Linking init_hardware function fail for MQX RTOS

[lfschrickte]

Hi,

I'm trying to compile my own application using the combination CW 10.6 + MQX RTOS 4.1.0 for FRDM-K64F.

First, I tried to create a project by going to New > MQX 4.1 Project - however, after naming the project, no board appear in the board selection dialog. Is this a bug or am I doing anything wrong? I've tried already to reinstall the RTOS package after CW 10.6 installation.

So I tried to do it by hand:

- imported bsp, psp, rtcs, mfs, shell, usb libraries using the .wsd RTOS file

- created a new bareboard project, with PE activated and ewl libs

- added the PE MQX RTOS component to the project

- added on the 'compiler include directories' table all bsp, psp, rtcs and other MQX RTOS directories (as in sample projects, same order)

- added bsp, psp, rtcs and shell libraries to the 'Other objects' table in the Linker settings, as in the sample projects

- didn't add any line of code to the application

When I compile, however, I got the following error:

Console

**** Build of configuration FLASH_debug for project httpsrv_mqx **** "C:\\Freescale\\CW MCU v10.6\\gnu\\bin\\mingw32-make" -j8 all 'Building target: httpsrv_mqx.elf' 'Executing target #79 httpsrv_mqx.elf' 'Invoking: ARM Ltd Windows GCC C Linker' "C:/Freescale/CW MCU v10.6/Cross_Tools/arm-none-eabi-gcc-4_7_3/bin/arm-none-eabi-gcc"    @"httpsrv_mqx.args" -o"httpsrv_mqx.elf" C:/Freescale/Freescale_MQX_4_1_FRDMK64F/lib/frdmk64f.cw10gcc/debug/psp/psp.a(comp.o): In function `__init_hardware': C:/Freescale/Freescale_MQX_4_1_FRDMK64F/mqx/source/psp/cortex_m/compiler/gcc_cw/comp.c:58: undefined reference to `init_hardware' mingw32-make: *** [httpsrv_mqx.elf] Error 1

If I add an empty init_hardware function to my application I get the things compiled, so the only problem is resolving this reference!

The weird part is that I checked bsp.a lib and it contains a init_hardware() function available on init_hw.o. If this lib is being pointed as "Other Objects" section of the project linker settings, why can't the linker find the function? I'm sure init_hw.o is on bsp.a lib, which is being included. Below is the prints of my compiled includes and linked "other objects":

I've found more than one reference on how to create a MQX project on CodeWarrior, but neither works OK. So:

1. Am I doing things in the right way? Is there any simple guide on how to put a MQX project to work considering MQX 10.6 + PE? I can compile examples given in the MQX RTOS package, however I want to have the opportunity to start a new fresh project using MQX!

2. Does someone have any idea of the reason I can't get my project compiled, following steps above? (yes, I don't know if the compiled application I was mentioning will work in the hardware later :smileysad:).

3. Maybe the problem is that I'm using the MQX RTOS specific FRDM-K64F package, instead of the generic one?

Thank you very much!

Regards,

Luiz Fernando

[lfschrickte · Accepted solution]

OK, I just find out what the problem was with the init_hardware function: the linking order.

There are 2 ways I could get around it:

• changing link order, putting all static libraries (*.a) in the top of the link order list
• changing the linker line by putting -Xlinker --start-group ${INPUTS} -Xlinker --end-group, insted of just ${INPUTS} as the default link line. I found out that in the example projects this is already done. It means the linker should check all the objects/libs cyclically until it can get dependencies resolved.

In the second case, which results in worst compilation performance, but I consider more "elegant", I've found a couple bugs in the CodeWarrior suite. They are:

1. if you keep the "Customize linker input order" checkbox marked, even if you don't change the default order, it can't resolve some environment variables used in the main project .args file. ${BSP}, ${PSP} and other variables aren't resolved, so the file has lines like this: "${BSP}/bsp.a". Obviously the linking process fails. I had to uncheck that box.
2. if you don't have any library added, like m or rt, there is a variable, ${LIBS_QUOTED} which also get unresolved in the .args file. Putting a library to be linked together solves this.

Well, finally I could compile it, with one warning only:

c:/freescale/cw mcu v10.6/cross_tools/arm-none-eabi-gcc-4_7_3/bin/../lib/gcc/arm-none-eabi/4.7.3/../../../../arm-none-eabi/bin/ld.exe: Warning: size of symbol `PE_CpuClockConfigurations' changed from 40 in ./Generated_Code/PE_LDD.o to 120 in C:/Freescale/Freescale_MQX_4_1_FRDMK64F/lib/frdmk64f.cw10gcc/debug/bsp/bsp.a(bsp_cm.o)

I'm not sure if this will bring me problems.. will check it later.

As I don't have my FRDM-K64F board yet I can't tell if all these changes I needed to compile an MQX RTOS app will result in a functional program, but let's hope I can get through this!

Thank you very much.

Luiz Fernando

[lfschrickte]

Just found out the reason for the warning mentioned above - I was creating the project with PE activate, which is wrong in MQX projects: it should only be configured in the bsp project. Thanks!

[ZhangJennie]

hi Luiz,

Yes, the MQX 4.1 New Project Wizard does not contain the support for K64 boards (both FRDM and TWR) so far. We will assign engineer to work on it.

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this answer is for you. if it helps, please click on "correct answer " button. thanks!

Best Regards,

Jennie