I$(PX4_BASE)/src/platforms/posix/include \
-I$(PX4_BASE)/mavlink/include/mavlink \
-I$(PX4_BASE)/../inc \
-I$(QURTLIB)/..//include \
-I$(HEXAGON_SDK_ROOT)/inc \
-I$(HEXAGON_SDK_ROOT)/inc/stddef \
-Wno-error=shadow
# optimisation flags
#
ARCHOPTIMIZATION = \
-O0 \
-g \
-fno-strict-aliasing \
-fdata-sections \
-fpic \
-fno-zero-initialized-in-bss
#-fomit-frame-pointer \
#-funsafe-math-optimizations \
#-ffunction-sections
#$(MAXOPTIMIZATION)
# enable precise stack overflow tracking
# note - requires corresponding support in NuttX
INSTRUMENTATIONDEFINES = $(ARCHINSTRUMENTATIONDEFINES_$(CONFIG_ARCH))
# Language-specific flags
#
ARCHCFLAGS = -std=gnu99 -D__CUSTOM_FILE_IO__
ARCHCXXFLAGS = -fno-exceptions -fno-rtti -std=gnu++0x -fno-threadsafe-statics -D__CUSTOM_FILE_IO__
# Generic warnings
#
ARCHWARNINGS = -Wall \
-Wextra \
-Werror \
-Wno-unused-parameter \
-Wno-unused-function \
-Wno-unused-variable \
-Wno-gnu-array-member-paren-init \
-Wno-cast-align \
-Wno-missing-braces \
-Wno-strict-aliasing
# -Werror=float-conversion - works, just needs to be phased in with some effort and needs GCC 4.9+
# -Wcast-qual - generates spurious noreturn attribute warnings, try again later
# -Wconversion - would be nice, but too many "risky-but-safe" conversions in the code
# -Wcast-align - would help catch bad casts in some cases, but generates too many false positives
# C-specific warnings
#
ARCHCWARNINGS = $(ARCHWARNINGS) \
-Wstrict-prototypes \
-Wnested-externs
# C++-specific warnings
#
ARCHWARNINGSXX = $(ARCHWARNINGS) \
-Wno-missing-field-initializers
# pull in *just* libm from the toolchain ... this is grody
LIBM := $(shell $(CC) $(ARCHCPUFLAGS) -print-file-name=libm.a)
EXTRA_LIBS += $(LIBM)
# Flags we pass to the C compiler
#
CFLAGS = $(ARCHCFLAGS) \
$(ARCHCWARNINGS) \
$(ARCHOPTIMIZATION) \
$(ARCHCPUFLAGS) \
$(ARCHINCLUDES) \
$(INSTRUMENTATIONDEFINES) \
$(ARCHDEFINES) \
$(EXTRADEFINES) \
$(EXTRACFLAGS) \
$(addprefix -I,$(INCLUDE_DIRS))
#-fno-common
# Flags we pass to the C++ compiler
#
CXXFLAGS = $(ARCHCXXFLAGS) \
$(ARCHWARNINGSXX) \
$(ARCHOPTIMIZATION) \
$(ARCHCPUFLAGS) \
$(ARCHXXINCLUDES) \
$(INSTRUMENTATIONDEFINES) \
$(ARCHDEFINES) \
-DCONFIG_WCHAR_BUILTIN \
$(EXTRADEFINES) \
$(EXTRACXXFLAGS) \
$(addprefix -I,$(INCLUDE_DIRS))
# Flags we pass to the assembler
#
AFLAGS = $(CFLAGS) -D__ASSEMBLY__ \
$(EXTRADEFINES) \
$(EXTRAAFLAGS)
LDSCRIPT = $(PX4_BASE)/makefiles/posix/ld.script
# Flags we pass to the linker
#
LDFLAGS += -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 \
$(EXTRALDFLAGS) \
$(addprefix -L,$(LIB_DIRS))
# Compiler support library
#
LIBGCC := $(shell $(CC) $(ARCHCPUFLAGS) -print-libgcc-file-name)
# Files that the final link depends on
#
LINK_DEPS += $(LDSCRIPT)
# Files to include to get automated dependencies
#
DEP_INCLUDES = $(subst .o,.d,$(OBJS))
