Fixed bug 3513897.

git-svn-id: svn://svn.code.sf.net/p/chibios/svn/trunk@4068 35acf78f-673a-0410-8e92-d51de3d6d3f4
author: gdisirio <gdisirio@35acf78f-673a-0410-8e92-d51de3d6d3f4> 2012-04-01 12:33:00 +0000
committer: gdisirio <gdisirio@35acf78f-673a-0410-8e92-d51de3d6d3f4> 2012-04-01 12:33:00 +0000
commit: e5a10ba0c5252b61a43886c47b70bbbf06cb15af (patch)
tree: 4a92af7bfc244663a1cd4ae761d9adf1bc541cdc
parent: 1c852f67c7bf2796a0c67b59be1db550ddbfd1e5 (diff)
download: ChibiOS-e5a10ba0c5252b61a43886c47b70bbbf06cb15af.tar.gz
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20 files changed, 309 insertions, 105 deletions
diff --git a/demos/ARMCM4-STM32F407-DISCOVERY/Makefile b/demos/ARMCM4-STM32F407-DISCOVERY/Makefile
index 975e5f999..0f32eeceb 100644
--- a/demos/ARMCM4-STM32F407-DISCOVERY/Makefile
+++ b/demos/ARMCM4-STM32F407-DISCOVERY/Makefile
@@ -5,7 +5,7 @@
 
 # Compiler options here.
 ifeq ($(USE_OPT),)
-  USE_OPT = -O2 -ggdb -fomit-frame-pointer -falign-functions=16 -mhard-float -mfpu=fpv4-sp-d16 -fsingle-precision-constant
+  USE_OPT = -O2 -ggdb -fomit-frame-pointer -falign-functions=16
 endif
 
 # C specific options here (added to USE_OPT).
@@ -41,6 +41,12 @@ endif
 # Architecture or project specific options
 #
 
+# Enables the use of FPU on Cortex-M4.
+# Enable this if you really want to use the STM FWLib.
+ifeq ($(USE_FPU),)
+  USE_FPU = no
+endif
+
 # Enable this if you really want to use the STM FWLib.
 ifeq ($(USE_FWLIB),)
   USE_FWLIB = no
@@ -200,6 +206,13 @@ ULIBS =
 # End of user defines
 ##############################################################################
 
+ifeq ($(USE_FPU),yes)
+  USE_OPT += -mfloat-abi=softfp -mfpu=fpv4-sp-d16 -fsingle-precision-constant
+  DDEFS += -DCORTEX_USE_FPU=TRUE
+else
+  DDEFS += -DCORTEX_USE_FPU=FALSE
+endif
+
 ifeq ($(USE_FWLIB),yes)
   include $(CHIBIOS)/ext/stm32lib/stm32lib.mk
   CSRC += $(STM32SRC)
diff --git a/demos/ARMCM4-STM32F407-DISCOVERY/chconf.h b/demos/ARMCM4-STM32F407-DISCOVERY/chconf.h
index 3c69cee76..b1f2cd62c 100644
--- a/demos/ARMCM4-STM32F407-DISCOVERY/chconf.h
+++ b/demos/ARMCM4-STM32F407-DISCOVERY/chconf.h
@@ -530,8 +530,6 @@
 /* Port-specific settings (override port settings defaulted in chcore.h).    */
 /*===========================================================================*/
 
-#define CORTEX_USE_FPU                  FALSE
-
 #endif  /* _CHCONF_H_ */
 
 /** @} */
diff --git a/docs/reports/STM32F407-168-GCC-FPU.txt b/docs/reports/STM32F407-168-GCC-FPU.txt
index d2eccbd15..9b37d76f0 100644
--- a/docs/reports/STM32F407-168-GCC-FPU.txt
+++ b/docs/reports/STM32F407-168-GCC-FPU.txt
@@ -5,8 +5,8 @@ Settings: SYSCLK=168, ACR=0x705 (5 wait states)
 
 *** ChibiOS/RT test suite
 ***
-*** Kernel:       2.4.0
-*** Compiled:     Jan 15 2012 - 20:12:59
+*** Kernel:       2.5.0
+*** Compiled:     Apr  1 2012 - 14:19:33
 *** Compiler:     GCC 4.6.2
 *** Architecture: ARMv7-ME
 *** Core Variant: Cortex-M4F
@@ -100,55 +100,55 @@ Settings: SYSCLK=168, ACR=0x705 (5 wait states)
 --- Result: SUCCESS
 ----------------------------------------------------------------------------
 --- Test Case 11.1 (Benchmark, messages #1)
---- Score : 574777 msgs/S, 1149554 ctxswc/S
+--- Score : 576749 msgs/S, 1153498 ctxswc/S
 --- Result: SUCCESS
 ----------------------------------------------------------------------------
 --- Test Case 11.2 (Benchmark, messages #2)
---- Score : 493631 msgs/S, 987262 ctxswc/S
+--- Score : 493633 msgs/S, 987266 ctxswc/S
 --- Result: SUCCESS
 ----------------------------------------------------------------------------
 --- Test Case 11.3 (Benchmark, messages #3)
---- Score : 493627 msgs/S, 987254 ctxswc/S
+--- Score : 493631 msgs/S, 987262 ctxswc/S
 --- Result: SUCCESS
 ----------------------------------------------------------------------------
 --- Test Case 11.4 (Benchmark, context switch)
---- Score : 1655616 ctxswc/S
+--- Score : 1672112 ctxswc/S
 --- Result: SUCCESS
 ----------------------------------------------------------------------------
 --- Test Case 11.5 (Benchmark, threads, full cycle)
---- Score : 384066 threads/S
+--- Score : 382319 threads/S
 --- Result: SUCCESS
 ----------------------------------------------------------------------------
 --- Test Case 11.6 (Benchmark, threads, create only)
---- Score : 510142 threads/S
+--- Score : 510144 threads/S
 --- Result: SUCCESS
 ----------------------------------------------------------------------------
 --- Test Case 11.7 (Benchmark, mass reschedule, 5 threads)
---- Score : 156416 reschedules/S, 938496 ctxswc/S
+--- Score : 156526 reschedules/S, 939156 ctxswc/S
 --- Result: SUCCESS
 ----------------------------------------------------------------------------
 --- Test Case 11.8 (Benchmark, round robin context switching)
---- Score : 1070720 ctxswc/S
+--- Score : 1063936 ctxswc/S
 --- Result: SUCCESS
 ----------------------------------------------------------------------------
 --- Test Case 11.9 (Benchmark, I/O Queues throughput)
---- Score : 1804688 bytes/S
+--- Score : 1804680 bytes/S
 --- Result: SUCCESS
 ----------------------------------------------------------------------------
 --- Test Case 11.10 (Benchmark, virtual timers set/reset)
---- Score : 2124530 timers/S
+--- Score : 2124518 timers/S
 --- Result: SUCCESS
 ----------------------------------------------------------------------------
 --- Test Case 11.11 (Benchmark, semaphores wait/signal)
---- Score : 2685380 wait+signal/S
+--- Score : 2685364 wait+signal/S
 --- Result: SUCCESS
 ----------------------------------------------------------------------------
 --- Test Case 11.12 (Benchmark, mutexes lock/unlock)
---- Score : 1885800 lock+unlock/S
+--- Score : 1885792 lock+unlock/S
 --- Result: SUCCESS
 ----------------------------------------------------------------------------
 --- Test Case 11.13 (Benchmark, RAM footprint)
---- System: 648 bytes
+--- System: 644 bytes
 --- Thread: 72 bytes
 --- Timer : 20 bytes
 --- Semaph: 12 bytes
diff --git a/docs/reports/STM32F407-168-GCC.txt b/docs/reports/STM32F407-168-GCC.txt
index db5324e3c..238741838 100644
--- a/docs/reports/STM32F407-168-GCC.txt
+++ b/docs/reports/STM32F407-168-GCC.txt
@@ -6,7 +6,7 @@ Settings: SYSCLK=168, ACR=0x705 (5 wait states)
 *** ChibiOS/RT test suite
 ***
 *** Kernel:       2.5.0
-*** Compiled:     Feb  8 2012 - 19:52:01
+*** Compiled:     Apr  1 2012 - 14:26:26
 *** Compiler:     GCC 4.6.2
 *** Architecture: ARMv7-ME
 *** Core Variant: Cortex-M4
diff --git a/os/ports/GCC/ARMCMx/chcore_v7m.c b/os/ports/GCC/ARMCMx/chcore_v7m.c
index 13f78bb60..8c650a202 100644
--- a/os/ports/GCC/ARMCMx/chcore_v7m.c
+++ b/os/ports/GCC/ARMCMx/chcore_v7m.c
@@ -114,28 +114,6 @@ void _port_init(void) {
   SCB_VTOR = CORTEX_VTOR_INIT;
   SCB_AIRCR = AIRCR_VECTKEY | AIRCR_PRIGROUP(0);
 
