--- /dev/null
+
+# Rules for NuttX binaries compilation of C, C++ and assembler
+# sources using GNU toolchain.
+
+# Interface to other rules:
+
+# Input variables:
+# NUTTX_EXPORT - export directory of NuttX build
+# it should contain subdirectories:
+# arch build include libs registry startup)
+# LIB_DIR - directory where compiled libraries are stored
+# OBJS_DIR - directory where intermediate files (.o, .map, ...) are stored
+# INCLUDE_DIR - where includes can be found
+# from config.omk or Makefile.omk
+# CROSS_COMPILE - target architecture tools prefix
+# TARGET_ARCH, DEBUG, OPTIMIZE, DEFS - forms CFLAGS
+# from base: SOURCES_DIR
+# from Makefile.omk: lib_LOADLIBES
+
+# Output variables:
+# SOURCES - all the source files that needs to be compiled (except for shared library sources)
+# SOLIB_SOURCES - all the source files that needs to be compiled for a shared library
+# OBJ_EXT - extension of object files
+# LIB_EXT - extension of library files
+# LIB_PREF - prefix for library files
+# ASM_EXT - extension of assembler sources
+
+# Templates:
+# COMPILER_DEFS_template - definitions that should be defined before
+# the following templates can be used. The input variables needs to be
+# defined before evaluating this template
+
+# COMPILE_c_o_template, COMPILE_cc_o_template, COMPILE_S_o_template -
+# templates that create rules for compilation of sources
+
+# PROGRAM_template, LIBRARY_template, SOLIB_template - templates that
+# create rules for compilation of a program, library and shared
+# library. The rules can use rules produced by COMPILE_xxx_template.
+
+define COMPILER_DEFS_template
+OBJ_EXT = .o
+LIB_EXT = .a
+LIB_PREF = lib
+ASM_EXT = .S
+
+CC = $(CROSS_COMPILE)gcc
+CXX = $(CROSS_COMPILE)g++
+LINK = $(CROSS_COMPILE)ld
+AR = $(CROSS_COMPILE)ar
+OBJCOPY = $(CROSS_COMPILE)objcopy
+NM = $(CROSS_COMPILE)nm
+
+CFLAGS += $(TARGET_ARCH) $(DEBUG) $(OPTIMIZE)
+CFLAGS += -Wall
+CFLAGS += -I$(SOURCES_DIR)
+CFLAGS += -I$(INCLUDE_DIR)
+
+LOADLIBES += -L$(LIB_DIR)
+LOADLIBES += $(lib_LOADLIBES:%=-l%)
+
+
+-include $(OBJS_DIR)/*.d
+
+SOURCES2OBJS = .o/.c .o/.cc .o/.cxx .o/.S .o/.s .o/.o
+
+SOURCES2OBJSLO = .lo/.c .lo/.cc .lo/.cxx .lo/.S .lo/.s .lo/.lo
+
+#%.lo: %.c
+# $(CC) -o $@ $(LCFLAGS) -c $<
+
+c_o_COMPILE = $$(CC) $(DEFS) $(DEFAULT_INCLUDES) $(INCLUDES) $(OMK_CPPFLAGS) \
+ $(CPPFLAGS) $(OMK_CFLAGS) $$(CFLAGS)
+
+cc_o_COMPILE = $$(CXX) $(DEFS) $(DEFAULT_INCLUDES) $(INCLUDES) $(OMK_CPPFLAGS) \
+ $(CPPFLAGS) $(CXXFLAGS) $(OMK_CFLAGS) $$(CFLAGS)
+
+S_o_COMPILE = $$(CC) $(DEFS) $(DEFAULT_INCLUDES) $(INCLUDES) \
