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I'm trying to compile some code for an ATmega328 micro, and I want use the libraries and the core of Arduino. I'm using CMake. I have gotten to compile the core library and all objects of my code and the libraries of Arduino. But when it's linking, they show me the following error.
..."relocation truncated to fit: R_AVR_13_PCREL against symbol"..."avr5/libgcc.a"...
I have found through Google that this is a common error, but no solution has worked for me. The only thing I can't do is put "-lm" and "-lc" flags at the end of the linker sentence, because I don't know how I can do it with CMake.
EDIT: I have tried compile it with makefile too but I have gotten the same result, even putting "-lm" and "-lc" flags at the end of the linker sentence.
I put my Makefile and CMake files here:
CMakeList.txt The main CMake file
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. That is imported by CMakeList.txt:
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 core CMake file. This is a CMakeList.txt file put into libarduinocore directory.
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
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
I've solved the problem, i've restructured code (I've deleted almost all globals variables) and i've added '-lc -lm -lc' flags to makefile. I suppose the problem was the code structure, too many global variables due to bad adaptation from an arduino code style (All source files are pasted into in the same file) I put the makefile here, I hope it is useful to someone:
I ran into the avr-gcc relocation truncation error message and spent a couple of days sorting it out. In short, there appears to be a bug in the linker.
For a quick fix, put this in your code in the global variable area. You may have to try a few different array sizes.
Here's what's going on. The first 224 bytes of flash memory are the interrupt vector table. When an interrupt occurs (like a timer expires or there's a byte waiting in some receive buffer), this table tells the processor what code to execute. This example doesn't use many interrupts, so unused vectors get sent to the routine bad_interrupt(). Here's a few lines from the vector table.
A few things to notice
The use of both jmp and rjmp is an artifact of the -mrelax compiler flag. Amongst other things, it tells the compiler to use rjmp instructions when the destination is close enough (which is +/- 4k). Otherwise, the compiler should use jmp. This isn't a bad thing, rjmp instructions run 1 clock faster and use 2 bytes less data.
Without -mrelax, the compiler uses only jmp instructions in the vector table and the problem goes away. BTW, for our purposes, --relax is the same as -mrelax.
The problem is that the linker is getting jammed up somehow. In the above example, when the bad_interrupt routine is located at address 0x1028, the vector should at address 0x24 should turn into a jmp but the linker can't do it for some reason. Instead, it leaves the instruction as a rjmp with a relative offset of +4098. As the allowed range is 4096, the offset would get truncated to +2, which is a serious error.
The reason why "pad[500] PROGMEM = { 0 };" should work is it will allocate a chunk of flash memory between the vector table and moves bad_interrupt() far enough away from the vector table that the linker isn't even tempted to use a rjmp instruction.
In searching the web, this appears to be a chronic problem with all sorts of solutions that sometimes work. Popular are using more/less PSTR("Hello World") constructs and various -lm -lc options. I suspect these things are just jiggling around subroutine addresses and by blind luck they fall in places that work.
Below is the code I used to isolate this bug.
I got rid of relocation errors after a long struggle by adding -lm -lc to SET(CMAKE_SHARED_LIBRARY_LINK_CXX_FLAGS "-lm -lc") so they will be appended at the end by CMke in link.txt My CMakeLists.txt
link.txt would look like.
I've been working on this problem for the past few hours, and finally solved it. For me it had to do with the fact that the avr libm.a must be included in the linker command, and I was using the Math.h library, which is separate from the libc.a library, and wasn't being linked correctly.
Try modifying the linker command to look like this by adding -lc -lm at the beginning of the command and -lc at the end:
My reference: http://www.arduino.cc/cgi-bin/yabb2/YaBB.pl?num=1290294587
Explanation:
As the error message suggests, the issue has to do with the relocation (of code) which causes some truncation to occur. The message comes from the linker which is trying to map pieces of code to appropriate locations in the program memory.
When code is placed or moved to some location ("relocation") and this code is referred to from another piece of code, via
JMPorCALL(i.e. a function call), the relocated address has to be added to theJMPorCALLinstruction referring to it.The AVR devices support two kinds of jump/call instructions:
JMPvs.RJMP, andCALLvs.RCALL. TheRvariants make calls relative to the current location and are more efficient both in usage of program memory and execution time. This comes at a cost though:RJMPandRCALLcan only be used for addresses in the range of +/-4kb from their location in program memory. This is never a problem on devices with no more than 8kb of program memory because the whole 8kb range can be addressed from any location viaRCALLorRJMP.On devices with more than 8kb of program memory, however, this is not true for all possible locations. Therefore, if the linker decides it can put the code to be called within the +/-4kb range from the
RJMP/RCALLthere will be no problem, but if the linker fails to (re-)locate the code to be within that range,RJMP/RCALLcannot be used to reach the code's new address, the address is thus truncated (just like when doinguint16_t value = 12345; uint8_t truncatedValue = value;in C) and the generated code breaks.Note that this may or may not happen for any given project exceeding 4kb of program memory (on devices with >8kb of program memory) at some point, because it depends on the relocation of code needed, which may basically change with every new line of C code added or removed, with every library added to be linked in, or even the order in which the libraries or other pieces of code are linked in (e.g. calling from "A" to "B" may work when the linker locates the code like "A B C" but fail when the linker decides to relocate like "A C B").
Solution:
You have to let the compiler know that it needs to generate
JMP/CALLinstructions instead of the (more efficient)RJMP/RCALLinstructions. In AVR Studio/Atmel Studio this can be done in the project's properties, toolchain, AVR/GNU C compiler, optimization. The relevant option is "Use rjmp/rcall (limited range) on >8k devices (-mshort-calls)" which needs to be unchecked to prevent the named error.As the label indicates, the relevant command line option is
-mshort-callswhich needs to be removed from the gcc command line parameter list to achieve the same when invoking gcc from outside of the IDE.Update:
To avoid the unnecessary confusion this error may cause
-mshort-callswas deprecated in avr-gcc 4.7 and will be removed from 4.8. Source: GCC 4.8 Changes.Users should now use
-mrelaxinstead to generate binaries that have the call optimizations where possible but will never produce the error.I sorted it out by overring rules at bottom of my makefile :