mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-04-14 10:07:39 +08:00
3a47434749
Workaround required Eigen downgrade to 3.2. Hexagon toolchain does
not support C++11 features of newest version of Eigen.
Running make qurt_fixup will downgrade and patch Eigen for qurt.
Running make restore will revert the patch and do a git submodule update
to restore the expected Eigen version.
Added a "restore" target to undo qurt_fixup
Before doing a qurt build run:
make qurt_fixup
That will downgrade Eigen to 3.2 and apply the require patch.
To build another target after downgrading:
make restore
Them make the desired target (other than qurt).
Fixed type used in orb_priority to be consistent with the code
(int* was used in declaration but int32_t* used in code)
Removed unused class member variable in sensors.cpp
Added cmake fix for unit tests. The location of px4_log.c changed.
Fixed the qurt drv_hrt.c implementation to use us instead of ms for time resolution
Added px4_led.c to nuttx platform layer
Use the posix version of px4_led.c for nuttx so we don't end up with
duplicate files. It was moved out of common because it is not used by qurt.
Changed PX4_DEBUG to PX4_WARN when checking for the error condition for store_poll_waiter in vdev.cpp
Updated the px4_log.h file to make calls to the qurt_log functions.
The qurt_log function is defined in the platforms/qurt layer.
Added an option to control starting the commander module in HIL mode.
Moved the flight specific drivers to the configuration file instead of adding them
to the common tool chain file because HIL mode does not need them.
Added the uorb Subscriber and Publisher classes
Call PX4_ISFINITE macro instead of isfinite().
Added px4_led.c to nuttx platform layer
Use the posix version of px4_led.c for nuttx so we don't end up with duplicate files.
It was moved out of common because it is not used by qurt.
Signed-off-by: Mark Charlebois <charlebm@gmail.com>
358 lines
11 KiB
Makefile
358 lines
11 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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#$(info TOOLCHAIN gnu-arm-eabi)
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#
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# Stop making if ADSP_LIB_ROOT is not set. This defines the path to
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# DspAL headers and driver headers
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#
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ifndef DSPAL_ROOT
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$(error DSPAL_ROOT is not set)
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endif
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# Toolchain commands. Normally only used inside this file.
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#
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HEXAGON_TOOLS_ROOT ?= /opt/6.4.03
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#HEXAGON_TOOLS_ROOT = /opt/6.4.05
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HEXAGON_SDK_ROOT = /opt/Hexagon_SDK/2.0
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V_ARCH = v5
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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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TOOLSLIB = $(HEXAGON_TOOLS_ROOT)/dinkumware/lib/$(V_ARCH)/G0
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QCTOOLSLIB = $(HEXAGON_TOOLS_ROOT)/qc/lib/$(V_ARCH)/G0
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QURTLIB = $(HEXAGON_SDK_ROOT)/lib/common/qurt/ADSP$(V_ARCH)MP/lib
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#DSPAL = $(PX4_BASE)/../dspal_libs/libdspal.a
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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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HEXAGON_GCC = $(HEXAGON_BIN)/$(CROSSDEV)gcc
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QURTLIBS = \
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$(QCTOOLSLIB)/libdl.a \
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$(TOOLSLIB)/init.o \
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$(TOOLSLIB)/libc.a \
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$(TOOLSLIB)/libqcc.a \
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$(TOOLSLIB)/libstdc++.a \
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$(QURTLIB)/crt0.o \
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$(QURTLIB)/libqurt.a \
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$(QURTLIB)/libqurtkernel.a \
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$(QURTLIB)/libqurtcfs.a \
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$(QURTLIB)/libqube_compat.a \
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$(QURTLIB)/libtimer.a \
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$(QURTLIB)/libposix.a \
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$(QURTLIB)/../examples/cust_config.o \
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$(QCTOOLSLIB)/libhexagon.a \
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$(TOOLSLIB)/fini.o
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DYNAMIC_LIBS = \
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-Wl,$(TOOLSLIB)/pic/libstdc++.a
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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 = 6.4.03
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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: $(CROSSDEV_VER_SUPPORTED))
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endif
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# XXX this is pulled pretty directly from the fmu Make.defs - needs cleanup
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MAXOPTIMIZATION := -O0
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# Base CPU flags for each of the supported architectures.
