libs: Add support for latest LLVM LIBCXX and LIBCXXABI version 21.1.8

CMakeLists.txt

@@ -522,6 +522,14 @@ add_definitions(-D__NuttX__)
 
 add_compile_options($<$<COMPILE_LANGUAGE:ASM>:-D__ASSEMBLY__>)
 
+if(CONFIG_LIBCXX)
+  if(CONFIG_ARCH_ARM)
+    add_compile_options($<$<COMPILE_LANGUAGE:CXX>:-mlong-calls>)
+  elseif(CONFIG_ARCH_RISCV)
+    add_compile_options($<$<COMPILE_LANGUAGE:CXX>:-mcmodel=medany>)
+  endif()
+endif()
+
 # Setup main nuttx target ####################################################
 
 add_executable(nuttx)

arch/arm/src/cmake/gcc.cmake

@@ -274,6 +274,11 @@ if(NOT CONFIG_CXX_RTTI)
   add_compile_options($<$<COMPILE_LANGUAGE:CXX>:-fno-rtti>)
 endif()
 
+# Add -mlong-calls for C++ when using libcxx to fix relocation issues
+if(CONFIG_LIBCXX)
+  add_compile_options($<$<COMPILE_LANGUAGE:CXX>:-mlong-calls>)
+endif()
+
 set(CMAKE_EXE_LINKER_FLAGS_INIT "--specs=nosys.specs")
 
 set(PREPROCESS ${CMAKE_C_COMPILER} ${CMAKE_C_FLAG_ARGS} -E -P -x c)

arch/arm/src/common/Toolchain.defs

@@ -405,6 +405,12 @@ endif
 ifneq ($(CONFIG_CXX_RTTI),y)
   ARCHCXXFLAGS += -fno-rtti
 endif
+
+# Add -mlong-calls for C++ when using libcxx to fix relocation issues
+ifeq ($(CONFIG_LIBCXX),y)
+  ARCHCXXFLAGS += -mlong-calls
+endif
+
 ifeq ($(CONFIG_ARM_TOOLCHAIN_GHS),y)
 ARCHOPTIMIZATION += --no_commons
 else

boards/arm/stm32/stm32f4discovery/configs/testlibcxx/defconfig

@@ -23,6 +23,7 @@ CONFIG_HAVE_CXX=y
 CONFIG_INIT_ENTRYPOINT="nsh_main"
 CONFIG_INTELHEX_BINARY=y
 CONFIG_LIBCXX=y
+CONFIG_LIBCXXABI=y
 CONFIG_LIBC_FLOATINGPOINT=y
 CONFIG_LIBC_LOCALE=y
 CONFIG_LIBC_LOCALTIME=y
@@ -49,3 +50,6 @@ CONFIG_TLS_TASK_NELEM=8
 CONFIG_USART2_RXBUFSIZE=128
 CONFIG_USART2_SERIAL_CONSOLE=y
 CONFIG_USART2_TXBUFSIZE=128
+CONFIG_CXX_EXCEPTION=y
+CONFIG_CXX_RTTI=y
+CONFIG_TESTING_CXXTEST=y

boards/risc-v/esp32c3/common/scripts/esp32c3_sections.ld

@@ -401,7 +401,7 @@ SECTIONS
     *(.fini)
     *(.gnu.version)
 
-    . += 16;
+    . = ALIGN(4);
 
     _text_end = ABSOLUTE(.);
     _instruction_reserved_end = ABSOLUTE(.);  /* This is a symbol marking the flash.text end, this can be used for mmu driver to maintain virtual address */