-#if CORTEX_USE_FPU
-  {
-    uint32_t reg;
-
-    /* Initializing the FPU context save in lazy mode.*/
-    SCB_FPCCR = FPCCR_ASPEN | FPCCR_LSPEN;
-
-    /* CP10 and CP11 set to full access.*/
-    SCB_CPACR |= 0x00F00000;
-
-    /* Enables FPU context save/restore on exception entry/exit (FPCA bit).*/
-    asm volatile ("mrs     %0, CONTROL" : "=r" (reg) : : "memory");
-    reg |= 4;
-    asm volatile ("msr     CONTROL, %0" : : "r" (reg) : "memory");
-
-    /* FPSCR and FPDSCR initially zero.*/
-    reg = 0;
-    asm volatile ("vmsr    FPSCR, %0" : : "r" (reg) : "memory");
-    SCB_FPDSCR = reg;
-  }
-#endif
-
   /* Initialization of the system vectors used by the port.*/
   nvicSetSystemHandlerPriority(HANDLER_SVCALL,
     CORTEX_PRIORITY_MASK(CORTEX_PRIORITY_SVCALL));
diff --git a/os/ports/GCC/ARMCMx/crt0.c b/os/ports/GCC/ARMCMx/crt0.c
index fbff66fb0..bb8d3830d 100644
--- a/os/ports/GCC/ARMCMx/crt0.c
+++ b/os/ports/GCC/ARMCMx/crt0.c
@@ -26,10 +26,7 @@
  * @{
  */
 
-#include <stdint.h>
-
-#define FALSE   0
-#define TRUE    (!FALSE)
+#include "ch.h"
 
 typedef void (*funcp_t)(void);
 typedef funcp_t * funcpp_t;
@@ -250,7 +247,7 @@ static void fill32(uint32_t *start, uint32_t *end, uint32_t filler) {
 __attribute__((naked))
 #endif
 void ResetHandler(void) {
-  uint32_t psp, ctl;
+  uint32_t psp, reg;
 
   /* Process Stack initialization, it is allocated starting from the
      symbol __process_stack_end__ and its lower limit is the symbol
@@ -259,9 +256,25 @@ void ResetHandler(void) {
   psp = SYMVAL(__process_stack_end__);
   asm volatile ("msr     PSP, %0" : : "r" (psp));
 
+#if CORTEX_USE_FPU
+  /* Initializing the FPU context save in lazy mode.*/
+  SCB_FPCCR = FPCCR_ASPEN | FPCCR_LSPEN;
+
+  /* CP10 and CP11 set to full access.*/
+  SCB_CPACR |= 0x00F00000;
+
+  /* FPSCR and FPDSCR initially zero.*/
+  reg = 0;
+  asm volatile ("vmsr    FPSCR, %0" : : "r" (reg) : "memory");
+  SCB_FPDSCR = reg;
+
+  /* CPU mode initialization, enforced FPCA bit.*/
+  reg = CRT0_CONTROL_INIT | 4;
+#else
   /* CPU mode initialization.*/
-  ctl = CRT0_CONTROL_INIT;
-  asm volatile ("msr     CONTROL, %0" : : "r" (ctl));
+  reg = CRT0_CONTROL_INIT;
+#endif
+  asm volatile ("msr     CONTROL, %0" : : "r" (reg));
   asm volatile ("isb");
 
   /* Early initialization hook invocation.*/
diff --git a/readme.txt b/readme.txt
index 83308a52d..7b9ff2191 100644
--- a/readme.txt
+++ b/readme.txt
@@ -79,6 +79,8 @@
 *****************************************************************************
 
 *** 2.5.0 ***
+- FIX: Fixed problem with FPU initialization in GCC Cortex-M4 port (bug
+  3513897)(backported to 2.4.1).
 - FIX: Spelling fixes (bug 3510812)(backported to 2.4.1).
 - FIX: Fixed STM32 ICUD8 not functional because wrong initialization (bug
   3508758)(backported to 2.4.1).
@@ -102,6 +104,8 @@
   3484947)(backported to 2.4.1).
 - FIX: Fixed various minor documentation errors (bug 3484942)(backported
   to 2.4.1).
+- NEW: Added a switch to the STM32F4 Makefile files in order to enable or
+  disable the FPU support in a single place.
 - NEW: Added float support (optional) to chprintf(), by Fabio Utzig.
 - NEW: Added overflow handling in the ICU driver (contributed by Xo).
 - NEW: Updated debug plugin 1.0.8 (backported to 2.4.0).
diff --git a/testhal/STM32F4xx/ADC/Makefile b/testhal/STM32F4xx/ADC/Makefile
index de1ac051f..0f32eeceb 100644
--- a/testhal/STM32F4xx/ADC/Makefile
+++ b/testhal/STM32F4xx/ADC/Makefile
@@ -5,7 +5,7 @@
 
 # Compiler options here.
 ifeq ($(USE_OPT),)
-  USE_OPT = -O2 -ggdb -fomit-frame-pointer -falign-functions=16 -mhard-float -mfpu=fpv4-sp-d16 -fsingle-precision-constant
+  USE_OPT = -O2 -ggdb -fomit-frame-pointer -falign-functions=16
 endif
 
