From 32257914a5bdfd3b26ca91cf3a8e7e65e186c193 Mon Sep 17 00:00:00 2001
From: gdisirio <gdisirio@35acf78f-673a-0410-8e92-d51de3d6d3f4>
Date: Mon, 3 Feb 2014 12:45:06 +0000
Subject: Hard FP support added to CM4 Makefiles. Improved F4 IRQ_STORM demo.

git-svn-id: svn://svn.code.sf.net/p/chibios/svn/branches/kernel_3_dev@6664 35acf78f-673a-0410-8e92-d51de3d6d3f4
---
 demos/nil/NIL-STM32F303-DISCOVERY/Makefile      | 2 +-
 demos/nil/NIL-STM32F373-STM32373C_EVAL/Makefile | 2 +-
 demos/rt/RT-STM32F303-DISCOVERY/Makefile        | 2 +-
 demos/rt/RT-STM32F373-STM32373C_EVAL/Makefile   | 2 +-
 demos/rt/RT-STM32F407-DISCOVERY-MEMS/Makefile   | 2 +-
 demos/rt/RT-STM32F407-DISCOVERY/Makefile        | 2 +-
 demos/rt/RT-STM32F429-DISCOVERY/Makefile        | 2 +-
 os/common/ports/ARMCMx/compilers/GCC/rules.mk   | 4 ++--
 testhal/STM32F30x/ADC/Makefile                  | 2 +-
 testhal/STM32F30x/ADC_DUAL/Makefile             | 2 +-
 testhal/STM32F30x/CAN/Makefile                  | 2 +-
 testhal/STM32F30x/EXT/Makefile                  | 2 +-
 testhal/STM32F30x/IRQ_STORM/Makefile            | 2 +-
 testhal/STM32F30x/PWM-ICU/Makefile              | 2 +-
 testhal/STM32F30x/SPI/Makefile                  | 2 +-
 testhal/STM32F30x/UART/Makefile                 | 2 +-
 testhal/STM32F30x/USB_CDC/Makefile              | 2 +-
 testhal/STM32F37x/ADC/Makefile                  | 2 +-
 testhal/STM32F37x/CAN/Makefile                  | 2 +-
 testhal/STM32F37x/EXT/Makefile                  | 2 +-
 testhal/STM32F37x/I2C/Makefile                  | 2 +-
 testhal/STM32F37x/IRQ_STORM/Makefile            | 2 +-
 testhal/STM32F37x/PWM-ICU/Makefile              | 2 +-
 testhal/STM32F37x/SDADC/Makefile                | 2 +-
 testhal/STM32F37x/SPI/Makefile                  | 2 +-
 testhal/STM32F37x/UART/Makefile                 | 2 +-
 testhal/STM32F37x/USB_CDC/Makefile              | 2 +-
 testhal/STM32F4xx/ADC/Makefile                  | 2 +-
 testhal/STM32F4xx/CAN/Makefile                  | 2 +-
 testhal/STM32F4xx/DMA_STORM/Makefile            | 2 +-
 testhal/STM32F4xx/EXT/Makefile                  | 2 +-
 testhal/STM32F4xx/GPT/Makefile                  | 2 +-
 testhal/STM32F4xx/I2C/Makefile                  | 2 +-
 testhal/STM32F4xx/IRQ_STORM/Makefile            | 2 +-
 testhal/STM32F4xx/IRQ_STORM/main.c              | 4 +++-
 testhal/STM32F4xx/IRQ_STORM_FPU/Makefile        | 4 ++--
 testhal/STM32F4xx/PWM-ICU/Makefile              | 2 +-
 testhal/STM32F4xx/RTC/Makefile                  | 2 +-
 testhal/STM32F4xx/SDC/Makefile                  | 2 +-
 testhal/STM32F4xx/SPI/Makefile                  | 2 +-
 testhal/STM32F4xx/UART/Makefile                 | 2 +-
 testhal/STM32F4xx/USB_CDC/Makefile              | 2 +-
 42 files changed, 46 insertions(+), 44 deletions(-)

diff --git a/demos/nil/NIL-STM32F303-DISCOVERY/Makefile b/demos/nil/NIL-STM32F303-DISCOVERY/Makefile
index 881f3b7a6..0a93433bc 100644
--- a/demos/nil/NIL-STM32F303-DISCOVERY/Makefile
+++ b/demos/nil/NIL-STM32F303-DISCOVERY/Makefile
@@ -58,7 +58,7 @@ ifeq ($(USE_EXCEPTIONS_STACKSIZE),)
   USE_EXCEPTIONS_STACKSIZE = 0x400
 endif
 