boards/risc-v/esp32c3/esp32c3-devkit/configs/testlibcxx/defconfig

@@ -0,0 +1,59 @@
+#
+# This file is autogenerated: PLEASE DO NOT EDIT IT.
+#
+# You can use "make menuconfig" to make any modifications to the installed .config file.
+# You can then do "make savedefconfig" to generate a new defconfig file that includes your
+# modifications.
+#
+# CONFIG_NSH_ARGCAT is not set
+# CONFIG_NSH_CMDOPT_HEXDUMP is not set
+CONFIG_ARCH="risc-v"
+CONFIG_ARCH_BOARD="esp32c3-devkit"
+CONFIG_ARCH_BOARD_COMMON=y
+CONFIG_ARCH_BOARD_ESP32C3_DEVKIT=y
+CONFIG_ARCH_CHIP="esp32c3"
+CONFIG_ARCH_CHIP_ESP32C3=y
+CONFIG_ARCH_INTERRUPTSTACK=1536
+CONFIG_ARCH_RISCV=y
+CONFIG_ARCH_STACKDUMP=y
+CONFIG_BOARDCTL_RESET=y
+CONFIG_BOARD_LOOPSPERMSEC=15000
+CONFIG_BUILTIN=y
+CONFIG_FS_PROCFS=y
+CONFIG_IDLETHREAD_STACKSIZE=2048
+CONFIG_INIT_ENTRYPOINT="nsh_main"
+CONFIG_INTELHEX_BINARY=y
+CONFIG_LIBC_PERROR_STDOUT=y
+CONFIG_LIBC_STRERROR=y
+CONFIG_NFILE_DESCRIPTORS_PER_BLOCK=6
+CONFIG_NSH_ARCHINIT=y
+CONFIG_NSH_BUILTIN_APPS=y
+CONFIG_NSH_FILEIOSIZE=512
+CONFIG_NSH_READLINE=y
+CONFIG_NSH_STRERROR=y
+CONFIG_PREALLOC_TIMERS=0
+CONFIG_RR_INTERVAL=200
+CONFIG_SCHED_BACKTRACE=y
+CONFIG_SCHED_WAITPID=y
+CONFIG_START_DAY=29
+CONFIG_START_MONTH=11
+CONFIG_START_YEAR=2019
+CONFIG_SYSTEM_DUMPSTACK=y
+CONFIG_SYSTEM_NSH=y
+CONFIG_TESTING_GETPRIME=y
+CONFIG_TESTING_OSTEST=y
+CONFIG_UART0_SERIAL_CONSOLE=y
+CONFIG_BUILTIN=y
+CONFIG_CXX_LOCALIZATION=y
+CONFIG_CXX_WCHAR=y
+CONFIG_EXAMPLES_HELLOXX=y
+CONFIG_HAVE_CXX=y
+CONFIG_LIBCXX=y
+CONFIG_LIBCXXABI=y
+CONFIG_CXX_EXCEPTION=y
+CONFIG_CXX_RTTI=y
+CONFIG_TESTING_CXXTEST=y
+CONFIG_LIBC_LOCALE=y
+CONFIG_TLS_NELEM=16
+CONFIG_TLS_TASK_NELEM=8
+CONFIG_DEFAULT_THREAD_STACKSIZE=4096

boards/xtensa/esp32/common/scripts/esp32_sections.ld

@@ -619,7 +619,6 @@ SECTIONS
     __init_array_start = ABSOLUTE(.);
     KEEP (*(EXCLUDE_FILE (*crtend.* *crtbegin.*) .ctors SORT(.ctors.*)))
     __init_array_end = ABSOLUTE(.);
-    _einit = ABSOLUTE(.);
 
     /* Addresses of memory regions reserved via SOC_RESERVE_MEMORY_REGION() */
 
@@ -635,6 +634,8 @@ SECTIONS
     KEEP (*(SORT_BY_INIT_PRIORITY(.esp_system_init_fn.*)))
     _esp_system_init_fn_array_end = ABSOLUTE(.);
 
+    _einit = ABSOLUTE(.);
+
     /* TLS data. */
 
     . = ALIGN(4);

boards/xtensa/esp32s2/common/scripts/esp32s2_sections.ld

@@ -529,7 +529,6 @@ SECTIONS
     __init_array_start = ABSOLUTE(.);
     KEEP (*(EXCLUDE_FILE (*crtend.* *crtbegin.*) .ctors SORT(.ctors.*)))
     __init_array_end = ABSOLUTE(.);
-    _einit = ABSOLUTE(.);
 
     /* Addresses of memory regions reserved via SOC_RESERVE_MEMORY_REGION() */
 
@@ -545,6 +544,8 @@ SECTIONS
     KEEP (*(SORT_BY_INIT_PRIORITY(.esp_system_init_fn.*)))
     _esp_system_init_fn_array_end = ABSOLUTE(.);
 
+    _einit = ABSOLUTE(.);
+
     /* TLS data. */
 
     . = ALIGN(4);

boards/xtensa/esp32s3/common/scripts/esp32s3_sections.ld

@@ -693,7 +693,6 @@ SECTIONS
     __init_array_start = ABSOLUTE(.);
     KEEP (*(EXCLUDE_FILE (*crtend.* *crtbegin.*) .ctors SORT(.ctors.*)))
     __init_array_end = ABSOLUTE(.);
-    _einit = ABSOLUTE(.);
 
     /* Addresses of memory regions reserved via SOC_RESERVE_MEMORY_REGION() */
 
@@ -709,6 +708,8 @@ SECTIONS
     KEEP (*(SORT_BY_INIT_PRIORITY(.esp_system_init_fn.*)))
     _esp_system_init_fn_array_end = ABSOLUTE(.);
 
