Move to GCC14

.github/workflows/checks.yml

@@ -14,14 +14,17 @@ jobs:
     runs-on: ubuntu-latest
 
     container:
-      image: px4io/px4-dev-nuttx-focal:2021-09-08
+      image: igormisic/improject:v1.0.2
       options: --privileged --ulimit core=-1 --security-opt seccomp=unconfined
 
     steps:
-    - uses: actions/checkout@v2
+    - uses: actions/checkout@v4
       with:
         token: ${{ secrets.GITHUB_TOKEN }}
-
+
+    - name: Mark repository as safe
+      run: git config --global --add safe.directory $GITHUB_WORKSPACE
+
     - name: Check format
       run: make check_format
 

.github/workflows/compile.yml

@@ -36,7 +36,7 @@ jobs:
           ]
 
     container:       
-      image: px4io/px4-dev-nuttx-focal:2021-09-08
+      image: igormisic/improject:v1.0.2
       options: --privileged --ulimit core=-1 --security-opt seccomp=unconfined
     steps:
     - uses: actions/checkout@v2

Bootloader/STM32/Src/syscalls.c

@@ -0,0 +1,172 @@
+/**
+ ******************************************************************************
+ * @file      syscalls.c
+ * @author    Auto-generated by STM32CubeMX
+ * @brief     Minimal System calls file
+ *
+ *            For more information about which c-functions
+ *            need which of these lowlevel functions
+ *            please consult the Newlib libc-manual
+ ******************************************************************************
+ * @attention
+ *
+ * Copyright (c) 2020-2024 STMicroelectronics.
+ * All rights reserved.
+ *
+ * This software is licensed under terms that can be found in the LICENSE file
+ * in the root directory of this software component.
+ * If no LICENSE file comes with this software, it is provided AS-IS.
+ *
+ ******************************************************************************
+ */
+
+/* Includes */
+#include <sys/stat.h>
+#include <stdlib.h>
+#include <errno.h>
+#include <stdio.h>
+#include <signal.h>
+#include <time.h>
+#include <sys/time.h>
+#include <sys/times.h>
+
+
+/* Variables */
+extern int __io_putchar(int ch) __attribute__((weak));
+extern int __io_getchar(void) __attribute__((weak));
+
+
+char* __env[1] = { 0 };
+char** environ = __env;
+
+
+/* Functions */
+void
+initialise_monitor_handles() {
+}
+
+int
+_getpid(void) {
+    return 1;
+}
+
+int
+_kill(int pid, int sig) {
+    (void)pid;
+    (void)sig;
+    errno = EINVAL;
+    return -1;
+}
+
+void
+_exit (int status) {
+    _kill(status, -1);
+    while (1) {}    /* Make sure we hang here */
+}
+
+__attribute__((weak)) int _read(int file, char* ptr, int len) {
+    (void)file;
+    int DataIdx;
+
+    for (DataIdx = 0; DataIdx < len; DataIdx++) {
+        *ptr++ = __io_getchar();
+    }
+
+    return len;
+}
+
+__attribute__((weak)) int _write(int file, char* ptr, int len) {
+    (void)file;
+    int DataIdx;
+
+    for (DataIdx = 0; DataIdx < len; DataIdx++) {
+        __io_putchar(*ptr++);
+    }
+    return len;
+}
+
+int
+_close(int file) {
+    (void)file;
+    return -1;
+}
+
+
+int
+_fstat(int file, struct stat* st) {
+    (void)file;
+    st->st_mode = S_IFCHR;
+    return 0;
+}
+
+int
+_isatty(int file) {
+    (void)file;
+    return 1;
+}
+
+int
+_lseek(int file, int ptr, int dir) {
+    (void)file;
+    (void)ptr;
+    (void)dir;
+    return 0;
+}
+
+int
+_open(char* path, int flags, ...) {
+    (void)path;
+    (void)flags;
+    /* Pretend like we always fail */
+    return -1;
+}
+
+int
+_wait(int* status) {
+    (void)status;
+    errno = ECHILD;
+    return -1;
+}
+
+int
+_unlink(char* name) {
+    (void)name;
+    errno = ENOENT;
+    return -1;
+}
+
+int
+_times(struct tms* buf) {
+    (void)buf;
+    return -1;
+}
+
+int
+_stat(char* file, struct stat* st) {
+    (void)file;
+    st->st_mode = S_IFCHR;
+    return 0;
+}
+
+int
+_link(char* old, char* new) {
+    (void)old;
+    (void)new;
+    errno = EMLINK;
+    return -1;
+}
+
+int
+_fork(void) {
+    errno = EAGAIN;
+    return -1;
+}
+
+int
+_execve(char* name, char** argv, char** env) {
+    (void)name;
+    (void)argv;
+    (void)env;
+    errno = ENOMEM;
+    return -1;
+}

