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Use CMAKE_*_FLAGS_INIT variables to initialize flags

Marco Clemencic requested to merge use-FLAGS_INIT-variables into master

The proper way of presetting compiler and linker flags in a toolchain is to use the special CMAKE_*_FLAGS_INIT variables, which are used by CMake to initialize the matching CMAKE_*_FLAGS variables on initial configuration.

I also added the linker flags -Wl,--as-needed -Wl,--no-undefined for libraries.

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