diff --git a/.gitmodules b/.gitmodules
index 6af50f5c731bd14511b4b786c7dd8cb746a16506..63cc18fe4c0e578ff4413a912c913ac56ccb96db 100644
--- a/.gitmodules
+++ b/.gitmodules
@@ -4,3 +4,6 @@
[submodule "external/chibios-contrib"]
path = external/chibios-contrib
url = https://github.com/ChibiOS/ChibiOS-Contrib
+[submodule "external/clapack"]
+ path = external/clapack
+ url = https://github.com/mniestroj/clapack
diff --git a/DEPENDENCIES.md b/DEPENDENCIES.md
index 94753e1fbe1129bf002dda55a3a21f5136ddc8a9..929b8e261b5051b2d784bf735a6062f52aeb403a 100644
--- a/DEPENDENCIES.md
+++ b/DEPENDENCIES.md
@@ -7,14 +7,18 @@ This file lists the third-party dependencies for this project and their individu
The following dependencies are used:
-| Project | License | URL |
-|------------------|--------------------------------|--------------------------------------------|
-| ChibiOS/HAL | APLv2.0 | http://www.chibios.org |
-| ChibiOS/RT | GPLv3 | http://www.chibios.org |
-| ChibiOS-Contrib* | APLv2.0 (components used here) | https://github.com/ChibiOS/ChibiOS-Contrib |
-| newlib | Various FOSS licenses | https://sourceware.org/newlib |
+| Project | License | URL |
+|-------------------------------------|--------------------------------|--------------------------------------------|
+| ChibiOS/HAL | APLv2.0 | http://www.chibios.org |
+| ChibiOS/RT | GPLv3 | http://www.chibios.org |
+| ChibiOS-Contrib* | APLv2.0 (components used here) | https://github.com/ChibiOS/ChibiOS-Contrib |
+| clapack modified for ARM Cortex-M** | BSD | https://github.com/mniestroj/clapack |
+| newlib | Various FOSS licenses | https://sourceware.org/newlib |
* Components used: STM32F411_DISCOVERY board description files and black magic probe make targets
+** The following patches are applied by this package:
+ - external/patches/clapack/disable_xerbla.patch: Calls to xerbla_ and xerblar_array_ return immediately with value 0.
+ - external/patches/clapack/spotrf_always_unblocked.patch: Skip querying block size using ilaenv_ and always use unblocked routine.
## Individual License Texts
@@ -1115,6 +1119,46 @@ License file not included in git reposity and thus taken from https://www.apache
> limitations under the License.
+### clapack modified for ARM Cortex-M
+
+> Copyright (c) 1992-2008 The University of Tennessee. All rights reserved.
+>
+> $COPYRIGHT$
+>
+> Additional copyrights may follow
+>
+> $HEADER$
+>
+> Redistribution and use in source and binary forms, with or without
+> modification, are permitted provided that the following conditions are
+> met:
+>
+> - Redistributions of source code must retain the above copyright
+> notice, this list of conditions and the following disclaimer.
+>
+> - Redistributions in binary form must reproduce the above copyright
+> notice, this list of conditions and the following disclaimer listed
+> in this license in the documentation and/or other materials
+> provided with the distribution.
+>
+> - Neither the name of the copyright holders nor the names of its
+> contributors may be used to endorse or promote products derived from
+> this software without specific prior written permission.
+>
+> THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+> "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+> LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR
+> A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT
+> OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
+> SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
+> LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE,
+> DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY
+> THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+> (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+> OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+>
+
+
### newlib
> The newlib subdirectory is a collection of software from several sources.
