danielmartensson / embeddedlapack Goto Github PK

Hi,

I'm a master student from China. Recently I ported this libraty to RT-Thread, a burgeoning RTOS in China, so that this library can be used on STM32, RISC-V, i.mx, arm, x86, virtually all hardware platform supported by RT-Thread, as well as software simulator QEMU. And it works pretty well, though some examples require a little more RAM for MCUs.

(This video was recorded on STM32F103RCT6 with 256KB ROM and 48KB RAM)

I renamed my port to eLapack to be more precise. Is there any addtional license required for it?

Thanks a lot for your work on this project, it is really exhilarating to use Matlab/Octave-like API on microcontrollers.

Wu Han
吴晗

Hello,

I'm new to LAPACK. I only know that it can speed up your code, but I'm not sure how it works.

For example, I look into your LinearAlgebra/dot.c and it seems like you're directly multiplying an element of both array together.

I cannot see how functions in Lapack/Scr/ are called even though they are included in LinearAlgebra/declareFunctions.h.

Could you explain to me how this library works? Does it do the operator overloading somewhere?

Best regards,

Is it possible to run this on VS2022?

Hi,

becausing "making" failed, I tried using your code in Eclipse according to the second method (installing on embedded target) but I get these errors:

So building fails please help me

I encountered a hard_fault,I thought it is caused by a array overflow in dgetrf.c.
When entering the dgetrf_ function, a pointer(stored in stack when compiled with -O0) is modified toa non-valid address therefore later write to that pointer cause hard_fault. Code will run smoothly if I introduce any level of optimization since the pointer would be stored in the register, so the overflow would not affect.

The caller:

// in EmbeddedLapack/src/Lapack/Src/dgetrf:124
    double IPIV_d[(int) *n]; // this was added 2019 due to memory loss of ipiv when using LU.c file
    dgetrf_(n, n, &a[a_offset], lda, &ipiv[1], info, IPIV_d);
    if (*info == 0) {

Here pass in IPIV_d is a *n dim array

The callee:

// in EmbeddedLapack/src/Lapack/Src/dgetrf:215
    // Add to IPIV_d due to memory loss from ipiv when using LU.c file. 
    for(int i = 1; i <= min(*m, *n); i++)
	IPIV_d[i] = (double) ipiv[i];

Here *m == *n so i can be up to *n and overflow(I thought)

Project setup:

• A stm32f4 MCU, arm-none-eabi-gcc tool chain, linked with newlib
• not linking f2c(-lf2c)

Thanks for reading this, if I miss anything, sorry for any trouble caused by me, if possible plz let me know.

Hi,

I am trying to compile my application using gcc from the terminal in vscode. I keep getting undefined reference errors even with using the -lm flag

