Far*_*arK 8 linker avr arduino linker-errors avr-gcc
我正在尝试为ATmega328 micro编译一些代码,我想使用Arduino的库和核心.我正在使用CMake.我已经编译了核心库以及我的代码的所有对象和Arduino的库.但是当它链接时,它们会向我显示以下错误.
..."重定位被截断以适合:R_AVR_13_PCREL对象"......"avr5/libgcc.a"......
我通过谷歌发现这是一个常见的错误,但没有任何解决方案对我有用.我唯一不能做的是在链接器句子的末尾加上"-lm"和"-lc"标志,因为我不知道如何用CMake做到这一点.
编辑:我已经尝试使用makefile编译它,但我得到了相同的结果,甚至在链接器句子的末尾加上"-lm"和"-lc"标志.
我把Makefile和CMake文件放在这里:
CMakeList.txt主CMake文件
cmake_minimum_required(VERSION 2.6)
Project(IMU)
set(ARDUINO_PROCESSOR atmega328p)
set(ARDUINO_PROCESSOR_FREQ 1600000L)
include(./arduino.cmake)
add_library(ardlib
libraries/EEPROM/EEPROM.cpp
libraries/Wire/utility/twi.c
libraries/Wire/Wire.cpp
libraries/HMC58X3/HMC58X3
)
LINK_DIRECTORIES(${IMU_SRC_DIR}/libarduinocore
${IMU_SRC_DIR}/libraries/EEPROM
${IMU_SRC_DIR}/libraries/Wire
${IMU_SRC_DIR}/libraries/HMC58X3
)
link_libraries(arduinocore ardlib)
include_directories(
libarduinocore
libraries/EEPROM
libraries/Wire
libraries/Wire/utility
libraries/HMC58X3
)
set(C_SRCS
ADXL345.cpp
ApplicationRoutines.cpp
DCM.cpp
HMC5883L.cpp
ITG3200.cpp
matrix.cpp
output.cpp
timing.cpp
vector.cpp
)
set(C_HDRS
ADXL345.h
ApplicationRoutines.h
DCM.h
HMC5883L.h
ITG3200.h
matrix.h
output.h
timing.h
vector.h
declarations.h
)
add_executable(IMU.elf main.cpp ${C_SRCS} ${C_HDRS})
add_subdirectory(libarduinocore)
arduino.cmake.这是由CMakeList.txt导入的:
set(ARDUINO_PROCESSOR atmega328p)
set(ARDUINO_PROCESSOR_FREQ 16000000L)
# This module defines macros intended for use by cross-compiling toolchain files when
# CMake is not able to automatically detect the compiler identification.
include (CMakeForceCompiler)
# Set this for cross compiling. Otherwise it is set to CMAKE_HOST_SYSTEM_NAME,
# which is the system we are developing on.
set (CMAKE_SYSTEM_NAME Generic)
# It sets CMAKE_<lang>_COMPILER to the given compiler and the cmake internal variable
# CMAKE_<lang>_COMPILER_ID to the given compiler-id. It also bypasses the check for
# working compiler and basic compiler information tests.
SET(CMAKE_C_COMPILER avr-gcc)
SET(CMAKE_CXX_COMPILER avr-g++)
cmake_force_cxx_compiler (avr-g++ CrossAVR)
cmake_force_c_compiler (avr-gcc CrossAVR)
# Appparently we want to use the gnuc99 standard.
#set (CSTANDARD "-std=gnu99")
# Generate .stabs debugging symbols for assembler source lines. This enables avr-gdb to
# trace through assembler source files.
#set (CDEBUG "-gstabs")
# Warn for functions declared or defined without specified argument types.
set (CWARN "-Wall -Wstrict-prototypes")
# -funsigned-char - Make any unqualfied char type an unsigned char. Without this option,
# they default to a signed char.
# -funsigned-bitfields - Make any unqualified bitfield type unsigned. By default,
# they are signed.
# -fpack-struct - Pack all structure members together without holes.
# -fshort-enums - Allocate to an enum type only as many bytes as it needs for the declared
# range of possible values. Specifically, the enum type will be equivalent to the
# smallest integer type which has enough room.
set (CTUNING_FLAGS "-ffunction-sections -fdata-sections -funsigned-char -funsigned-bitfields -fpack-struct -fshort-enums")
# Optimize for size. The special option -Os is meant to turn on all -O2 optimizations
# that are not expected to increase code size.
set (COPT "-Os")
SET(CINCS "-I${ArduinoCode_SOURCE_DIR}/libarduinocore")
