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raspberrypi / pico-sdk

BSD 3-Clause "New" or "Revised" License
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Compiling application with CMAKE_BUILD_TYPE=Release: undefined symbol: stdout #1467

Closed rgrr closed 3 months ago

rgrr commented 1 year ago

Hello,

this is perhaps related to #196...

Currently I'm trying to compile my project with clang (main branch of llvm, embedded toolchain).

-DCMAKE_BUILD_TYPE=Debug works, best: the generated image works.

But... compiling with -DCMAKE_BUILD_TYPE=Release produces a linker error:

[228/228] : && /home/hardy/bin/llvm-arm-none-eabi/bin/clang --target=armv6m-none-eabi -mfloat-abi=soft -march=armv6m --sysroot /home/hardy/bin/llvm-arm-none-eabi/lib/clang-runtimes/arm-none-eabi/armv6m_soft_nofp -O3 -DNDEBUG -Wl,--build-id=none -Xlinker --wrap=sprintf -Xlinker --wrap=snprintf -Xlinker --wrap=vsnprintf -Xlinker --wrap=__clzsi2 -Xlinker --wrap=__clzdi2 -Xlinker --wrap=__ctzsi2 -Xlinker --wrap=__ctzdi2 -Xlinker --wrap=__popcountsi2 -Xlinker --wrap=__popcountdi2 -Xlinker --wrap=__clz -Xlinker --wrap=__clzl -Xlinker --wrap=__clzll -Xlinker --wrap=__aeabi_idiv -Xlinker --wrap=__aeabi_idivmod -Xlinker --wrap=__aeabi_ldivmod -Xlinker --wrap=__aeabi_uidiv -Xlinker --wrap=__aeabi_uidivmod -Xlinker --wrap=__aeabi_uldivmod -Xlinker --wrap=__aeabi_dadd -Xlinker --wrap=__aeabi_ddiv -Xlinker --wrap=__aeabi_dmul -Xlinker --wrap=__aeabi_drsub -Xlinker --wrap=__aeabi_dsub -Xlinker --wrap=__aeabi_cdcmpeq -Xlinker --wrap=__aeabi_cdrcmple -Xlinker --wrap=__aeabi_cdcmple -Xlinker --wrap=__aeabi_dcmpeq -Xlinker --wrap=__aeabi_dcmplt -Xlinker --wrap=__aeabi_dcmple -Xlinker --wrap=__aeabi_dcmpge -Xlinker --wrap=__aeabi_dcmpgt -Xlinker --wrap=__aeabi_dcmpun -Xlinker --wrap=__aeabi_i2d -Xlinker --wrap=__aeabi_l2d -Xlinker --wrap=__aeabi_ui2d -Xlinker --wrap=__aeabi_ul2d -Xlinker --wrap=__aeabi_d2iz -Xlinker --wrap=__aeabi_d2lz -Xlinker --wrap=__aeabi_d2uiz -Xlinker --wrap=__aeabi_d2ulz -Xlinker --wrap=__aeabi_d2f -Xlinker --wrap=sqrt -Xlinker --wrap=cos -Xlinker --wrap=sin -Xlinker --wrap=tan -Xlinker --wrap=atan2 -Xlinker --wrap=exp -Xlinker --wrap=log -Xlinker --wrap=ldexp -Xlinker --wrap=copysign -Xlinker --wrap=trunc -Xlinker --wrap=floor -Xlinker --wrap=ceil -Xlinker --wrap=round -Xlinker --wrap=sincos -Xlinker --wrap=asin -Xlinker --wrap=acos -Xlinker --wrap=atan -Xlinker --wrap=sinh -Xlinker --wrap=cosh -Xlinker --wrap=tanh -Xlinker --wrap=asinh -Xlinker --wrap=acosh -Xlinker --wrap=atanh -Xlinker --wrap=exp2 -Xlinker --wrap=log2 -Xlinker --wrap=exp10 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FAILED: picoprobe.elf 
make: *** [Makefile:36: all] Error 1
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/mnt/d/u/pico/picoprobe/_build && /home/hardy/bin/llvm-arm-none-eabi/bin/llvm-objdump -h /mnt/d/u/pico/picoprobe/_build/picoprobe.elf > picoprobe.dis && /home/hardy/bin/llvm-arm-none-eabi/bin/llvm-objdump -d /mnt/d/u/pico/picoprobe/_build/picoprobe.elf >> picoprobe.dis && cd /mnt/d/u/pico/picoprobe/_build && /mnt/d/u/pico/picoprobe/_build/elf2uf2/elf2uf2 /mnt/d/u/pico/picoprobe/_build/picoprobe.elf picoprobe.uf2
ld.lld: error: undefined symbol: stdout
>>> referenced by printf.c
>>>               CMakeFiles/picoprobe.dir/mnt/d/u/pico/pico-sdk/src/rp2_common/pico_printf/printf.c.obj:(_out_char)
clang: error: ld.lld command failed with exit code 1 (use -v to see invocation)
ninja: build stopped: subcommand failed.