Using the src folder example and running
gcc -lm main.c

/usr/bin/ld: /tmp/ccq6aT7Z.o: in function qpOASES_getSqrt': main.c:(.text+0x27f): undefined reference to sqrt'
/usr/bin/ld: /tmp/ccq6aT7Z.o: in function Indexlist_isMember': main.c:(.text+0x31c): undefined reference to Indexlist_getIndex'
/usr/bin/ld: /tmp/ccq6aT7Z.o: in function Bounds_setType': main.c:(.text+0x440): undefined reference to qpOASES_getGlobalMessageHandler'
/usr/bin/ld: main.c:(.text+0x46c): undefined reference to MessageHandling_throwError' /usr/bin/ld: /tmp/ccq6aT7Z.o: in function Bounds_setStatus':
main.c:(.text+0x4bf): undefined reference to qpOASES_getGlobalMessageHandler' /usr/bin/ld: main.c:(.text+0x4eb): undefined reference to MessageHandling_throwError'
/usr/bin/ld: /tmp/ccq6aT7Z.o: in function Constraints_setType': main.c:(.text+0x77c): undefined reference to qpOASES_getGlobalMessageHandler'
/usr/bin/ld: main.c:(.text+0x7a8): undefined reference to MessageHandling_throwError' /usr/bin/ld: /tmp/ccq6aT7Z.o: in function Constraints_setStatus':
main.c:(.text+0x7fb): undefined reference to qpOASES_getGlobalMessageHandler' /usr/bin/ld: main.c:(.text+0x827): undefined reference to MessageHandling_throwError'
/usr/bin/ld: /tmp/ccq6aT7Z.o: in function QProblemB_getBounds': main.c:(.text+0x9c3): undefined reference to qpOASES_getGlobalMessageHandler'
/usr/bin/ld: main.c:(.text+0x9ef): undefined reference to MessageHandling_throwError' /usr/bin/ld: /tmp/ccq6aT7Z.o: in function QProblemB_setOptions':
main.c:(.text+0xd6b): undefined reference to OptionsCPY' /usr/bin/ld: main.c:(.text+0xd7d): undefined reference to Options_ensureConsistency'
/usr/bin/ld: main.c:(.text+0xd95): undefined reference to QProblemB_setPrintLevel' /usr/bin/ld: /tmp/ccq6aT7Z.o: in function QProblemB_setH':
main.c:(.text+0xed0): undefined reference to DenseMatrixCON' /usr/bin/ld: /tmp/ccq6aT7Z.o: in function QProblemB_setG':
main.c:(.text+0xf11): undefined reference to qpOASES_getGlobalMessageHandler' /usr/bin/ld: main.c:(.text+0xf3d): undefined reference to MessageHandling_throwError'
/usr/bin/ld: main.c:(.text+0xf54): undefined reference to qpOASES_getGlobalMessageHandler' /usr/bin/ld: main.c:(.text+0xf80): undefined reference to MessageHandling_throwError'
/usr/bin/ld: /tmp/ccq6aT7Z.o: in function QProblemB_setLB': main.c:(.text+0xfe5): undefined reference to qpOASES_getGlobalMessageHandler'
/usr/bin/ld: main.c:(.text+0x1011): undefined reference to MessageHandling_throwError' /usr/bin/ld: /tmp/ccq6aT7Z.o: in function QProblemB_setLBn':
main.c:(.text+0x10c0): undefined reference to qpOASES_getGlobalMessageHandler' /usr/bin/ld: main.c:(.text+0x10ec): undefined reference to MessageHandling_throwError'
/usr/bin/ld: main.c:(.text+0x112d): undefined reference to qpOASES_getGlobalMessageHandler' /usr/bin/ld: main.c:(.text+0x1159): undefined reference to MessageHandling_throwError'
/usr/bin/ld: /tmp/ccq6aT7Z.o: in function QProblemB_setUB': main.c:(.text+0x1192): undefined reference to qpOASES_getGlobalMessageHandler'
/usr/bin/ld: main.c:(.text+0x11be): undefined reference to MessageHandling_throwError' /usr/bin/ld: /tmp/ccq6aT7Z.o: in function QProblemB_setUBn':
main.c:(.text+0x1261): undefined reference to qpOASES_getGlobalMessageHandler' /usr/bin/ld: main.c:(.text+0x128d): undefined reference to MessageHandling_throwError'
/usr/bin/ld: main.c:(.text+0x12ce): undefined reference to qpOASES_getGlobalMessageHandler' /usr/bin/ld: main.c:(.text+0x12fa): undefined reference to MessageHandling_throwError'
/usr/bin/ld: /tmp/ccq6aT7Z.o: in function QProblemB_computeGivens': main.c:(.text+0x1405): undefined reference to sqrt'
/usr/bin/ld: /tmp/ccq6aT7Z.o: in function QProblem_getBounds': main.c:(.text+0x1585): undefined reference to qpOASES_getGlobalMessageHandler'
/usr/bin/ld: main.c:(.text+0x15b1): undefined reference to MessageHandling_throwError' /usr/bin/ld: /tmp/ccq6aT7Z.o: in function QProblem_setOptions':
main.c:(.text+0x192d): undefined reference to OptionsCPY' /usr/bin/ld: main.c:(.text+0x193f): undefined reference to Options_ensureConsistency'