 # C specific options here (added to USE_OPT).
@@ -41,6 +41,12 @@ endif
 # Architecture or project specific options
 #
 
+# Enables the use of FPU on Cortex-M4.
+# Enable this if you really want to use the STM FWLib.
+ifeq ($(USE_FPU),)
+  USE_FPU = no
+endif
+
 # Enable this if you really want to use the STM FWLib.
 ifeq ($(USE_FWLIB),)
   USE_FWLIB = no
@@ -58,16 +64,17 @@ endif
 PROJECT = ch
 
 # Imported source files and paths
-CHIBIOS = ../../..
+CHIBIOS = ../..
 include $(CHIBIOS)/boards/ST_STM32F4_DISCOVERY/board.mk
 include $(CHIBIOS)/os/hal/platforms/STM32F4xx/platform.mk
 include $(CHIBIOS)/os/hal/hal.mk
 include $(CHIBIOS)/os/ports/GCC/ARMCMx/STM32F4xx/port.mk
 include $(CHIBIOS)/os/kernel/kernel.mk
-#include $(CHIBIOS)/test/test.mk
+include $(CHIBIOS)/test/test.mk
 
 # Define linker script file here
 LDSCRIPT= $(PORTLD)/STM32F407xG.ld
+#LDSCRIPT= $(PORTLD)/STM32F407xG_CCM.ld
 
 # C sources that can be compiled in ARM or THUMB mode depending on the global
 # setting.
@@ -77,6 +84,8 @@ CSRC = $(PORTSRC) \
        $(HALSRC) \
        $(PLATFORMSRC) \
        $(BOARDSRC) \
+       $(CHIBIOS)/os/various/lis302dl.c \
+       $(CHIBIOS)/os/various/chprintf.c \
        main.c
 
 # C++ sources that can be compiled in ARM or THUMB mode depending on the global
@@ -197,6 +206,13 @@ ULIBS =
 # End of user defines
 ##############################################################################
 
+ifeq ($(USE_FPU),yes)
+  USE_OPT += -mfloat-abi=softfp -mfpu=fpv4-sp-d16 -fsingle-precision-constant
+  DDEFS += -DCORTEX_USE_FPU=TRUE
+else
+  DDEFS += -DCORTEX_USE_FPU=FALSE
+endif
+
 ifeq ($(USE_FWLIB),yes)
   include $(CHIBIOS)/ext/stm32lib/stm32lib.mk
   CSRC += $(STM32SRC)
diff --git a/testhal/STM32F4xx/DMA_STORM/Makefile b/testhal/STM32F4xx/DMA_STORM/Makefile
index 425e5f6c5..0f32eeceb 100644
--- a/testhal/STM32F4xx/DMA_STORM/Makefile
+++ b/testhal/STM32F4xx/DMA_STORM/Makefile
@@ -5,7 +5,7 @@
 
 # Compiler options here.
 ifeq ($(USE_OPT),)
-  USE_OPT = -O2 -ggdb -fomit-frame-pointer -falign-functions=16 -mhard-float -mfpu=fpv4-sp-d16 -fsingle-precision-constant
+  USE_OPT = -O2 -ggdb -fomit-frame-pointer -falign-functions=16
 endif
 
 # C specific options here (added to USE_OPT).
@@ -41,6 +41,12 @@ endif
 # Architecture or project specific options
 #
 
+# Enables the use of FPU on Cortex-M4.
+# Enable this if you really want to use the STM FWLib.
+ifeq ($(USE_FPU),)
+  USE_FPU = no
+endif
+
 # Enable this if you really want to use the STM FWLib.
 ifeq ($(USE_FWLIB),)
   USE_FWLIB = no
@@ -58,16 +64,17 @@ endif
 PROJECT = ch
 
 # Imported source files and paths
-CHIBIOS = ../../..
+CHIBIOS = ../..
 include $(CHIBIOS)/boards/ST_STM32F4_DISCOVERY/board.mk
 include $(CHIBIOS)/os/hal/platforms/STM32F4xx/platform.mk
 include $(CHIBIOS)/os/hal/hal.mk
 include $(CHIBIOS)/os/ports/GCC/ARMCMx/STM32F4xx/port.mk
 include $(CHIBIOS)/os/kernel/kernel.mk
-#include $(CHIBIOS)/test/test.mk
+include $(CHIBIOS)/test/test.mk
 
 # Define linker script file here
 LDSCRIPT= $(PORTLD)/STM32F407xG.ld
+#LDSCRIPT= $(PORTLD)/STM32F407xG_CCM.ld
 
 # C sources that can be compiled in ARM or THUMB mode depending on the global
 # setting.
@@ -77,8 +84,8 @@ CSRC = $(PORTSRC) \
        $(HALSRC) \
        $(PLATFORMSRC) \
        $(BOARDSRC) \
-       $(CHIBIOS)/os/various/evtimer.c \
-       $(CHIBIOS)/os/various/syscalls.c \
+       $(CHIBIOS)/os/various/lis302dl.c \
+       $(CHIBIOS)/os/various/chprintf.c \
        main.c
 
 # C++ sources that can be compiled in ARM or THUMB mode depending on the global
@@ -199,6 +206,13 @@ ULIBS =
 # End of user defines
 ##############################################################################
 
+ifeq ($(USE_FPU),yes)
+  USE_OPT += -mfloat-abi=softfp -mfpu=fpv4-sp-d16 -fsingle-precision-constant
+  DDEFS += -DCORTEX_USE_FPU=TRUE
+else
+  DDEFS += -DCORTEX_USE_FPU=FALSE
+endif
+
 ifeq ($(USE_FWLIB),yes)
   include $(CHIBIOS)/ext/stm32lib/stm32lib.mk
   CSRC += $(STM32SRC)
diff --git a/testhal/STM32F4xx/EXT/Makefile b/testhal/STM32F4xx/EXT/Makefile
index de1ac051f..0f32eeceb 100644
--- a/testhal/STM32F4xx/EXT/Makefile
+++ b/testhal/STM32F4xx/EXT/Makefile
@@ -5,7 +5,7 @@
 
 # Compiler options here.
 ifeq ($(USE_OPT),)
-  USE_OPT = -O2 -ggdb -fomit-frame-pointer -falign-functions=16 -mhard-float -mfpu=fpv4-sp-d16 -fsingle-precision-constant
+  USE_OPT = -O2 -ggdb -fomit-frame-pointer -falign-functions=16
 endif
 
 # C specific options here (added to USE_OPT).
@@ -41,6 +41,12 @@ endif
 # Architecture or project specific options
 #
 
+# Enables the use of FPU on Cortex-M4.
+# Enable this if you really want to use the STM FWLib.
+ifeq ($(USE_FPU),)
+  USE_FPU = no
+endif
+
 # Enable this if you really want to use the STM FWLib.
 ifeq ($(USE_FWLIB),)
   USE_FWLIB = no
@@ -58,16 +64,17 @@ endif
 PROJECT = ch
 