-# Enables the use of FPU on Cortex-M4.
+# Enables the use of FPU on Cortex-M4 (no, softfp, hard).
 ifeq ($(USE_FPU),)
   USE_FPU = no
 endif
diff --git a/demos/nil/NIL-STM32F373-STM32373C_EVAL/Makefile b/demos/nil/NIL-STM32F373-STM32373C_EVAL/Makefile
index d07e5a072..32591bc9a 100644
--- a/demos/nil/NIL-STM32F373-STM32373C_EVAL/Makefile
+++ b/demos/nil/NIL-STM32F373-STM32373C_EVAL/Makefile
@@ -58,7 +58,7 @@ ifeq ($(USE_EXCEPTIONS_STACKSIZE),)
   USE_EXCEPTIONS_STACKSIZE = 0x400
 endif
 
-# Enables the use of FPU on Cortex-M4.
+# Enables the use of FPU on Cortex-M4 (no, softfp, hard).
 ifeq ($(USE_FPU),)
   USE_FPU = no
 endif
diff --git a/demos/rt/RT-STM32F303-DISCOVERY/Makefile b/demos/rt/RT-STM32F303-DISCOVERY/Makefile
index 384fa84ad..336898411 100644
--- a/demos/rt/RT-STM32F303-DISCOVERY/Makefile
+++ b/demos/rt/RT-STM32F303-DISCOVERY/Makefile
@@ -58,7 +58,7 @@ ifeq ($(USE_EXCEPTIONS_STACKSIZE),)
   USE_EXCEPTIONS_STACKSIZE = 0x400
 endif
 
-# Enables the use of FPU on Cortex-M4.
+# Enables the use of FPU on Cortex-M4 (no, softfp, hard).
 ifeq ($(USE_FPU),)
   USE_FPU = no
 endif
diff --git a/demos/rt/RT-STM32F373-STM32373C_EVAL/Makefile b/demos/rt/RT-STM32F373-STM32373C_EVAL/Makefile
index 3eedffb29..7d082d6b1 100644
--- a/demos/rt/RT-STM32F373-STM32373C_EVAL/Makefile
+++ b/demos/rt/RT-STM32F373-STM32373C_EVAL/Makefile
@@ -58,7 +58,7 @@ ifeq ($(USE_EXCEPTIONS_STACKSIZE),)
   USE_EXCEPTIONS_STACKSIZE = 0x400
 endif
 
-# Enables the use of FPU on Cortex-M4.
+# Enables the use of FPU on Cortex-M4 (no, softfp, hard).
 ifeq ($(USE_FPU),)
   USE_FPU = no
 endif
diff --git a/demos/rt/RT-STM32F407-DISCOVERY-MEMS/Makefile b/demos/rt/RT-STM32F407-DISCOVERY-MEMS/Makefile
index e437203f0..f150b9fc5 100644
--- a/demos/rt/RT-STM32F407-DISCOVERY-MEMS/Makefile
+++ b/demos/rt/RT-STM32F407-DISCOVERY-MEMS/Makefile
@@ -58,7 +58,7 @@ ifeq ($(USE_EXCEPTIONS_STACKSIZE),)
   USE_EXCEPTIONS_STACKSIZE = 0x400
 endif
 
-# Enables the use of FPU on Cortex-M4.
+# Enables the use of FPU on Cortex-M4 (no, softfp, hard).
 ifeq ($(USE_FPU),)
   USE_FPU = no
 endif
diff --git a/demos/rt/RT-STM32F407-DISCOVERY/Makefile b/demos/rt/RT-STM32F407-DISCOVERY/Makefile
index 143df553b..2cadd4f7e 100644
--- a/demos/rt/RT-STM32F407-DISCOVERY/Makefile
+++ b/demos/rt/RT-STM32F407-DISCOVERY/Makefile
@@ -58,7 +58,7 @@ ifeq ($(USE_EXCEPTIONS_STACKSIZE),)
   USE_EXCEPTIONS_STACKSIZE = 0x400
 endif
 
