About the math include

Question

About the math include

Closed this issue 6 years ago · 36 comments

when I include math.h and use cos() function, the compiling will pass.
but when run the app at opencpu(BC26), it always crashed and reboot.
I'm not sure if need add some gcc path of include into c_cpp_properties.json
the output of debug:

F1: 0000 0000
V0: 0000 0000 [0001]
00: 0006 000C
01: 0000 0000
U0: 0000 0001 [0000]
T0: 0000 00B4
Leaving the BROM

RDY

+CFUN: 1

------------- Exception called -------------
genie connected: Yes

auto-reboot: Yes

F1: 0000 0000
V0: 0000 0000 [0001]
00: 0006 000C
01: 0000 0000
U0: 0000 0001 [0000]
T0: 0000 00B4
Leaving the BROM

RDY

+CFUN: 1

------------- Exception called -------------
genie connected: Yes

auto-reboot: Yes

//the codes:
void proc_main_task(s32 taskId)
{
s32 ret;
u32 cnt = 0;
double a = 0;
double b = 0;
char Buff[10]="0.345";
char* pStr;

// Register & open UART port
ret = Ql_UART_Register(m_myUartPort, CallBack_UART_Hdlr, NULL);
if (ret < QL_RET_OK)
{
    Ql_Debug_Trace("Fail to register serial port[%d], ret=%d\r\n", UART_PORT1, ret);
}
ret = Ql_UART_Open(m_myUartPort, 115200, FC_NONE);
if (ret < QL_RET_OK)
{
    Ql_Debug_Trace("Fail to open serial port[%d], ret=%d\r\n", UART_PORT1, ret);
}


a = cos(b); //crashed here

Answer 1 · 2019-03-26T08:22:54.000Z

huh...
for me math work BC66NBR01A04V01
#include <math.h>
Serial.printf("cos(3.14) = %f\n", cos(3.14));
result:
cos(3.14) = -0.999999
sin(3.14) = 0.001593

I not have BC26 for tests
BC66 math is:
"-mfloat-abi=hard",
"-mfpu=fpv4-sp-d16",

Answer 2 · 2019-03-26T08:30:06.000Z

Do you have BC26 latest SDK?

Answer 3 · 2019-03-26T08:34:16.000Z

NO, I can not download SDK from baidu.com

Answer 4 · 2019-03-26T08:36:38.000Z

#include "custom_feature_def.h"
#include "ql_type.h"
#include "ql_stdlib.h"
#include "ql_uart.h"
#include "ril.h"
#include <math.h>

void CB_UART_Hdlr(Enum_SerialPort port, Enum_UARTEventType msg, bool level, void *customizedPara) {}
char DBG_BUFFER[512];
#define DBG(FORMAT, ...)
{
Ql_memset(DBG_BUFFER, 0, 512);
Ql_sprintf(DBG_BUFFER, FORMAT, ##VA_ARGS);
Ql_UART_Write(UART_PORT0, (u8 *)DBG_BUFFER, Ql_strlen(DBG_BUFFER));
}

void proc_main_task(s32 taskId)
{
s32 ret;
Ql_UART_Register(UART_PORT0, CB_UART_Hdlr, NULL);
Ql_UART_Open(UART_PORT0, 115200, FC_NONE);
DBG("BEGIN\n");
double a = 3.14, b;
b = cos(a);
DBG("cos(3.14) = %f\n", b);
ST_MSG msg;
while (1)
{
Ql_OS_GetMessage(&msg);
}
}

result:
F1: 0000 0000
V0: 0000 0000 [0001]
00: 0006 000C
01: 0000 0000
U0: 0000 0001 [0000]
T0: 0000 00B4
Leaving the BROM
BEGIN
cos(3.14) = -0.999999

Answer 5 · 2019-03-26T08:48:50.000Z

BTW: you can test to flash your BC26 with BC66 firmware ( but first make NVDM backup )
BC66NBR01A04V01 or BC66NBR01A05V01
I do not think there are any differences...

