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Enable ARM GCC-8 to build the project #13

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848b55a
Use fabsf instead of fabs
howard0su Mar 16, 2019
a9e2d4e
Add qfp lib to enable GCC-8 build
howard0su Mar 16, 2019
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91 changes: 74 additions & 17 deletions Makefile
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Original file line number Diff line number Diff line change
@@ -1,25 +1,58 @@
ifdef USE_GCC
CC = arm-none-eabi-gcc
CXX = arm-none-eabi-g++
ASM = arm-none-eabi-as
LD = arm-none-eabi-gcc
OBJCOPY = arm-none-eabi-objcopy
SIZE = arm-none-eabi-size
else
CC = armcc --c99
CXX = armcc --cpp
ASM = armasm
LD = armlink
OBJCOPY = fromelf
endif

SDIR = .
VPATH = $(SDIR)/Silverware/src:$(SDIR)/Utilities:$(SDIR)/Libraries/STM32F0xx_StdPeriph_Driver/src:$(SDIR)/Libraries/CMSIS/Device/ST/STM32F0xx/Source/Templates/arm
SRC_C = $(wildcard $(SDIR)/Silverware/src/*.c) \
$(wildcard $(SDIR)/Utilities/*.c) \
$(wildcard $(SDIR)/Libraries/STM32F0xx_StdPeriph_Driver/src/*.c)
$(wildcard $(SDIR)/Utilities/*.c) \
$(wildcard $(SDIR)/Libraries/STM32F0xx_StdPeriph_Driver/src/*.c)
SRC_CXX = $(wildcard $(SDIR)/Silverware/src/*.cpp)
SRC_S = $(SDIR)/Libraries/CMSIS/Device/ST/STM32F0xx/Source/Templates/arm/startup_stm32f031.s

CFLAGS := -I$(DIR)/Silverware/src -I$(SDIR)/Libraries/CMSIS/Device/ST/STM32F0xx/Include -I $(SDIR)/Libraries/CMSIS/Include -I $(SDIR)/Utilities -I $(SDIR)/Libraries/STM32F0xx_StdPeriph_Driver/inc

CPU = --cpu Cortex-M0

CFLAGS += $(CPU) -D__EVAL -D__MICROLIB -g -O2 --apcs=interwork --split_sections -D__UVISION_VERSION="524" -DUSE_STDPERIPH_DRIVER -DSTM32F031 --fpmode=fast
ASMFLAGS := $(CPU) --pd "__EVAL SETA 1" -g --apcs=interwork --pd "__MICROLIB SETA 1" --pd "__UVISION_VERSION SETA 524" --xref
LDFLAGS := $(CPU) --library_type=microlib --ro-base 0x08000000 --entry 0x08000000 --rw-base 0x20000000 --entry Reset_Handler --first __Vectors --strict --info summarysizes

SRCS := $(SRC_C) $(SRC_CXX) $(SRC_S)
ifdef USE_GCC
SRC_C += $(wildcard $(SDIR)/gcc/*.c)
SRC_S += $(SDIR)/Libraries/CMSIS/Device/ST/STM32F0xx/Source/Templates/gcc_ride7/startup_stm32f030.s
SRC_S += $(SDIR)/gcc/qfplib/qfplib.s
LDFLAGS := -Wl,-wrap,__aeabi_dmul \
-Wl,-wrap,__aeabi_fadd \
-Wl,-wrap,__aeabi_fdiv \
-Wl,-wrap,__aeabi_fmul \
-Wl,-wrap,__aeabi_fsub \
-Wl,-wrap,__aeabi_i2f \
-Wl,-wrap,__aeabi_ui2f \
-Wl,-wrap,__aeabi_f2iz \
-Wl,-wrap,__aeabi_f2uiz \
-Wl,-wrap,__aeabi_fcmpeq \
-Wl,-wrap,__aeabi_fcmplt \
-Wl,-wrap,__aeabi_fcmple \
-Wl,-wrap,__aeabi_fcmpge \
-Wl,-wrap,__aeabi_fcmpgt \
-Wl,-wrap,__aeabi_fcmpun
else
SRC_S += $(SDIR)/Libraries/CMSIS/Device/ST/STM32F0xx/Source/Templates/arm/startup_stm32f031.s
endif

INCLUDES = -I$(SDIR)/Silverware/src -I$(SDIR)/Libraries/CMSIS/Device/ST/STM32F0xx/Include -I $(SDIR)/Libraries/CMSIS/Include -I $(SDIR)/Utilities -I $(SDIR)/Libraries/STM32F0xx_StdPeriph_Driver/inc