-# Enables the use of FPU on Cortex-M4.
+# Enables the use of FPU on Cortex-M4 (no, softfp, hard).
 ifeq ($(USE_FPU),)
   USE_FPU = no
 endif
diff --git a/demos/rt/RT-STM32F429-DISCOVERY/Makefile b/demos/rt/RT-STM32F429-DISCOVERY/Makefile
index f37930afe..8c0198043 100644
--- a/demos/rt/RT-STM32F429-DISCOVERY/Makefile
+++ b/demos/rt/RT-STM32F429-DISCOVERY/Makefile
@@ -58,7 +58,7 @@ ifeq ($(USE_EXCEPTIONS_STACKSIZE),)
   USE_EXCEPTIONS_STACKSIZE = 0x400
 endif
 
-# Enables the use of FPU on Cortex-M4.
+# Enables the use of FPU on Cortex-M4 (no, softfp, hard).
 ifeq ($(USE_FPU),)
   USE_FPU = no
 endif
diff --git a/os/common/ports/ARMCMx/compilers/GCC/rules.mk b/os/common/ports/ARMCMx/compilers/GCC/rules.mk
index 06299400c..a9228e393 100644
--- a/os/common/ports/ARMCMx/compilers/GCC/rules.mk
+++ b/os/common/ports/ARMCMx/compilers/GCC/rules.mk
@@ -23,8 +23,8 @@ ifeq ($(USE_LTO),yes)
 endif
 
 # FPU-related options
-ifeq ($(USE_FPU),yes)
-  USE_OPT += -mfloat-abi=softfp -mfpu=fpv4-sp-d16 -fsingle-precision-constant
+ifneq ($(USE_FPU),no)
+  OPT += -mfloat-abi=$(USE_FPU) -mfpu=fpv4-sp-d16 -fsingle-precision-constant
   DDEFS += -DCORTEX_USE_FPU=TRUE
   DADEFS += -DCORTEX_USE_FPU=TRUE
 else
diff --git a/testhal/STM32F30x/ADC/Makefile b/testhal/STM32F30x/ADC/Makefile
index c9f5bbaf3..d6ee04488 100644
--- a/testhal/STM32F30x/ADC/Makefile
+++ b/testhal/STM32F30x/ADC/Makefile
@@ -58,7 +58,7 @@ ifeq ($(USE_EXCEPTIONS_STACKSIZE),)
   USE_EXCEPTIONS_STACKSIZE = 0x400
 endif
 
-# Enables the use of FPU on Cortex-M4.
+# Enables the use of FPU on Cortex-M4 (no, softfp, hard).
 ifeq ($(USE_FPU),)
   USE_FPU = no
 endif
diff --git a/testhal/STM32F30x/ADC_DUAL/Makefile b/testhal/STM32F30x/ADC_DUAL/Makefile
index c9f5bbaf3..d6ee04488 100644
--- a/testhal/STM32F30x/ADC_DUAL/Makefile
+++ b/testhal/STM32F30x/ADC_DUAL/Makefile
@@ -58,7 +58,7 @@ ifeq ($(USE_EXCEPTIONS_STACKSIZE),)
   USE_EXCEPTIONS_STACKSIZE = 0x400
 endif
 
-# Enables the use of FPU on Cortex-M4.
+# Enables the use of FPU on Cortex-M4 (no, softfp, hard).
 ifeq ($(USE_FPU),)
   USE_FPU = no
 endif
diff --git a/testhal/STM32F30x/CAN/Makefile b/testhal/STM32F30x/CAN/Makefile
index c9f5bbaf3..d6ee04488 100644
--- a/testhal/STM32F30x/CAN/Makefile
+++ b/testhal/STM32F30x/CAN/Makefile
@@ -58,7 +58,7 @@ ifeq ($(USE_EXCEPTIONS_STACKSIZE),)
   USE_EXCEPTIONS_STACKSIZE = 0x400
 endif
 
-# Enables the use of FPU on Cortex-M4.
+# Enables the use of FPU on Cortex-M4 (no, softfp, hard).
 ifeq ($(USE_FPU),)
   USE_FPU = no
 endif
diff --git a/testhal/STM32F30x/EXT/Makefile b/testhal/STM32F30x/EXT/Makefile
index c9f5bbaf3..d6ee04488 100644
--- a/testhal/STM32F30x/EXT/Makefile
+++ b/testhal/STM32F30x/EXT/Makefile
@@ -58,7 +58,7 @@ ifeq ($(USE_EXCEPTIONS_STACKSIZE),)
   USE_EXCEPTIONS_STACKSIZE = 0x400
 endif
 
