Linaro GCC linkt die math library nicht

Hallo!

Im Moment probiere ich mich wieder an meinem STM32F4 Discovery und bin leider schon wieder auf ein Problem gestoßen. Ich verwende die Linaro arm-none-eabi-gcc toolchain. Das Problem liegt darin, dass der Linker scheinbar nicht die math library 'mitlinkt' bzw. nicht findet und somit kommt ein error, dass er die atan2f() Funktion nicht kennt.

Ich bin leider nicht so der Makefile Held, habe aber -lm und -lc explizit mit angegeben, dass er die auch mitlinkt. Trotzdem meckert er, dass er die Funktion nicht kennt, komisch, da er bei #include <math.h> nicht sagt, dass die Datei nicht vorhanden ist. Möglicherweise sucht er einfach die Libs an der falschen Stelle...

Hier ist mal die Ausgabe von make:

Code:

---

make all
arm-none-eabi-gcc -mcpu=cortex-m4 -mthumb -mlittle-endian -mfpu=fpv4-sp-d16 -mfloat-abi=soft -mthumb-interwork -std=c99 -fsingle-precision-constant  -Os  -DUSE_STDPERIPH_DRIVER -DSTM32F4XX -DMANGUSTA_DISCOVERY -DUSE_USB_OTG_FS -DHSE_VALUE=8000000 -I./ -I./ -I../../Utilities/STM32F4-Discovery -I../../Libraries/CMSIS/ST/STM32F4xx/Include/ -I../../Libraries/CMSIS/Include/ -I../../Libraries/STM32F4xx_StdPeriph_Driver/inc/ -I../../Libraries/STM32_USB_Device_Library/Class/hid/inc -I../../Libraries/STM32_USB_Device_Library/Core/inc/ -I../../Libraries/STM32_USB_OTG_Driver/inc/  -Wl,-T,stm32_flash.ld,-lc,-lm,-nostartfiles main.c ../../Utilities/STM32F4-Discovery/stm32f4xx_it.c ../../Utilities/STM32F4-Discovery/system_stm32f4xx.c ../../Utilities/STM32F4-Discovery/stm32f4_discovery.c ../../Libraries/STM32F4xx_StdPeriph_Driver/src/stm32f4xx_syscfg.c ../../Libraries/STM32F4xx_StdPeriph_Driver/src/misc.c ../../Libraries/STM32F4xx_StdPeriph_Driver/src/stm32f4xx_gpio.c ../../Libraries/STM32F4xx_StdPeriph_Driver/src/stm32f4xx_rcc.c ../../Libraries/STM32F4xx_StdPeriph_Driver/src/stm32f4xx_exti.c ../../Libraries/STM32F4xx_StdPeriph_Driver/src/stm32f4xx_usart.c ../../Libraries/STM32F4xx_StdPeriph_Driver/src/stm32f4xx_i2c.c ../../Libraries/STM32F4xx_StdPeriph_Driver/src/stm32f4xx_spi.c startup_stm32f4xx.S -o main.elf
/tmp/cct3oCYq.o: In function `getHeading':
main.c:(.text+0x328): undefined reference to `atan2f'
collect2: ld returned 1 exit status
make: *** [main.elf] Error 1

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Und mein Makefile:

Code:

---

TARGET=main.hex
EXECUTABLE=main.elf

CC=arm-none-eabi-gcc
#LD=arm-none-eabi-ld
LD=arm-none-eabi-gcc
AR=arm-none-eabi-ar
AS=arm-none-eabi-as
CP=arm-none-eabi-objcopy
OD=arm-none-eabi-objdump

BIN=$(CP) -O ihex

DEFS = -DUSE_STDPERIPH_DRIVER -DSTM32F4XX -DMANGUSTA_DISCOVERY -DUSE_USB_OTG_FS -DHSE_VALUE=8000000

MCU = cortex-m4
MCFLAGS = -mcpu=$(MCU) -mthumb -mlittle-endian -mfpu=fpv4-sp-d16 -mfloat-abi=soft -mthumb-interwork -std=c99 -fsingle-precision-constant
STM32_INCLUDES = -I../../Utilities/STM32F4-Discovery \
    -I../../Libraries/CMSIS/ST/STM32F4xx/Include/ \
    -I../../Libraries/CMSIS/Include/ \
    -I../../Libraries/STM32F4xx_StdPeriph_Driver/inc/ \
    -I../../Libraries/STM32_USB_Device_Library/Class/hid/inc \
    -I../../Libraries/STM32_USB_Device_Library/Core/inc/ \
    -I../../Libraries/STM32_USB_OTG_Driver/inc/

