ArduPilot 编译选项

备注：

可以自己添加 -O0 -g3 -ggdb3
飞控板类型：fmuv3

ArduPilot C语言编译选项

[
'/opt/gcc-arm-none-eabi-5_4-2016q3/bin/arm-none-eabi-gcc',
'-ffunction-sections',
'-fdata-sections',
'-fsigned-char',
'-Wall',
'-Wextra',
'-Wformat',
'-Wpointer-arith',
'-Wcast-align',
'-Wundef',
'-Wno-missing-field-initializers',
'-Wno-unused-parameter',
'-Wno-redundant-decls',
'-Wno-unknown-pragmas',
'-Wno-trigraphs',
'-Wno-format-contains-nul',
'-Werror=shadow',
'-Werror=return-type',
'-Werror=unused-result',
'-Werror=unused-variable',
'-Werror=narrowing',
'-Werror=attributes',
'-Werror=overflow',
'-Werror=parentheses',
'-Werror=format-extra-args',
'-Werror=ignored-qualifiers',
'-mcpu=cortex-m4',
'-mfpu=fpv4-sp-d16',
'-mfloat-abi=hard',
'-DARM_MATH_CM4',
'-u_printf_float',
'-Wno-cast-align',
'-Wlogical-op',
'-Wframe-larger-than=1300',
'-fsingle-precision-constant',
'-Wno-attributes',
'-Wno-error=double-promotion',
'-Wno-error=missing-declarations',
'-Wno-error=float-equal',
'-Wno-error=undef',
'-Wno-error=cpp',
'-fno-exceptions',
'-Wall',
'-Wextra',
'-Wno-sign-compare',
'-Wfloat-equal',
'-Wpointer-arith',
'-Wmissing-declarations',
'-Wno-unused-parameter',
'-Werror=array-bounds',
'-Wfatal-errors',
'-Werror=uninitialized',
'-Werror=init-self',
'-Wframe-larger-than=1024',
'-Werror=unused-but-set-variable',
'-Wno-missing-field-initializers',
'-Wno-trigraphs',
'-fno-strict-aliasing',
'-fomit-frame-pointer',
'-falign-functions=16',
'-ffunction-sections',
'-fdata-sections',
'-fno-strength-reduce',
'-fno-builtin-printf',
'-fno-builtin-fprintf',
'-fno-builtin-vprintf',
'-fno-builtin-vfprintf',
'-fno-builtin-puts',
'-mno-thumb-interwork',
'-mthumb',
'--specs=nano.specs',
'-specs=nosys.specs',
'-DCHIBIOS_BOARD_NAME="fmuv3"',
'-Werror=deprecated-declarations',
'-std=c11',
'-MMD',
'-DUAVCAN_STM32_CHIBIOS=1',
'-DUAVCAN_STM32_NUM_IFACES=2',
'-Os',
'-Ilibraries',
'-Ilibraries/GCS_MAVLink',
'-Imodules/uavcan/libuavcan/include/dsdlc_generated',
'-I.',
'-I../../libraries',
'-I../../libraries/AP_Common/missing',
'-I../../modules/uavcan/libuavcan/include',
'-I../../modules/ChibiOS/os/license',
'-I../../modules/ChibiOS/os/various/cpp_wrappers',
'-I../../modules/ChibiOS/ext/fatfs/src',
'-I../../modules/ChibiOS/os/common/portability/GCC',
'-I../../modules/ChibiOS/os/common/startup/ARMCMx/compilers/GCC',
'-I../../modules/ChibiOS/os/common/startup/ARMCMx/devices/STM32F4xx',
'-I../../modules/ChibiOS/os/common/ext/ARM/CMSIS/Core/Include',
'-I../../modules/ChibiOS/os/common/ext/ST/STM32F4xx',
'-I../../modules/ChibiOS/os/hal/include',
'-I../../modules/ChibiOS/os/hal/ports/common/ARMCMx',
'-I../../modules/ChibiOS/os/hal/ports/STM32/STM32F4xx',
'-I../../modules/ChibiOS/os/hal/ports/STM32/LLD/ADCv2',
'-I../../modules/ChibiOS/os/hal/ports/STM32/LLD/CANv1',
'-I../../modules/ChibiOS/os/hal/ports/STM32/LLD/CRYPv1',
'-I../../modules/ChibiOS/os/hal/ports/STM32/LLD/DACv1',
'-I../../modules/ChibiOS/os/hal/ports/STM32/LLD/DMAv2',
'-I../../modules/ChibiOS/os/hal/ports/STM32/LLD/EXTIv1',
'-I../../modules/ChibiOS/os/hal/ports/STM32/LLD/GPIOv2',
'-I../../modules/ChibiOS/os/hal/ports/STM32/LLD/I2Cv1',
'-I../../modules/ChibiOS/os/hal/ports/STM32/LLD/MACv1',
'-I../../modules/ChibiOS/os/hal/ports/STM32/LLD/OTGv1',
'-I../../modules/ChibiOS/os/hal/ports/STM32/LLD/QUADSPIv1',
'-I../../modules/ChibiOS/os/hal/ports/STM32/LLD/RTCv2',
'-I../../modules/ChibiOS/os/hal/ports/STM32/LLD/SPIv1',
'-I../../modules/ChibiOS/os/hal/ports/STM32/LLD/SDIOv1',
'-I../../modules/ChibiOS/os/hal/ports/STM32/LLD/TIMv1',
'-I../../modules/ChibiOS/os/hal/ports/STM32/LLD/USARTv1',
'-I../../modules/ChibiOS/os/hal/ports/STM32/LLD/xWDGv1',
'-I../../modules/ChibiOS/os/hal/osal/rt',
'-I../../modules/ChibiOS/os/rt/include',
'-I../../modules/ChibiOS/os/oslib/include',
'-I../../modules/ChibiOS/os/common/ports/ARMCMx',
'-I../../modules/ChibiOS/os/common/ports/ARMCMx/compilers/GCC',
'-I../../modules/ChibiOS/os/hal/lib/streams',
'-I../../libraries/AP_HAL_ChibiOS/hwdef/common',
'-DSKETCHBOOK="/home/user/src/ardupilot4.x/ardupilot"',
'-DAP_SCRIPTING_CHECKS=1',
'-DCONFIG_HAL_BOARD=HAL_BOARD_CHIBIOS',
'-DENABLE_HEAP=1',
'-DENABLE_SCRIPTING=1',
'-DHAVE_STD_NULLPTR_T=0',
'-DLUA_32BITS=1',
'-DUSE_LIBC_REALLOC=0',
'-DUAVCAN_CPP_VERSION=UAVCAN_CPP03',
'-DUAVCAN_NO_ASSERTIONS=1',
'-DUAVCAN_NULLPTR=nullptr',
'../../libraries/AP_Scripting/lua/src/lutf8lib.c',
'-c',
'-olibraries/AP_Scripting/lua/src/lutf8lib.c.0.o'
]