diff --git a/Makefile b/Makefile
index 6396f45488811e0f4741d78a1c7132c9c83e860c..a864180ca43e5ad0d8c45979c34b8f8356bcfba3 100644
--- a/Makefile
+++ b/Makefile
@@ -164,7 +164,7 @@ UINCDIR = $(EXTDDIR)/include $(SRCDIR) $(BUILDDIR)/config
ULIBDIR = $(EXTDDIR)/lib
# List all user libraries here
-ULIBS =
+ULIBS = -llapack -lblas -lf2c -lm
#
# End of user section
@@ -207,10 +207,28 @@ $(BUILDDIR)/config/config.h: .FORCE
echo "" >> $(BUILDDIR)/config/config.h
echo "#endif // CONFIG_H" >> $(BUILDDIR)/config/config.h
-PRE_MAKE_ALL_RULE_HOOK: $(BUILDDIR)/config/config.h
+$(EXTDDIR)/clapack.done:
+ cd $(EXTDIR)/clapack; rm -fr build
+ cd $(EXTDIR)/clapack; git reset --hard HEAD
+ cd $(EXTDIR)/clapack; git apply ../patches/clapack/disable_xerbla.patch
+ cd $(EXTDIR)/clapack; git apply ../patches/clapack/spotrf_always_unblocked.patch
+ cd $(EXTDIR)/clapack; mkdir build
+ cd $(EXTDIR)/clapack/build; cmake .. -DCMAKE_TOOLCHAIN_FILE=../cm4.cmake -DCMAKE_BUILD_TYPE=Release
+ cd $(EXTDIR)/clapack/build; $(MAKE)
+ mkdir -p $(EXTDDIR)/lib
+ cp $(EXTDIR)/clapack/build/F2CLIBS/libf2c/libf2c.a $(EXTDDIR)/lib
+ cp $(EXTDIR)/clapack/build/BLAS/SRC/libblas.a $(EXTDDIR)/lib
+ cp $(EXTDIR)/clapack/build/SRC/liblapack.a $(EXTDDIR)/lib
+ cd $(EXTDIR)/clapack; rm -r build
+ cd $(EXTDIR)/clapack; git reset --hard HEAD
+ touch $(EXTDDIR)/clapack.done
+
+clapack: $(EXTDDIR)/clapack.done
+
+PRE_MAKE_ALL_RULE_HOOK: $(BUILDDIR)/config/config.h $(EXTDDIR)/clapack.done
.FORCE:
-.PHONY: doc dist-clean .FORCE
+.PHONY: clapack doc dist-clean .FORCE
#
# Custom rules
diff --git a/external/.gitignore b/external/.gitignore
new file mode 100644
index 0000000000000000000000000000000000000000..f44b5eeb76295f6e2656edaa2f2bb930c947446a
--- /dev/null
+++ b/external/.gitignore
@@ -0,0 +1 @@
+_dist
diff --git a/external/clapack b/external/clapack
new file mode 160000
index 0000000000000000000000000000000000000000..5cbab95a240fe77da65f58798d569853a67e7c5d
--- /dev/null
+++ b/external/clapack
@@ -0,0 +1 @@
+Subproject commit 5cbab95a240fe77da65f58798d569853a67e7c5d
diff --git a/external/patches/clapack/disable_xerbla.patch b/external/patches/clapack/disable_xerbla.patch
new file mode 100644
index 0000000000000000000000000000000000000000..f067ef767cd50e040099ef9f16f27948efdea174
--- /dev/null
+++ b/external/patches/clapack/disable_xerbla.patch
@@ -0,0 +1,298 @@
+diff --git a/BLAS/SRC/xerbla.c b/BLAS/SRC/xerbla.c
+index 2d7baf5..89e2c8f 100644
+--- a/BLAS/SRC/xerbla.c
++++ b/BLAS/SRC/xerbla.c
+@@ -19,58 +19,5 @@ static integer c__1 = 1;
+
+ /* Subroutine */ int xerbla_(char *srname, integer *info)
+ {
+- /* Format strings */
+- static char fmt_9999[] = "(\002 ** On entry to \002,a,\002 parameter num"
+- "ber \002,i2,\002 had \002,\002an illegal value\002)";
+-
+- /* Builtin functions */
+- integer s_wsfe(cilist *), i_len_trim(char *, ftnlen), do_fio(integer *,
+- char *, ftnlen), e_wsfe(void);
+- /* Subroutine */ int s_stop(char *, ftnlen);
+-
+- /* Fortran I/O blocks */
+- static cilist io___1 = { 0, 6, 0, fmt_9999, 0 };
+-
+-
+-
+-/* -- LAPACK auxiliary routine (preliminary version) -- */
+-/* Univ. of Tennessee, Univ. of California Berkeley and NAG Ltd.. */
+-/* November 2006 */
+-
+-/* .. Scalar Arguments .. */
+-/* .. */
+-
+-/* Purpose */
+-/* ======= */
+-
+-/* XERBLA is an error handler for the LAPACK routines. */
+-/* It is called by an LAPACK routine if an input parameter has an */
+-/* invalid value. A message is printed and execution stops. */
+-
+-/* Installers may consider modifying the STOP statement in order to */
