waf: add flags for F1 controller support and more debug features

Tools/ardupilotwaf/boards.py

@@ -307,6 +307,7 @@ class chibios(Board):
     def configure_env(self, cfg, env):
         super(chibios, self).configure_env(cfg, env)
 
+        cfg.load('chibios')
         env.BOARD = self.name
 
         env.DEFINES.update(
@@ -321,7 +322,6 @@ class chibios(Board):
 
         # make board name available for USB IDs
         env.CHIBIOS_BOARD_NAME = 'HAL_BOARD_NAME="%s"' % self.name
-
         env.CXXFLAGS += [
             '-Wlogical-op',
             '-Wframe-larger-than=1300',
@@ -364,12 +364,13 @@ class chibios(Board):
             '-fno-builtin-vprintf',
             '-fno-builtin-vfprintf',
             '-fno-builtin-puts',
-            '-mcpu=cortex-m4',
             '-mno-thumb-interwork',
             '-mthumb',
             '-mfpu=fpv4-sp-d16',
             '-mfloat-abi=hard',
             '-DCHIBIOS_BOARD_NAME="%s"' % self.name,
+            '--specs=nano.specs',
+            '-specs=nosys.specs'
         ]
 
         if sys.platform == 'cygwin':
@@ -377,9 +378,7 @@ class chibios(Board):
 
         bldnode = cfg.bldnode.make_node(self.name)
         env.BUILDROOT = bldnode.make_node('').abspath()
-
         env.LINKFLAGS = [
-            '-mcpu=cortex-m4',
             '-Os',
             '-fomit-frame-pointer',
             '-falign-functions=16',
@@ -395,22 +394,23 @@ class chibios(Board):
             '-u_printf_float',
             '-fno-common',
             '-nostartfiles',
-            '-mfloat-abi=hard',
-            '-mfpu=fpv4-sp-d16',
             '-mno-thumb-interwork',
             '-mthumb',
+            '-specs=nano.specs',
+            '-specs=nosys.specs',
             '-L%s' % env.BUILDROOT,
             '-L%s' % cfg.srcnode.make_node('modules/ChibiOS/os/common/startup/ARMCMx/compilers/GCC/ld/').abspath(),
             '-L%s' % cfg.srcnode.make_node('libraries/AP_HAL_ChibiOS/hwdef/common/').abspath(),
-            '-Wl,--gc-sections,--no-warn-mismatch,--library-path=/ld,--script=ldscript.ld,--defsym=__process_stack_size__=0x400,--defsym=__main_stack_size__=0x400',
         ]
 
         if cfg.env.DEBUG:
             env.CFLAGS += [
-                '-g',
+                '-gdwarf-4',
+                '-g3',
             ]
             env.LINKFLAGS += [
-                '-g',
+                '-gdwarf-4',
+                '-g3',
             ]
 
         if cfg.env.ENABLE_ASSERTS:

Tools/ardupilotwaf/chibios.py

@@ -337,4 +337,4 @@ def build(bld):
     bld.env.LIBPATH += ['modules/ChibiOS/']
     wraplist = ['strerror_r', 'fclose', 'freopen', 'fread']
     for w in wraplist:
-        bld.env.LINKFLAGS += ['-Wl,--wrap,%s' % w]
+        bld.env.LINKFLAGS += ['-Wl,--wrap,%s' % w]