# Finally the compilation flags are now configured.
set(CMAKE_CXX_FLAGS "-lc -lm -mmcu=${ARDUINO_PROCESSOR} -DF_CPU=${ARDUINO_PROCESSOR_FREQ} ${CTUNING_FLAGS} ${CWARN} ${CSTANDARD} ${CDEBUG} ${COPT} ${CINCS} -lc")
set(CMAKE_C_FLAGS "-lc -lm ${CMAKE_CXX_FLAGS} ${CTUNING_FLAGS} ${CWARN} ${CSTANDARD} ${CDEBUG} ${CINCS} -lc")
# On gentoo, -rdynamic is passed to the compiler. The avr compiler does not recognize this
# option. Also, we are not building shared libraries.
set(CMAKE_EXE_LINKER_FLAGS "-Wl,--gc-sections")
set(CMAKE_SHARED_LIBRARY_LINK_CXX_FLAGS ""
Arduino核心CMake文件.这是放入libarduinocore目录的CMakeList.txt文件.
include(../arduino.cmake)
add_library (arduinocore
HardwareSerial.cpp
pins_arduino.c
Print.cpp
Tone.cpp
WInterrupts.c
wiring_analog.c
wiring.c
wiring_digital.c
wiring_pulse.c
wiring_shift.c
WMath.cpp
WString.cpp
)
Makefile文件
TARGET = IMU
PORT = /dev/ttyACM0
BAUD = 57600
PROGRAMMER = arduino
MCU = atmega328p
F_CPU = 8000000L
CXX_SRCS = ADXL345.cpp \
ApplicationRoutines.cpp \
DCM.cpp \
HMC5883L.cpp \
ITG3200.cpp \
matrix.cpp \
output.cpp \
timing.cpp \
vector.cpp
CXX_OBJ = $(CXX_SRCS:.cpp=.o)
CXX_HDRS = ADXL345.h \
ApplicationRoutines.h \
DCM.h \
declarations.h \
HMC5883L.h \
ITG3200.h \
matrix.h \
output.h \
timing.h \
vector.h
CORE_DIR = libarduinocore
CORE_CXX_SRCS = $(CORE_DIR)/HardwareSerial.cpp \
$(CORE_DIR)/Print.cpp \
$(CORE_DIR)/Tone.cpp \
$(CORE_DIR)/WMath.cpp \
$(CORE_DIR)/WString.cpp
CORE_CXX_OBJ = $(CORE_CXX_SRCS:.cpp=.o)
CORE_CC_SRCS = $(CORE_DIR)/pins_arduino.c \
$(CORE_DIR)/WInterrupts.c \
$(CORE_DIR)/wiring_analog.c \
$(CORE_DIR)/wiring.c \
$(CORE_DIR)/wiring_digital.c \
$(CORE_DIR)/wiring_pulse.c \
$(CORE_DIR)/wiring_shift.c
CORE_CC_OBJ = $(CORE_CC_SRCS:.c=.o)
CORE_HDRS = $(CORE_DIR)/binary.h \
$(CORE_DIR)/HardwareSerial.h \
$(CORE_DIR)/pins_arduino.h \
$(CORE_DIR)/Print.h \
$(CORE_DIR)/Stream.h \
$(CORE_DIR)/WCharacter.h \
$(CORE_DIR)/WConstants.h \
$(CORE_DIR)/wiring.h \
$(CORE_DIR)/wiring_private.h \
$(CORE_DIR)/WProgram.h \
$(CORE_DIR)/WString.h
ARD_LIB_DIR = libraries
ARD_LIB_CXX_SRCS = $(ARD_LIB_DIR)/EEPROM/EEPROM.cpp \
$(ARD_LIB_DIR)/Wire/Wire.cpp \
$(ARD_LIB_DIR)/HMC58X3/HMC58X3.cpp
ARD_LIB_CC_SRCS = $(ARD_LIB_DIR)/Wire/utility/twi.c
ARD_LIB_CXX_OBJ = $(ARD_LIB_CXX_SRCS:.cpp=.o)
ARD_LIB_CC_OBJ = $(ARD_LIB_CC_SRCS:.c=.o)
CC = avr-gcc
CXX = avr-g++
OBJCOPY = avr-objcopy
OBJDUMP = avr-objdump
AR = avr-ar
SIZE = avr-size
NM = avr-nm
AVRDUDE = avrdude