+ $(CPPFLAGS) $(OMK_CFLAGS) $$(CFLAGS) $(ASFLAGS)
+
+
+# Check GCC version for user build
+ifndef CC_MAJOR_VERSION
+CC_MAJOR_VERSION = $$(shell $$(CC) -dumpversion | $(SED4OMK) -e 's/\([^.]\)\..*/\1/')
+endif
+# Prepare suitable define for dependency building
+ifeq ($$(CC_MAJOR_VERSION),2)
+CC_DEPFLAGS = -Wp,-MD,"$$@.d.tmp"
+else
+CC_DEPFLAGS = -MT $$@ -MD -MP -MF "$$@.d.tmp"
+endif
+
+endef # COMPILER_DEFS_template
+
+
+# Syntax: $(call COMPILE_c_o_template,<source>,<target>,<additional c-flags>)
+define COMPILE_c_o_template
+$(2): $(1) $$(GEN_HEADERS)
+ @$(QUIET_CMD_ECHO) " CC $$@"
+ $(Q) if $$(c_o_COMPILE) $$(CC_DEPFLAGS) $(3) -o $$@ -c $$< ; \
+ then mv -f "$$@.d.tmp" "$$@.d" ; \
+ else rm -f "$$@.d.tmp" ; exit 1; \
+ fi
+endef
+
+
+# Syntax: $(call COMPILE_cc_o_template,<source>,<target>,<additional c-flags>)
+define COMPILE_cc_o_template
+$(2): $(1) $$(GEN_HEADERS)
+ @$(QUIET_CMD_ECHO) " CXX $$@"
+ $(Q) if $$(cc_o_COMPILE) $$(CC_DEPFLAGS) $(3) -o $$@ -c $$< ; \
+ then mv -f "$$@.d.tmp" "$$@.d" ; \
+ else rm -f "$$@.d.tmp" ; exit 1; \
+ fi
+endef
+
+# Syntax: $(call COMPILE_S_o_template,<source>,<target>,<additional c-flags>)
+define COMPILE_S_o_template
+$(2): $(1) $$(GEN_HEADERS)
+ @$(QUIET_CMD_ECHO) " AS $$@"
+ $(Q) if $$(S_o_COMPILE) -D__ASSEMBLY__ $$(CC_DEPFLAGS) $(3) -o $$@ -c $$< ; \
+ then if [ -e "$$@.d.tmp" ] ; then mv -f "$$@.d.tmp" "$$@.d" ; fi ; \
+ else rm -f "$$@.d.tmp" ; exit 1; \
+ fi
+endef
+
+# Syntax: $(call PROGRAM_template,<executable-name>,<dir>,<link-variant>)
+define PROGRAM_template
+
+GEN_SOURCES += $$($(1)_GEN_SOURCES)
+
+$(foreach x, $(SOURCES2OBJS),
+$(1)_OBJS += $$(patsubst %$(notdir $(x)),%$(dir $(x)),$$(filter %$(notdir $(x)),\
+ $$($(1)_SOURCES) $$($(1)_GEN_SOURCES)))
+)
+$(1)_OBJS := $$(sort $$($(1)_OBJS:%/=%))
+
+SOURCES += $$($(1)_SOURCES)
+
+ifneq ($$($(1)_PROGBUILTIN),)
+ifneq ($$($(1)_PROGBUILTIN),all)
+$(1)_PROGBUILTIN_LIST = $$($(1)_PROGBUILTIN)
+else
+$(1)_PROGBUILTIN_TMP = $$(wildcard $$(USER_COMPILED_DIR_NAME)/registry/*.pbi)
+$(1)_PROGBUILTIN_LIST = $$($(1)_PROGBUILTIN_TMP:$$(USER_COMPILED_DIR_NAME)/registry/%.pbi=%)
+endif
+#$$(warning $(1)_PROGBUILTIN_LIST=$$($(1)_PROGBUILTIN_LIST))
+
+$(1)_PROGBUILTIN_PBI=$$($(1)_PROGBUILTIN_LIST:%=$$(USER_COMPILED_DIR_NAME)/registry/%.pbi)
+$(1)_PROGBUILTIN_ldat=$$($(1)_PROGBUILTIN_LIST:%=$$(USER_COMPILED_DIR_NAME)/registry/%.ldat)
+$(1)_PROGBUILTIN_PDAT=$$($(1)_PROGBUILTIN_LIST:%=$$(USER_COMPILED_DIR_NAME)/registry/%.pdat) \
+ $$(wildcard $(NUTTXREGISTRY)/*.pdat)
+$(1)_PROGBUILTIN_BDAT=$$($(1)_PROGBUILTIN_LIST:%=$$(USER_COMPILED_DIR_NAME)/registry/%.bdat) \