Answer 6 · 2019-03-26T09:36:20.000Z

I had upload SDK to:
https://drive.google.com/file/d/1MWJjCzdnAu1rHSiF1FXQ83ovcvXXQMoT/view

Just notied the gcc version is diff, this sdk gcc no elf file .
I had try to relpace the ori gcc with my sdk gcc(all compiling chain files), compiling ok, still crashed.

Answer 7 · 2019-03-26T09:48:28.000Z

I get it but I cannot see differences in make file
I use standart GCC for M4 and work fine with M66, MC60, BC66, BG96

Try compile with Quectel SDK for cos() test

Answer 8 · 2019-03-26T10:08:30.000Z

Thanks!
Would please share the BC66 SDK with me?

I had checked the harware datasheet, seems BC66 is same as BC26, only some band support is diff.
BC26 seems to be low price version of BC66 with PA downgraded.

Answer 9 · 2019-03-26T10:12:43.000Z

email me: the.wizarda[AT]gmail.com

Answer 10 · 2019-03-27T03:56:36.000Z

Had sent your mail,
some question: for BC26 OPENCPU : does the fota option included but no related folder and source in the git? join(CORE_DIR, "fota", "inc"),

Answer 11 · 2019-03-27T05:08:42.000Z

https://cloud.comet.bg/index.php/s/mc49pbHtL7fBP5P?path=%2FBC66%20Documents
BC66 SDK has no folder fota and Quectel DFOTA packer is not ready

FOTA is just one AT command

Answer 12 · 2019-03-27T05:55:49.000Z

got it , thanks!

I had checked SDK, there is a line in make file def
ENV_INC='$(strip $(GCC_INSTALL_PATH))/arm-none-eabi/include'
I dont know how to check my VScode ENV 's include path of gcc, can you show me ?

another strange thing is :
Even I comment #include <math.h> like:
//#include <math.h>
the compiling can go down without any error or warning.

Answer 13 · 2019-03-27T06:55:35.000Z

Are you have other GCC platforms in PlatformIO IDE
Maybe IDE link to other compiler without libgcc for hard float

I ask PlatformIO how to set manual gcc path

there is math and gcc libs search path
https://github.com/Wiz-IO/platform-quectel/blob/master/builder/frameworks/opencpu_bc66.py#L68

Answer 14 · 2019-03-27T07:08:54.000Z

Thanks!
I used ESP32 with platformIO before, I m not sure if some GCC env is mixed-up .
Another thing is I had used SDK to build APP, seems it works fine:

+CFUN: 1
OpenCPU: float test !
cos(3.14) = -0.999999

Answer 15 · 2019-03-27T07:11:25.000Z

nice :) how?

is "mixed"https://github.com/Wiz-IO/platform-quectel/blob/master/platform.json#L43

Answer 16 · 2019-03-27T07:18:38.000Z

The platform.json is no problem from git downloaded, and I had follow your instruction paste the git link to advanced Platform to get it.

but for the LIBS=[ "gcc", "m", "app_start" ],
https://github.com/Wiz-IO/platform-quectel/blob/master/builder/frameworks/opencpu_bc66.py#L68
I cannot tell if it include the header files of include dir

From my point, gcc exe file is no problem, (if I did not use gcc include file, the runing is no problem)
It should be header file include error path.

So I asked you where to check the enviroment's gcc include.

I think I find some clue, I used same workspace with ESP32 project, I will check the woarkspace.

Answer 17 · 2019-03-27T11:05:14.000Z

example_float_math.c.txt
example_float_math.c.txt

Nothing Changed, still failed.