 # Imported source files and paths
-CHIBIOS = ../../..
+CHIBIOS = ../..
 include $(CHIBIOS)/boards/ST_STM32F4_DISCOVERY/board.mk
 include $(CHIBIOS)/os/hal/platforms/STM32F4xx/platform.mk
 include $(CHIBIOS)/os/hal/hal.mk
 include $(CHIBIOS)/os/ports/GCC/ARMCMx/STM32F4xx/port.mk
 include $(CHIBIOS)/os/kernel/kernel.mk
-#include $(CHIBIOS)/test/test.mk
+include $(CHIBIOS)/test/test.mk
 
 # Define linker script file here
 LDSCRIPT= $(PORTLD)/STM32F407xG.ld
+#LDSCRIPT= $(PORTLD)/STM32F407xG_CCM.ld
 
 # C sources that can be compiled in ARM or THUMB mode depending on the global
 # setting.
@@ -77,6 +84,8 @@ CSRC = $(PORTSRC) \
        $(HALSRC) \
        $(PLATFORMSRC) \
        $(BOARDSRC) \
+       $(CHIBIOS)/os/various/lis302dl.c \
+       $(CHIBIOS)/os/various/chprintf.c \
        main.c
 
 # C++ sources that can be compiled in ARM or THUMB mode depending on the global
@@ -197,6 +206,13 @@ ULIBS =
 # End of user defines
 ##############################################################################
 
+ifeq ($(USE_FPU),yes)
+  USE_OPT += -mfloat-abi=softfp -mfpu=fpv4-sp-d16 -fsingle-precision-constant
+  DDEFS += -DCORTEX_USE_FPU=TRUE
+else
+  DDEFS += -DCORTEX_USE_FPU=FALSE
+endif
+
 ifeq ($(USE_FWLIB),yes)
   include $(CHIBIOS)/ext/stm32lib/stm32lib.mk
   CSRC += $(STM32SRC)
diff --git a/testhal/STM32F4xx/GPT/Makefile b/testhal/STM32F4xx/GPT/Makefile
index de1ac051f..0f32eeceb 100644
--- a/testhal/STM32F4xx/GPT/Makefile
+++ b/testhal/STM32F4xx/GPT/Makefile
@@ -5,7 +5,7 @@
 
 # Compiler options here.
 ifeq ($(USE_OPT),)
-  USE_OPT = -O2 -ggdb -fomit-frame-pointer -falign-functions=16 -mhard-float -mfpu=fpv4-sp-d16 -fsingle-precision-constant
+  USE_OPT = -O2 -ggdb -fomit-frame-pointer -falign-functions=16
 endif
 
 # C specific options here (added to USE_OPT).
@@ -41,6 +41,12 @@ endif
 # Architecture or project specific options
 #
 
+# Enables the use of FPU on Cortex-M4.
+# Enable this if you really want to use the STM FWLib.
+ifeq ($(USE_FPU),)
+  USE_FPU = no
+endif
+
 # Enable this if you really want to use the STM FWLib.
 ifeq ($(USE_FWLIB),)
   USE_FWLIB = no
@@ -58,16 +64,17 @@ endif
 PROJECT = ch
 
 # Imported source files and paths
-CHIBIOS = ../../..
+CHIBIOS = ../..
 include $(CHIBIOS)/boards/ST_STM32F4_DISCOVERY/board.mk
 include $(CHIBIOS)/os/hal/platforms/STM32F4xx/platform.mk
 include $(CHIBIOS)/os/hal/hal.mk
 include $(CHIBIOS)/os/ports/GCC/ARMCMx/STM32F4xx/port.mk
 include $(CHIBIOS)/os/kernel/kernel.mk
-#include $(CHIBIOS)/test/test.mk
+include $(CHIBIOS)/test/test.mk
 
 # Define linker script file here
 LDSCRIPT= $(PORTLD)/STM32F407xG.ld
+#LDSCRIPT= $(PORTLD)/STM32F407xG_CCM.ld
 
 # C sources that can be compiled in ARM or THUMB mode depending on the global
 # setting.
@@ -77,6 +84,8 @@ CSRC = $(PORTSRC) \
        $(HALSRC) \
        $(PLATFORMSRC) \
        $(BOARDSRC) \
+       $(CHIBIOS)/os/various/lis302dl.c \
+       $(CHIBIOS)/os/various/chprintf.c \
        main.c
 
 # C++ sources that can be compiled in ARM or THUMB mode depending on the global
@@ -197,6 +206,13 @@ ULIBS =
 # End of user defines
 ##############################################################################
 
+ifeq ($(USE_FPU),yes)
+  USE_OPT += -mfloat-abi=softfp -mfpu=fpv4-sp-d16 -fsingle-precision-constant
+  DDEFS += -DCORTEX_USE_FPU=TRUE
+else
+  DDEFS += -DCORTEX_USE_FPU=FALSE
+endif
+
 ifeq ($(USE_FWLIB),yes)
   include $(CHIBIOS)/ext/stm32lib/stm32lib.mk
   CSRC += $(STM32SRC)
diff --git a/testhal/STM32F4xx/I2C/Makefile b/testhal/STM32F4xx/I2C/Makefile
index 2fbf2d17e..0f32eeceb 100644
--- a/testhal/STM32F4xx/I2C/Makefile
+++ b/testhal/STM32F4xx/I2C/Makefile
@@ -5,7 +5,7 @@
 
 # Compiler options here.
 ifeq ($(USE_OPT),)
-  USE_OPT = -O0 -ggdb -fomit-frame-pointer -falign-functions=16 -mhard-float -mfpu=fpv4-sp-d16 -fsingle-precision-constant
+  USE_OPT = -O2 -ggdb -fomit-frame-pointer -falign-functions=16
 endif
 
 # C specific options here (added to USE_OPT).
@@ -41,6 +41,12 @@ endif
 # Architecture or project specific options
 #
 
+# Enables the use of FPU on Cortex-M4.
+# Enable this if you really want to use the STM FWLib.
+ifeq ($(USE_FPU),)
+  USE_FPU = no
+endif
+
 # Enable this if you really want to use the STM FWLib.
 ifeq ($(USE_FWLIB),)
   USE_FWLIB = no
@@ -58,16 +64,17 @@ endif
 PROJECT = ch
 
 # Imported source files and paths
-CHIBIOS = ../../..
-include $(CHIBIOS)/boards/NONSTANDARD_STM32F4_BARTHESS1/board.mk
+CHIBIOS = ../..
+include $(CHIBIOS)/boards/ST_STM32F4_DISCOVERY/board.mk
 include $(CHIBIOS)/os/hal/platforms/STM32F4xx/platform.mk
 include $(CHIBIOS)/os/hal/hal.mk
 include $(CHIBIOS)/os/ports/GCC/ARMCMx/STM32F4xx/port.mk
 include $(CHIBIOS)/os/kernel/kernel.mk
-#include $(CHIBIOS)/test/test.mk
+include $(CHIBIOS)/test/test.mk
 