Bootloader/STM32/Src/sysmem.c

@@ -0,0 +1,77 @@
+/**
+ ******************************************************************************
+ * @file      sysmem.c
+ * @author    Generated by STM32CubeMX
+ * @brief     System Memory calls file
+ *
+ *            For more information about which C functions
+ *            need which of these lowlevel functions
+ *            please consult the newlib libc manual
+ ******************************************************************************
+ * @attention
+ *
+ * Copyright (c) 2024 STMicroelectronics.
+ * All rights reserved.
+ *
+ * This software is licensed under terms that can be found in the LICENSE file
+ * in the root directory of this software component.
+ * If no LICENSE file comes with this software, it is provided AS-IS.
+ *
+ ******************************************************************************
+ */
+
+/* Includes */
+#include <errno.h>
+#include <stdint.h>
+
+/**
+ * Pointer to the current high watermark of the heap usage
+ */
+static uint8_t* __sbrk_heap_end = NULL;
+
+/**
+ * @brief _sbrk() allocates memory to the newlib heap and is used by malloc
+ *        and others from the C library
+ *
+ * @verbatim
+ * ############################################################################
+ * #  .data  #  .bss  #       newlib heap       #          MSP stack          #
+ * #         #        #                         # Reserved by _Min_Stack_Size #
+ * ############################################################################
+ * ^-- RAM start      ^-- _end                             _estack, RAM end --^
+ * @endverbatim
+ *
+ * This implementation starts allocating at the '_end' linker symbol
+ * The '_Min_Stack_Size' linker symbol reserves a memory for the MSP stack
+ * The implementation considers '_estack' linker symbol to be RAM end
+ * NOTE: If the MSP stack, at any point during execution, grows larger than the
+ * reserved size, please increase the '_Min_Stack_Size'.
+ *
+ * @param incr Memory size
+ * @return Pointer to allocated memory
+ */
+void*
+_sbrk(ptrdiff_t incr) {
+    extern uint8_t _end; /* Symbol defined in the linker script */
+    extern uint8_t _estack; /* Symbol defined in the linker script */
+    extern uint32_t _Min_Stack_Size; /* Symbol defined in the linker script */
+    const uint32_t stack_limit = (uint32_t)&_estack - (uint32_t)&_Min_Stack_Size;
+    const uint8_t* max_heap = (uint8_t*)stack_limit;
+    uint8_t* prev_heap_end;
+
+    /* Initialize heap end at first call */
+    if (NULL == __sbrk_heap_end) {
+        __sbrk_heap_end = &_end;
+    }
+
+    /* Protect heap from growing into the reserved MSP stack */
+    if (__sbrk_heap_end + incr > max_heap) {
+        errno = ENOMEM;
+        return (void*) -1;
+    }
+
+    prev_heap_end = __sbrk_heap_end;
+    __sbrk_heap_end += incr;
+
+    return (void*)prev_heap_end;
+}

Linker/STM32F7xx.ld

@@ -79,21 +79,23 @@ SECTIONS
     . = ALIGN(4);
   } >FLASH
 
-  .ARM.extab   : {
+  .ARM.extab (READONLY) : /* The READONLY keyword is only supported in GCC11 and later, remove it if using GCC10 or earlier. */
+  {
     . = ALIGN(4);
     *(.ARM.extab* .gnu.linkonce.armextab.*)
     . = ALIGN(4);
   } >FLASH
 
-  .ARM : {
+  .ARM (READONLY) : /* The READONLY keyword is only supported in GCC11 and later, remove it if using GCC10 or earlier. */
+  {
     . = ALIGN(4);
     __exidx_start = .;
     *(.ARM.exidx*)
     __exidx_end = .;
     . = ALIGN(4);
   } >FLASH
 
-  .preinit_array     :
+  .preinit_array (READONLY) : /* The READONLY keyword is only supported in GCC11 and later, remove it if using GCC10 or earlier. */
   {
     . = ALIGN(4);
     PROVIDE_HIDDEN (__preinit_array_start = .);
@@ -102,7 +104,7 @@ SECTIONS
     . = ALIGN(4);
   } >FLASH
 
-  .init_array :
+  .init_array (READONLY) : /* The READONLY keyword is only supported in GCC11 and later, remove it if using GCC10 or earlier. */
   {
     . = ALIGN(4);
     PROVIDE_HIDDEN (__init_array_start = .);
@@ -112,7 +114,7 @@ SECTIONS
     . = ALIGN(4);
   } >FLASH
 
-  .fini_array :
+  .fini_array (READONLY) : /* The READONLY keyword is only supported in GCC11 and later, remove it if using GCC10 or earlier. */
   {
     . = ALIGN(4);
     PROVIDE_HIDDEN (__fini_array_start = .);

Linker/STM32F7xx_RAM.ld

@@ -81,21 +81,23 @@ SECTIONS
     . = ALIGN(4);
   } >RAM2
 
-  .ARM.extab   : {
+  .ARM.extab (READONLY) : /* The READONLY keyword is only supported in GCC11 and later, remove it if using GCC10 or earlier. */
+  {
     . = ALIGN(4);
     *(.ARM.extab* .gnu.linkonce.armextab.*)
     . = ALIGN(4);
   } >RAM2
 
-  .ARM : {
+  .ARM (READONLY) : /* The READONLY keyword is only supported in GCC11 and later, remove it if using GCC10 or earlier. */
+  {
     . = ALIGN(4);
     __exidx_start = .;
     *(.ARM.exidx*)
     __exidx_end = .;
     . = ALIGN(4);
   } >RAM2
 
-  .preinit_array     :
+  .preinit_array (READONLY) : /* The READONLY keyword is only supported in GCC11 and later, remove it if using GCC10 or earlier. */
   {
     . = ALIGN(4);
     PROVIDE_HIDDEN (__preinit_array_start = .);
@@ -104,7 +106,7 @@ SECTIONS
     . = ALIGN(4);
   } >RAM2
 
-  .init_array :
+  .init_array (READONLY) : /* The READONLY keyword is only supported in GCC11 and later, remove it if using GCC10 or earlier. */
   {
     . = ALIGN(4);
     PROVIDE_HIDDEN (__init_array_start = .);
@@ -114,7 +116,7 @@ SECTIONS
     . = ALIGN(4);
   } >RAM2
 
-  .fini_array :
+  .fini_array (READONLY) : /* The READONLY keyword is only supported in GCC11 and later, remove it if using GCC10 or earlier. */
   {
     . = ALIGN(4);
     PROVIDE_HIDDEN (__fini_array_start = .);