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px4-firmware/makefiles/toolchain_native.mk

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Makefile
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#
# Copyright (C) 2012-2014 PX4 Development Team. All rights reuint32_tserved.
#
# 2005 Modified for clang and GCC on POSIX:
# Author: Mark Charlebois <charlebm@gmail.com>
#
# 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 native GCC toolchain
#
#$(info TOOLCHAIN native)
# Toolchain commands. Normally only used inside this file.
#
# Set to 1 for GCC-4.8.2 and to 0 for Clang-3.5 (Ubuntu 14.04)
USE_GCC?=0
ifneq ($(USE_GCC),1)
HAVE_CLANG35:=$(shell clang-3.5 -dumpversion 2>/dev/null)
# Clang will report 4.2.1 as GCC version
HAVE_CLANG:=$(shell clang -dumpversion)
#If using ubuntu 14.04 and packaged clang 3.5
ifeq ($(HAVE_CLANG35),4.2.1)
USE_GCC=0
CLANGVER=-3.5
else
#If using ubuntu 12.04 and downloaded clang 3.4.2
ifeq ($(HAVE_CLANG),4.2.1)
USE_GCC=0
CLANGVER=
endif
endif
# If no version of clang was found
ifeq ($(HAVE_CLANG35),)
ifeq ($(HAVE_CLANG),)
$(error Clang not found. Try make USE_GCC=1)
endif
endif
endif # USE_GCC is not 1
ifeq ($(USE_GCC),1)
# GCC Options:
CC = gcc
CXX = g++
CPP = gcc -E
# GCC Version
DEV_VER_SUPPORTED = 4.8.1 4.8.2 4.9.1
else
# Clang options
CC = clang$(CLANGVER)
CXX = clang++$(CLANGVER)
CPP = clang$(CLANGVER) -E
# Clang GCC reported version
DEV_VER_SUPPORTED = 4.2.1
endif
#LD = ld.gold
LD = ld.bfd
AR = ar rcs
NM = nm
OBJCOPY = objcopy
OBJDUMP = objdump
# Check if the right version of the toolchain is available
#
DEV_VER_FOUND = $(shell $(CC) -dumpversion)
ifeq (,$(findstring $(DEV_VER_FOUND), $(DEV_VER_SUPPORTED)))
$(error Unsupported version of $(CC), found: $(DEV_VER_FOUND) instead of one in: $(DEV_VER_SUPPORTED))
endif
# XXX this is pulled pretty directly from the fmu Make.defs - needs cleanup
MAXOPTIMIZATION ?= -O3
# Enabling stack checks if OS was build with them
#
# Set the board flags
#
ifeq ($(CONFIG_BOARD),)
$(error Board config does not define CONFIG_BOARD)
endif
ARCHDEFINES += -DCONFIG_ARCH_BOARD_$(CONFIG_BOARD) \
-D__PX4_LINUX -D__PX4_POSIX \
-Dnoreturn_function= \
-I$(PX4_BASE)/src/modules/systemlib \
-I$(PX4_BASE)/src/lib/eigen \
-I$(PX4_BASE)/src/platforms/posix/include \
-I$(PX4_BASE)/mavlink/include/mavlink \
-Wno-error=shadow
# optimisation flags
#
ARCHOPTIMIZATION = $(MAXOPTIMIZATION) \
-g3 \
-fno-strict-aliasing \
-fomit-frame-pointer \
-funsafe-math-optimizations \
-fno-builtin-printf \
-ffunction-sections \
-fdata-sections
# Language-specific flags
#
ARCHCFLAGS = -std=gnu99 -g
ARCHCXXFLAGS = -fno-exceptions -fno-rtti -std=c++0x -fno-threadsafe-statics -D__CUSTOM_FILE_IO__ -g
# Generic warnings
#
# Disabled
# -Wshadow - Breaks for the libeigen package headers
# -Wframe-larger-than=1024 - Only needed for embedded
ARCHWARNINGS = -Wall \
-Wextra \
-Werror \
-Wfloat-equal \
-Wpointer-arith \
-Wmissing-declarations \
-Wpacked \
-Wno-unused-parameter \
-Wno-packed \
-Werror=format-security \
-Werror=array-bounds \
-Wfatal-errors \