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#
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ARCHCPUFLAGS = -m$(V_ARCH) -G0
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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_$(CONFIG_BOARD) \
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-D__PX4_QURT -D__PX4_POSIX \
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-D_PID_T -D_UID_T -D_TIMER_T\
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-Dnoreturn_function= \
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-D__EXPORT= \
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-Drestrict= \
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-D_DEBUG \
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-I$(DSPAL_ROOT)/ \
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-I$(DSPAL_ROOT)/dspal/include \
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-I$(DSPAL_ROOT)/dspal/sys \
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-I$(DSPAL_ROOT)/dspal/sys/sys \
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-I$(DSPAL_ROOT)/mpu_spi/inc/ \
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-I$(DSPAL_ROOT)/uart_esc/inc/ \
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-I$(HEXAGON_TOOLS_ROOT)/gnu/hexagon/include \
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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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-I$(PX4_BASE)/src/platforms/posix/include \
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-I$(PX4_BASE)/mavlink/include/mavlink \
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-I$(QURTLIB)/..//include \
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-I$(HEXAGON_SDK_ROOT)/inc \
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-I$(HEXAGON_SDK_ROOT)/inc/stddef \
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-Wno-error=shadow
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# optimisation flags
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#
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ARCHOPTIMIZATION = \
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-O0 \
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-g \
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-fno-strict-aliasing \
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-fdata-sections \
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-fpic \
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-fno-zero-initialized-in-bss
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#-fomit-frame-pointer \
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#-funsafe-math-optimizations \
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#-ffunction-sections
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#$(MAXOPTIMIZATION)
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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 -D__CUSTOM_FILE_IO__
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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-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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# 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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$(EXTRACFLAGS) \
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$(addprefix -I,$(INCLUDE_DIRS))
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#-fno-common
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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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# 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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LDSCRIPT = $(PX4_BASE)/makefiles/posix/ld.script
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# Flags we pass to the linker
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#
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LDFLAGS += -g -mv5 -mG0lib -G0 -fpic -shared \
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-Wl,-Bsymbolic \
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-Wl,--wrap=malloc \
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-Wl,--wrap=calloc \
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-Wl,--wrap=free \
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-Wl,--wrap=realloc \
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-Wl,--wrap=memalign \
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-Wl,--wrap=__stack_chk_fail \
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-lc \
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$(EXTRALDFLAGS) \
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$(addprefix -L,$(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 $2
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# as a side-effect, generate a dependency file
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#
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define COMPILENOSHARED
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@$(ECHO) "CC: $1"
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@$(MKDIR) -p $(dir $2)
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@echo $(Q) $(CCACHE) $(CC) -MD -c $(CFLAGS) $(abspath $1) -o $2
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$(Q) $(CCACHE) $(CC) -MD -c $(CFLAGS) $(abspath $1) -o $2
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endef
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# Compile C source $1 to object $2 for use in shared library
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# as a side-effect, generate a dependency file
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#
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define COMPILE
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@$(ECHO) "CC: $1"
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@$(MKDIR) -p $(dir $2)
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@echo $(Q) $(CCACHE) $(CC) -MD -c $(CFLAGS) $(abspath $1) -o $2
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#$(Q) $(CCACHE) $(CC) -MD -c $(CFLAGS) -D__V_DYNAMIC__ -fPIC $(abspath $1) -o $2
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#$(CCACHE) $(CC) -MD -c $(CFLAGS) -D__V_DYNAMIC__ -D__FILENAME__=\"$(notdir $1)\" -fPIC $(abspath $1) -o $2
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$(CCACHE) $(CC) -c $(CFLAGS) -D__V_DYNAMIC__ -D__FILENAME__=\"$(notdir $1)\" $(abspath $1) -o $2
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endef
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# Compile C++ source $1 to $2 for use in shared library
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# as a side-effect, generate a dependency file
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#
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define COMPILEXX
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@$(ECHO) "CXX: $1"
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@$(MKDIR) -p $(dir $2)
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@echo $(Q) $(CCACHE) $(CXX) -MD -c $(CXXFLAGS) $(abspath $1) -o $2
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#$(Q) $(CCACHE) $(CXX) -MD -c $(CXXFLAGS) -D__V_DYNAMIC__ -fPIC $(abspath $1) -o $2
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#$(CCACHE) $(CXX) -MD -c $(CXXFLAGS) -D__V_DYNAMIC__ -D__FILENAME__=\"$(notdir $1)\" -fPIC $(abspath $1) -o $2
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$(CCACHE) $(CXX) -c $(CXXFLAGS) -D__V_DYNAMIC__ -D__FILENAME__=\"$(notdir $1)\" $(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 $2
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#
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#$(Q) $(LD) -Ur -o $1 $2 # -Ur not supported in ld.gold
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define PRELINK
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@$(ECHO) "PRELINK: $1"
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@$(MKDIR) -p $(dir $1)
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@echo $(Q) $(LD) -Ur -o $1 $2
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$(Q) $(LD) -Ur -o $1 $2
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endef
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# Produce partially-linked $1 from files in $2
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#
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#$(Q) $(LD) -Ur -o $1 $2 # -Ur not supported in ld.gold
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define PRELINKF
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@$(ECHO) "PRELINKF: $1"
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@$(MKDIR) -p $(dir $1)
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@echo $(Q) $(LD) -Ur -T$(LDSCRIPT) -o $1 $2
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$(Q) $(LD) -Ur -T$(LDSCRIPT) -o $1 $2
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endef
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# $(Q) $(LD) -Ur -o $1 $2 && $(OBJCOPY) --localize-hidden $1
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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 shared library $1
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#
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define LINK_A
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@$(ECHO) "LINK_A: $1"
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@$(MKDIR) -p $(dir $1)
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echo "$(Q) $(AR) $1 $2"
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$(Q) $(AR) $1 $2
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endef
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# Link the objects in $2 into the shared library $1
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#
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define LINK_SO
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@$(ECHO) "LINK_SO: $1"
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@$(MKDIR) -p $(dir $1)
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$(HEXAGON_GCC) $(LDFLAGS) -o $1 -Wl,--whole-archive $2 -Wl,--no-whole-archive $(LIBS) $(DYNAMIC_LIBS)
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endef
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# Link the objects in $2 into the application $1
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#
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define LINK
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@$(ECHO) "LINK: $1"
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@$(MKDIR) -p $(dir $1)
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$(LD) --section-start .start=0x1d000000 -o $1 --start-group $2 $(EXTRA_LIBS) $(QURTLIBS) --end-group --dynamic-linker= -E --force-dynamic
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endef
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