I had checked the win system path , no error or ESP32 path included.
I had check the VScode workspace's "Path" ," Include“， Nothing related with ESP32‘s Xtensa gcc.
I had discard this workspace, generate a new project, builded, still failed, app crashed.
I shift to pure dev on linux(no esp32 dev before), building, then windows upload, failed, app crashed.

there is the build log:(example_float_math.c include the main entry, this is example of SDK, used math.h, but building show No dependencies ,strange!!)
struggling...... any suggestion???

Verbose mode can be enabled via -v, --verbose option
<<<<<<<<<<<< QUECTEL BC26 MODULE 2018 Georgi Angelov >>>>>>>>>>>>
CONFIGURATION: https://docs.platformio.org/page/boards/quectel/bc26.html
PLATFORM: Quectel > Quectel BC26 module
HARDWARE: ARM, MT2625 78MHz 97.66KB RAM (195.31KB Flash)
DEBUG: CURRENT(uart) ON-BOARD(uart)
Library Dependency Finder -> http://bit.ly/configure-pio-ldf
LDF MODES: FINDER(chain) COMPATIBILITY(soft)
Collected 0 compatible libraries
Scanning dependencies...
No dependencies
Compiling .pioenvs\bc26\src\example_float_math.o
Compiling .pioenvs\bc26\framework\custom_sys_cfg.o
Compiling .pioenvs\bc26\framework\ril\src\ril_atResponse.o
Compiling .pioenvs\bc26\framework\ril\src\ril_init.o
Compiling .pioenvs\bc26\framework\ril\src\ril_lwm2m.o
Compiling .pioenvs\bc26\framework\ril\src\ril_network.o
Compiling .pioenvs\bc26\framework\ril\src\ril_onenet.o
Compiling .pioenvs\bc26\framework\ril\src\ril_socket.o
Compiling .pioenvs\bc26\framework\ril\src\ril_system.o
Compiling .pioenvs\bc26\framework\ril\src\ril_urc.o
Compiling .pioenvs\bc26\framework\ril\src\ril_util.o
Compiling .pioenvs\bc26\framework\sys_config.o
Compiling .pioenvs\bc26\framework\ril\ril_atResponse.o
Compiling .pioenvs\bc26\framework\ril\ril_init.o
Compiling .pioenvs\bc26\framework\ril\ril_lwm2m.o
Archiving .pioenvs\bc26\libframework.a
Compiling .pioenvs\bc26\framework\ril\ril_network.o
Compiling .pioenvs\bc26\framework\ril\ril_onenet.o
Compiling .pioenvs\bc26\framework\ril\ril_socket.o
Compiling .pioenvs\bc26\framework\ril\ril_system.o
Compiling .pioenvs\bc26\framework\ril\ril_urc.o
Compiling .pioenvs\bc26\framework\ril\ril_util.o
Archiving .pioenvs\bc26\framework\libril.a
Linking .pioenvs\bc26\program.elf
Checking size .pioenvs\bc26\program.elf
Building .pioenvs\bc26\program.dat
Memory Usage -> http://bit.ly/pio-memory-usage
DATA: [= ] 5.4% (used 5445 bytes from 100000 bytes)
PROGRAM: [ ] 0.6% (used 1116 bytes from 200000 bytes)

Answer 18 · 2019-03-27T11:44:36.000Z

open your file
https://github.com/Wiz-IO/platform-quectel/blob/master/platform.json#L43
and change to
"version": "=1.70201.0"
delete folder toolchain-gccarmnoneeabi
build
platformIO must download version 1.70201.0

Answer 19 · 2019-03-27T13:49:58.000Z

Still crashed!
Changed according to your suggestion.
Then the gccarmnoneeabi download the new "version": "=1.70201.0"
the building result and size is same as before, no change, then I clean and rebuild it, Crash without any change.
I used the verbose build, the same crash and same size of DATA and Program size.
VerboseBuildLog.txt