+-/* call system-specific exception-handling facilities. */
+-
+-/* Arguments */
+-/* ========= */
+-
+-/* SRNAME (input) CHARACTER*(*) */
+-/* The name of the routine which called XERBLA. */
+-
+-/* INFO (input) INTEGER */
+-/* The position of the invalid parameter in the parameter list */
+-/* of the calling routine. */
+-
+-/* ===================================================================== */
+-
+-/* .. Intrinsic Functions .. */
+-/* .. */
+-/* .. Executable Statements .. */
+-
+- printf("** On entry to %6s, parameter number %2i had an illegal value\n",
+- srname, *info);
+-
+-
+-/* End of XERBLA */
+-
+ return 0;
+ } /* xerbla_ */
+diff --git a/BLAS/SRC/xerbla_array.c b/BLAS/SRC/xerbla_array.c
+index d4e4c24..0d8d6bb 100644
+--- a/BLAS/SRC/xerbla_array.c
++++ b/BLAS/SRC/xerbla_array.c
+@@ -16,87 +16,5 @@
+ /* Subroutine */ int xerbla_array__(char *srname_array__, integer *
+ srname_len__, integer *info, ftnlen srname_array_len)
+ {
+- /* System generated locals */
+- integer i__1, i__2, i__3;
+-
+- /* Builtin functions */
+- /* Subroutine */ int s_copy(char *, char *, ftnlen, ftnlen);
+- integer i_len(char *, ftnlen);
+-
+- /* Local variables */
+- integer i__;
+- extern /* Subroutine */ int xerbla_(char *, integer *);
+- char srname[32];
+-
+-
+-/* -- LAPACK auxiliary routine (version 3.0) -- */
+-/* Univ. of Tennessee, Univ. of California Berkeley, NAG Ltd., */
+-/* September 19, 2006 */
+-
+-/* .. Scalar Arguments .. */
+-/* .. */
+-/* .. Array Arguments .. */
+-/* .. */
+-
+-/* Purpose */
+-/* ======= */
+-
+-/* XERBLA_ARRAY assists other languages in calling XERBLA, the LAPACK */
+-/* and BLAS error handler. Rather than taking a Fortran string argument */
+-/* as the function's name, XERBLA_ARRAY takes an array of single */
+-/* characters along with the array's length. XERBLA_ARRAY then copies */
+-/* up to 32 characters of that array into a Fortran string and passes */
+-/* that to XERBLA. If called with a non-positive SRNAME_LEN, */
+-/* XERBLA_ARRAY will call XERBLA with a string of all blank characters. */
+-
+-/* Say some macro or other device makes XERBLA_ARRAY available to C99 */
+-/* by a name lapack_xerbla and with a common Fortran calling convention. */
+-/* Then a C99 program could invoke XERBLA via: */
+-/* { */
+-/* int flen = strlen(__func__); */
+-/* lapack_xerbla(__func__, &flen, &info); */
+-/* } */
+-
+-/* Providing XERBLA_ARRAY is not necessary for intercepting LAPACK */
+-/* errors. XERBLA_ARRAY calls XERBLA. */
+-
+-/* Arguments */
+-/* ========= */
+-
+-/* SRNAME_ARRAY (input) CHARACTER(1) array, dimension (SRNAME_LEN) */
+-/* The name of the routine which called XERBLA_ARRAY. */
+-
+-/* SRNAME_LEN (input) INTEGER */
+-/* The length of the name in SRNAME_ARRAY. */
+-
+-/* INFO (input) INTEGER */
+-/* The position of the invalid parameter in the parameter list */
+-/* of the calling routine. */
+-
+-/* ===================================================================== */
+-
+-/* .. */
+-/* .. Local Scalars .. */
+-/* .. */
+-/* .. Local Arrays .. */
+-/* .. */
+-/* .. Intrinsic Functions .. */
+-/* .. */
+-/* .. External Functions .. */
+-/* .. */
+-/* .. Executable Statements .. */
+- /* Parameter adjustments */
+- --srname_array__;
+-
+- /* Function Body */
+- s_copy(srname, "", (ftnlen)32, (ftnlen)0);
+-/* Computing MIN */
+- i__2 = *srname_len__, i__3 = i_len(srname, (ftnlen)32);
+- i__1 = min(i__2,i__3);
+- for (i__ = 1; i__ <= i__1; ++i__) {
+- *(unsigned char *)&srname[i__ - 1] = *(unsigned char *)&
+- srname_array__[i__];
+- }