Needless to say, that this works with gcc.

Invocation of the gcc build (works)

.PHONY: cmake-create-release
cmake-create-release:
    cmake -B $(BUILD_DIR) -G Ninja -DCMAKE_BUILD_TYPE=Release -DCMAKE_EXPORT_COMPILE_COMMANDS=1 -DPICO_BOARD=$(PICO_BOARD) $(CMAKE_FLAGS)

Invocation of the clang build (produces above error)

.PHONY: cmake-create-release-clang
cmake-create-release-clang:
    export PICO_TOOLCHAIN_PATH=~/bin/llvm-arm-none-eabi/bin
    cmake -B $(BUILD_DIR) -G Ninja -DCMAKE_BUILD_TYPE=Release -DCMAKE_EXPORT_COMPILE_COMMANDS=1 -DPICO_BOARD=$(PICO_BOARD) \
             $(CMAKE_FLAGS) -DPICO_COMPILER=pico_arm_clang

Any ideas on this?

rgrr commented 1 year ago

If one checks the generated obj file, then it seems, that clang release invents the symbol stdout out of the blue.

gcc undefined symbols in printf.c.obj:

00000000         *UND*  00000000 putchar
00000000         *UND*  00000000 __aeabi_dcmpun
00000000         *UND*  00000000 __aeabi_dcmpgt
00000000         *UND*  00000000 __aeabi_dcmplt
00000000         *UND*  00000000 __aeabi_i2d
00000000         *UND*  00000000 __aeabi_dmul
00000000         *UND*  00000000 __aeabi_dadd
00000000         *UND*  00000000 __aeabi_dsub
00000000         *UND*  00000000 __aeabi_d2iz
00000000         *UND*  00000000 __aeabi_ddiv
00000000         *UND*  00000000 __aeabi_dcmpge
00000000         *UND*  00000000 __aeabi_uidivmod
00000000         *UND*  00000000 __aeabi_idivmod
00000000         *UND*  00000000 __aeabi_uidiv
00000000         *UND*  00000000 __aeabi_idiv
00000000         *UND*  00000000 __aeabi_d2uiz
00000000         *UND*  00000000 __aeabi_ui2d
00000000         *UND*  00000000 __aeabi_uldivmod

clang:

00000000         *UND*  00000000 fputc
00000000         *UND*  00000000 stdout
00000000         *UND*  00000000 __aeabi_dcmpun
00000000         *UND*  00000000 __aeabi_dcmplt
00000000         *UND*  00000000 __aeabi_dcmpgt
00000000         *UND*  00000000 __aeabi_dsub
00000000         *UND*  00000000 __aeabi_memset4
00000000         *UND*  00000000 __aeabi_d2iz
00000000         *UND*  00000000 __aeabi_i2d
00000000         *UND*  00000000 __aeabi_dmul
00000000         *UND*  00000000 __aeabi_d2uiz
00000000         *UND*  00000000 __aeabi_ui2d
00000000         *UND*  00000000 __aeabi_dcmple
00000000         *UND*  00000000 __aeabi_dcmpeq
00000000         *UND*  00000000 __aeabi_idiv
00000000         *UND*  00000000 __aeabi_idivmod
00000000         *UND*  00000000 __aeabi_memset
00000000         *UND*  00000000 __aeabi_dadd
00000000         *UND*  00000000 __aeabi_ddiv
00000000         *UND*  00000000 __aeabi_dcmpge
00000000         *UND*  00000000 __aeabi_uidivmod

