forked from Archive/PX4-Autopilot
305 lines
9.0 KiB
Makefile
305 lines
9.0 KiB
Makefile
#
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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/6.4.05
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#V_ARCH = v4 # Set for APQ8064
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V_ARCH = v5 # Set for APQ8074
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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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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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# Check if the right version of the toolchain is available
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#
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CROSSDEV_VER_SUPPORTED = 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 ?= -O2
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# Base CPU flags for each of the supported architectures.
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#
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_CODE = $(addprefix -G,$(V_G_THRESHOLD))
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ARCHCPUFLAGS = -m$(V_ARCH) \
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-c \
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-G0 \
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$(_CODE)
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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 \
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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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-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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-ffunction-sections \
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-fdata-sections
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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
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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-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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-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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$(addprefix -I,$(INCLUDE_DIRS))
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ifeq (1,$(V_dynamic))
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CXX_FLAGS += -fpic -D__V_DYNAMIC__
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endif
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HEXAGON_LIB_PATH=$(HEXAGON_TOOLS_ROOT)/gnu/hexagon/lib/$(V_ARCH)/G0
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LIB_HEXAGON =$(HEXAGON_TOOLS_ROOT)/qc/lib/$(V_ARCH)/G0/libhexagon.a
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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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# Flags we pass to the linker
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#
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LDFLAGS += \
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-Wl,--start-group -Wl,--whole-archive -lc -lgcc -lstdc++ \
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$(LIB_HEXAGON) -Wl,--no-whole-archive -Wl,--end-group -Wl,--dynamic-linker= \
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-Wl,-E -Wl,--force-dynamic \
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$(EXTRALDFLAGS) \
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$(addprefix -T,$(LDSCRIPT)) \
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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 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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$(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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define PRELINK
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@$(ECHO) "PRELINK: $1"
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@$(MKDIR) -p $(dir $1)
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$(Q) $(LD) -Ur -Map $1.map -o $1 $2 && $(OBJCOPY) --localize-hidden $1
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endef
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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 binary $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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$(Q) $(LD) $(LDFLAGS) -Map $1.map -o $1 --start-group $2 $(LIBS) $(EXTRA_LIBS) $(LIBGCC) --end-group
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endef
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# Convert $1 from a linked object to a raw binary in $2
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#
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define SYM_TO_BIN
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@$(ECHO) "BIN: $2"
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@$(MKDIR) -p $(dir $2)
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$(Q) $(OBJCOPY) -O binary $1 $2
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endef
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# Take the raw binary $1 and make it into an object file $2.
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# The symbol $3 points to the beginning of the file, and $3_len
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# gives its length.
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#
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# - compile an empty file to generate a suitable object file
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# - relink the object and insert the binary file
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# - extract the length
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# - create const unsigned $3_len with the extracted length as its value and compile it to an object file
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# - link the two generated object files together
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# - edit symbol names to suit
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#
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# NOTE: exercise caution using this with absolute pathnames; it looks
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# like the MinGW tools insert an extra _ in the binary symbol name; e.g.
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# the path:
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#
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# /d/px4/firmware/Build/px4fmu_default.build/romfs.img
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#
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# is assigned symbols like:
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#
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# _binary_d__px4_firmware_Build_px4fmu_default_build_romfs_img_size
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#
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# when we would expect
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#
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# _binary__d_px4_firmware_Build_px4fmu_default_build_romfs_img_size
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#
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define BIN_SYM_PREFIX
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_binary_$(subst /,_,$(subst .,_,$1))
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endef
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define BIN_TO_OBJ
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@$(ECHO) "OBJ: $2"
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@$(MKDIR) -p $(dir $2)
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$(Q) $(ECHO) > $2.c
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$(call COMPILE,$2.c,$2.c.o)
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$(Q) $(LD) -r -o $2.bin.o $2.c.o -b binary $1
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$(Q) $(ECHO) "const unsigned int $3_len = 0x`$(NM) -p --radix=x $2.bin.o | $(GREP) $(call BIN_SYM_PREFIX,$1)_size$$ | $(GREP) -o ^[0-9a-fA-F]*`;" > $2.c
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$(call COMPILE,$2.c,$2.c.o)
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$(Q) $(LD) -r -o $2 $2.c.o $2.bin.o
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$(Q) $(OBJCOPY) $2 \
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--redefine-sym $(call BIN_SYM_PREFIX,$1)_start=$3 \
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--strip-symbol $(call BIN_SYM_PREFIX,$1)_size \
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--strip-symbol $(call BIN_SYM_PREFIX,$1)_end \
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--rename-section .data=.rodata
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$(Q) $(REMOVE) $2.c $2.c.o $2.bin.o
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endef
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