Answer 20 · 2019-03-27T13:52:51.000Z

send me the APP .bin .cfg and .elf file

Answer 21 · 2019-03-27T13:57:00.000Z

bc26.zip
Attached the ZIP file include all files

Answer 22 · 2019-03-27T14:01:46.000Z

Leaving the BROM
OpenCPU: float test !
and crash :)
give me c file

Answer 23 · 2019-03-27T14:06:23.000Z

SDK_build_BC26.zip
The c file also included in the zip file, and all SDK build result(which can run on BC26 without crash)

Answer 24 · 2019-03-27T14:12:50.000Z

:)
APP BEGIN
MATH TEST
cos(3) = -0.989992
acos(3) = nan
sin(3) = 0.141120
asin(3) = nan
sum=116.691290
atof1=116.123 atof2=0.567800 var=58.000000 sum=10.567800
atof1=116.123 atof2=0.567800 var=58.000000
Float test, a=0.85,b=0.15,radLat1=31.110,radLat2=121.290, s=9.00000
Float test, pos=0.845889
Float test, a=0.85,b=0.15,radLat1=31.110,radLat2=121.290, s=9.00000
dst = 9.282km
0 MSG: 4097 0 0
Ril Ready

Answer 25 · 2019-03-27T14:15:41.000Z

main.zip

test pls

Answer 26 · 2019-03-27T14:27:54.000Z

Used main.c to compile-build: still crash.

genie connected: Yes

auto-reboot: Yes

F1: 0000 0000
V0: 0000 0000 [0001]
00: 0006 000C
01: 0000 0000
U0: 0000 0001 [0000]
T0: 0000 00B4
Leaving the BROM

RDY

+CFUN: 1
APP BEGIN
MATH TEST

------------- Exception called -------------
genie connected: Yes

auto-reboot: Yes

But if use your program.bin file, it's OK.

RDY

+CFUN: 1
APP BEGIN
MATH TEST
cos(3) = -0.989992
acos(3) = nan
sin(3) = 0.141120
asin(3) = nan
sum=116.691290
atof1=116.123 atof2=0.567800 var=58.000000 sum=10.567800
atof1=116.123 atof2=0.567800 var=58.000000
Float test, a=0.85,b=0.15,radLat1=31.110,radLat2=121.290, s=9.00000
Float test, pos=0.845889
Float test, a=0.85,b=0.15,radLat1=31.110,radLat2=121.290, s=9.00000
dst = 9.282km
0 MSG: 4097 0 0
Ril Ready

Answer 27 · 2019-03-27T14:30:39.000Z

upload my program.bin from zip

result from your APPGS3MDM32A01
OpenCPU: float test !
cos(3.14) = -0.999999
sum=116.691290
atof1=116.123 atof2=0.567800 var=58.000000 sum=10.567800
atof1=116.123 atof2=0.567800 var=58.000000
Float test, a=0.85,b=0.15,radLat1=31.110,radLat2=121.290, s=9.00000
Float test, pos=0.845889
Float test, a=0.85,b=0.15,radLat1=31.110,radLat2=121.290, s=9.00000
dst = 9.282km

Answer 28 · 2019-03-27T14:32:16.000Z

this is my settings

env.Append(
   CPPDEFINES = [ # -D                         
        "CORE_" + core.upper().replace("-", "_"),
        platform.upper(),
    ],        
    CPPPATH = [ # -I
        join(framework_dir, "opencpu", core),
        join(framework_dir, "opencpu", core, "include"),
        join(framework_dir, "opencpu", core, "ril", "inc"),   
        join("$PROJECT_DIR", "lib"),
        join("$PROJECT_DIR", "include"),
        join("$PROJECT_DIR", "config")      
    ],         
    CFLAGS = [
        "-Os", "-g", "-c",        
        "-mcpu=cortex-m4",
        "-mfloat-abi=hard",
        "-mfpu=fpv4-sp-d16", 
        "-mlittle-endian",      
        "-mthumb",  
        "-std=c11", 
        #"-fno-builtin",                 
        "-fdata-sections",      
        "-ffunction-sections",
        "-fno-strict-aliasing",
        "-fsingle-precision-constant",             
        "-Wall", 
        "-Wextra",           
        "-Wno-unused",
        "-Wno-unused-parameter",              
        "-Wno-sign-compare",  
        "-Wno-pointer-sign",
        #"-Wno-pointer-compare",
        #"-Wno-type-limits",
        #"-Wno-int-conversion",
        #"-Wno-missing-braces",
        #"-Wno-missing-field-initializers",
                