+- xerbla_(srname, info);
+ return 0;
+ } /* xerbla_array__ */
+diff --git a/SRC/xerbla.c b/SRC/xerbla.c
+index fb4a9d8..265414b 100644
+--- a/SRC/xerbla.c
++++ b/SRC/xerbla.c
+@@ -20,46 +20,5 @@ static integer c__1 = 1;
+
+ /* Subroutine */ int xerbla_(char *srname, integer *info)
+ {
+-
+-
+-/* -- LAPACK auxiliary routine (version 3.2) -- */
+-/* Univ. of Tennessee, Univ. of California Berkeley and NAG Ltd.. */
+-/* November 2006 */
+-
+-/* .. Scalar Arguments .. */
+-/* .. */
+-
+-/* Purpose */
+-/* ======= */
+-
+-/* XERBLA is an error handler for the LAPACK routines. */
+-/* It is called by an LAPACK routine if an input parameter has an */
+-/* invalid value. A message is printed and execution stops. */
+-
+-/* Installers may consider modifying the STOP statement in order to */
+-/* call system-specific exception-handling facilities. */
+-
+-/* Arguments */
+-/* ========= */
+-
+-/* SRNAME (input) CHARACTER*(*) */
+-/* The name of the routine which called XERBLA. */
+-
+-/* INFO (input) INTEGER */
+-/* The position of the invalid parameter in the parameter list */
+-/* of the calling routine. */
+-
+-/* ===================================================================== */
+-
+-/* .. Intrinsic Functions .. */
+-/* .. */
+-/* .. Executable Statements .. */
+-
+- printf("** On entry to %6s, parameter number %2i had an illegal value\n",
+- srname, *info);
+-
+-
+-/* End of XERBLA */
+-
+ return 0;
+ } /* xerbla_ */
+diff --git a/SRC/xerbla_array.c b/SRC/xerbla_array.c
+index d4e4c24..0d8d6bb 100644
+--- a/SRC/xerbla_array.c
++++ b/SRC/xerbla_array.c
+@@ -16,87 +16,5 @@
+ /* Subroutine */ int xerbla_array__(char *srname_array__, integer *
+ srname_len__, integer *info, ftnlen srname_array_len)
+ {
+- /* System generated locals */
+- integer i__1, i__2, i__3;
+-
+- /* Builtin functions */
+- /* Subroutine */ int s_copy(char *, char *, ftnlen, ftnlen);
+- integer i_len(char *, ftnlen);
+-
+- /* Local variables */
+- integer i__;
+- extern /* Subroutine */ int xerbla_(char *, integer *);
+- char srname[32];
+-
+-
+-/* -- LAPACK auxiliary routine (version 3.0) -- */
+-/* Univ. of Tennessee, Univ. of California Berkeley, NAG Ltd., */
+-/* September 19, 2006 */
+-
+-/* .. Scalar Arguments .. */
+-/* .. */
+-/* .. Array Arguments .. */
+-/* .. */
+-
+-/* Purpose */
+-/* ======= */
+-
+-/* XERBLA_ARRAY assists other languages in calling XERBLA, the LAPACK */
+-/* and BLAS error handler. Rather than taking a Fortran string argument */
+-/* as the function's name, XERBLA_ARRAY takes an array of single */
+-/* characters along with the array's length. XERBLA_ARRAY then copies */
+-/* up to 32 characters of that array into a Fortran string and passes */
+-/* that to XERBLA. If called with a non-positive SRNAME_LEN, */
+-/* XERBLA_ARRAY will call XERBLA with a string of all blank characters. */
+-
+-/* Say some macro or other device makes XERBLA_ARRAY available to C99 */
+-/* by a name lapack_xerbla and with a common Fortran calling convention. */
+-/* Then a C99 program could invoke XERBLA via: */
+-/* { */
+-/* int flen = strlen(__func__); */
+-/* lapack_xerbla(__func__, &flen, &info); */
+-/* } */
+-
+-/* Providing XERBLA_ARRAY is not necessary for intercepting LAPACK */
+-/* errors. XERBLA_ARRAY calls XERBLA. */
+-
+-/* Arguments */
+-/* ========= */
+-
+-/* SRNAME_ARRAY (input) CHARACTER(1) array, dimension (SRNAME_LEN) */
+-/* The name of the routine which called XERBLA_ARRAY. */
+-
+-/* SRNAME_LEN (input) INTEGER */
+-/* The length of the name in SRNAME_ARRAY. */
+-
+-/* INFO (input) INTEGER */