+ $$(wildcard $(NUTTXREGISTRY)/*.bdat)
+
+ifneq ($$($(1)_PROGBUILTIN_PDAT),)
+$(1)_BUILTINTABLE = $(OBJS_DIR)/$(1)-builtintab.c
+
+$$($(1)_BUILTINTABLE): $$($(1)_PROGBUILTIN_PDAT) $$($(1)_PROGBUILTIN_BDAT)
+ $(Q) cat $$($(1)_PROGBUILTIN_PDAT) >$$@
+ $(Q) echo "#include <nuttx/config.h>" >>$$@
+ $(Q) echo "#include <nuttx/binfmt/builtin.h>" >>$$@
+ $(Q) echo "const struct builtin_s g_builtins[] = {" >>$$@
+ $(Q) cat $$($(1)_PROGBUILTIN_BDAT) >>$$@
+ $(Q) echo "{ NULL, 0, 0, 0 }};" >>$$@
+ $(Q) echo "const int g_builtin_count = sizeof(g_builtins) / sizeof(g_builtins[0]);" >>$$@
+
+GEN_SOURCES += $$($(1)_BUILTINTABLE)
+endif
+endif
+
+
+ifneq ($$(LD_SCRIPT$(3:%=-%)),)
+$(1)$(3:%=-%)_LD_SCRIPT_FN = $$(LD_SCRIPT$(3:%=-%))
+else
+$(1)$(3:%=-%)_LD_SCRIPT_FN = $$(LD_SCRIPT)
+endif
+
+$$(warning $(1)$(3:%=-%)_LD_SCRIPT_FN = $$($(1)$(3:%=-%)_LD_SCRIPT_FN))
+
+ifeq ($$(dir $$($(1)$(3:%=-%)_LD_SCRIPT_FN)),)
+$(1)$(3:%=-%)_LD_SCRIPT = $$(LIB_DIR)/$$($(1)$(3:%=-%)_LD_SCRIPT_FN)
+else
+$(1)$(3:%=-%)_LD_SCRIPT = $$($(1)$(3:%=-%)_LD_SCRIPT_FN)
+endif
+
+$(1)$(3:%=-%)_LDFLAGS = -Wl,-T,$$($(1)$(3:%=-%)_LD_SCRIPT)
+
+$$(warning $(1)$(3:%=-%)_LDFLAGS = $$($(1)$(3:%=-%)_LDFLAGS))
+
+$(2)/$(1)$(3:%=-%): $$($(1)_OBJS) $$($(1)_BUILTINTABLE:%.c=%.o) $$($(1)_PROGBUILTIN_ldat) $$($(1)$(3:%=-%)_LD_SCRIPT)
+ @$(QUIET_CMD_ECHO) " LINK $$@"
+ $(Q) if [ -n "$$($(1)_PROGBUILTIN_LIST)" ] ; then echo ; fi
+ $(Q) $$(if $$(filter %.cc,$$($(1)_SOURCES)) , \
+ $$(CXX) $$(CPPFLAGS) $$(OMK_CPPFLAGS) $$(OMK_CXXFLAGS) $$(CXXFLAGS) , \
+ $$(CC) $$(CPPFLAGS) $$(OMK_CPPFLAGS) $$(OMK_CFLAGS) $$(CFLAGS) ) \
+ $$(OMK_LDFLAGS) $$(LDFLAGS) $$($(1)$(3:%=-%)_LDFLAGS) -Wl,-Map,$(1)$(3:%=-%).map \
+ $$($(1)_OBJS) $$($(1)_MOREOBJS) $$($(1)_BUILTINTABLE:%.c=%.o) \
+ $$($(1)_PROGBUILTIN_PBI) $$(LOADLIBES) $$($(1)_LIBS:%=-l%) \
+ $$(shell for i in $$($(1)_PROGBUILTIN_ldat); do cat $$$$i ; done) $$(NUTTXLIBES) \
+ -o $$@
+ @echo "$(2)/$(1)$(3:%=-%): \\" >$(OBJS_DIR)/$(1)$(3:%=-%).exe.d
+ @$(SED4OMK) -n -e 's|^LOAD \(.*\)$$$$| \1 \&|p' $(OBJS_DIR)/$(1)$(3:%=-%).map|tr '&' '\134' >>$(OBJS_DIR)/$(1)$(3:%=-%).exe.d
+ @echo >>$(OBJS_DIR)/$(1).exe.d
+endef
+
+# Syntax: $(call ELF_template,<executable-name>,<dir>)
+define ELF_template
+
+$(2)/$(1).elf: $$($(1)_OBJS)
+ @$(QUIET_CMD_ECHO) " ELF $$@"
+ $(Q) $(LINK) \
+ -r -e main -T $(NUTTX_EXPORT)/build/gnu-elf.ld \
+ -Map $(1).elf.map \
+ $$($(1)_OBJS) $$($(1)_MOREOBJS) $$(LOADLIBES) $$($(1)_LIBS:%=-l%) \
+ -o $$@
+ @echo "$(2)/$(1).elf: \\" >$(OBJS_DIR)/$(1).elf.d
+ @echo " $(NUTTX_EXPORT)/build/gnu-elf.ld \\" >>$(OBJS_DIR)/$(1).elf.d