ARD_LIB_INC = -I$(ARD_LIB_DIR) -I$(ARD_LIB_DIR)/EEPROM -I$(ARD_LIB_DIR)/Wire -I$(ARD_LIB_DIR)/HMC58X3 -I$(ARD_LIB_DIR)/Wire/utility
FLAGS_WARN = -Wall -Wstrict-prototypes
FLAGS_TUNING = -ffunction-sections -fdata-sections -funsigned-char -funsigned-bitfields -fpack-struct -fshort-enums
FLAGS_OPT = -Os
ALL_INC = -I. $(ARD_LIB_INC) -I$(CORE_DIR)
OBJS = $(CXX_OBJ) $(CORE_CXX_OBJ) $(CORE_CC_OBJ) $(ARD_LIB_CC_OBJ) $(ARD_LIB_CXX_OBJ)
ALL_OBJS := $(addprefix build/, $(notdir $(OBJS)))
ALL_CFLAGS = -mmcu=$(MCU) -DF_CPU=$(F_CPU) $(ALL_INC) $(FLAGS_WARN) $(FLAGS_TUNNIG) $(FLAGS_OPT)
ALL_CXXFLAGS = -mmcu=$(MCU) -DF_CPU=$(F_CPU) $(ALL_INC) -Wall $(FLAGS_TUNNIG) $(FLAGS_OPT)
#ALL_ASFLAGS = -mmcu=$(MCU) -I. -x assembler-with-cpp $(ASFLAGS)
all : $(TARGET).hex
avr-objcopy -O ihex -R .eeprom $(TARGET).out $(TARGET).hex
$(TARGET).out : $(OBJS)
$(CXX) $(ALL_CXXFLAGS) main.cpp $(ALL_OBJS) -o $(TARGET).out -lc -lm
upload : $(TARGET).hex
avrdude -c$(PROGRAMMER) -p$(MCU) -P$(PORT) -U flash:w:$(TARGET).hex
serialmon :
picocom -b$(BAUD) $(PORT)
.SUFFIXES: .hex .cpp .o .c
# Compile: create object files from C++ source files.
.cpp.o:
$(CXX) -c $(ALL_CXXFLAGS) $< -o $(addprefix build/, $(notdir $@)) -lc -lm
# Compile: create object files from C source files.
.c.o:
$(CC) -c $(ALL_CFLAGS) $< -o $(addprefix build/, $(notdir $@)) -lc -lm
# Compile: create assembler files from C source files.
.c.s:
$(CC) -S $(ALL_CFLAGS) $< -o build/$@ -lc -lm
Jim*_*myB 11
正如错误消息所示,问题与(代码)重定位有关,导致发生一些截断.该消息来自链接器,该链接器试图将代码片段映射到程序存储器中的适当位置.
当代码被放置或移动到某个位置("重定位")并且该代码是从另一段代码,通过JMP或CALL(即函数调用)引用时,必须将重定位的地址添加到引用它的JMP或CALL指令中.
AVR设备支持两种跳转/呼叫指令:JMPvs RJMP.和CALLvs RCALL..这些R变体相对于当前位置进行调用,并且在程序存储器的使用和执行时间方面都更有效.这需要付出代价:RJMP并且RCALL只能用于程序存储器中位置+/- 4kb范围内的地址.这对于程序存储器不超过8kb的设备来说绝不是问题,因为整个8kb范围可以通过RCALL或从任何位置寻址RJMP.
但是,在程序存储器超过8kb的设备上,并非所有可能的位置都是如此.因此,如果在连接器决定它可以把被称为代码内从该+/- 4KB范围RJMP/ RCALL不会有问题,但如果链接失败(重新)找到代码是该范围内,RJMP/ RCALL 不能用于到达代码的新地址,因此地址被截断(就像uint16_t value = 12345; uint8_t truncatedValue = value;在C中一样)并且生成的代码中断.
请注意,对于超过4kb程序存储器的任何给定项目(在程序存储器大于8kb的设备上),这可能会或可能不会发生,因为它取决于所需代码的重定位,这可能基本上随每个新行的添加或删除C代码,添加每个库以进行链接,甚至链接库或其他代码片段的顺序(例如,当链接器找到代码时,从"A"到"B"调用可能有效比如"AB C",但是当链接器决定像"AC B"那样重新定位时失败.
您必须让编译器知道它需要生成JMP/ CALL指令而不是(更有效)RJMP/ RCALL指令.在AVR Studio/Atmel Studio中,可以在项目的属性,工具链,AVR/GNU C编译器,优化中完成.相关选项是"在> 8k设备上使用rjmp/rcall(有限范围)(-mshort-calls)",需要取消选中该命令以防止指定错误.
如标签所示,当从IDE外部调用gcc时-mshort-calls,需要从gcc命令行参数列表中删除相关的命令行选项以实现相同的操作.
为了避免不必要的混淆这种错误可能造成-mshort-calls被在AVR-GCC 4.7弃用并会从4.8被移除.资料来源:GCC 4.8变动.
用户现在应该使用-mrelax生成具有可能的调用优化的二进制文件,但永远不会产生错误.