Built-In C Library
NuttX has its own, tiny, built-in C library. Along with that C library are all of the headers files with the definitions specific to that built-in C library. The definitions in those header files are not compatible with the definitions that you will find in the header files that come with any other C library and trying to mix these with header files from other C libraries is bound to cause you problems.
When GCC is built, it is built against a C library. The NuttX buildroot tools are, of course, built against the built-in NuttX C-library and would seem to be the obvious choice of tools to use. But there are many reasons to use other tool chains. As examples, the NuttX buildroot tools have some limitations in C++ support. Another example, is that you might want to use the higher-performance math library that is included in some other implementation of the C library.
There are many C libraries available: glibc and uClibc are commonly used with Linux tools. These should be avoided. Most embedded toolchains will be built against newlib. So if you are not using the NuttX buildroot toolchain, you will most likely be using a toolchain that has newlib built into it. Because of this, you may see issues if you include newlib header files into your NuttX code.
Header File Issues
math.h
Nuttx includes a built-in math library that can be selected with CONFIG_LIBM=y. There are reasons to use an external math library, however: The NuttX math library is written in C and will not be as performant as a custom math library tuned for your processor architecture. There some addition issues with the NuttX math libraries as documented in the top-level TODO list.
Many people choose to use the newlib math library. If you include math.h without selecting CONFIG_LIBM=y, you will probably get the newlib math library and you will certainly see a compilation error involving the definition of the type wint_t.
There have been many work arounds described in the NuttX forum. Here are a few:
- Copy the newlib
math.hto nuttx/include/math.h and remove the reference towint_t.
- Add the following to
nuttx/libc/stdio/lib_libvsprintf.c. I especially dislike this solution because it involves modication to a NuttX header file that cannot be accepted upstream.
/* Include floating point functions */
#ifdef CONFIG_LIBC_FLOATINGPOINT
+# include "wchar.h"
# include "stdio/lib_libdtoa.c"
#endif
- Provide your own version of
math.h }} (for GCC only) containing the following. And add the path to this {{math.hto yourCFLAGSinclude path arguments. The path can specified by adding-systemor-Ito the CFLAGS. The path to thismath.hmust be defined last so that it has precedence. This will include the NuttXwint_tdefinition, then continue to include the default version ofmath.h.
#ifndef _MYMATH_H
#define _MYMATH_H
#include "wchar.h"
#include_next <math.h>
#endif /* _MYMATH_H */
- The PX4 team uses these patches to cwhar and math.h to solve the issue. But note the comments in that code:
/* N.B. The following definitions are enabled at this time to allow the PX4 * development to continue until there is a SAFE solution to foreign * (non-nuttx) header file inclusion. There is a potential of a binary * incompatibility and runtime errors, memory overwrites or corruption * VVVVVVVVVVVVVVVVVVVVVVVVVV Begin Warning VVVVVVVVVVVVVVVVVVVVVVVVVVVVVVVVVVV */
- Some people have suggested adding the type definition of
wint_ttonuttx/include/sys/types.hmerely because that header file will then be included into the newlibmath.h. This inclusion, of course, also very dangerous since the types in the NuttXsys/types.hheader file may not agree with the types in the pre-compiled newlib math library. This solution is not recommended, in any case. The typewint_tis already correctly defined innuttx/include/sys/wchar.hwhich is the one and only correct location per OpenGroup.org. It is a mystery to my why the newlibmath.hheader file useswint_twithout includingwchar.h. If it did, then there would then this compilation issue would not exist (there could still be subtle binary compatibility issues).
- The ideal solution would be to integrate a third-party, optimized, ARM math library into NuttX, building it using only NuttX header files. That would guarantee no binary incompatibility and would be a very useful contribution to NuttX.
Changes to the nuttx/arch/<architecture>/src/Makefile may also be required so that the linker can find and include the math library (similar to the existed logic in the Makefile to find libgcc.a).
Update: This issue may have finally been resolved with this commit:
commit 894ca622e6a408e5fa858a3fee46fb16f32cf86c
Author: Xiang Xiao <xiaoxiang@xiaomi.com>
Date: Mon Aug 27 06:26:37 2018 -0600
include/sys/types: Move wint_t and wctype_t from wchar.h to
types.h. This change is compatible as before since wchar.h
include types.h indirectly. This fixes a compilation error with
newlib's math.h: 'unknown type name wint_t'
cmath
This error has been reported:
/nuttx/include/cxx/cmath:124:11: error: '::log2l' has not been declared...