    ],        
    LINKFLAGS = [    
        "-mcpu=cortex-m4",
        "-mfloat-abi=hard",
        "-mfpu=fpv4-sp-d16", 
        "-mlittle-endian",      
        "-mthumb",                                             
        "-nostartfiles",   
        "-fno-use-cxa-atexit",         
        "-Xlinker", "--gc-sections",              
        "-Wl,--gc-sections",
    ],    
    LIBPATH = [ lib_dir ],      
    LDSCRIPT_PATH = linker, 
    LIBS = [ "gcc", "m", "_app_start_{}".format(core), ],

Answer 29 · 2019-03-27T14:44:18.000Z

I just noticed your setting is a little big diff with opencpu_bc66.py, which like below(I used):

def bc66_init(env):
DIR = os.path.dirname(env.get("BUILD_SCRIPT"))
TOOL_DIR = env.PioPlatform().get_package_dir("tool-quectel")
CORE = env.BoardConfig().get("build.core") # "bc66"
CORE_DIR = join(env.PioPlatform().get_package_dir("framework-quectel"), "opencpu", CORE)
env.Append(
CPPDEFINES=["OPENCPU", "CORE_"+CORE.upper(), "_REENT_SMALL"], # -D
CPPPATH=[ # -I
CORE_DIR,
join(CORE_DIR, "include"),
join(CORE_DIR, "ril", "inc"),
join(CORE_DIR, "fota", "inc"),
],
CFLAGS=[
"-mcpu=cortex-m4",
"-mfloat-abi=hard",
"-mfpu=fpv4-sp-d16",
"-fsingle-precision-constant",
"-mthumb",
"-mthumb-interwork",
"-mlong-calls",
"-std=c99",
"-c", "-g", "-Os",
"-fno-builtin",
"-ffunction-sections",
"-fdata-sections",
"-fno-strict-aliasing",
"-fno-common",
"-Wall",
"-Wp,-w",
"-Wstrict-prototypes",
"-Wno-implicit-function-declaration",
],

    LINKFLAGS=[        
        "-mcpu=cortex-m4",
        "-mfloat-abi=hard",
        "-mfpu=fpv4-sp-d16",
        "-mthumb",
        "-mthumb-interwork",   
        "-nostartfiles",     
        #"-Rbuild",        
        "-Wl,--gc-sections,--relax",
        "-Wl,-wrap=malloc",
        "-Wl,-wrap=calloc",
        "-Wl,-wrap=realloc",
        "-Wl,-wrap=free"   
    ],   
    LIBPATH=[CORE_DIR],
    LDSCRIPT_PATH=join(CORE_DIR, "linkscript.ld"), 
    LIBS=[ "gcc", "m", "app_start" ], 

    BUILDERS = dict(
        ElfToBin = Builder(
            action=env.VerboseAction(" ".join([
                "$OBJCOPY",
                "-O",
                "binary",
                "$SOURCES",
                "$TARGET"
            ]), "Building $TARGET"),
            suffix=".dat"
        ),    
        MakeHeader = Builder( # Add BIN Header
            action = env.VerboseAction(bc66_header, "Adding GFH header"),
            suffix = ".bin"
        )       
    ), # dict
    
    UPLOADCMD = bc66_uploader         
) # env.Append    

libs = []
libs.append(
    env.BuildLibrary(
        join("$BUILD_DIR", "framework"),
        join( CORE_DIR ),
))
libs.append(
    env.BuildLibrary(
        join("$BUILD_DIR", "framework", "ril"),
        join(CORE_DIR, "ril", "src")
))
env.Append( LIBS = libs )

Answer 30 · 2019-03-27T14:47:15.000Z

yep, I know - this is my last port settings for new version
I update git soon
include full Arduino compatible ports for BC66, M66 and MC60

Answer 31 · 2019-03-27T14:57:13.000Z

Sure, wait for u update, it should be works, I just replace build argc items it in my be66.py.

