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https://gitee.com/mirrors_PX4/PX4-Autopilot.git
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qurt: Added patch for Eigen to use latest version
Updated to 7.2 Hexagon toolchain Fixed issuse with stack usage Signed-off-by: Mark Charlebois <charlebm@gmail.com>
This commit is contained in:
Mark Charlebois
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#
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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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include(CMakeForceCompiler)
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list(APPEND CMAKE_MODULE_PATH ${CMAKE_SOURCE_DIR}/cmake)
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include(common/px4_base)
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if(NOT HEXAGON_TOOLS_ROOT)
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set(HEXAGON_TOOLS_ROOT /opt/7.2.09/Tools)
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endif()
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macro (list2string out in)
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set(list ${ARGV})
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list(REMOVE_ITEM list ${out})
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foreach(item ${list})
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set(${out} "${${out}} ${item}")
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endforeach()
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endmacro(list2string)
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set(V_ARCH "v5")
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set(CROSSDEV "hexagon-")
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set(HEXAGON_BIN ${HEXAGON_TOOLS_ROOT}/bin)
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set(HEXAGON_LIB_DIR ${HEXAGON_TOOLS_ROOT}/gnu/hexagon/lib)
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set(HEXAGON_ISS_DIR ${HEXAGON_TOOLS_ROOT}/lib/iss)
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set(TOOLSLIB ${HEXAGON_TOOLS_ROOT}/target/hexagon/lib/${V_ARCH}/G0)
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# Use the HexagonTools compiler (6.4.05)
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set(CMAKE_C_COMPILER ${HEXAGON_BIN}/${CROSSDEV}clang)
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set(CMAKE_CXX_COMPILER ${HEXAGON_BIN}/${CROSSDEV}clang++)
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set(CMAKE_AR ${HEXAGON_BIN}/${CROSSDEV}ar CACHE FILEPATH "Archiver")
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set(CMAKE_RANLIB ${HEXAGON_BIN}/${CROSSDEV}ranlib)
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set(CMAKE_LINKER ${HEXAGON_BIN}/${CROSSDEV}ld.qcld)
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set(CMAKE_NM ${HEXAGON_BIN}/${CROSSDEV}nm)
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set(CMAKE_OBJDUMP ${HEXAGON_BIN}/${CROSSDEV}objdump)
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set(CMAKE_OBJCOPY ${HEXAGON_BIN}/${CROSSDEV}objcopy)
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list2string(HEXAGON_INCLUDE_DIRS
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-I${HEXAGON_TOOLS_ROOT}/target/hexagon/include
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)
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#set(DYNAMIC_LIBS -Wl,${TOOLSLIB}/pic/libstdc++.a)
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#set(MAXOPTIMIZATION -O0)
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# Base CPU flags for each of the supported architectures.
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#
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set(ARCHCPUFLAGS
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-m${V_ARCH}
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-G0
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)
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add_definitions(
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-D_PID_T -D_UID_T -D_TIMER_T
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-Dnoreturn_function=
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-D__EXPORT=
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-Drestrict=
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-D_DEBUG
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-Wno-error=shadow
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)
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# optimisation flags
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#
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set(ARCHOPTIMIZATION
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-O0
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-g
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-fno-strict-aliasing
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-fdata-sections
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-fpic
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-fno-zero-initialized-in-bss
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)
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# Language-specific flags
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#
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set(ARCHCFLAGS
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-std=gnu99
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-D__CUSTOM_FILE_IO__
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)
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set(ARCHCXXFLAGS
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-fno-exceptions
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-fno-rtti
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# -std=c++11
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-fno-threadsafe-statics
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-DCONFIG_WCHAR_BUILTIN
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-D__CUSTOM_FILE_IO__
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)
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set(ARCHWARNINGS
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-Wall
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-Wextra
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-Werror
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-Wno-unused-parameter
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-Wno-unused-function
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-Wno-unused-variable
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-Wno-gnu-array-member-paren-init
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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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)
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# C-specific warnings
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#
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set(ARCHCWARNINGS
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${ARCHWARNINGS}
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-Wstrict-prototypes
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-Wnested-externs
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)
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# C++-specific warnings
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#
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set(ARCHWARNINGSXX
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${ARCHWARNINGS}
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-Wno-missing-field-initializers
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)
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exec_program(${CMAKE_CXX_COMPILER} ${CMAKE_CURRENT_SOURCE_DIR} ARGS -print-libgcc-file-name OUTPUT_VARIABLE LIBGCC)
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exec_program(${CMAKE_CXX_COMPILER} ${CMAKE_CURRENT_SOURCE_DIR} ARGS -print-file-name=libm.a OUTPUT_VARIABLE LIBM)
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set(EXTRA_LIBS ${EXTRA_LIBS} ${LIBM})
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# Flags we pass to the C compiler
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#
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list2string(CFLAGS
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${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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${HEXAGON_INCLUDE_DIRS}
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)
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# Flags we pass to the C++ compiler
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#
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list2string(CXXFLAGS
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${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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${EXTRADEFINES}
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${EXTRACXXFLAGS}
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${HEXAGON_INCLUDE_DIRS}
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)
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# Flags we pass to the assembler
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#
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list2string(AFLAGS
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${CFLAGS}
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-D__ASSEMBLY__
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${EXTRADEFINES}
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${EXTRAAFLAGS}
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)
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# Set cmake flags
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#
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list2string(CMAKE_C_FLAGS
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${CMAKE_C_FLAGS}
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${CFLAGS}
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)
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set(QURT_CMAKE_C_FLAGS ${CMAKE_C_FLAGS} CACHE STRING "cflags")
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message(STATUS "CMAKE_C_FLAGS: -${CMAKE_C_FLAGS}-")
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list2string(CMAKE_CXX_FLAGS
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${CMAKE_CXX_FLAGS}
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${CXXFLAGS}
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)
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set(QURT_CMAKE_CXX_FLAGS ${CMAKE_CXX_FLAGS} CACHE STRING "cxxflags")
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message(STATUS "CMAKE_CXX_FLAGS: -${CMAKE_CXX_FLAGS}-")
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# Flags we pass to the linker
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#
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list2string(CMAKE_EXE_LINKER_FLAGS
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-g
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-mv5
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-mG0lib
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-lhexagon
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-G0
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-fpic
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-Wl,-Bsymbolic
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-Wl,--wrap=malloc
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-Wl,--wrap=calloc
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-Wl,--wrap=free
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-Wl,--wrap=realloc
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-Wl,--wrap=memalign
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-Wl,--wrap=__stack_chk_fail
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-lc
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${EXTRALDFLAGS}
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)
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# where is the target environment
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set(CMAKE_FIND_ROOT_PATH get_file_component(${C_COMPILER} PATH))
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set(CMAKE_C_COMPILER_ID, "Clang")
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set(CMAKE_CXX_COMPILER_ID, "Clang")
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# search for programs in the build host directories
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set(CMAKE_FIND_ROOT_PATH_MODE_PROGRAM NEVER)
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# for libraries and headers in the target directories
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set(CMAKE_FIND_ROOT_PATH_MODE_LIBRARY ONLY)
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set(CMAKE_FIND_ROOT_PATH_MODE_INCLUDE ONLY)
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