Wondering if this actually is an issue of picolib or compiler-rt?

kilograham commented 1 year ago

Yeah, from the release notes for 1.5.1

Experimental support is provided for compiling with Clang. As an example, you can build with the LLVM Embedded Toolchain for Arm, noting however that currently only version 14.0.0 works, as later versions use picolib rather than newlib.

rgrr commented 1 year ago

Thanks Graham for pointing me to the release notes...

Tried clang 14.0.0 as suggested and almost everything works out of the box (except some minor glitches with static_assert()).

Anything I can do to help making the SDK work with picolib and later clangs?

kilograham commented 1 year ago

Yeah, i didn't have any time to look at it in detail, but the area of integration with the C-library and the somewhat wide distribution of such points within the SDK, suggests to me that we should factor that adapter layer out into a single library perhaps, and allow plugging that (or via #ifdef) (edit: note this was true even before LLVM 15.0.0 / picolib)

But even short of that, just prototyping something that works with picolib, even if it isn't abstracted out

geurtv commented 1 year ago

I did some tests with clang 16.0.0 (on Windows) and a c++ project. After some small changes and resolving undefined symbols everything just works:

  1. pico_arm_clang.cmake: removed --sysroot The --sysroot path wasn't correct for clang-16 but the option also seems unnecessary. Everything builds just fine without it. (I think --target=armv6m-none-eabi sets everything up)

  2. undefined stdout Simply added to source file: std::FILE* const stdout = nullptr;. I assume this is good enough and it's not actually used (in my code anyway). printf, for instance, seems to work without issue.

  3. undefined extern "C" void __cxxabiv1::__cxa_pure_virtual(); Implemented in source file: calls panic()

  4. undefined __heap_start Added __heap_start = .; to memmap_default.ld before __end__

  5. undefined __heap_end Added __heap_end = .; to memmap_default.ld before __scratch_x_start__

  6. undefined __atomic_load_[1/2/4] and __atomic_store_[1/2/4] gcc provides implementations for these while clang does not. I can provide (c++) implementations.

I still have 4 linker warnings all similar to:

ld.lld: warning: section type mismatch for .ram_vector_table
>>> .../pico_runtime/runtime.c.obj:(.ram_vector_table): SHT_PROGBITS
>>> output section .ram_vector_table: SHT_NOBITS

The others are for .heap, .stack and .stack1. Not sure what to do with them.

kilograham commented 1 year ago

@quertv these were tests on top of 1.5.1?

geurtv commented 1 year ago

@kilograham yes they were with release-16.0.0 from LLVM Embedded Toolchain for Arm.

rgrr commented 1 year ago

I can almost confirm what @geurtv wrote. My path was a little bit easier, because (my guess) my program is "C".

cmake invocation:

export PICO_TOOLCHAIN_PATH=~/bin/llvm-arm-none-eabi/bin
cmake -B $(BUILD_DIR) -G Ninja -DCMAKE_BUILD_TYPE=Release -DPICO_BOARD=$(PICO_BOARD) \
             $(CMAKE_FLAGS) -DPICO_COMPILER=pico_arm_clang

Things I had to fix:

  1. clang throws some errors about static asserts without messages. Added those messages
  2. clang has a different opinion about "-Wformat" because it treats uint32_t differently than gcc (or the typedef is different, don't know). Added "-Wno-format"
  3. clang does not know the "optimize" attribute which is used somewhere in a library. Added "-Wno-unknown-attributes"
  4. note: --sysroot pointed to the correct location, so no changes required to pico_arm_clang.cmake
  5. stdout: I had to add FILE *const stdout = NULL; because "C"

That was it. Compiles and executes now fine with debug/release.