/usr/bin/ld: main.c:(.text+0x1957): undefined reference to QProblem_setPrintLevel' /usr/bin/ld: /tmp/ccq6aT7Z.o: in function QProblem_setH':
main.c:(.text+0x1a92): undefined reference to DenseMatrixCON' /usr/bin/ld: /tmp/ccq6aT7Z.o: in function QProblem_setG':
main.c:(.text+0x1ad3): undefined reference to qpOASES_getGlobalMessageHandler' /usr/bin/ld: main.c:(.text+0x1aff): undefined reference to MessageHandling_throwError'
/usr/bin/ld: main.c:(.text+0x1b16): undefined reference to qpOASES_getGlobalMessageHandler' /usr/bin/ld: main.c:(.text+0x1b42): undefined reference to MessageHandling_throwError'
/usr/bin/ld: /tmp/ccq6aT7Z.o: in function QProblem_setLB': main.c:(.text+0x1ba7): undefined reference to qpOASES_getGlobalMessageHandler'
/usr/bin/ld: main.c:(.text+0x1bd3): undefined reference to MessageHandling_throwError' /usr/bin/ld: /tmp/ccq6aT7Z.o: in function QProblem_setLBn':
main.c:(.text+0x1c82): undefined reference to qpOASES_getGlobalMessageHandler' /usr/bin/ld: main.c:(.text+0x1cae): undefined reference to MessageHandling_throwError'
/usr/bin/ld: main.c:(.text+0x1cef): undefined reference to qpOASES_getGlobalMessageHandler' /usr/bin/ld: main.c:(.text+0x1d1b): undefined reference to MessageHandling_throwError'
/usr/bin/ld: /tmp/ccq6aT7Z.o: in function QProblem_setUB': main.c:(.text+0x1d54): undefined reference to qpOASES_getGlobalMessageHandler'
/usr/bin/ld: main.c:(.text+0x1d80): undefined reference to MessageHandling_throwError' /usr/bin/ld: /tmp/ccq6aT7Z.o: in function QProblem_setUBn':
main.c:(.text+0x1e23): undefined reference to qpOASES_getGlobalMessageHandler' /usr/bin/ld: main.c:(.text+0x1e4f): undefined reference to MessageHandling_throwError'
/usr/bin/ld: main.c:(.text+0x1e90): undefined reference to qpOASES_getGlobalMessageHandler' /usr/bin/ld: main.c:(.text+0x1ebc): undefined reference to MessageHandling_throwError'
/usr/bin/ld: /tmp/ccq6aT7Z.o: in function QProblem_getConstraints': main.c:(.text+0x1f53): undefined reference to qpOASES_getGlobalMessageHandler'
/usr/bin/ld: main.c:(.text+0x1f7f): undefined reference to MessageHandling_throwError' /usr/bin/ld: main.c:(.text+0x1f9f): undefined reference to ConstraintsCPY'
/usr/bin/ld: /tmp/ccq6aT7Z.o: in function QProblem_setA': main.c:(.text+0x20c9): undefined reference to qpOASES_getGlobalMessageHandler'
/usr/bin/ld: main.c:(.text+0x20f5): undefined reference to MessageHandling_throwError' /usr/bin/ld: main.c:(.text+0x210f): undefined reference to qpOASES_getGlobalMessageHandler'
/usr/bin/ld: main.c:(.text+0x213b): undefined reference to MessageHandling_throwError' /usr/bin/ld: main.c:(.text+0x218e): undefined reference to DenseMatrixCON'
/usr/bin/ld: main.c:(.text+0x21da): undefined reference to DenseMatrix_times' /usr/bin/ld: main.c:(.text+0x229c): undefined reference to DenseMatrix_getRowNorm'
/usr/bin/ld: /tmp/ccq6aT7Z.o: in function QProblem_setLBA': main.c:(.text+0x2328): undefined reference to qpOASES_getGlobalMessageHandler'
/usr/bin/ld: main.c:(.text+0x2354): undefined reference to MessageHandling_throwError' /usr/bin/ld: /tmp/ccq6aT7Z.o: in function QProblem_setLBAn':
main.c:(.text+0x2411): undefined reference to qpOASES_getGlobalMessageHandler' /usr/bin/ld: main.c:(.text+0x243d): undefined reference to MessageHandling_throwError'
/usr/bin/ld: main.c:(.text+0x247d): undefined reference to qpOASES_getGlobalMessageHandler' /usr/bin/ld: main.c:(.text+0x24a9): undefined reference to MessageHandling_throwError'
/usr/bin/ld: /tmp/ccq6aT7Z.o: in function QProblem_setUBA': main.c:(.text+0x24f1): undefined reference to qpOASES_getGlobalMessageHandler'
/usr/bin/ld: main.c:(.text+0x251d): undefined reference to MessageHandling_throwError' /usr/bin/ld: /tmp/ccq6aT7Z.o: in function QProblem_setUBAn':
main.c:(.text+0x25ce): undefined reference to qpOASES_getGlobalMessageHandler' /usr/bin/ld: main.c:(.text+0x25fa): undefined reference to MessageHandling_throwError'
/usr/bin/ld: main.c:(.text+0x263a): undefined reference to qpOASES_getGlobalMessageHandler' /usr/bin/ld: main.c:(.text+0x2666): undefined reference to MessageHandling_throwError'
collect2: error: ld returned 1 exit status