-# Enables the use of FPU on Cortex-M4.
+# Enables the use of FPU on Cortex-M4 (no, softfp, hard).
 ifeq ($(USE_FPU),)
   USE_FPU = no
 endif
diff --git a/testhal/STM32F30x/IRQ_STORM/Makefile b/testhal/STM32F30x/IRQ_STORM/Makefile
index c9f5bbaf3..d6ee04488 100644
--- a/testhal/STM32F30x/IRQ_STORM/Makefile
+++ b/testhal/STM32F30x/IRQ_STORM/Makefile
@@ -58,7 +58,7 @@ ifeq ($(USE_EXCEPTIONS_STACKSIZE),)
   USE_EXCEPTIONS_STACKSIZE = 0x400
 endif
 
-# Enables the use of FPU on Cortex-M4.
+# Enables the use of FPU on Cortex-M4 (no, softfp, hard).
 ifeq ($(USE_FPU),)
   USE_FPU = no
 endif
diff --git a/testhal/STM32F30x/PWM-ICU/Makefile b/testhal/STM32F30x/PWM-ICU/Makefile
index c9f5bbaf3..d6ee04488 100644
--- a/testhal/STM32F30x/PWM-ICU/Makefile
+++ b/testhal/STM32F30x/PWM-ICU/Makefile
@@ -58,7 +58,7 @@ ifeq ($(USE_EXCEPTIONS_STACKSIZE),)
   USE_EXCEPTIONS_STACKSIZE = 0x400
 endif
 
-# Enables the use of FPU on Cortex-M4.
+# Enables the use of FPU on Cortex-M4 (no, softfp, hard).
 ifeq ($(USE_FPU),)
   USE_FPU = no
 endif
diff --git a/testhal/STM32F30x/SPI/Makefile b/testhal/STM32F30x/SPI/Makefile
index c9f5bbaf3..d6ee04488 100644
--- a/testhal/STM32F30x/SPI/Makefile
+++ b/testhal/STM32F30x/SPI/Makefile
@@ -58,7 +58,7 @@ ifeq ($(USE_EXCEPTIONS_STACKSIZE),)
   USE_EXCEPTIONS_STACKSIZE = 0x400
 endif
 
-# Enables the use of FPU on Cortex-M4.
+# Enables the use of FPU on Cortex-M4 (no, softfp, hard).
 ifeq ($(USE_FPU),)
   USE_FPU = no
 endif
diff --git a/testhal/STM32F30x/UART/Makefile b/testhal/STM32F30x/UART/Makefile
index c9f5bbaf3..d6ee04488 100644
--- a/testhal/STM32F30x/UART/Makefile
+++ b/testhal/STM32F30x/UART/Makefile
@@ -58,7 +58,7 @@ ifeq ($(USE_EXCEPTIONS_STACKSIZE),)
   USE_EXCEPTIONS_STACKSIZE = 0x400
 endif
 
-# Enables the use of FPU on Cortex-M4.
+# Enables the use of FPU on Cortex-M4 (no, softfp, hard).
 ifeq ($(USE_FPU),)
   USE_FPU = no
 endif
diff --git a/testhal/STM32F30x/USB_CDC/Makefile b/testhal/STM32F30x/USB_CDC/Makefile
index 3f6132a80..85882adce 100644
--- a/testhal/STM32F30x/USB_CDC/Makefile
+++ b/testhal/STM32F30x/USB_CDC/Makefile
@@ -58,7 +58,7 @@ ifeq ($(USE_EXCEPTIONS_STACKSIZE),)
   USE_EXCEPTIONS_STACKSIZE = 0x400
 endif
 
-# Enables the use of FPU on Cortex-M4.
+# Enables the use of FPU on Cortex-M4 (no, softfp, hard).
 ifeq ($(USE_FPU),)
   USE_FPU = no
 endif
diff --git a/testhal/STM32F37x/ADC/Makefile b/testhal/STM32F37x/ADC/Makefile
index 3eedffb29..7d082d6b1 100644
--- a/testhal/STM32F37x/ADC/Makefile
+++ b/testhal/STM32F37x/ADC/Makefile
@@ -58,7 +58,7 @@ ifeq ($(USE_EXCEPTIONS_STACKSIZE),)
   USE_EXCEPTIONS_STACKSIZE = 0x400
 endif
 