 # Define linker script file here
 LDSCRIPT= $(PORTLD)/STM32F407xG.ld
+#LDSCRIPT= $(PORTLD)/STM32F407xG_CCM.ld
 
 # C sources that can be compiled in ARM or THUMB mode depending on the global
 # setting.
@@ -77,6 +84,8 @@ CSRC = $(PORTSRC) \
        $(HALSRC) \
        $(PLATFORMSRC) \
        $(BOARDSRC) \
+       $(CHIBIOS)/os/various/lis302dl.c \
+       $(CHIBIOS)/os/various/chprintf.c \
        main.c
 
 # C++ sources that can be compiled in ARM or THUMB mode depending on the global
@@ -197,6 +206,13 @@ ULIBS =
 # End of user defines
 ##############################################################################
 
+ifeq ($(USE_FPU),yes)
+  USE_OPT += -mfloat-abi=softfp -mfpu=fpv4-sp-d16 -fsingle-precision-constant
+  DDEFS += -DCORTEX_USE_FPU=TRUE
+else
+  DDEFS += -DCORTEX_USE_FPU=FALSE
+endif
+
 ifeq ($(USE_FWLIB),yes)
   include $(CHIBIOS)/ext/stm32lib/stm32lib.mk
   CSRC += $(STM32SRC)
diff --git a/testhal/STM32F4xx/IRQ_STORM/Makefile b/testhal/STM32F4xx/IRQ_STORM/Makefile
index de1ac051f..0f32eeceb 100644
--- a/testhal/STM32F4xx/IRQ_STORM/Makefile
+++ b/testhal/STM32F4xx/IRQ_STORM/Makefile
@@ -5,7 +5,7 @@
 
 # Compiler options here.
 ifeq ($(USE_OPT),)
-  USE_OPT = -O2 -ggdb -fomit-frame-pointer -falign-functions=16 -mhard-float -mfpu=fpv4-sp-d16 -fsingle-precision-constant
+  USE_OPT = -O2 -ggdb -fomit-frame-pointer -falign-functions=16
 endif
 
 # C specific options here (added to USE_OPT).
@@ -41,6 +41,12 @@ endif
 # Architecture or project specific options
 #
 
+# Enables the use of FPU on Cortex-M4.
+# Enable this if you really want to use the STM FWLib.
+ifeq ($(USE_FPU),)
+  USE_FPU = no
+endif
+
 # Enable this if you really want to use the STM FWLib.
 ifeq ($(USE_FWLIB),)
   USE_FWLIB = no
@@ -58,16 +64,17 @@ endif
 PROJECT = ch
 
 # Imported source files and paths
-CHIBIOS = ../../..
+CHIBIOS = ../..
 include $(CHIBIOS)/boards/ST_STM32F4_DISCOVERY/board.mk
 include $(CHIBIOS)/os/hal/platforms/STM32F4xx/platform.mk
 include $(CHIBIOS)/os/hal/hal.mk
 include $(CHIBIOS)/os/ports/GCC/ARMCMx/STM32F4xx/port.mk
 include $(CHIBIOS)/os/kernel/kernel.mk
-#include $(CHIBIOS)/test/test.mk
+include $(CHIBIOS)/test/test.mk
 
 # Define linker script file here
 LDSCRIPT= $(PORTLD)/STM32F407xG.ld
+#LDSCRIPT= $(PORTLD)/STM32F407xG_CCM.ld
 
 # C sources that can be compiled in ARM or THUMB mode depending on the global
 # setting.
@@ -77,6 +84,8 @@ CSRC = $(PORTSRC) \
        $(HALSRC) \
        $(PLATFORMSRC) \
        $(BOARDSRC) \
+       $(CHIBIOS)/os/various/lis302dl.c \
+       $(CHIBIOS)/os/various/chprintf.c \
        main.c
 
 # C++ sources that can be compiled in ARM or THUMB mode depending on the global
@@ -197,6 +206,13 @@ ULIBS =
 # End of user defines
 ##############################################################################
 
+ifeq ($(USE_FPU),yes)
+  USE_OPT += -mfloat-abi=softfp -mfpu=fpv4-sp-d16 -fsingle-precision-constant
+  DDEFS += -DCORTEX_USE_FPU=TRUE
+else
+  DDEFS += -DCORTEX_USE_FPU=FALSE
+endif
+
 ifeq ($(USE_FWLIB),yes)
   include $(CHIBIOS)/ext/stm32lib/stm32lib.mk
   CSRC += $(STM32SRC)
diff --git a/testhal/STM32F4xx/IRQ_STORM_FPU/Makefile b/testhal/STM32F4xx/IRQ_STORM_FPU/Makefile
index aa109bff9..ff061e2d8 100644
--- a/testhal/STM32F4xx/IRQ_STORM_FPU/Makefile
+++ b/testhal/STM32F4xx/IRQ_STORM_FPU/Makefile
@@ -5,7 +5,7 @@
 
 # Compiler options here.
 ifeq ($(USE_OPT),)
-  USE_OPT = -O2 -ggdb -fomit-frame-pointer -falign-functions=16 -mhard-float -mfpu=fpv4-sp-d16 -fsingle-precision-constant
+  USE_OPT = -O2 -ggdb -fomit-frame-pointer -falign-functions=16
 endif
 
 # C specific options here (added to USE_OPT).
@@ -41,6 +41,12 @@ endif
 # Architecture or project specific options
 #
 
+# Enables the use of FPU on Cortex-M4.
+# Enable this if you really want to use the STM FWLib.
+ifeq ($(USE_FPU),)
+  USE_FPU = yes
+endif
+
 # Enable this if you really want to use the STM FWLib.
 ifeq ($(USE_FWLIB),)
   USE_FWLIB = no
@@ -58,16 +64,17 @@ endif
 PROJECT = ch
 
 # Imported source files and paths
-CHIBIOS = ../../..
+CHIBIOS = ../..
 include $(CHIBIOS)/boards/ST_STM32F4_DISCOVERY/board.mk
 include $(CHIBIOS)/os/hal/platforms/STM32F4xx/platform.mk
 include $(CHIBIOS)/os/hal/hal.mk
 include $(CHIBIOS)/os/ports/GCC/ARMCMx/STM32F4xx/port.mk
 include $(CHIBIOS)/os/kernel/kernel.mk
-#include $(CHIBIOS)/test/test.mk
+include $(CHIBIOS)/test/test.mk
 
 # Define linker script file here
 LDSCRIPT= $(PORTLD)/STM32F407xG.ld
+#LDSCRIPT= $(PORTLD)/STM32F407xG_CCM.ld
 
 # C sources that can be compiled in ARM or THUMB mode depending on the global
 # setting.
@@ -77,7 +84,9 @@ CSRC = $(PORTSRC) \
        $(HALSRC) \
        $(PLATFORMSRC) \
        $(BOARDSRC) \
-       extfunc.c main.c
+       $(CHIBIOS)/os/various/lis302dl.c \
+       $(CHIBIOS)/os/various/chprintf.c \
+       main.c
 
 # C++ sources that can be compiled in ARM or THUMB mode depending on the global
 # setting.
@@ -197,6 +206,13 @@ ULIBS =
 # End of user defines
 ##############################################################################
 