+-/* The position of the invalid parameter in the parameter list */
+-/* of the calling routine. */
+-
+-/* ===================================================================== */
+-
+-/* .. */
+-/* .. Local Scalars .. */
+-/* .. */
+-/* .. Local Arrays .. */
+-/* .. */
+-/* .. Intrinsic Functions .. */
+-/* .. */
+-/* .. External Functions .. */
+-/* .. */
+-/* .. Executable Statements .. */
+- /* Parameter adjustments */
+- --srname_array__;
+-
+- /* Function Body */
+- s_copy(srname, "", (ftnlen)32, (ftnlen)0);
+-/* Computing MIN */
+- i__2 = *srname_len__, i__3 = i_len(srname, (ftnlen)32);
+- i__1 = min(i__2,i__3);
+- for (i__ = 1; i__ <= i__1; ++i__) {
+- *(unsigned char *)&srname[i__ - 1] = *(unsigned char *)&
+- srname_array__[i__];
+- }
+- xerbla_(srname, info);
+ return 0;
+ } /* xerbla_array__ */
diff --git a/external/patches/clapack/spotrf_always_unblocked.patch b/external/patches/clapack/spotrf_always_unblocked.patch
new file mode 100644
index 0000000000000000000000000000000000000000..4ec1563d31e4bfae289a23dda7b826969ba095f1
--- /dev/null
+++ b/external/patches/clapack/spotrf_always_unblocked.patch
@@ -0,0 +1,22 @@
+diff --git a/SRC/spotrf.c b/SRC/spotrf.c
+index ff33e9e..1d2db4c 100644
+--- a/SRC/spotrf.c
++++ b/SRC/spotrf.c
+@@ -39,8 +39,6 @@ static real c_b14 = 1.f;
+ *, integer *, real *, real *, integer *, real *, real *, integer *
+ ), spotf2_(char *, integer *, real *, integer *,
+ integer *), xerbla_(char *, integer *);
+- extern integer ilaenv_(integer *, char *, char *, integer *, integer *,
+- integer *, integer *);
+
+
+ /* -- LAPACK routine (version 3.2) -- */
+@@ -142,7 +140,7 @@ static real c_b14 = 1.f;
+
+ /* Determine the block size for this environment. */
+
+- nb = ilaenv_(&c__1, "SPOTRF", uplo, n, &c_n1, &c_n1, &c_n1);
++ nb = 1;
+ if (nb <= 1 || nb >= *n) {
+
+ /* Use unblocked code. */
diff --git a/src/lapack.h b/src/lapack.h
new file mode 100644
index 0000000000000000000000000000000000000000..0fc0b76c9716b8afd9a3dbc6a124140f5fd201a9
--- /dev/null
+++ b/src/lapack.h
@@ -0,0 +1,42 @@
+// This file is part of the execution-time evaluation for the qronos observer abstractions.
+// Copyright (C) 2022-2023 Tim Rheinfels <tim.rheinfels@fau.de>
+// See https://gitlab.cs.fau.de/qronos-state-abstractions/execution-time
+//
+// This program is free software: you can redistribute it and/or modify
+// it under the terms of the GNU General Public License as published by
+// the Free Software Foundation, either version 3 of the License, or
+// (at your option) any later version.
+//
+// This program is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU General Public License for more details.
+//
+// You should have received a copy of the GNU General Public License
+// along with this program. If not, see <https://www.gnu.org/licenses/>.
+
+///
+/// @file lapack.h
+///
+/// @brief Provides C wrapper for the LAPACK routines used
+///
+/// @author Tim Rheinfels <tim.rheinfels@fau.de>
+///
+
+#ifndef LAPACK_H
+#define LAPACK_H
+
+///
+/// @brief Wrapper for sposv
+///
+/// @see https://netlib.org/lapack/explore-html/de/d80/group__real_p_osolve_gad46400c796afc8031a8c3ec5481af8c3.html#gad46400c796afc8031a8c3ec5481af8c3
+///
+inline int sposv(char UPLO, int N, int NRHS, float *A, int LDA, float *B, int LDB)
+{
+ extern void sposv_(const char *UPLO, const int *N, const int *NRHS, float *A, const int *LDA, float *B, const int *LDB, int *INFO);
+ int INFO;
+ sposv_(&UPLO, &N, &NRHS, A, &LDA, B, &LDB, &INFO);
+ return INFO;
+}
+
+#endif // LAPACK_H