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This will translate a file that consists of backslash-newline broken lines into a file with single long lines, and squash whitespace.

For example:

acpi_quirks.h                   optional acpi                              \
        dependency      "$S/tools/acpi_quirks2h.awk $S/dev/acpica/acpi_quirks" \
        compile-with    "${AWK} -f $S/tools/acpi_quirks2h.awk $S/dev/acpica/acpi_quirks" \
        no-obj no-implicit-rule before-depend                              \
        clean           "acpi_quirks.h"

becomes

acpi_quirks.h optional acpi dependency "$S/tools/acpi_quirks2h.awk $S/dev/acpica/acpi_quirks" compile-with "${AWK} -f $S/tools/acpi_quirks2h.awk $S/dev/acpica/acpi_quirks" no-obj no-implicit-rule before-depend clean "acpi_quirks.h"
expand "${file}" | sed -ne '
/[^\\]$/ {
  H
  s/.*//g
  x
  s/^\n//g
  s/\n/ /g
  s/  */ /g
  p
}
/\\$/ {
  s/\\$//
  H
}'