this is the output.

Probably a bone head problem, but any help is appreciated!

Thanks,
Jon

Hello, I'm a master student and I'm trying to do linear algebra on STM32 with very limited RAM resources.

After walking around Github, I was brought here. It's really interesting to use Matlab style code on embedded devices, and it's also friendly for Matlab users. Thanks a lot for your work.

But I found some issues working with the example Solve A=QR. There is a discrepancy between results from Octave/Matlab and Embedded Lapack.

Here's my main.c file:

#include <time.h>
#include "LinearAlgebra/declareFunctions.h"

int main() {

	clock_t start, end;
	float cpu_time_used;
	start = clock();

	 // A matrix with size 6 x 4
	double A[6*4] = {0.674878,   0.151285,   0.875139,   0.150518,
					 0.828102,   0.150747,   0.934674,   0.474325,
					 0.476510,   0.914686,   0.740681,   0.060455,
					 0.792594,   0.471488,   0.529343,   0.743405,
					 0.084739,   0.475160,   0.419307,   0.628999,
					 0.674878,   0.151285,   0.875139,   0.150518};

	double Q[6*6];
	double R[6*4];

	// Solve
	qr(A, Q, R, 6, 4);

	// Print
	print(A, 6,4);
	print(Q, 6,6);
	print(R, 6,4);

	end = clock();
	cpu_time_used = ((float) (end - start)) / CLOCKS_PER_SEC;
	printf("\nTotal speed  was %f,", cpu_time_used);
	return 0;
}

After compiling with Eclipse on Ubuntu 18, it prints out:

0.674877999999999978 0.151285000000000003 0.875139000000000000 0.150518000000000013 
0.828102000000000005 0.150746999999999992 0.934674000000000005 0.474324999999999997 
0.476509999999999989 0.914685999999999999 0.740681000000000034 0.060455000000000002 
0.792594000000000021 0.471488000000000018 0.529343000000000008 0.743404999999999982 
0.084738999999999995 0.475160000000000027 0.419306999999999985 0.628998999999999975 
0.674877999999999978 0.151285000000000003 0.875139000000000000 0.150518000000000013 

0.430363367488631909 -0.194014593066344582 0.323945401703134239 -0.148698048729633159 0.773585469161194750 -0.227287259922755835 
0.528072874421852689 -0.277360065364141040 0.137757391146332453 0.191610586778221681 -0.164011596168225859 0.749412379122773364 
0.303865955390467624 0.773024563663661679 0.049330325017480775 -0.520576407464857893 -0.040937527689586389 0.187054395774491289 
0.505429756031882560 0.103108123446773947 -0.770067557220855514 0.285532138610407826 0.052095825655674069 -0.238039611582949229 
0.054037265102165402 0.489479119419501785 0.419170765875818196 0.752685037352313957 0.026402643324590441 -0.120640663290151051 
0.430363367488631965 -0.194014593066344609 0.323945401703134572 -0.148698048729633325 -0.607929899269971208 -0.529636870123429748 