ArduPilot C++编译选项

[
'/opt/gcc-arm-none-eabi-5_4-2016q3/bin/arm-none-eabi-g++',
'-std=gnu++11',
'-fdata-sections',
'-ffunction-sections',
'-fno-exceptions',
'-fsigned-char',
'-Wall',
'-Wextra',
'-Wformat',
'-Wpointer-arith',
'-Wcast-align',
'-Wundef',
'-Wno-unused-parameter',
'-Wno-missing-field-initializers',
'-Wno-reorder',
'-Wno-redundant-decls',
'-Wno-unknown-pragmas',
'-Wno-expansion-to-defined',
'-Wno-format-contains-nul',
'-Werror=attributes',
'-Werror=format-security',
'-Werror=format-extra-args',
'-Werror=enum-compare',
'-Werror=array-bounds',
'-Werror=uninitialized',
'-Werror=init-self',
'-Werror=narrowing',
'-Werror=return-type',
'-Werror=switch',
'-Werror=sign-compare',
'-Werror=type-limits',
'-Werror=unused-result',
'-Werror=shadow',
'-Werror=unused-variable',
'-Werror=delete-non-virtual-dtor',
'-Wfatal-errors',
'-Wno-trigraphs',
'-Werror=parentheses',
'-Werror=unused-but-set-variable',
'-Werror=suggest-override',
'-ffunction-sections',
'-fdata-sections',
'-fsigned-char',
'-Wall',
'-Wextra',
'-Wformat',
'-Wpointer-arith',
'-Wcast-align',
'-Wundef',
'-Wno-missing-field-initializers',
'-Wno-unused-parameter',
'-Wno-redundant-decls',
'-Wno-unknown-pragmas',
'-Wno-trigraphs',
'-Wno-format-contains-nul',
'-Werror=shadow',
'-Werror=return-type',
'-Werror=unused-result',
'-Werror=unused-variable',
'-Werror=narrowing',
'-Werror=attributes',
'-Werror=overflow',
'-Werror=parentheses',
'-Werror=format-extra-args',
'-Werror=ignored-qualifiers',
'-mcpu=cortex-m4',
'-mfpu=fpv4-sp-d16',
'-mfloat-abi=hard',
'-DARM_MATH_CM4',
'-u_printf_float',
'-Wno-cast-align',
'-Wlogical-op',
'-Wframe-larger-than=1300',
'-fsingle-precision-constant',
'-Wno-attributes',
'-Wno-error=double-promotion',
'-Wno-error=missing-declarations',
'-Wno-error=float-equal',
'-Wno-error=undef',
'-Wno-error=cpp',
'-fno-exceptions',
'-Wall',
'-Wextra',
'-Wno-sign-compare',
'-Wfloat-equal',
'-Wpointer-arith',
'-Wmissing-declarations',
'-Wno-unused-parameter',
'-Werror=array-bounds',
'-Wfatal-errors',
'-Werror=uninitialized',
'-Werror=init-self',
'-Wframe-larger-than=1024',
'-Werror=unused-but-set-variable',
'-Wno-missing-field-initializers',
'-Wno-trigraphs',
'-fno-strict-aliasing',
'-fomit-frame-pointer',
'-falign-functions=16',
'-ffunction-sections',
'-fdata-sections',
'-fno-strength-reduce',
'-fno-builtin-printf',
'-fno-builtin-fprintf',
'-fno-builtin-vprintf',
'-fno-builtin-vfprintf',
'-fno-builtin-puts',
'-mno-thumb-interwork',
'-mthumb',
'--specs=nano.specs',
'-specs=nosys.specs',
'-DCHIBIOS_BOARD_NAME="fmuv3"',
'-Werror=deprecated-declarations',
'-fno-rtti',
'-fno-threadsafe-statics',
'-DHAL_HAVE_AP_ROMFS_EMBEDDED_H',
'-MMD',
'-Wno-error=cast-align',