OPTIMIZE      = -Os

CFLAGS    = $(MCFLAGS)  $(OPTIMIZE)  $(DEFS) -I./ -I./ $(STM32_INCLUDES)  -Wl,-T,stm32_flash.ld,-lc,-lm
#-L/opt/arm-linaro-eabi-4.6/arm-none-eabi/lib/thumb/cortex-m4/float-abi-hard/fpuv4-sp-d16/
AFLAGS    = $(MCFLAGS)
#-mapcs-float use float regs. small increase in code size

STM32_USB_OTG_SRC = ../../Libraries/STM32_USB_OTG_Driver/src/usb_dcd_int.c \
    ../../Libraries/STM32_USB_OTG_Driver/src/usb_core.c \
    ../../Libraries/STM32_USB_OTG_Driver/src/usb_dcd.c \

STM32_USB_DEVICE_SRC = ../../Libraries/STM32_USB_Device_Library/Class/hid/src/usbd_hid_core.c \
    ../../Libraries/STM32_USB_Device_Library/Core/src/usbd_req.c \
    ../../Libraries/STM32_USB_Device_Library/Core/src/usbd_core.c \
    ../../Libraries/STM32_USB_Device_Library/Core/src/usbd_ioreq.c

SRC = main.c \
    ../../Utilities/STM32F4-Discovery/stm32f4xx_it.c \
    ../../Utilities/STM32F4-Discovery/system_stm32f4xx.c \
    ../../Utilities/STM32F4-Discovery/stm32f4_discovery.c \
    ../../Libraries/STM32F4xx_StdPeriph_Driver/src/stm32f4xx_syscfg.c \
    ../../Libraries/STM32F4xx_StdPeriph_Driver/src/misc.c \
    ../../Libraries/STM32F4xx_StdPeriph_Driver/src/stm32f4xx_gpio.c \
    ../../Libraries/STM32F4xx_StdPeriph_Driver/src/stm32f4xx_rcc.c \
    ../../Libraries/STM32F4xx_StdPeriph_Driver/src/stm32f4xx_exti.c \
    ../../Libraries/STM32F4xx_StdPeriph_Driver/src/stm32f4xx_usart.c \
    ../../Libraries/STM32F4xx_StdPeriph_Driver/src/stm32f4xx_i2c.c \
    ../../Libraries/STM32F4xx_StdPeriph_Driver/src/stm32f4xx_spi.c
#    ../../Utilities/STM32F4-Discovery/stm32f4_discovery_lis302dl.c \
#    ../../Utilities/STM32F4-Discovery/stm32f4_discovery_audio_codec.c \
#    ../../Libraries/STM32F4xx_StdPeriph_Driver/src/stm32f4xx_adc.c \
#    ../../Libraries/STM32F4xx_StdPeriph_Driver/src/stm32f4xx_dma.c \
#    ../../Libraries/STM32F4xx_StdPeriph_Driver/src/stm32f4xx_flash.c \
#    ../../Libraries/STM32F4xx_StdPeriph_Driver/src/stm32f4xx_tim.c \
#    ../../Libraries/STM32F4xx_StdPeriph_Driver/src/stm32f4xx_dac.c \



STARTUP = startup_stm32f4xx.S

OBJDIR = .
OBJ = $(SRC:%.c=$(OBJDIR)/%.o)
OBJ += Startup.o

all: $(TARGET)

$(TARGET): $(EXECUTABLE)
    $(CP) -O ihex $^ $@

$(EXECUTABLE): $(SRC) $(STARTUP)
    $(CC) $(CFLAGS) $^ -o $@

clean:
    rm -f Startup.lst  $(TARGET)  $(TARGET).lst $(OBJ) $(AUTOGEN)  $(TARGET).out  $(TARGET).hex  $(TARGET).map \
    $(TARGET).dmp  $(TARGET).elf

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Vielen Dank!