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Linux: Added linker script support for param and added mc_att_control

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Added linker script to resolve __param_start and __param_end.

Added mc_att_control to list of supported builtins.

Signed-off-by: Mark Charlebois <charlebm@gmail.com>
This commit is contained in:
Mark Charlebois
2015-04-20 11:16:26 -07:00
parent 977036faf9
commit 2cd44a24ea
8 changed files with 109 additions and 13 deletions
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makefiles/linux/config_linux_default.mk
+1 -1
View File
@@ -33,7 +33,7 @@ MODULES += modules/mavlink
#
# Vehicle Control
#
#MODULES += modules/mc_att_control
MODULES += modules/mc_att_control
#
# Library modules
makefiles/linux_elf.mk
+6 -2
View File
@@ -41,6 +41,7 @@
# What we're going to build.
#
PRODUCT_SHARED_LIB = $(WORK_DIR)firmware.a
PRODUCT_SHARED_PRELINK = $(WORK_DIR)firmware.o
.PHONY: firmware
firmware: $(PRODUCT_SHARED_LIB) $(WORK_DIR)mainapp
@@ -49,8 +50,11 @@ firmware: $(PRODUCT_SHARED_LIB) $(WORK_DIR)mainapp
# Built product rules
#
$(PRODUCT_SHARED_LIB): $(OBJS) $(MODULE_OBJS) $(LIBRARY_LIBS) $(GLOBAL_DEPS) $(LINK_DEPS) $(MODULE_MKFILES)
$(call LINK_A,$@,$(OBJS) $(MODULE_OBJS) $(LIBRARY_LIBS))
$(PRODUCT_SHARED_PRELINK): $(OBJS) $(MODULE_OBJS) $(LIBRARY_LIBS) $(GLOBAL_DEPS) $(LINK_DEPS) $(MODULE_MKFILES)
$(call PRELINKF,$@,$(OBJS) $(MODULE_OBJS) $(LIBRARY_LIBS))
$(PRODUCT_SHARED_LIB): $(PRODUCT_SHARED_PRELINK)
$(call LINK_A,$@,$(PRODUCT_SHARED_PRELINK))
MAIN = $(PX4_BASE)/src/platforms/linux/main.cpp
$(WORK_DIR)mainapp: $(PRODUCT_SHARED_LIB)
makefiles/toolchain_native.mk
+12 -2
View File
@@ -193,7 +193,7 @@ ARCHWARNINGSXX = $(ARCHWARNINGS) \
# 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
EXTRA_LIBS += -lm -lrt
# Flags we pass to the C compiler
#
@@ -237,6 +237,7 @@ AFLAGS = $(CFLAGS) -D__ASSEMBLY__ \
$(EXTRADEFINES) \
$(EXTRAAFLAGS)
LDSCRIPT = $(PX4_BASE)/linux-configs/linuxtest/scripts/ld.script
# Flags we pass to the linker
#
LDFLAGS += $(EXTRALDFLAGS) \
@@ -290,6 +291,15 @@ define PRELINK
@$(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 $1
@@ -324,7 +334,7 @@ endef
define LINK
@$(ECHO) "LINK: $1"
@$(MKDIR) -p $(dir $1)
echo "$(Q) $(CXX) $(LDFLAGS) -o $1 $2 $(LIBS) $(EXTRA_LIBS)"
$(Q) $(CXX) $(CXXFLAGS) $(LDFLAGS) -o $1 $2 $(LIBS) $(EXTRA_LIBS) $(LIBGCC)
endef