It can works a little more:(I think this is root cause)

RDY

+CFUN: 1
APP BEGIN
MATH TEST
cos(3) = -0.989992

------------- Exception called -------------
genie connected: Yes

auto-reboot: Yes

Answer 32 · 2019-03-27T15:08:29.000Z

BTW:still some link option failed to compile. like linker define and lib_dir define etc.
would you please share the whole python file with me?
I will check at my side.

Answer 33 · 2019-03-27T16:14:53.000Z

I found the problem:
.....platformio\packages\framework-quectel\opencpu\bc66
rem this ___libgcc.a

put other -Wno- to remove of Quectel warnings...
#"-Wno-pointer-compare",
#"-Wno-type-limits",
#"-Wno-int-conversion",
#"-Wno-missing-braces",
#"-Wno-missing-field-initializers",
#"-Wno-implicit-function-declaration",

replace this ( on git is changed )

    CPPDEFINES=[ "CORE_BC66", "OPENCPU"], # -D
    CPPPATH=[ # -I
        CORE_DIR,
        join(CORE_DIR, "include"),
        join(CORE_DIR, "ril", "inc"),
        join(CORE_DIR, "fota", "inc"),        
    ],
    CFLAGS=[
        "-Os", "-g", "-c",        
        "-mcpu=cortex-m4",
        "-mfloat-abi=hard",
        "-mfpu=fpv4-sp-d16", 
        "-mlittle-endian",      
        "-mthumb", 
        "-std=c11",                 
        "-fdata-sections",      
        "-ffunction-sections",
        "-fno-strict-aliasing",
        "-fsingle-precision-constant",             
        "-Wall", 
        "-Wextra",           
        "-Wno-unused",
        "-Wno-unused-parameter",              
        "-Wno-sign-compare",  
        "-Wno-pointer-sign",
    ],
    LINKFLAGS=[        
        "-mcpu=cortex-m4",
        "-mfloat-abi=hard",
        "-mfpu=fpv4-sp-d16", 
        "-mlittle-endian",      
        "-mthumb",                                             
        "-nostartfiles",        
        "-Xlinker", "--gc-sections",              
        "-Wl,--gc-sections",  
    ],   
    LIBPATH=[CORE_DIR],
    LDSCRIPT_PATH=join(CORE_DIR, "linkscript.ld"), 
    LIBS=[ "gcc", "m", "app_start" ],

Answer 34 · 2019-03-27T16:46:16.000Z

Math test work and with Arduino and OpenCPU
arduino_math_test.zip

Answer 35 · 2019-03-28T04:15:11.000Z

I dont understand waht's mean of rem ___libgcc.a
I had tried rename it, build , seems succ.

Would you please give some explaination of libgcc.a ? why it cause such a issue?

RDY

+CFUN: 1
OpenCPU: float test !

sum=116.691290
atof1=116.123 atof2=0.567800 var=58.000000 sum=10.567800
atof1=116.123 atof2=0.567800 var=58.000000
Float test, a=0.85,b=0.15,radLat1=31.110,radLat2=121.290, s=9.00000
Float test, pos=0.845889
Float test, a=0.85,b=0.15,radLat1=31.110,radLat2=121.290, s=9.00000
dst = 9.282km

Answer 36 · 2019-03-28T04:35:01.000Z

remark, rename or delete...
This lib is from original SDK, but apparently does not work with this compiler