-# Enables the use of FPU on Cortex-M4.
+# Enables the use of FPU on Cortex-M4 (no, softfp, hard).
 ifeq ($(USE_FPU),)
   USE_FPU = no
 endif
diff --git a/testhal/STM32F37x/CAN/Makefile b/testhal/STM32F37x/CAN/Makefile
index 3eedffb29..7d082d6b1 100644
--- a/testhal/STM32F37x/CAN/Makefile
+++ b/testhal/STM32F37x/CAN/Makefile
@@ -58,7 +58,7 @@ ifeq ($(USE_EXCEPTIONS_STACKSIZE),)
   USE_EXCEPTIONS_STACKSIZE = 0x400
 endif
 
-# Enables the use of FPU on Cortex-M4.
+# Enables the use of FPU on Cortex-M4 (no, softfp, hard).
 ifeq ($(USE_FPU),)
   USE_FPU = no
 endif
diff --git a/testhal/STM32F37x/EXT/Makefile b/testhal/STM32F37x/EXT/Makefile
index 3eedffb29..7d082d6b1 100644
--- a/testhal/STM32F37x/EXT/Makefile
+++ b/testhal/STM32F37x/EXT/Makefile
@@ -58,7 +58,7 @@ ifeq ($(USE_EXCEPTIONS_STACKSIZE),)
   USE_EXCEPTIONS_STACKSIZE = 0x400
 endif
 
-# Enables the use of FPU on Cortex-M4.
+# Enables the use of FPU on Cortex-M4 (no, softfp, hard).
 ifeq ($(USE_FPU),)
   USE_FPU = no
 endif
diff --git a/testhal/STM32F37x/I2C/Makefile b/testhal/STM32F37x/I2C/Makefile
index 3eedffb29..7d082d6b1 100644
--- a/testhal/STM32F37x/I2C/Makefile
+++ b/testhal/STM32F37x/I2C/Makefile
@@ -58,7 +58,7 @@ ifeq ($(USE_EXCEPTIONS_STACKSIZE),)
   USE_EXCEPTIONS_STACKSIZE = 0x400
 endif
 
-# Enables the use of FPU on Cortex-M4.
+# Enables the use of FPU on Cortex-M4 (no, softfp, hard).
 ifeq ($(USE_FPU),)
   USE_FPU = no
 endif
diff --git a/testhal/STM32F37x/IRQ_STORM/Makefile b/testhal/STM32F37x/IRQ_STORM/Makefile
index 3eedffb29..7d082d6b1 100644
--- a/testhal/STM32F37x/IRQ_STORM/Makefile
+++ b/testhal/STM32F37x/IRQ_STORM/Makefile
@@ -58,7 +58,7 @@ ifeq ($(USE_EXCEPTIONS_STACKSIZE),)
   USE_EXCEPTIONS_STACKSIZE = 0x400
 endif
 
-# Enables the use of FPU on Cortex-M4.
+# Enables the use of FPU on Cortex-M4 (no, softfp, hard).
 ifeq ($(USE_FPU),)
   USE_FPU = no
 endif
diff --git a/testhal/STM32F37x/PWM-ICU/Makefile b/testhal/STM32F37x/PWM-ICU/Makefile
index 3eedffb29..7d082d6b1 100644
--- a/testhal/STM32F37x/PWM-ICU/Makefile
+++ b/testhal/STM32F37x/PWM-ICU/Makefile
@@ -58,7 +58,7 @@ ifeq ($(USE_EXCEPTIONS_STACKSIZE),)
   USE_EXCEPTIONS_STACKSIZE = 0x400
 endif
 
-# Enables the use of FPU on Cortex-M4.
+# Enables the use of FPU on Cortex-M4 (no, softfp, hard).
 ifeq ($(USE_FPU),)
   USE_FPU = no
 endif
diff --git a/testhal/STM32F37x/SDADC/Makefile b/testhal/STM32F37x/SDADC/Makefile
index 3eedffb29..7d082d6b1 100644
--- a/testhal/STM32F37x/SDADC/Makefile
+++ b/testhal/STM32F37x/SDADC/Makefile
@@ -58,7 +58,7 @@ ifeq ($(USE_EXCEPTIONS_STACKSIZE),)
   USE_EXCEPTIONS_STACKSIZE = 0x400
 endif
 