+ifeq ($(USE_FPU),yes)
+  USE_OPT += -mfloat-abi=softfp -mfpu=fpv4-sp-d16 -fsingle-precision-constant
+  DDEFS += -DCORTEX_USE_FPU=TRUE
+else
+  DDEFS += -DCORTEX_USE_FPU=FALSE
+endif
+
 ifeq ($(USE_FWLIB),yes)
   include $(CHIBIOS)/ext/stm32lib/stm32lib.mk
   CSRC += $(STM32SRC)
diff --git a/testhal/STM32F4xx/PVD/Makefile b/testhal/STM32F4xx/PVD/Makefile
index fd78e3d83..0f32eeceb 100644
--- a/testhal/STM32F4xx/PVD/Makefile
+++ b/testhal/STM32F4xx/PVD/Makefile
@@ -5,7 +5,7 @@
 
 # Compiler options here.
 ifeq ($(USE_OPT),)
-  USE_OPT = -O0 -ggdb -fomit-frame-pointer -falign-functions=16 -mhard-float -mfpu=fpv4-sp-d16 -fsingle-precision-constant
+  USE_OPT = -O2 -ggdb -fomit-frame-pointer -falign-functions=16
 endif
 
 # C specific options here (added to USE_OPT).
@@ -41,6 +41,12 @@ endif
 # Architecture or project specific options
 #
 
+# Enables the use of FPU on Cortex-M4.
+# Enable this if you really want to use the STM FWLib.
+ifeq ($(USE_FPU),)
+  USE_FPU = no
+endif
+
 # Enable this if you really want to use the STM FWLib.
 ifeq ($(USE_FWLIB),)
   USE_FWLIB = no
@@ -58,15 +64,17 @@ endif
 PROJECT = ch
 
 # Imported source files and paths
-CHIBIOS = ../../..
-include $(CHIBIOS)/boards/NONSTANDARD_STM32F4_BARTHESS1/board.mk
+CHIBIOS = ../..
+include $(CHIBIOS)/boards/ST_STM32F4_DISCOVERY/board.mk
 include $(CHIBIOS)/os/hal/platforms/STM32F4xx/platform.mk
 include $(CHIBIOS)/os/hal/hal.mk
 include $(CHIBIOS)/os/ports/GCC/ARMCMx/STM32F4xx/port.mk
 include $(CHIBIOS)/os/kernel/kernel.mk
+include $(CHIBIOS)/test/test.mk
 
 # Define linker script file here
 LDSCRIPT= $(PORTLD)/STM32F407xG.ld
+#LDSCRIPT= $(PORTLD)/STM32F407xG_CCM.ld
 
 # C sources that can be compiled in ARM or THUMB mode depending on the global
 # setting.
@@ -76,7 +84,9 @@ CSRC = $(PORTSRC) \
        $(HALSRC) \
        $(PLATFORMSRC) \
        $(BOARDSRC) \
-       main.c
+       $(CHIBIOS)/os/various/lis302dl.c \
+       $(CHIBIOS)/os/various/chprintf.c \
+       main.c
 
 # C++ sources that can be compiled in ARM or THUMB mode depending on the global
 # setting.
@@ -196,6 +206,13 @@ ULIBS =
 # End of user defines
 ##############################################################################
 
+ifeq ($(USE_FPU),yes)
+  USE_OPT += -mfloat-abi=softfp -mfpu=fpv4-sp-d16 -fsingle-precision-constant
+  DDEFS += -DCORTEX_USE_FPU=TRUE
+else
+  DDEFS += -DCORTEX_USE_FPU=FALSE
+endif
+
 ifeq ($(USE_FWLIB),yes)
   include $(CHIBIOS)/ext/stm32lib/stm32lib.mk
   CSRC += $(STM32SRC)
diff --git a/testhal/STM32F4xx/PWM-ICU/Makefile b/testhal/STM32F4xx/PWM-ICU/Makefile
index de1ac051f..0f32eeceb 100644
--- a/testhal/STM32F4xx/PWM-ICU/Makefile
+++ b/testhal/STM32F4xx/PWM-ICU/Makefile
@@ -5,7 +5,7 @@
 
 # Compiler options here.
 ifeq ($(USE_OPT),)
-  USE_OPT = -O2 -ggdb -fomit-frame-pointer -falign-functions=16 -mhard-float -mfpu=fpv4-sp-d16 -fsingle-precision-constant
+  USE_OPT = -O2 -ggdb -fomit-frame-pointer -falign-functions=16
 endif
 
 # C specific options here (added to USE_OPT).
@@ -41,6 +41,12 @@ endif
 # Architecture or project specific options
 #
 
+# Enables the use of FPU on Cortex-M4.
+# Enable this if you really want to use the STM FWLib.
+ifeq ($(USE_FPU),)
+  USE_FPU = no
+endif
+
 # Enable this if you really want to use the STM FWLib.
 ifeq ($(USE_FWLIB),)
   USE_FWLIB = no
@@ -58,16 +64,17 @@ endif
 PROJECT = ch
 
 # Imported source files and paths
-CHIBIOS = ../../..
+CHIBIOS = ../..
 include $(CHIBIOS)/boards/ST_STM32F4_DISCOVERY/board.mk
 include $(CHIBIOS)/os/hal/platforms/STM32F4xx/platform.mk
 include $(CHIBIOS)/os/hal/hal.mk
 include $(CHIBIOS)/os/ports/GCC/ARMCMx/STM32F4xx/port.mk
 include $(CHIBIOS)/os/kernel/kernel.mk
-#include $(CHIBIOS)/test/test.mk
+include $(CHIBIOS)/test/test.mk
 
 # Define linker script file here
 LDSCRIPT= $(PORTLD)/STM32F407xG.ld
+#LDSCRIPT= $(PORTLD)/STM32F407xG_CCM.ld
 
 # C sources that can be compiled in ARM or THUMB mode depending on the global
 # setting.
@@ -77,6 +84,8 @@ CSRC = $(PORTSRC) \
        $(HALSRC) \
        $(PLATFORMSRC) \
        $(BOARDSRC) \
+       $(CHIBIOS)/os/various/lis302dl.c \
+       $(CHIBIOS)/os/various/chprintf.c \
        main.c
 
 # C++ sources that can be compiled in ARM or THUMB mode depending on the global
@@ -197,6 +206,13 @@ ULIBS =
 # End of user defines
 ##############################################################################
 
+ifeq ($(USE_FPU),yes)
+  USE_OPT += -mfloat-abi=softfp -mfpu=fpv4-sp-d16 -fsingle-precision-constant
+  DDEFS += -DCORTEX_USE_FPU=TRUE
+else
+  DDEFS += -DCORTEX_USE_FPU=FALSE
+endif
+
 ifeq ($(USE_FWLIB),yes)
   include $(CHIBIOS)/ext/stm32lib/stm32lib.mk
   CSRC += $(STM32SRC)
diff --git a/testhal/STM32F4xx/RTC/Makefile b/testhal/STM32F4xx/RTC/Makefile
index e60937914..0f32eeceb 100644
--- a/testhal/STM32F4xx/RTC/Makefile
+++ b/testhal/STM32F4xx/RTC/Makefile
@@ -5,7 +5,7 @@
 