# Compile C source $1 to object $2
# as a side-effect, generate a dependency file
#
define COMPILENOSHARED
@$(ECHO) "CC: $1"
@$(MKDIR) -p $(dir $2)
@echo $(Q) $(CCACHE) $(CC) -MD -c $(CFLAGS) $(abspath $1) -o $2
$(Q) $(CCACHE) $(CC) -MD -c $(CFLAGS) $(abspath $1) -o $2
endef
# Compile C source $1 to object $2 for use in shared library
# as a side-effect, generate a dependency file
#
define COMPILE
@$(ECHO) "CC: $1"
@$(MKDIR) -p $(dir $2)
@echo $(Q) $(CCACHE) $(CC) -MD -c $(CFLAGS) $(abspath $1) -o $2
#$(Q) $(CCACHE) $(CC) -MD -c $(CFLAGS) -D__V_DYNAMIC__ -fPIC $(abspath $1) -o $2
#$(CCACHE) $(CC) -MD -c $(CFLAGS) -D__V_DYNAMIC__ -D__FILENAME__=\"$(notdir $1)\" -fPIC $(abspath $1) -o $2
$(CCACHE) $(CC) -c $(CFLAGS) -D__V_DYNAMIC__ -D__FILENAME__=\"$(notdir $1)\" $(abspath $1) -o $2
endef
# Compile C++ source $1 to $2 for use in shared library
# as a side-effect, generate a dependency file
#
define COMPILEXX
@$(ECHO) "CXX: $1"
@$(MKDIR) -p $(dir $2)
@echo $(Q) $(CCACHE) $(CXX) -MD -c $(CXXFLAGS) $(abspath $1) -o $2
#$(Q) $(CCACHE) $(CXX) -MD -c $(CXXFLAGS) -D__V_DYNAMIC__ -fPIC $(abspath $1) -o $2
#$(CCACHE) $(CXX) -MD -c $(CXXFLAGS) -D__V_DYNAMIC__ -D__FILENAME__=\"$(notdir $1)\" -fPIC $(abspath $1) -o $2
$(CCACHE) $(CXX) -c $(CXXFLAGS) -D__V_DYNAMIC__ -D__FILENAME__=\"$(notdir $1)\" $(abspath $1) -o $2
endef
# Assemble $1 into $2
#
define ASSEMBLE
@$(ECHO) "AS: $1"
@$(MKDIR) -p $(dir $2)
$(Q) $(CC) -c $(AFLAGS) $(abspath $1) -o $2
endef
# Produce partially-linked $1 from files in $2
#
#$(Q) $(LD) -Ur -o $1 $2 # -Ur not supported in ld.gold
define PRELINK
@$(ECHO) "PRELINK: $1"
@$(MKDIR) -p $(dir $1)
@echo $(Q) $(LD) -Ur -o $1 $2
$(Q) $(LD) -Ur -o $1 $2
endef
# Produce partially-linked $1 from files in $2
#
#$(Q) $(LD) -Ur -o $1 $2 # -Ur not supported in ld.gold
define PRELINKF
@$(ECHO) "PRELINKF: $1"
@$(MKDIR) -p $(dir $1)
@echo $(Q) $(LD) -Ur -T$(LDSCRIPT) -o $1 $2
$(Q) $(LD) -Ur -T$(LDSCRIPT) -o $1 $2
endef
# $(Q) $(LD) -Ur -o $1 $2 && $(OBJCOPY) --localize-hidden $1
# Update the archive $1 with the files in $2
#
define ARCHIVE
@$(ECHO) "AR: $2"
@$(MKDIR) -p $(dir $1)
$(Q) $(AR) $1 $2
endef
# Link the objects in $2 into the shared library $1
#
define LINK_A
@$(ECHO) "LINK_A: $1"
@$(MKDIR) -p $(dir $1)
echo "$(Q) $(AR) $1 $2"
$(Q) $(AR) $1 $2
endef
# Link the objects in $2 into the shared library $1
#
define LINK_SO
@$(ECHO) "LINK_SO: $1"
@$(MKDIR) -p $(dir $1)
$(HEXAGON_GCC) $(LDFLAGS) -o $1 -Wl,--whole-archive $2 -Wl,--no-whole-archive $(LIBS) $(DYNAMIC_LIBS)
endef
# Link the objects in $2 into the application $1
#
define LINK
@$(ECHO) "LINK: $1"
@$(MKDIR) -p $(dir $1)
$(LD) --section-start .start=0x1d000000 -o $1 --start-group $2 $(EXTRA_LIBS) $(QURTLIBS) --end-group --dynamic-linker= -E --force-dynamic
endef
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