how to compile a C program as FDPIC_ELF without using Shared Libs

my platform:

Host:   | OS: Ubuntu 20 LTS   | Kernel: Microsoft WSL2 Linux Kernel   | Cross compile Toolchain: arm-linux-gnueabi-gcc   |__Target:   | Board: Waveshare CoreH7XXI   | SOC: stm32h743 (Single Core Cortex M7 @400MHz)   | Architecture: ARMV7e-M   | Onboard DRAM: 8MB - 2.9MB(u-boot and kernel) = 5.1MB Free Space   | Linux Kernel: 5.8.10 (stable 2020-09-17)   | Busybox: latest stable version   |__

Firstoff, my platform is MMU-less, and MMU-less platforms cannot run normal ET_EXEC type elf and the format of the executables should be FDPIC_ELF (an ELF with ET_DYN type and should be PICPIE/(Position Independent Code/Executable)).

this is my sample program:

#include <stdio.h>int main() {   printf("Hello World!");   return 0;}

I want to compile it in a way that it won't rely on external shared libraries (e.g. ld-linux.so.3 and libc.so.6), because the kernel loads the whole libraries into ram and they consume a lot of RAM!

How can I compile my program to be an elf with ET_DYN type and PIC/PIE but without using external shared libs. Note that if I use -static, the generated elf cannot be an ET_DYN and PIC/PIE type. So, what should I do???