mirror of
https://github.com/PX4/PX4-Autopilot.git
synced 2026-06-05 06:03:02 +08:00
Qurt: Added more support for the QuRT target
Signed-off-by: Mark Charlebois <charlebm@gmail.com>
This commit is contained in:
Mark Charlebois
@@ -38,8 +38,8 @@
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# Toolchain commands. Normally only used inside this file.
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#
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HEXAGON_TOOLS_ROOT = /opt/6.4.05
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#V_ARCH = v4 # Set for APQ8064
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V_ARCH = v5 # Set for APQ8074
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#V_ARCH = v4
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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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@@ -72,11 +72,7 @@ MAXOPTIMIZATION ?= -O2
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# Base CPU flags for each of the supported architectures.
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#
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_CODE = $(addprefix -G,$(V_G_THRESHOLD))
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ARCHCPUFLAGS = -m$(V_ARCH) \
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-c \
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-G0 \
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$(_CODE)
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ARCHCPUFLAGS = -m$(V_ARCH)
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# Set the board flags
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@@ -86,8 +82,13 @@ $(error Board config does not define CONFIG_BOARD)
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endif
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ARCHDEFINES += -DCONFIG_ARCH_BOARD_$(CONFIG_BOARD) \
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-D__PX4_QURT \
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-D__EXPORT= \
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-Dnoreturn_function= \
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-Drestrict= \
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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$(PX4_BASE)/../dspalmc/include \
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-I$(PX4_BASE)/../dspalmc/sys \
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-Wno-error=shadow
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# optimisation flags
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@@ -114,6 +115,8 @@ ARCHCXXFLAGS = -fno-exceptions -fno-rtti -std=gnu++0x -fno-threadsafe-statics
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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-variable \
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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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@@ -169,8 +172,8 @@ ifeq (1,$(V_dynamic))
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CXX_FLAGS += -fpic -D__V_DYNAMIC__
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endif
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HEXAGON_LIB_PATH=$(HEXAGON_TOOLS_ROOT)/gnu/hexagon/lib/$(V_ARCH)/G0
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LIB_HEXAGON =$(HEXAGON_TOOLS_ROOT)/qc/lib/$(V_ARCH)/G0/libhexagon.a
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HEXAGON_LIB_PATH = $(HEXAGON_TOOLS_ROOT)/gnu/hexagon/lib/$(V_ARCH)/G0
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LIB_HEXAGON = $(HEXAGON_TOOLS_ROOT)/qc/lib/$(V_ARCH)/G0/libhexagon.a
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# Flags we pass to the assembler
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#
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@@ -178,14 +181,11 @@ AFLAGS = $(CFLAGS) -D__ASSEMBLY__ \
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$(EXTRADEFINES) \
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$(EXTRAAFLAGS)
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LDSCRIPT = $(PX4_BASE)/linux-configs/linuxtest/scripts/ld.script
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# Flags we pass to the linker
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#
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LDFLAGS += \
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-Wl,--start-group -Wl,--whole-archive -lc -lgcc -lstdc++ \
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$(LIB_HEXAGON) -Wl,--no-whole-archive -Wl,--end-group -Wl,--dynamic-linker= \
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-Wl,-E -Wl,--force-dynamic \
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$(EXTRALDFLAGS) \
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$(addprefix -T,$(LDSCRIPT)) \
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$(addprefix -L,$(LIB_DIRS))
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# Compiler support library
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@@ -215,6 +215,7 @@ endef
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define COMPILEXX
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@$(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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@@ -228,11 +229,25 @@ 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 $1)
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$(Q) $(LD) -Ur -Map $1.map -o $1 $2 && $(OBJCOPY) --localize-hidden $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 $2
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#
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@@ -242,63 +257,33 @@ define ARCHIVE
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$(Q) $(AR) $1 $2
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endef
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# Link the objects in $2 into the binary $1
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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 $1)
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$(Q) $(LD) $(LDFLAGS) -Map $1.map -o $1 --start-group $2 $(LIBS) $(EXTRA_LIBS) $(LIBGCC) --end-group
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echo $(Q) $(CXX) $(CXXFLAGS) $(LDFLAGS) -o $1 $2 $(LIBS)
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$(Q) $(CXX) $(CXXFLAGS) $(LDFLAGS) -o $1 $2
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# $(Q) $(CXX) $(CXXFLAGS) $(LDFLAGS) -o $1 $2 $(LIBS) $(EXTRA_LIBS) $(LIBGCC)
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endef
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# Convert $1 from a linked object to a raw binary in $2
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#
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define SYM_TO_BIN
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@$(ECHO) "BIN: $2"
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@$(MKDIR) -p $(dir $2)
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$(Q) $(OBJCOPY) -O binary $1 $2
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endef
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# Take the raw binary $1 and make it into an object file $2.
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# The symbol $3 points to the beginning of the file, and $3_len
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# gives its length.
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#
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# - compile an empty file to generate a suitable object file
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# - relink the object and insert the binary file
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# - extract the length
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# - create const unsigned $3_len with the extracted length as its value and compile it to an object file
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# - link the two generated object files together
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# - edit symbol names to suit
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#
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# NOTE: exercise caution using this with absolute pathnames; it looks
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# like the MinGW tools insert an extra _ in the binary symbol name; e.g.
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# the path:
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#
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# /d/px4/firmware/Build/px4fmu_default.build/romfs.img
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#
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# is assigned symbols like:
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#
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# _binary_d__px4_firmware_Build_px4fmu_default_build_romfs_img_size
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#
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# when we would expect
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#
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# _binary__d_px4_firmware_Build_px4fmu_default_build_romfs_img_size
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#
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define BIN_SYM_PREFIX
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_binary_$(subst /,_,$(subst .,_,$1))
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endef
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define BIN_TO_OBJ
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@$(ECHO) "OBJ: $2"
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@$(MKDIR) -p $(dir $2)
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$(Q) $(ECHO) > $2.c
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$(call COMPILE,$2.c,$2.c.o)
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$(Q) $(LD) -r -o $2.bin.o $2.c.o -b binary $1
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$(Q) $(ECHO) "const unsigned int $3_len = 0x`$(NM) -p --radix=x $2.bin.o | $(GREP) $(call BIN_SYM_PREFIX,$1)_size$$ | $(GREP) -o ^[0-9a-fA-F]*`;" > $2.c
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$(call COMPILE,$2.c,$2.c.o)
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$(Q) $(LD) -r -o $2 $2.c.o $2.bin.o
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$(Q) $(OBJCOPY) $2 \
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--redefine-sym $(call BIN_SYM_PREFIX,$1)_start=$3 \
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--strip-symbol $(call BIN_SYM_PREFIX,$1)_size \
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--strip-symbol $(call BIN_SYM_PREFIX,$1)_end \
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--rename-section .data=.rodata
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$(Q) $(REMOVE) $2.c $2.c.o $2.bin.o
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endef
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