I compiled with a homebrewed version of the LLVM Embedded Toolchain which resembles more or less version 17 before they removed the *.cfg files.

geurtv commented 1 year ago

@rgrr I assume you don't use heap allocations, so no malloc() and free()? Otherwise I would expect it to complain about __heap_start and __heap_end as well.

Also, just checked, on gcc uint32_t is unsigned long and on clang it's unsigned int, hence the printf warnings. BTW, the portable way to printf uint32_t is to use PRIu32 (from inttypes.h), so for instance:

void print_values(uint32_t value1, int32_t value2)
{
    printf("value1=%" PRIu32", value2=%" PRIi32"\n", value1, value2);
}
kilograham commented 1 year ago

@rgrr I assume you don't use heap allocations, so no malloc() and free()? Otherwise I would expect it to complain about __heap_start and __heap_end as well.

Also, just checked, on gcc uint32_t is unsigned long and on clang it's unsigned int, hence the printf warnings. BTW, the portable way to printf uint32_t is to use PRIu32 (from inttypes.h), so for instance:

void print_values(uint32_t value1, int32_t value2)
{
  printf("value1=%" PRIu32", value2=%" PRIi32"\n", value1, value2);
}

yup, but it tends to be a bit annoying/unreadable, so we/I tend to cast values to (int) instead.

note, GCC's behavior in this regard is very strange; Clang's makes more sense

kilograham commented 1 year ago 
1. clang throws some errors about static asserts without messages.  Added those messages

3. clang does not know the "optimize" attribute which is used somewhere in a library.  Added "-Wno-unknown-attributes"

Were these in pico-sdk/pico-examples; they should have all been fixed.

rgrr commented 1 year ago

:

Were these in pico-sdk/pico-examples; they should have all been fixed.

Don't worry... it was somewhere in my daplink library copy. The only warning concerning RP2040 came from FreeRTOS which complains about warning: unused function 'prvGetAllEventGroupBits' in port.c

rgrr commented 1 year ago

@rgrr I assume you don't use heap allocations, so no malloc() and free()? Otherwise I would expect it to complain about __heap_start and __heap_end as well.

Yes, you are right. My actual application does no malloc()/free(). Only (pseudo) dynamic things are done in FreeRTOS and lwIP.

Also, just checked, on gcc uint32_t is unsigned long and on clang it's unsigned int, hence the printf warnings. BTW, the portable way to printf uint32_t is to use PRIu32 (from inttypes.h), so for instance:

Gosh, that's really unfortunate.

void print_values(uint32_t value1, int32_t value2)
{
  printf("value1=%" PRIu32", value2=%" PRIi32"\n", value1, value2);
}

Oh, that's new to me. I agree with Graham, that this is rather annoying and normally I change the parameters via casting as well.

geurtv commented 1 year ago

Correction: libc++ and libc++abi aren't linked by default. If both are added then __cxa_pure_virtual isn't undefined anymore.

Note also that just like gcc clang doesn't know about multi-core, so to guarantee "atomic" initialization of statics in functions custom implementations for __cxa_guard_acquire and __cxa_guard_release might need to be provided. Pretty sure this is true for gcc as well. I guess this all mostly applies to c++ only. For instance, it's unclear to me what happens when the next function is called for the first time from both cores at (about) the same time:

auto& f()
{
    static std::string s{"Hallo?"};
    return s;
}
voltur01 commented 11 months ago

Hi,

I noticed the discussion about picolibc vs newlib above, so I want to point put that the LLVM embedded toolchain for Arm added experimental set of multilib variants based on newlib 4.1.0, see the dev drop.

If this proves useful, newlib set of libraries will be included into every release, keeping picolibc the default.

Please report any feedback back to the LLVM embedded toolchain for Arm project.

kilograham commented 11 months ago

Hi,

I noticed the discussion about picolibc vs newlib above, so I want to point put that the LLVM embedded toolchain for Arm added experimental set of multilib variants based on newlib 4.1.0, see the dev drop.

If this proves useful, newlib set of libraries will be included into every release, keeping picolibc the default.

Please report any feedback back to the LLVM embedded toolchain for Arm project.

excellent, thanks

kilograham commented 3 months ago

fixed in SDK 2.0.0