Apparently the function logic log2l() is defined in the NuttX math.h and added to the std:: namespace in cmath. But, apparently, the newlib math.h does not prototype lib2l().
If you plan to use the newlib math.h and the NuttX cmath, then you probably have to modify cmath as well.
alloca.h
If your imported application includes alloca.h, then you will run into the same kinds of issues. Nuttx does not provide this header file an so you will probably end up including the newlib version of alloca.h which has similar disastrous results.
One solution for GCC (only) would be to provide you own alloca.h containing:
#ifndef _ALLOCA_H #define _ALLOCA_H #define alloca __builtin_alloca #endif /* _ALLOCA_H */
And add the path to this alloca.h to your CFLAG include path arguments. The path can specified by adding -system or -I to the CFLAGS. The path to this alloca.h must be defined last so that it has precedence.
However, if you include newlib header files that include other alloc.h you may still end up including the newlib alloca.h. So another solution might be to include your own math.h, for example, which contains something like like:
#ifndef _MYMATH_H #define _MYMATH_H #ifndef _ALLOCA_H #define _ALLOCA_H #define alloca __builtin_alloca #endif /* _ALLOCA_H */ #include_next <math.h> #endif /* _MYMATH_H */
This will provide the alloca() definition, then continue to include the default version of math.h. This works because the idempotence pre-processor variable _ALLOC_H matches the same idempotence variable used in the newlib alloca.h. Thus, any sneak inclusion of alloca.h with have not effect.
C++ Issues
Most of the C++ issues that have not so much to do with header files as with C++ name mangling and strict typing.
new Operator
The prototype for the C++ new operator is:
void *operator new(size_t nbytes)
However, size_t, in turn, defined to be either unsigned long or unsigned int in the toolchain. This differs with different versions of GCC toolchains and has nothing to do with header file inclusion. NuttX supports a configuration option to work around this, change new to either:
#ifdef CONFIG_CXX_NEWLONG
void *operator new(unsigned long nbytes)
#else
void *operator new(unsigned int nbytes)
#endif
This C++ name mangling issue has been around for years and varies from GCC compiler to GCC compiler, apparently due to some newlib configuration difference.
uint32_t
Similarly, you may find that the definition of uint32_t in NuttX may be incompatible with your toolchain's libraries. You may, perhaps, see errors like:
error: redeclaration of 'typedef long unsigned int std::uint_least32_t'
The definition in the ARM header file at nuttx/arch/arm/include/types.h is:
typedef signed int _int32_t;
typedef unsigned int _uint32_t;
On ARM platforms, unsigned long and unsigned int are both 32-bit integers so it does not matter which definition you use. But it does matter if you are concerned about the C++ name mangling associated with the use of size_t by your compiler. If you see errors such as the above, then you can replace these type definition to avoid C++ name mangling incompatibilities like:
typedef signed long _int32_t; typedef unsigned long _uint32_t;
But this now may result in additional problems, now there may be incompatibilities between definition of size_t uses in NuttX and the definition of size_t used in the libraries.
size_t
size_t should be an integer type wide enough to hold the size of the largest memory object. So size_t really depends on the size of the underlying pointer type. For CPUs with 16-bit addressing, for example, the width of size_t should be 16-bits; for CPUs with 32-bit addressing, the width should be 32-bits.
uint32-t, of course, should always be 32-bits in width.
Using newlib header files, you also encounter incompatibilities between the definitions of some types, the types uint32_t and size_t is often the sources of problems. For example:
error: redeclaration of 'typedef unsigned int std::size_t'
The root cause of this issue is that the community cannot decide on the correct definition of size_t. NuttX uses this flexible definition of size_t:
typedef uint32_t size_t;
It is flexible in the sense that uint32_t is determined by architecture specific header files, not the RTOS itself. That definition will be either unsigned long or unsigned int. So the size_t type compatibility can differ with different compilers and also with different architectures (NOTE that since size_t should be wide enough to hold the size of the largest addressable object. uint32_t only works for 32-bit addressable machines. Perhaps, size_t should really be defined as type uintptr_t?).
This can be fixed by changing the definition of uint32_t as described above. But that could introduce uint32_t name mangling incompatibilities. In that case, you have no option but to decouple the definition of size_t from uint32_t by changing the definition in nuttx/include/sys/types.h to:
typedef unsigned int size_t;
or:
typedef unsigned long size_t;
whichever resolves the incompatibility.