CPU = cortex-m0

SRCS = $(SRC_C) $(SRC_CXX) $(SRC_S)
ODIR = $(SDIR)/obj

OBJS = $(addprefix $(ODIR)/, $(notdir $(SRC_C:.c=.o) $(SRC_S:.s=.o) $(SRC_CXX:.cpp=.o)))
VPATH = $(dir $(SRCS))

ifndef USE_GCC
export ARM_TOOL_VARIANT = mdk_lite
export ARMCC5_ASMOPT = --diag_suppress=9931
export ARMCC5_CCOPT = --diag_suppress=9931
Expand All @@ -28,6 +61,23 @@ export CPU_TYPE = STM32F030F4
export CPU_VENDOR = STMicroelectronics
export CPU_CLOCK = 0x00B71B00
export UV2_TARGET = BWhoop
endif


ifndef USE_GCC
CFLAGS := --cpu $(CPU) $(INCLUDES) -D__EVAL -D__MICROLIB -g -O2 --apcs=interwork --split_sections -D__UVISION_VERSION="524" -DUSE_STDPERIPH_DRIVER -DSTM32F031 --fpmode=fast
ASMFLAGS := --cpu $(CPU) --pd "__EVAL SETA 1" -g --apcs=interwork --pd "__MICROLIB SETA 1" --pd "__UVISION_VERSION SETA 524" --xref
LDFLAGS := --cpu $(CPU) --library_type=microlib --ro-base 0x08000000 --entry 0x08000000 --rw-base 0x20000000 --entry Reset_Handler --first __Vectors --strict --info summarysizes
DEPENDS := --depend=
else
CFLAGS := -mcpu=$(CPU) $(INCLUDES) -DDISABLE_GESTURES2 -Os -g -mthumb -fdata-sections -ffunction-sections \
-fsingle-precision-constant -ffast-math \
-nostartfiles --specs=nano.specs --specs=nosys.specs
CFLAGS += -DUSE_STDPERIPH_DRIVER -DSTM32F031
LDFLAGS += $(CFLAGS) -Wl,-T,flash.ld,-Map,output.map,--gc-sections -L$(SDIR)/gcc
ASMFLAGS := -mcpu=$(CPU)
DEPENDS := -MD -MP -MF
endif

.PHONY: default all
default: silverware.hex
Expand All @@ -41,21 +91,28 @@ $(ODIR):

$(ODIR)/%.o: %.cpp
@echo " + Compiling '$(notdir $<)'"
armcc --cpp $(CFLAGS) --depend=$(@:.o=.dep) -c -o $@ $<
$(CXX) $(CFLAGS) $(DEPENDS)$(@:.o=.dep) -c -o $@ $<

$(ODIR)/%.o: %.c
@echo " + Compiling '$(notdir $<)'"
armcc --c99 $(CFLAGS) --depend=$(@:.o=.dep) -c -o $@ $<
$(CC) $(CFLAGS) $(DEPENDS)$(@:.o=.dep) -c -o $@ $<

$(ODIR)/%.o: %.s
@echo " + Compiling '$(notdir $<')"
armasm $(ASMFLAGS) -o $@ $<
$(ASM) $(ASMFLAGS) -o $@ $<

silverware.hex: silverware.axf
ifdef USE_GCC
$(OBJCOPY) -O ihex $< $@
else
fromelf $< --i32combined --output $@
endif

silverware.axf: $(OBJS)
armlink $(LDFLAGS) $(OBJS) -o $@
$(LD) $(LDFLAGS) $(OBJS) -o $@
ifdef USE_GCC
$(SIZE) $@
endif

clean:
rm -Rf $(ODIR) silverware.axf silverware.hex
Expand Down
1 change: 1 addition & 0 deletions Silverware/src/drv_softserial.h
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Original file line number Diff line number Diff line change
Expand Up @@ -48,6 +48,7 @@ void softserial_write_byte_ex(const SoftSerialData_t* data, uint8_t byte);
void softserial_set_input(const SoftSerialData_t* data);
void softserial_set_output(const SoftSerialData_t* data);

__attribute__((always_inline))
inline void delay_until(uint32_t uS )
{
while (gettime() < uS) ;
Expand Down
8 changes: 4 additions & 4 deletions Silverware/src/pid.c
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Original file line number Diff line number Diff line change
Expand Up @@ -402,9 +402,9 @@ float pid(int x )
stickTransition[x] = stickTransitionProfileA[x];
}
if (stickAccelerator[x] < 1){
transitionSetpointWeight[x] = (fabs(rxcopy[x]) * stickTransition[x]) + (1- stickTransition[x]);
transitionSetpointWeight[x] = (fabsf(rxcopy[x]) * stickTransition[x]) + (1- stickTransition[x]);
}else{
transitionSetpointWeight[x] = (fabs(rxcopy[x]) * (stickTransition[x] / stickAccelerator[x])) + (1- stickTransition[x]);
transitionSetpointWeight[x] = (fabsf(rxcopy[x]) * (stickTransition[x] / stickAccelerator[x])) + (1- stickTransition[x]);
}
static float lastrate[3];
static float lastsetpoint[3];
Expand Down Expand Up @@ -442,9 +442,9 @@ float pid(int x )
stickTransition[x] = stickTransitionProfileA[x];
}
if (stickAccelerator[x] < 1){
transitionSetpointWeight[x] = (fabs(rxcopy[x]) * stickTransition[x]) + (1- stickTransition[x]);
transitionSetpointWeight[x] = (fabsf(rxcopy[x]) * stickTransition[x]) + (1- stickTransition[x]);
}else{
transitionSetpointWeight[x] = (fabs(rxcopy[x]) * (stickTransition[x] / stickAccelerator[x])) + (1- stickTransition[x]);
transitionSetpointWeight[x] = (fabsf(rxcopy[x]) * (stickTransition[x] / stickAccelerator[x])) + (1- stickTransition[x]);
}
static float lastrate[3];
static float lastsetpoint[3];
Expand Down
59 changes: 0 additions & 59 deletions gcc/Makefile
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