-Werror=unused-variable \
-Werror=reorder \
-Werror=uninitialized \
-Werror=init-self
# Add compiler specific options
ifeq ($(USE_GCC),1)
ARCHDEFINES += -Wno-error=logical-op
ARCHWARNINGS += -Wdouble-promotion \
-Wlogical-op \
-Wformat=1 \
-Werror=unused-but-set-variable \
-Werror=double-promotion
ARCHOPTIMIZATION += -fno-strength-reduce
else
ARCHWARNINGS += -Wno-gnu-array-member-paren-init
endif
# -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 = $(ARCHWARNINGS) \
-Wbad-function-cast \
-Wstrict-prototypes \
-Wmissing-prototypes \
-Wnested-externs
# Add compiler specific options
ifeq ($(USE_GCC),1)
ARCHCWARNINGS += -Wold-style-declaration \
-Wmissing-parameter-type \
-Wno-error=unused-local-typedefs \
-Wno-error=enum-compare \
-Wno-error=float-equal
endif
# 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)
EXTRA_LIBS += -pthread -lm -lrt
# Flags we pass to the C compiler
#
CFLAGS = $(ARCHCFLAGS) \
$(ARCHCWARNINGS) \
$(ARCHOPTIMIZATION) \
$(ARCHCPUFLAGS) \
$(ARCHINCLUDES) \
$(INSTRUMENTATIONDEFINES) \
$(ARCHDEFINES) \
$(EXTRADEFINES) \
$(EXTRACFLAGS) \
-fno-common \
$(addprefix -I,$(INCLUDE_DIRS))
# Flags we pass to the C++ compiler
#
CXXFLAGS = $(ARCHCXXFLAGS) \
$(ARCHWARNINGSXX) \
$(ARCHOPTIMIZATION) \
$(ARCHCPUFLAGS) \
$(ARCHXXINCLUDES) \
$(INSTRUMENTATIONDEFINES) \
$(ARCHDEFINES) \
-DCONFIG_WCHAR_BUILTIN \
$(EXTRADEFINES) \
$(EXTRACXXFLAGS) \
-Wno-effc++ \
$(addprefix -I,$(INCLUDE_DIRS))
ifeq ($(USE_GCC),0)
CXXFLAGS += -Wno-deprecated-register \
-Wno-tautological-constant-out-of-range-compare \
-Wno-unused-private-field \
-Wno-unused-const-variable
endif
# Flags we pass to the assembler
#
AFLAGS = $(CFLAGS) -D__ASSEMBLY__ \
$(EXTRADEFINES) \
$(EXTRAAFLAGS)
LDSCRIPT = $(PX4_BASE)/posix-configs/posixtest/scripts/ld.script
# Flags we pass to the linker
#
LDFLAGS += $(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)
LINK_DEPS +=
# Files to include to get automated dependencies
#
DEP_INCLUDES = $(subst .o,.d,$(OBJS))
# Compile C source $1 to object $2
# as a side-effect, generate a dependency file
#
define COMPILE
@$(ECHO) "CC: $1"
@$(MKDIR) -p $(dir $2)
$(Q) $(CCACHE) $(CC) -MD -c $(CFLAGS) $(abspath $1) -o $2
endef
# Compile C++ source $1 to $2
# as a side-effect, generate a dependency file
#
define COMPILEXX
@$(ECHO) "CXX: $1"
@$(MKDIR) -p $(dir $2)
@echo $(Q) $(CCACHE) $(CXX) -MD -c $(CXXFLAGS) $(abspath $1) -o $2
$(Q) $(CCACHE) $(CXX) -MD -c $(CXXFLAGS) $(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)
$(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) "PRELINK: $1"
@$(MKDIR) -p $(dir $1)
$(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 $1)
echo "$(Q) $(CXX) $(LDFLAGS) -shared -Wl,-soname,`basename $1`.1 -o $1 $2 $(LIBS) $(EXTRA_LIBS)"
$(Q) $(CXX) $(LDFLAGS) -shared -Wl,-soname,`basename $1`.1 -o $1 $2 $(LIBS) -pthread -lc
endef
# Link the objects in $2 into the application $1
#
define LINK
@$(ECHO) "LINK: $1"
@$(MKDIR) -p $(dir $1)
$(Q) $(CXX) $(CXXFLAGS) $(LDFLAGS) -o $1 $2 $(LIBS) $(EXTRA_LIBS) $(LIBGCC)
endef
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