1.568158563165408914 0.751742792671696747 1.762103166518584008 0.808131642683462381 
0.000000000000000000 0.887755694132771223 0.233565475697944780 0.241301981100816465 
0.000000000000000000 0.000000000000000000 0.500422161463870863 -0.142970812509125689 
0.000000000000000000 0.000000000000000000 0.000000000000000000 0.700354934376156257 
0.000000000000000000 0.000000000000000000 0.000000000000000000 0.000000000000000000 
0.000000000000000000 0.000000000000000000 0.000000000000000000 0.000000000000000000 

While using octave, the QR decomposition for A is:

octave:1> A = [0.674878,   0.151285,   0.875139,   0.150518;
>      0.828102,   0.150747,   0.934674,   0.474325;
>      0.476510,   0.914686,   0.740681,   0.060455;
>      0.792594,   0.471488,   0.529343,   0.743405;
>      0.084739,   0.475160,   0.419307,   0.628999;
>      0.674878,   0.151285,   0.875139,   0.150518]
A =

   0.674878   0.151285   0.875139   0.150518
   0.828102   0.150747   0.934674   0.474325
   0.476510   0.914686   0.740681   0.060455
   0.792594   0.471488   0.529343   0.743405
   0.084739   0.475160   0.419307   0.628999
   0.674878   0.151285   0.875139   0.150518

octave:2> [Q, R] = qr(A)
Q =

  -0.430363  -0.194015   0.323945   0.148698  -0.562826  -0.577340
  -0.528073  -0.277360   0.137757  -0.191611   0.739060  -0.205691
  -0.303866   0.773025   0.049330   0.520576   0.184470  -0.051341
  -0.505430   0.103108  -0.770068  -0.285532  -0.234751   0.065335
  -0.054037   0.489479   0.419171  -0.752685  -0.118974   0.033112
  -0.430363  -0.194015   0.323945   0.148698  -0.183642   0.785092

R =

  -1.56816  -0.75174  -1.76210  -0.80813
   0.00000   0.88776   0.23357   0.24130
   0.00000   0.00000   0.50042  -0.14297
   0.00000   0.00000   0.00000  -0.70035
   0.00000   0.00000   0.00000   0.00000
   0.00000   0.00000   0.00000   0.00000

The differences stay with negative signs.

To tell which one is the correct answer, I tried Q*Q' in octave and it gave me an identity matrix, thus I though octave gave me the correct answer.

octave:3> Q*Q'
ans =

   1.0000e+00  -1.8986e-16  -2.2909e-16  -2.0480e-16   4.6334e-16   2.1534e-16
  -1.8986e-16   1.0000e+00   1.9844e-16   2.0262e-16  -1.0305e-16  -2.0158e-16
  -2.2909e-16   1.9844e-16   1.0000e+00   2.3685e-16   1.4035e-16  -7.8100e-17
  -2.0480e-16   2.0262e-16   2.3685e-16   1.0000e+00  -5.4078e-16  -1.7920e-16
   4.6334e-16  -1.0305e-16   1.4035e-16  -5.4078e-16   1.0000e+00   1.9398e-16
   2.1534e-16  -2.0158e-16  -7.8100e-17  -1.7920e-16   1.9398e-16   1.0000e+00

octave:4> Q*R-A
ans =

   1.1102e-16   2.2204e-16   1.1102e-16   1.6653e-16
  -1.1102e-16   1.1102e-16  -1.1102e-16  -1.1102e-16
   5.5511e-17   0.0000e+00   0.0000e+00   7.6328e-17
  -1.1102e-16   5.5511e-17  -1.1102e-16  -1.1102e-16
   0.0000e+00   0.0000e+00   1.1102e-16   0.0000e+00
   0.0000e+00   8.3267e-17   0.0000e+00  -5.5511e-17

octave:5> 

I think this should be an issue and I'm trying to find solutions.

Once again, thanks for your project that introduces Matlab to STM32.

Hello I followed the instructions rules of your setup, in the stmcube IDE and I receive the following error messenge:

Description Resource Path Location Type make: *** No rule to make target 'C:/Users/xxxxx/EmbeddedLapack-master/EmbeddedLapack/src/LinearAlgebra/add.c', needed by 'Core/Src/LinearAlgebra/add.o'. Stop. final C/C++ Problem