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https://gitee.com/mirrors_PX4/PX4-Autopilot.git
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838e9fc769
Moved the NuttX specific board files to makefiles/nuttx and added a makfiles/linux directory with sample config and board files. Created a makefiles/toolchain_native.mk file for building for Linux with the native system compiler. GCC or clang can be used by setting a flag in the file. The Linux build creates an archive file and will build the tasks as threads. Other code changes are required to support both task based and thread based builds. The NuttX source should not be required for the Linux build. The target OS (NuttX or Linux) is selected by commenting out the desired line in setup.mk Signed-off-by: Mark Charlebois <charlebm@gmail.com>
307 lines
7.9 KiB
Makefile
307 lines
7.9 KiB
Makefile
#
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# Copyright (C) 2012-2014 PX4 Development Team. 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 native GCC toolchain
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#
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#$(info TOOLCHAIN native)
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# Toolchain commands. Normally only used inside this file.
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#
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# Set to 1 for GCC-4.8.2 and to 0 for Clang-3.5 (Ubuntu 14.04)
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USE_GCC=0
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ifeq ($(USE_GCC),1)
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# GCC Options:
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CC = gcc
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CXX = g++
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CPP = gcc -E
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# GCC Version
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DEV_VER_SUPPORTED = 4.8.2
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else
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# Clang options
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CC = clang-3.5
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CXX = clang++-3.5
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CPP = clang-3.5 -E
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# Clang GCC reported version
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DEV_VER_SUPPORTED = 4.2.1
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endif
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LD = ld
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AR = ar rcs
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NM = nm
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OBJCOPY = objcopy
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OBJDUMP = objdump
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# Check if the right version of the toolchain is available
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#
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DEV_VER_FOUND = $(shell $(CC) -dumpversion)
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ifeq (,$(findstring $(DEV_VER_FOUND), $(DEV_VER_SUPPORTED)))
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$(error Unsupported version of $(CC), found: $(DEV_VER_FOUND) instead of one in: $(DEV_VER_SUPPORTED))
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endif
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# XXX this is pulled pretty directly from the fmu Make.defs - needs cleanup
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MAXOPTIMIZATION ?= -O3
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# Enabling stack checks if OS was build with them
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#
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# Set the board flags
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#
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ifeq ($(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_LINUX \
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-Dnoreturn_function= \
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-I/usr/include/eigen3 \
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-I$(PX4_BASE)/src/platforms/linux/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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-fno-builtin-printf \
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-ffunction-sections \
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-fdata-sections
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# Language-specific flags
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#
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ARCHCFLAGS = -std=gnu99 -g
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ARCHCXXFLAGS = -fno-exceptions -fno-rtti -std=c++11 -fno-threadsafe-statics -D__CUSTOM_FILE_IO__ -g
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# Generic warnings
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#
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# Disabled
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# -Wshadow - Breaks for the libeigen package headers
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# -Wframe-larger-than=1024 - Only needed for embedded
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ARCHWARNINGS = -Wall \
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-Wextra \
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-Werror \
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-Wfloat-equal \
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-Wpointer-arith \
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-Wmissing-declarations \
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-Wpacked \
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-Wno-unused-parameter \
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-Werror=format-security \
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-Werror=array-bounds \
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-Wfatal-errors \
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-Werror=unused-variable \
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-Werror=reorder \
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-Werror=uninitialized \
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-Werror=init-self
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# Add compiler specific options
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ifeq ($(USE_GCC),1)
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ARCHDEFINES += -Wno-error=logical-op
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ARCHWARNINGS += -Wdouble-promotion \
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-Wlogical-op \
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-Wformat=1 \
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-Werror=unused-but-set-variable \
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-Werror=double-promotion
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ARCHOPTIMIZATION += -fno-strength-reduce
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endif
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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 = $(ARCHWARNINGS) \
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-Wbad-function-cast \
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-Wstrict-prototypes \
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-Wmissing-prototypes \
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-Wnested-externs
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# Add compiler specific options
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ifeq ($(USE_GCC),1)
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ARCHCWARNINGS += -Wold-style-declaration \
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-Wmissing-parameter-type
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endif
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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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EXTRA_LIBS += -pthread -lm
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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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$(EXTRACXXFLAGS) \
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-Wno-effc++ \
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$(addprefix -I,$(INCLUDE_DIRS))
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ifeq ($(USE_GCC),0)
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CXXFLAGS += -Wno-deprecated-register \
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-Wno-tautological-constant-out-of-range-compare \
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-Wno-unused-private-field \
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-Wno-unused-const-variable
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endif
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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 += $(EXTRALDFLAGS) \
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$(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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LINK_DEPS +=
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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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@echo $(Q) $(CCACHE) $(CXX) -MD -c $(CXXFLAGS) $(abspath $1) -o $2
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$(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 -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 $1)
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echo "$(Q) $(CXX) $(LDFLAGS) -shared -Wl,-soname,`basename $1`.1 -o $1 $2 $(LIBS) $(EXTRA_LIBS)"
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$(Q) $(CXX) $(LDFLAGS) -shared -Wl,-soname,`basename $1`.1 -o $1 $2 $(LIBS) -pthread -lc
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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 $1)
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echo "$(Q) $(CXX) $(LDFLAGS) -o $1 $2 $(LIBS) $(EXTRA_LIBS)"
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$(Q) $(CXX) $(CXXFLAGS) $(LDFLAGS) -o $1 $2 $(LIBS) $(EXTRA_LIBS) $(LIBGCC)
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endef
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