-# Enables the use of FPU on Cortex-M4.
+# Enables the use of FPU on Cortex-M4 (no, softfp, hard).
 ifeq ($(USE_FPU),)
   USE_FPU = no
 endif
diff --git a/testhal/STM32F37x/SPI/Makefile b/testhal/STM32F37x/SPI/Makefile
index 3eedffb29..7d082d6b1 100644
--- a/testhal/STM32F37x/SPI/Makefile
+++ b/testhal/STM32F37x/SPI/Makefile
@@ -58,7 +58,7 @@ ifeq ($(USE_EXCEPTIONS_STACKSIZE),)
   USE_EXCEPTIONS_STACKSIZE = 0x400
 endif
 
-# Enables the use of FPU on Cortex-M4.
+# Enables the use of FPU on Cortex-M4 (no, softfp, hard).
 ifeq ($(USE_FPU),)
   USE_FPU = no
 endif
diff --git a/testhal/STM32F37x/UART/Makefile b/testhal/STM32F37x/UART/Makefile
index 3eedffb29..7d082d6b1 100644
--- a/testhal/STM32F37x/UART/Makefile
+++ b/testhal/STM32F37x/UART/Makefile
@@ -58,7 +58,7 @@ ifeq ($(USE_EXCEPTIONS_STACKSIZE),)
   USE_EXCEPTIONS_STACKSIZE = 0x400
 endif
 
-# Enables the use of FPU on Cortex-M4.
+# Enables the use of FPU on Cortex-M4 (no, softfp, hard).
 ifeq ($(USE_FPU),)
   USE_FPU = no
 endif
diff --git a/testhal/STM32F37x/USB_CDC/Makefile b/testhal/STM32F37x/USB_CDC/Makefile
index 6402336e8..ad00a7dbf 100644
--- a/testhal/STM32F37x/USB_CDC/Makefile
+++ b/testhal/STM32F37x/USB_CDC/Makefile
@@ -58,7 +58,7 @@ ifeq ($(USE_EXCEPTIONS_STACKSIZE),)
   USE_EXCEPTIONS_STACKSIZE = 0x400
 endif
 
-# Enables the use of FPU on Cortex-M4.
+# Enables the use of FPU on Cortex-M4 (no, softfp, hard).
 ifeq ($(USE_FPU),)
   USE_FPU = no
 endif
diff --git a/testhal/STM32F4xx/ADC/Makefile b/testhal/STM32F4xx/ADC/Makefile
index ea6defde6..481d607ba 100644
--- a/testhal/STM32F4xx/ADC/Makefile
+++ b/testhal/STM32F4xx/ADC/Makefile
@@ -58,7 +58,7 @@ ifeq ($(USE_EXCEPTIONS_STACKSIZE),)
   USE_EXCEPTIONS_STACKSIZE = 0x400
 endif
 
-# Enables the use of FPU on Cortex-M4.
+# Enables the use of FPU on Cortex-M4 (no, softfp, hard).
 ifeq ($(USE_FPU),)
   USE_FPU = no
 endif
diff --git a/testhal/STM32F4xx/CAN/Makefile b/testhal/STM32F4xx/CAN/Makefile
index ea6defde6..481d607ba 100644
--- a/testhal/STM32F4xx/CAN/Makefile
+++ b/testhal/STM32F4xx/CAN/Makefile
@@ -58,7 +58,7 @@ ifeq ($(USE_EXCEPTIONS_STACKSIZE),)
   USE_EXCEPTIONS_STACKSIZE = 0x400
 endif
 
-# Enables the use of FPU on Cortex-M4.
+# Enables the use of FPU on Cortex-M4 (no, softfp, hard).
 ifeq ($(USE_FPU),)
   USE_FPU = no
 endif
diff --git a/testhal/STM32F4xx/DMA_STORM/Makefile b/testhal/STM32F4xx/DMA_STORM/Makefile
index ea6defde6..481d607ba 100644
--- a/testhal/STM32F4xx/DMA_STORM/Makefile
+++ b/testhal/STM32F4xx/DMA_STORM/Makefile
@@ -58,7 +58,7 @@ ifeq ($(USE_EXCEPTIONS_STACKSIZE),)
   USE_EXCEPTIONS_STACKSIZE = 0x400
 endif
 