 # Compiler options here.
 ifeq ($(USE_OPT),)
-  USE_OPT = -O0 -ggdb -fomit-frame-pointer -falign-functions=16
+  USE_OPT = -O2 -ggdb -fomit-frame-pointer -falign-functions=16
 endif
 
 # C specific options here (added to USE_OPT).
@@ -41,6 +41,12 @@ endif
 # Architecture or project specific options
 #
 
+# Enables the use of FPU on Cortex-M4.
+# Enable this if you really want to use the STM FWLib.
+ifeq ($(USE_FPU),)
+  USE_FPU = no
+endif
+
 # Enable this if you really want to use the STM FWLib.
 ifeq ($(USE_FWLIB),)
   USE_FWLIB = no
@@ -57,17 +63,18 @@ endif
 # Define project name here
 PROJECT = ch
 
-# Imported source files
-CHIBIOS = ../../..
-include $(CHIBIOS)/boards/NONSTANDARD_STM32F4_BARTHESS1/board.mk
+# Imported source files and paths
+CHIBIOS = ../..
+include $(CHIBIOS)/boards/ST_STM32F4_DISCOVERY/board.mk
 include $(CHIBIOS)/os/hal/platforms/STM32F4xx/platform.mk
 include $(CHIBIOS)/os/hal/hal.mk
 include $(CHIBIOS)/os/ports/GCC/ARMCMx/STM32F4xx/port.mk
 include $(CHIBIOS)/os/kernel/kernel.mk
-#include $(CHIBIOS)/test/test.mk
+include $(CHIBIOS)/test/test.mk
 
 # Define linker script file here
 LDSCRIPT= $(PORTLD)/STM32F407xG.ld
+#LDSCRIPT= $(PORTLD)/STM32F407xG_CCM.ld
 
 # C sources that can be compiled in ARM or THUMB mode depending on the global
 # setting.
@@ -77,11 +84,9 @@ CSRC = $(PORTSRC) \
        $(HALSRC) \
        $(PLATFORMSRC) \
        $(BOARDSRC) \
-       $(CHIBIOS)/os/various/evtimer.c \
-       $(CHIBIOS)/os/various/syscalls.c \
-       $(CHIBIOS)/os/various/shell.c \
+       $(CHIBIOS)/os/various/lis302dl.c \
        $(CHIBIOS)/os/various/chprintf.c \
-       main.c \
+       main.c
 
 # C++ sources that can be compiled in ARM or THUMB mode depending on the global
 # setting.
@@ -131,8 +136,7 @@ CPPC = $(TRGT)g++
 # Enable loading with g++ only if you need C++ runtime support.
 # NOTE: You can use C++ even without C++ support if you are careful. C++
 #       runtime support makes code size explode.
-
-LD   = $(TRGT)gcc 
+LD   = $(TRGT)gcc
 #LD   = $(TRGT)g++
 CP   = $(TRGT)objcopy
 AS   = $(TRGT)gcc -x assembler-with-cpp
@@ -141,13 +145,13 @@ HEX  = $(CP) -O ihex
 BIN  = $(CP) -O binary
 
 # ARM-specific options here
-AOPT = 
+AOPT =
 
 # THUMB-specific options here
 TOPT = -mthumb -DTHUMB
 
 # Define C warning options here
-CWARN = -Wall -Wextra -Wstrict-prototypes 
+CWARN = -Wall -Wextra -Wstrict-prototypes
 
 # Define C++ warning options here
 CPPWARN = -Wall -Wextra
@@ -193,7 +197,7 @@ UADEFS =
 UINCDIR =
 
 # List the user directory to look for the libraries here
-ULIBDIR = 
+ULIBDIR =
 
 # List all user libraries here
 ULIBS =
@@ -202,6 +206,13 @@ ULIBS =
 # End of user defines
 ##############################################################################
 
+ifeq ($(USE_FPU),yes)
+  USE_OPT += -mfloat-abi=softfp -mfpu=fpv4-sp-d16 -fsingle-precision-constant
+  DDEFS += -DCORTEX_USE_FPU=TRUE
+else
+  DDEFS += -DCORTEX_USE_FPU=FALSE
+endif
+
 ifeq ($(USE_FWLIB),yes)
   include $(CHIBIOS)/ext/stm32lib/stm32lib.mk
   CSRC += $(STM32SRC)
diff --git a/testhal/STM32F4xx/SPI/Makefile b/testhal/STM32F4xx/SPI/Makefile
index 425e5f6c5..0f32eeceb 100644
--- a/testhal/STM32F4xx/SPI/Makefile
+++ b/testhal/STM32F4xx/SPI/Makefile
@@ -5,7 +5,7 @@
 
 # Compiler options here.
 ifeq ($(USE_OPT),)
-  USE_OPT = -O2 -ggdb -fomit-frame-pointer -falign-functions=16 -mhard-float -mfpu=fpv4-sp-d16 -fsingle-precision-constant
+  USE_OPT = -O2 -ggdb -fomit-frame-pointer -falign-functions=16
 endif
 
 # C specific options here (added to USE_OPT).
@@ -41,6 +41,12 @@ endif
 # Architecture or project specific options
 #
 
+# Enables the use of FPU on Cortex-M4.
+# Enable this if you really want to use the STM FWLib.
+ifeq ($(USE_FPU),)
+  USE_FPU = no
+endif
+
 # Enable this if you really want to use the STM FWLib.
 ifeq ($(USE_FWLIB),)
   USE_FWLIB = no
@@ -58,16 +64,17 @@ endif
 PROJECT = ch
 
 # Imported source files and paths
-CHIBIOS = ../../..
+CHIBIOS = ../..
 include $(CHIBIOS)/boards/ST_STM32F4_DISCOVERY/board.mk
 include $(CHIBIOS)/os/hal/platforms/STM32F4xx/platform.mk
 include $(CHIBIOS)/os/hal/hal.mk
 include $(CHIBIOS)/os/ports/GCC/ARMCMx/STM32F4xx/port.mk
 include $(CHIBIOS)/os/kernel/kernel.mk
-#include $(CHIBIOS)/test/test.mk
+include $(CHIBIOS)/test/test.mk
 
 # Define linker script file here
 LDSCRIPT= $(PORTLD)/STM32F407xG.ld
+#LDSCRIPT= $(PORTLD)/STM32F407xG_CCM.ld
 
 # C sources that can be compiled in ARM or THUMB mode depending on the global
 # setting.
@@ -77,8 +84,8 @@ CSRC = $(PORTSRC) \
        $(HALSRC) \
        $(PLATFORMSRC) \
        $(BOARDSRC) \
-       $(CHIBIOS)/os/various/evtimer.c \
-       $(CHIBIOS)/os/various/syscalls.c \
+       $(CHIBIOS)/os/various/lis302dl.c \
+       $(CHIBIOS)/os/various/chprintf.c \
        main.c
 
 # C++ sources that can be compiled in ARM or THUMB mode depending on the global
@@ -199,6 +206,13 @@ ULIBS =
 # End of user defines
 ##############################################################################
 