+ @$(SED4OMK) -n -e 's|^LOAD \(.*\)$$$$| \1 \&|p' $(OBJS_DIR)/$(1).elf.map|tr '&' '\134' >>$(OBJS_DIR)/$(1).elf.d
+ @echo >>$(OBJS_DIR)/$(1).elf.d
+endef
+
+# Syntax: $(call PROGBUILTIN_template,<executable-name>,<dir>,<registry-dir>)
+define PROGBUILTIN_template
+
+$(1)_PRIORITY ?= SCHED_PRIORITY_DEFAULT
+$(1)_STACKSIZE ?= 2048
+
+$(2)/$(1).pbi: $$($(1)_OBJS)
+ @$(QUIET_CMD_ECHO) " PROGMOD $$@"
+ $(Q) $(LINK) \
+ -r -x --defsym=$(1)_main=main \
+ -Map $(1).pbi.map \
+ $$($(1)_OBJS) $$($(1)_MOREOBJS) \
+ -o $(OBJS_DIR)/$(1).pbo
+ $(Q) $(OBJCOPY) --keep-global-symbol=$(1)_main $(OBJS_DIR)/$(1).pbo $$@
+ @echo "$(2)/$(1).pbi: \\" >$(OBJS_DIR)/$(1).pbi.d
+ @$(SED4OMK) -n -e 's|^LOAD \(.*\)$$$$| \1 \&|p' $(OBJS_DIR)/$(1).pbi.map|tr '&' '\134' >>$(OBJS_DIR)/$(1).pbi.d
+ @echo >>$(OBJS_DIR)/$(1).pbi.d
+ @echo "{ \"$1\", $$($(1)_PRIORITY), $$($(1)_STACKSIZE), $(1)_main }," >$(3)/$(1).bdat
+ @echo "int $(1)_main(int argc, char *argv[]);" >$(3)/$(1).pdat
+ @echo "$$(LOADLIBES) $$($(1)_LIBS:%=-l%)" >$(3)/$(1).ldat
+endef
+
+
+# Rules for other output formats (can be specified by OUTPUT_FORMATS)
+%.bin: %
+ @$(QUIET_CMD_ECHO) " OBJCOPY $@"
+ $(Q) $(OBJCOPY) --output-target=binary -S $< $@
+
+%.hex: %
+ @$(QUIET_CMD_ECHO) " OBJCOPY $@"
+ $(Q) $(OBJCOPY) --output-target=ihex -S $< $@
+
+%.srec: %
+ @$(QUIET_CMD_ECHO) " OBJCOPY $@"
+ $(Q) $(OBJCOPY) --output-target=srec -S $< $@
+
+# Syntax: $(call LIBRARY_template,<library-name>)
+define LIBRARY_template
+
+GEN_SOURCES += $$($(1)_GEN_SOURCES)
+
+$(foreach x, $(SOURCES2OBJS),
+$(1)_OBJS += $$(patsubst %$(notdir $(x)),%$(dir $(x)),$$(filter %$(notdir $(x)),\
+ $$($(1)_SOURCES) $$($(1)_GEN_SOURCES)))
+)
+$(1)_OBJS := $$(sort $$($(1)_OBJS:%/=%))
+
+SOURCES += $$($(1)_SOURCES)
+
+$(LIB_DIR)/lib$(1).a: $$($(1)_OBJS)
+ @$(QUIET_CMD_ECHO) " AR $$@"
+ $(Q) $(AR) rcs $$@ $$^
+endef
+
+
+# Syntax: $(call SOLIB_template,<library-name>)
+define SOLIB_template
+
+SOLIB_GEN_SOURCES += $$($(1)_GEN_SOURCES)
+
+$(foreach x, $(SOURCES2OBJSLO),
+$(1)_OBJSLO += $$(patsubst %$(notdir $(x)),%$(dir $(x)),$$(filter %$(notdir $(x)),\
+ $$($(1)_SOURCES) $$($(1)_GEN_SOURCES)))
+)
+$(1)_OBJSLO := $$(sort $$($(1)_OBJSLO:%/=%))
+
+SOLIB_OBJS += $$($(1)_OBJSLO)
+SOLIB_SOURCES += $$($(1)_SOURCES)
+
+$(LIB_DIR)/lib$(1).so: $$($(1)_OBJSLO)
+ @$(QUIET_CMD_ECHO) " LINK $$@"
+ $(Q) $(LD) --shared --soname=lib$(1).so -o $$@ $$^
+endef
+
+ifneq ($(bin_PROGRAMS),)
+library-pass_HOOKS += force_builtin_library_hook
+
+.PHONY: force_builtin_library_hook
+force_builtin_library_hook:
+
+endif
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