-# Enables the use of FPU on Cortex-M4.
+# Enables the use of FPU on Cortex-M4 (no, softfp, hard).
 ifeq ($(USE_FPU),)
   USE_FPU = no
 endif
diff --git a/testhal/STM32F4xx/EXT/Makefile b/testhal/STM32F4xx/EXT/Makefile
index ea6defde6..481d607ba 100644
--- a/testhal/STM32F4xx/EXT/Makefile
+++ b/testhal/STM32F4xx/EXT/Makefile
@@ -58,7 +58,7 @@ ifeq ($(USE_EXCEPTIONS_STACKSIZE),)
   USE_EXCEPTIONS_STACKSIZE = 0x400
 endif
 
-# Enables the use of FPU on Cortex-M4.
+# Enables the use of FPU on Cortex-M4 (no, softfp, hard).
 ifeq ($(USE_FPU),)
   USE_FPU = no
 endif
diff --git a/testhal/STM32F4xx/GPT/Makefile b/testhal/STM32F4xx/GPT/Makefile
index ea6defde6..481d607ba 100644
--- a/testhal/STM32F4xx/GPT/Makefile
+++ b/testhal/STM32F4xx/GPT/Makefile
@@ -58,7 +58,7 @@ ifeq ($(USE_EXCEPTIONS_STACKSIZE),)
   USE_EXCEPTIONS_STACKSIZE = 0x400
 endif
 
-# Enables the use of FPU on Cortex-M4.
+# Enables the use of FPU on Cortex-M4 (no, softfp, hard).
 ifeq ($(USE_FPU),)
   USE_FPU = no
 endif
diff --git a/testhal/STM32F4xx/I2C/Makefile b/testhal/STM32F4xx/I2C/Makefile
index 20d143e33..da96d4cb1 100644
--- a/testhal/STM32F4xx/I2C/Makefile
+++ b/testhal/STM32F4xx/I2C/Makefile
@@ -58,7 +58,7 @@ ifeq ($(USE_EXCEPTIONS_STACKSIZE),)
   USE_EXCEPTIONS_STACKSIZE = 0x400
 endif
 
-# Enables the use of FPU on Cortex-M4.
+# Enables the use of FPU on Cortex-M4 (no, softfp, hard).
 ifeq ($(USE_FPU),)
   USE_FPU = no
 endif
diff --git a/testhal/STM32F4xx/IRQ_STORM/Makefile b/testhal/STM32F4xx/IRQ_STORM/Makefile
index ea6defde6..481d607ba 100644
--- a/testhal/STM32F4xx/IRQ_STORM/Makefile
+++ b/testhal/STM32F4xx/IRQ_STORM/Makefile
@@ -58,7 +58,7 @@ ifeq ($(USE_EXCEPTIONS_STACKSIZE),)
   USE_EXCEPTIONS_STACKSIZE = 0x400
 endif
 
-# Enables the use of FPU on Cortex-M4.
+# Enables the use of FPU on Cortex-M4 (no, softfp, hard).
 ifeq ($(USE_FPU),)
   USE_FPU = no
 endif
diff --git a/testhal/STM32F4xx/IRQ_STORM/main.c b/testhal/STM32F4xx/IRQ_STORM/main.c
index bc34ba149..4994e77e3 100644
--- a/testhal/STM32F4xx/IRQ_STORM/main.c
+++ b/testhal/STM32F4xx/IRQ_STORM/main.c
@@ -286,7 +286,9 @@ int main(void) {
     println("");
     saturated = FALSE;
     threshold = 0;
-    for (interval = 2000; interval >= 10; interval -= interval / 10) {
+    for (interval = 2000;
+        interval >= 2;
+        interval -= (interval + 9) / 10) {
       gptStartContinuous(&GPTD4, interval - 1); /* Slightly out of phase.*/
       gptStartContinuous(&GPTD3, interval + 1); /* Slightly out of phase.*/
       chThdSleepMilliseconds(1000);
diff --git a/testhal/STM32F4xx/IRQ_STORM_FPU/Makefile b/testhal/STM32F4xx/IRQ_STORM_FPU/Makefile
index 733cdbdd4..cde04daed 100644
--- a/testhal/STM32F4xx/IRQ_STORM_FPU/Makefile
+++ b/testhal/STM32F4xx/IRQ_STORM_FPU/Makefile
@@ -58,9 +58,9 @@ ifeq ($(USE_EXCEPTIONS_STACKSIZE),)
   USE_EXCEPTIONS_STACKSIZE = 0x400
 endif
 
-# Enables the use of FPU on Cortex-M4.
+# Enables the use of FPU on Cortex-M4 (no, softfp, hard).
 ifeq ($(USE_FPU),)
-  USE_FPU = yes
+  USE_FPU = hard
 endif
 
