Hi @jaski.tx
Colibri IMX7D 1G emmc with the Colibri evaluation board rev.3.
To produce this warning you have to include the arm_math lib. Below a sample code. I need this lib for those functions in the CMSIS lib:
You don’t need to understand the code. Including files in CMakelist.txt is enough to produce the warning.
Thanks in advance !
main.c code:
///////////////////////////////////////////////////////////////////////////////
// Includes
///////////////////////////////////////////////////////////////////////////////
#include "FreeRTOS.h"
#include "task.h"
#include "board.h"
#include "debug_console_imx.h"
#include "rdc_semaphore.h"
#include "gpio_pins.h"
#include "arm_math.h"
#include "arm_common_tables.h"
#include "string.h"
#include "stdbool.h"
#include "inttypes.h"
#include "stdarg.h"
#include "stdio.h"
///////////////////////////////////////////////////////////////////////////////
// Global constants
///////////////////////////////////////////////////////////////////////////////
///////////////////////////////////////////////////////////////////////////////
// Global variables
///////////////////////////////////////////////////////////////////////////////
////////////////////////////////////////////////////////////////////////////////
// Code
////////////////////////////////////////////////////////////////////////////////
int alcorLog(const char *format, ...)
{
va_list vargs;
va_start(vargs, format);
uint32_t timestamp_us = xTaskGetTickCount() * 1e6 / configTICK_RATE_HZ;
printf("\n\r[%12d] ",timestamp_us);
vprintf(format, vargs);
va_end(vargs);
}
int println(const char *format, ...)
{
va_list vargs;
va_start(vargs, format);
vprintf(format, vargs);
printf("\n\r");
va_end(vargs);
}
void IirTask(void *pvParameters)
{
const uint32_t size = 512;
uint32_t i;
float32_t x[size];
float32_t sinus[size];
float32_t sinus_filtered[size];
float32_t coeffs[] = {0.00554271721028068171, 0.0110854344205613634, 0.00554271721028068171,
1.77863177782458481 , -0.800802646665707662};
float32_t state[] = {0.0,0.0};
arm_biquad_cascade_df2T_instance_f32 instance = {
.numStages = 1,
.pCoeffs = coeffs,
.pState = state,
};
uint32_t start;
uint32_t end;
uint32_t duration;
alcorLog("IIR Task started");
println("");
for(i = 0;i<size;i++)
{
x[i] = 2*PI/4000 * i * 100;
sinus[i] = arm_sin_f32(x[i]);
}
println("Biquad init");
arm_biquad_cascade_df2T_init_f32(&instance,1,&coeffs,&state);
start = xTaskGetTickCount();
for(i = 0;i<8;i++)
arm_biquad_cascade_df2T_f32(&instance,sinus,sinus_filtered,size);
end = xTaskGetTickCount();
duration = (end - start)*1e6 / configTICK_RATE_HZ;
for(i = 0;i<size;i++)
{
println("%" PRIu32 ";%f;%f",i,sinus[i],sinus_filtered[i]);
}
println("Biquad duration %" PRIu32 "us !",duration);
alcorLog("FINISH !");
while(true);
}
/*!
* @brief Main function
*/
int main(void)
{
// Initialize demo application pins setting and clock setting.
hardware_init();
// Create a demo task which will print Hello world and echo user's input.
xTaskCreate(IirTask, "IIR Task", 2*1024,
NULL,tskIDLE_PRIORITY+1, NULL);
alcorLog("Welcome to Alcor !");
// Start FreeRTOS scheduler.
vTaskStartScheduler();
// Should never reach this point.
alcorLog("ERROR !");
while (true);
}
/*******************************************************************************
* EOF
******************************************************************************/
Add the mfloat hardware option to the compiler:
# DEFAULT ASM FLAGS
SET(CMAKE_ASM_FLAGS "${CMAKE_ASM_FLAGS} -mcpu=cortex-m4 -mfloat-abi=hard -mfpu=fpv4-sp-d16 -mthumb -Wall -fno-common -ffunction-sections -fdata-sections -ffreestanding -fno-builtin -mapcs -std=gnu99")
# DEFAULT C FLAGS
SET(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} -mcpu=cortex-m4 -mfloat-abi=hard -mfpu=fpv4-sp-d16 -mthumb -MMD -MP -Wall -fno-common -ffunction-sections -fdata-sections -ffreestanding -fno-builtin -mapcs -std=gnu99")
# DEFAULT LD FLAGS
SET(CMAKE_EXE_LINKER_FLAGS "${CMAKE_EXE_LINKER_FLAGS} -mcpu=cortex-m4 -mfloat-abi=hard -mfpu=fpv4-sp-d16 --specs=nano.specs -Wall -fno-common -ffunction-sections -fdata-sections -ffreestanding -fno-builtin -mthumb -mapcs -Xlinker --gc-sections -Xlinker -static -Xlinker -z -z max-page-size=4096 -Xlinker muldefs -u _printf_float")
Add files in CMakeList.txt
# ADD_EXECUTABLE
ADD_EXECUTABLE(${ProjectName}
// Other entries
// ...
// ...
"${BspRootDirPath}/platform/CMSIS/Include/arm_math.h"
"${BspRootDirPath}/platform/CMSIS/DSP_Lib/Source/StatisticsFunctions/arm_max_f32.c"
"${BspRootDirPath}/platform/CMSIS/DSP_Lib/Source/StatisticsFunctions/arm_min_f32.c"
"${BspRootDirPath}/platform/CMSIS/DSP_Lib/Source/StatisticsFunctions/arm_rms_f32.c"
"${BspRootDirPath}/platform/CMSIS/DSP_Lib/Source/StatisticsFunctions/arm_mean_f32.c"
"${BspRootDirPath}/platform/CMSIS/DSP_Lib/Source/FastMathFunctions/arm_sqrt_q15.c"
"${BspRootDirPath}/platform/CMSIS/DSP_Lib/Source/FastMathFunctions/arm_sin_f32.c"
"${BspRootDirPath}/platform/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_biquad_cascade_df1_f32.c"
"${BspRootDirPath}/platform/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_biquad_cascade_df2T_init_f32.c"
"${BspRootDirPath}/platform/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_biquad_cascade_df2T_f32.c"
"${BspRootDirPath}/platform/CMSIS/Include/arm_common_tables.h"
//...
//...