'-DUAVCAN_STM32_CHIBIOS=1',
'-DUAVCAN_STM32_NUM_IFACES=2',
'-Os',
'-include', 'ap_config.h',
'-Ilibraries',
'-Ilibraries/GCS_MAVLink',
'-Imodules/uavcan/libuavcan/include/dsdlc_generated',
'-I.',
'-I../../libraries',
'-I../../libraries/AP_Common/missing',
'-I../../modules/uavcan/libuavcan/include',
'-I../../modules/ChibiOS/os/license',
'-I../../modules/ChibiOS/os/various/cpp_wrappers',
'-I../../modules/ChibiOS/ext/fatfs/src',
'-I../../modules/ChibiOS/os/common/portability/GCC',
'-I../../modules/ChibiOS/os/common/startup/ARMCMx/compilers/GCC',
'-I../../modules/ChibiOS/os/common/startup/ARMCMx/devices/STM32F4xx',
'-I../../modules/ChibiOS/os/common/ext/ARM/CMSIS/Core/Include',
'-I../../modules/ChibiOS/os/common/ext/ST/STM32F4xx',
'-I../../modules/ChibiOS/os/hal/include',
'-I../../modules/ChibiOS/os/hal/ports/common/ARMCMx',
'-I../../modules/ChibiOS/os/hal/ports/STM32/STM32F4xx',
'-I../../modules/ChibiOS/os/hal/ports/STM32/LLD/ADCv2',
'-I../../modules/ChibiOS/os/hal/ports/STM32/LLD/CANv1',
'-I../../modules/ChibiOS/os/hal/ports/STM32/LLD/CRYPv1',
'-I../../modules/ChibiOS/os/hal/ports/STM32/LLD/DACv1',
'-I../../modules/ChibiOS/os/hal/ports/STM32/LLD/DMAv2',
'-I../../modules/ChibiOS/os/hal/ports/STM32/LLD/EXTIv1',
'-I../../modules/ChibiOS/os/hal/ports/STM32/LLD/GPIOv2',
'-I../../modules/ChibiOS/os/hal/ports/STM32/LLD/I2Cv1',
'-I../../modules/ChibiOS/os/hal/ports/STM32/LLD/MACv1',
'-I../../modules/ChibiOS/os/hal/ports/STM32/LLD/OTGv1',
'-I../../modules/ChibiOS/os/hal/ports/STM32/LLD/QUADSPIv1',
'-I../../modules/ChibiOS/os/hal/ports/STM32/LLD/RTCv2',
'-I../../modules/ChibiOS/os/hal/ports/STM32/LLD/SPIv1',
'-I../../modules/ChibiOS/os/hal/ports/STM32/LLD/SDIOv1',
'-I../../modules/ChibiOS/os/hal/ports/STM32/LLD/TIMv1',
'-I../../modules/ChibiOS/os/hal/ports/STM32/LLD/USARTv1',
'-I../../modules/ChibiOS/os/hal/ports/STM32/LLD/xWDGv1',
'-I../../modules/ChibiOS/os/hal/osal/rt',
'-I../../modules/ChibiOS/os/rt/include',
'-I../../modules/ChibiOS/os/oslib/include',
'-I../../modules/ChibiOS/os/common/ports/ARMCMx',
'-I../../modules/ChibiOS/os/common/ports/ARMCMx/compilers/GCC',
'-I../../modules/ChibiOS/os/hal/lib/streams',
'-I../../libraries/AP_HAL_ChibiOS/hwdef/common',
'-DSKETCHBOOK="/home/user/src/ardupilot4.x/ardupilot"',
'-DAP_SCRIPTING_CHECKS=1',
'-DCONFIG_HAL_BOARD=HAL_BOARD_CHIBIOS',
'-DENABLE_HEAP=1',
'-DENABLE_SCRIPTING=1',
'-DHAVE_STD_NULLPTR_T=0',
'-DLUA_32BITS=1',
'-DUSE_LIBC_REALLOC=0',
'-DUAVCAN_CPP_VERSION=UAVCAN_CPP03',
'-DUAVCAN_NO_ASSERTIONS=1',
'-DUAVCAN_NULLPTR=nullptr',
'../../libraries/AC_AttitudeControl/AC_AttitudeControl_Sub.cpp',
'-c',
'-olibraries/AC_AttitudeControl/AC_AttitudeControl_Sub.cpp.0.o'
]