+ifeq ($(USE_FPU),yes)
+  USE_OPT += -mfloat-abi=softfp -mfpu=fpv4-sp-d16 -fsingle-precision-constant
+  DDEFS += -DCORTEX_USE_FPU=TRUE
+else
+  DDEFS += -DCORTEX_USE_FPU=FALSE
+endif
+
 ifeq ($(USE_FWLIB),yes)
   include $(CHIBIOS)/ext/stm32lib/stm32lib.mk
   CSRC += $(STM32SRC)
diff --git a/testhal/STM32F4xx/UART/Makefile b/testhal/STM32F4xx/UART/Makefile
index de1ac051f..0f32eeceb 100644
--- a/testhal/STM32F4xx/UART/Makefile
+++ b/testhal/STM32F4xx/UART/Makefile
@@ -5,7 +5,7 @@
 
 # Compiler options here.
 ifeq ($(USE_OPT),)
-  USE_OPT = -O2 -ggdb -fomit-frame-pointer -falign-functions=16 -mhard-float -mfpu=fpv4-sp-d16 -fsingle-precision-constant
+  USE_OPT = -O2 -ggdb -fomit-frame-pointer -falign-functions=16
 endif
 
 # C specific options here (added to USE_OPT).
@@ -41,6 +41,12 @@ endif
 # Architecture or project specific options
 #
 
+# Enables the use of FPU on Cortex-M4.
+# Enable this if you really want to use the STM FWLib.
+ifeq ($(USE_FPU),)
+  USE_FPU = no
+endif
+
 # Enable this if you really want to use the STM FWLib.
 ifeq ($(USE_FWLIB),)
   USE_FWLIB = no
@@ -58,16 +64,17 @@ endif
 PROJECT = ch
 
 # Imported source files and paths
-CHIBIOS = ../../..
+CHIBIOS = ../..
 include $(CHIBIOS)/boards/ST_STM32F4_DISCOVERY/board.mk
 include $(CHIBIOS)/os/hal/platforms/STM32F4xx/platform.mk
 include $(CHIBIOS)/os/hal/hal.mk
 include $(CHIBIOS)/os/ports/GCC/ARMCMx/STM32F4xx/port.mk
 include $(CHIBIOS)/os/kernel/kernel.mk
-#include $(CHIBIOS)/test/test.mk
+include $(CHIBIOS)/test/test.mk
 
 # Define linker script file here
 LDSCRIPT= $(PORTLD)/STM32F407xG.ld
+#LDSCRIPT= $(PORTLD)/STM32F407xG_CCM.ld
 
 # C sources that can be compiled in ARM or THUMB mode depending on the global
 # setting.
@@ -77,6 +84,8 @@ CSRC = $(PORTSRC) \
        $(HALSRC) \
        $(PLATFORMSRC) \
        $(BOARDSRC) \
+       $(CHIBIOS)/os/various/lis302dl.c \
+       $(CHIBIOS)/os/various/chprintf.c \
        main.c
 
 # C++ sources that can be compiled in ARM or THUMB mode depending on the global
@@ -197,6 +206,13 @@ ULIBS =
 # End of user defines
 ##############################################################################
 
+ifeq ($(USE_FPU),yes)
+  USE_OPT += -mfloat-abi=softfp -mfpu=fpv4-sp-d16 -fsingle-precision-constant
+  DDEFS += -DCORTEX_USE_FPU=TRUE
+else
+  DDEFS += -DCORTEX_USE_FPU=FALSE
+endif
+
 ifeq ($(USE_FWLIB),yes)
   include $(CHIBIOS)/ext/stm32lib/stm32lib.mk
   CSRC += $(STM32SRC)
diff --git a/testhal/STM32F4xx/USB_CDC/Makefile b/testhal/STM32F4xx/USB_CDC/Makefile
index 9085c6f37..0f32eeceb 100644
--- a/testhal/STM32F4xx/USB_CDC/Makefile
+++ b/testhal/STM32F4xx/USB_CDC/Makefile
@@ -41,6 +41,12 @@ endif
 # Architecture or project specific options
 #
 
+# Enables the use of FPU on Cortex-M4.
+# Enable this if you really want to use the STM FWLib.
+ifeq ($(USE_FPU),)
+  USE_FPU = no
+endif
+
 # Enable this if you really want to use the STM FWLib.
 ifeq ($(USE_FWLIB),)
   USE_FWLIB = no
@@ -58,7 +64,7 @@ endif
 PROJECT = ch
 
 # Imported source files and paths
-CHIBIOS = ../../..
+CHIBIOS = ../..
 include $(CHIBIOS)/boards/ST_STM32F4_DISCOVERY/board.mk
 include $(CHIBIOS)/os/hal/platforms/STM32F4xx/platform.mk
 include $(CHIBIOS)/os/hal/hal.mk
@@ -68,6 +74,7 @@ include $(CHIBIOS)/test/test.mk
 
 # Define linker script file here
 LDSCRIPT= $(PORTLD)/STM32F407xG.ld
+#LDSCRIPT= $(PORTLD)/STM32F407xG_CCM.ld
 
 # C sources that can be compiled in ARM or THUMB mode depending on the global
 # setting.
@@ -77,7 +84,7 @@ CSRC = $(PORTSRC) \
        $(HALSRC) \
        $(PLATFORMSRC) \
        $(BOARDSRC) \
-       $(CHIBIOS)/os/various/shell.c \
+       $(CHIBIOS)/os/various/lis302dl.c \
        $(CHIBIOS)/os/various/chprintf.c \
        main.c
 
@@ -158,7 +165,7 @@ CPPWARN = -Wall -Wextra
 #
 
 # List all default C defines here, like -D_DEBUG=1
-DDEFS = -DCORTEX_USE_FPU=0
+DDEFS =
 
 # List all default ASM defines here, like -D_DEBUG=1
 DADEFS =
@@ -199,6 +206,13 @@ ULIBS =
 # End of user defines
 ##############################################################################
 
+ifeq ($(USE_FPU),yes)
+  USE_OPT += -mfloat-abi=softfp -mfpu=fpv4-sp-d16 -fsingle-precision-constant
+  DDEFS += -DCORTEX_USE_FPU=TRUE
+else
+  DDEFS += -DCORTEX_USE_FPU=FALSE
+endif
+
 ifeq ($(USE_FWLIB),yes)
   include $(CHIBIOS)/ext/stm32lib/stm32lib.mk
   CSRC += $(STM32SRC)
author	gdisirio <gdisirio@35acf78f-673a-0410-8e92-d51de3d6d3f4>	2012-04-01 12:33:00 +0000
committer	gdisirio <gdisirio@35acf78f-673a-0410-8e92-d51de3d6d3f4>	2012-04-01 12:33:00 +0000
commit	e5a10ba0c5252b61a43886c47b70bbbf06cb15af (patch)
tree	4a92af7bfc244663a1cd4ae761d9adf1bc541cdc
parent	1c852f67c7bf2796a0c67b59be1db550ddbfd1e5 (diff)
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