 #
diff --git a/testhal/STM32F4xx/PWM-ICU/Makefile b/testhal/STM32F4xx/PWM-ICU/Makefile
index ea6defde6..481d607ba 100644
--- a/testhal/STM32F4xx/PWM-ICU/Makefile
+++ b/testhal/STM32F4xx/PWM-ICU/Makefile
@@ -58,7 +58,7 @@ ifeq ($(USE_EXCEPTIONS_STACKSIZE),)
   USE_EXCEPTIONS_STACKSIZE = 0x400
 endif
 
-# Enables the use of FPU on Cortex-M4.
+# Enables the use of FPU on Cortex-M4 (no, softfp, hard).
 ifeq ($(USE_FPU),)
   USE_FPU = no
 endif
diff --git a/testhal/STM32F4xx/RTC/Makefile b/testhal/STM32F4xx/RTC/Makefile
index 28310e604..d2e5525e6 100644
--- a/testhal/STM32F4xx/RTC/Makefile
+++ b/testhal/STM32F4xx/RTC/Makefile
@@ -58,7 +58,7 @@ ifeq ($(USE_EXCEPTIONS_STACKSIZE),)
   USE_EXCEPTIONS_STACKSIZE = 0x400
 endif
 
-# Enables the use of FPU on Cortex-M4.
+# Enables the use of FPU on Cortex-M4 (no, softfp, hard).
 ifeq ($(USE_FPU),)
   USE_FPU = no
 endif
diff --git a/testhal/STM32F4xx/SDC/Makefile b/testhal/STM32F4xx/SDC/Makefile
index 7cc4fc5d3..2a2f9d40f 100644
--- a/testhal/STM32F4xx/SDC/Makefile
+++ b/testhal/STM32F4xx/SDC/Makefile
@@ -58,7 +58,7 @@ ifeq ($(USE_EXCEPTIONS_STACKSIZE),)
   USE_EXCEPTIONS_STACKSIZE = 0x400
 endif
 
-# Enables the use of FPU on Cortex-M4.
+# Enables the use of FPU on Cortex-M4 (no, softfp, hard).
 ifeq ($(USE_FPU),)
   USE_FPU = no
 endif
diff --git a/testhal/STM32F4xx/SPI/Makefile b/testhal/STM32F4xx/SPI/Makefile
index ea6defde6..481d607ba 100644
--- a/testhal/STM32F4xx/SPI/Makefile
+++ b/testhal/STM32F4xx/SPI/Makefile
@@ -58,7 +58,7 @@ ifeq ($(USE_EXCEPTIONS_STACKSIZE),)
   USE_EXCEPTIONS_STACKSIZE = 0x400
 endif
 
-# Enables the use of FPU on Cortex-M4.
+# Enables the use of FPU on Cortex-M4 (no, softfp, hard).
 ifeq ($(USE_FPU),)
   USE_FPU = no
 endif
diff --git a/testhal/STM32F4xx/UART/Makefile b/testhal/STM32F4xx/UART/Makefile
index ea6defde6..481d607ba 100644
--- a/testhal/STM32F4xx/UART/Makefile
+++ b/testhal/STM32F4xx/UART/Makefile
@@ -58,7 +58,7 @@ ifeq ($(USE_EXCEPTIONS_STACKSIZE),)
   USE_EXCEPTIONS_STACKSIZE = 0x400
 endif
 
-# Enables the use of FPU on Cortex-M4.
+# Enables the use of FPU on Cortex-M4 (no, softfp, hard).
 ifeq ($(USE_FPU),)
   USE_FPU = no
 endif
diff --git a/testhal/STM32F4xx/USB_CDC/Makefile b/testhal/STM32F4xx/USB_CDC/Makefile
index 0951f0072..17544733f 100644
--- a/testhal/STM32F4xx/USB_CDC/Makefile
+++ b/testhal/STM32F4xx/USB_CDC/Makefile
@@ -58,7 +58,7 @@ ifeq ($(USE_EXCEPTIONS_STACKSIZE),)
   USE_EXCEPTIONS_STACKSIZE = 0x400
 endif
 
-# Enables the use of FPU on Cortex-M4.
+# Enables the use of FPU on Cortex-M4 (no, softfp, hard).
 ifeq ($(USE_FPU),)
   USE_FPU = no
 endif
-- 
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