ArduPilot 链接选项

[
'/opt/gcc-arm-none-eabi-5_4-2016q3/bin/arm-none-eabi-g++',
'-mcpu=cortex-m4',
'-mfpu=fpv4-sp-d16',
'-mfloat-abi=hard',
'-DARM_MATH_CM4',
'-u_printf_float',
'-fomit-frame-pointer',
'-falign-functions=16',
'-ffunction-sections',
'-fdata-sections',
'-u_port_lock',
'-u_port_unlock',
'-u_exit',
'-u_kill',
'-u_getpid',
'-u_errno',
'-uchThdExit',
'-fno-common',
'-nostartfiles',
'-mno-thumb-interwork',
'-mthumb',
'-specs=nano.specs',
'-specs=nosys.specs',
'-L/home/user/src/ardupilot4.x/ardupilot/build/fmuv3',
'-L/home/user/src/ardupilot4.x/ardupilot/modules/ChibiOS/os/common/startup/ARMCMx/compilers/GCC/ld',
'-L/home/user/src/ardupilot4.x/ardupilot/libraries/AP_HAL_ChibiOS/hwdef/common',
'-Wl,--gc-sections,--no-warn-mismatch,--library-path=/ld,--script=ldscript.ld,--defsym=__process_stack_size__=0x2000,--defsym=__main_stack_size__=0x400',
'-Wl,--wrap,sscanf',
'-Wl,--wrap,fprintf',
'-Wl,--wrap,snprintf',
'-Wl,--wrap,vsnprintf',
'-Wl,--wrap,vasprintf',
'-Wl,--wrap,asprintf',
'-Wl,--wrap,vprintf',
'-Wl,--wrap,scanf',
'-Wl,--wrap,fiprintf',
'-Wl,--wrap,printf',
'-Wl,--wrap,fopen',
'-Wl,--wrap,fread',
'-Wl,--wrap,fflush',
'-Wl,--wrap,fwrite',
'-Wl,--wrap,fread',
'-Wl,--wrap,fputs',
'-Wl,--wrap,fgets',
'-Wl,--wrap,clearerr',
'-Wl,--wrap,fseek',
'-Wl,--wrap,ferror',
'-Wl,--wrap,fclose',
'-Wl,--wrap,tmpfile',
'-Wl,--wrap,getc',
'-Wl,--wrap,ungetc',
'-Wl,--wrap,feof',
'-Wl,--wrap,ftell',
'-Wl,--wrap,freopen',
'-Wl,--wrap,remove',
'-Wl,--wrap,vfprintf',
'-Wl,--wrap,fscanf',
'ArduCopter/AP_Arming.cpp.29.o',
'ArduCopter/AP_Rally.cpp.29.o',
'ArduCopter/AP_State.cpp.29.o',
'ArduCopter/Attitude.cpp.29.o',
'ArduCopter/Copter.cpp.29.o',
'ArduCopter/GCS_Copter.cpp.29.o',
'ArduCopter/GCS_Mavlink.cpp.29.o',
'ArduCopter/Log.cpp.29.o',
'ArduCopter/Parameters.cpp.29.o',
'ArduCopter/RC_Channel.cpp.29.o',
'ArduCopter/UserCode.cpp.29.o',
'ArduCopter/UserParameters.cpp.29.o',
'ArduCopter/afs_copter.cpp.29.o',
'ArduCopter/autoyaw.cpp.29.o',
'ArduCopter/avoidance_adsb.cpp.29.o',
'ArduCopter/baro_ground_effect.cpp.29.o',
'ArduCopter/commands.cpp.29.o',
'ArduCopter/compassmot.cpp.29.o',
'ArduCopter/crash_check.cpp.29.o',
'ArduCopter/ekf_check.cpp.29.o',
'ArduCopter/esc_calibration.cpp.29.o',
'ArduCopter/events.cpp.29.o',
'ArduCopter/failsafe.cpp.29.o',
'ArduCopter/fence.cpp.29.o',
'ArduCopter/heli.cpp.29.o',
'ArduCopter/inertia.cpp.29.o',
'ArduCopter/land_detector.cpp.29.o',
'ArduCopter/landing_gear.cpp.29.o',
'ArduCopter/leds.cpp.29.o',
'ArduCopter/mode.cpp.29.o',
'ArduCopter/mode_acro.cpp.29.o',
'ArduCopter/mode_acro_heli.cpp.29.o',
'ArduCopter/mode_althold.cpp.29.o',
'ArduCopter/mode_auto.cpp.29.o',
'ArduCopter/mode_autorotate.cpp.29.o',
'ArduCopter/mode_autotune.cpp.29.o',
'ArduCopter/mode_avoid_adsb.cpp.29.o',
'ArduCopter/mode_brake.cpp.29.o',
'ArduCopter/mode_circle.cpp.29.o',
'ArduCopter/mode_drift.cpp.29.o',
'ArduCopter/mode_flip.cpp.29.o',
'ArduCopter/mode_flowhold.cpp.29.o',
'ArduCopter/mode_follow.cpp.29.o',
'ArduCopter/mode_guided.cpp.29.o',
'ArduCopter/mode_guided_nogps.cpp.29.o',
'ArduCopter/mode_land.cpp.29.o',
'ArduCopter/mode_loiter.cpp.29.o',
'ArduCopter/mode_poshold.cpp.29.o',
'ArduCopter/mode_rtl.cpp.29.o',
'ArduCopter/mode_smart_rtl.cpp.29.o',
'ArduCopter/mode_sport.cpp.29.o',
'ArduCopter/mode_stabilize.cpp.29.o',
'ArduCopter/mode_stabilize_heli.cpp.29.o',
'ArduCopter/mode_systemid.cpp.29.o',
'ArduCopter/mode_throw.cpp.29.o',
'ArduCopter/mode_zigzag.cpp.29.o',
'ArduCopter/motor_test.cpp.29.o',
'ArduCopter/motors.cpp.29.o',
'ArduCopter/navigation.cpp.29.o',
'ArduCopter/precision_landing.cpp.29.o',
'ArduCopter/radio.cpp.29.o',
'ArduCopter/sensors.cpp.29.o',
'ArduCopter/setup.cpp.29.o',
'ArduCopter/standby.cpp.29.o',
'ArduCopter/surface_tracking.cpp.29.o',
'ArduCopter/system.cpp.29.o',
'ArduCopter/takeoff.cpp.29.o',
'ArduCopter/terrain.cpp.29.o',
'ArduCopter/toy_mode.cpp.29.o',
'ArduCopter/tuning.cpp.29.o',
'ArduCopter/version.cpp.29.o',
'-obin/arducopter',
'-Wl,-Bstatic',
'-Llib',
'-lArduCopter_libs',
'-Wl,-Bdynamic',
'-Lmodules/ChibiOS/',
'-lgcc',
'-lm',
'-lch'
]

备注：以下两个链接选项等效

-T/home/user/waf_template/ld.script-Wl,--script=/home/user/waf_template/ld.script

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ArduPilot 编译选项

ArduPilot C语言编译选项

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