+    _einit = ABSOLUTE(.);
+
     /* TLS data. */
 
     . = ALIGN(4);

libs/libc/misc/lib_cxx_initialize.c

@@ -24,8 +24,8 @@
  * Included Files
  ****************************************************************************/
 
-#include <nuttx/config.h>
 #include <nuttx/arch.h>
+#include <nuttx/config.h>
 
 #include <assert.h>
 #include <debug.h>
@@ -42,6 +42,35 @@
 extern void macho_call_saved_init_funcs(void);
 #endif
 
+/* ESP32 platforms have linker scripts that place non-constructor data
+ * (soc_reserved_memory_region, esp_system_init_fn_array) between _sinit
+ * and _einit. This requires explicit handling to avoid calling invalid
+ * function pointers.
+ *
+ * ESP32 RISC-V chips: Have __init_priority_array and __init_array
+ * ESP32 Xtensa chips: Have only __init_array (using .ctors)
+ */
+
+#if defined(CONFIG_ARCH_CHIP_ESP32) || defined(CONFIG_ARCH_CHIP_ESP32S2) ||    \
+    defined(CONFIG_ARCH_CHIP_ESP32S3)
+
+/* Xtensa ESP32 chips: Only __init_array exists */
+
+extern initializer_t __init_array_start[];
+extern initializer_t __init_array_end[];
+#define USE_ESP32_XTENSA_INIT_ARRAYS 1
+#elif defined(CONFIG_ARCH_CHIP_ESP32C3) ||                                     \
+    defined(CONFIG_ARCH_CHIP_ESP32C6) || defined(CONFIG_ARCH_CHIP_ESP32H2)
+
+/* RISC-V ESP32 chips: Both __init_priority_array and __init_array exist */
+
+extern initializer_t __init_priority_array_start[];
+extern initializer_t __init_priority_array_end[];
+extern initializer_t __init_array_start[];
+extern initializer_t __init_array_end[];
+#define USE_ESP32_RISCV_INIT_ARRAYS 1
+#endif
+
 /****************************************************************************
  * Public Functions
  ****************************************************************************/
@@ -71,6 +100,65 @@ void lib_cxx_initialize(void)
     {
 #if defined(CONFIG_ARCH_SIM) && defined(CONFIG_HOST_MACOS)
       macho_call_saved_init_funcs();
+#elif defined(USE_ESP32_XTENSA_INIT_ARRAYS)
+      initializer_t *initp;
+
+      /* ESP32 Xtensa platforms: Only iterate __init_array, skipping
+       * non-constructor data after it.
+       */
+
+      sinfo("__init_array: %p to %p\n", __init_array_start,
+            __init_array_end);
+
+      for (initp = __init_array_start; initp < __init_array_end; initp++)
+        {
+          initializer_t initializer = *initp;
+          sinfo("initp: %p initializer: %p\n", initp, initializer);
+
+          if (initializer)
+            {
+              sinfo("Calling %p\n", initializer);
+              initializer();
+            }
+        }
+#elif defined(USE_ESP32_RISCV_INIT_ARRAYS)
+      initializer_t *initp;
+
+      /* ESP32 RISC-V platforms: Iterate through priority array first,
+       * then regular array, skipping the non-constructor data sections
+       * in between.
+       */
+
+      sinfo("__init_priority_array: %p to %p\n",
+            __init_priority_array_start, __init_priority_array_end);
+
+      for (initp = __init_priority_array_start;
+           initp < __init_priority_array_end; initp++)
+        {
+          initializer_t initializer = *initp;
+          sinfo("priority initp: %p initializer: %p\n", initp, initializer);
+
+          if (initializer)
+            {
+              sinfo("Calling %p\n", initializer);
+              initializer();
+            }
+        }
+
+      sinfo("__init_array: %p to %p\n", __init_array_start,
+            __init_array_end);
+
+      for (initp = __init_array_start; initp < __init_array_end; initp++)
+        {
+          initializer_t initializer = *initp;
+          sinfo("initp: %p initializer: %p\n", initp, initializer);
+
+          if (initializer)
+            {
+              sinfo("Calling %p\n", initializer);
+              initializer();
+            }
+        }
 #else
       initializer_t *initp;
 
@@ -83,8 +171,8 @@ void lib_cxx_initialize(void)
           initializer_t initializer = *initp;
           sinfo("initp: %p initializer: %p\n", initp, initializer);
 
-          /* Make sure that the address is non-NULL. Some toolchains may put
-           * NULL values or counts in the initialization table.
+          /* Make sure that the address is non-NULL. Some toolchains
+           * may put NULL values or counts in the initialization table.
            */
 
           if (initializer)

libs/libxx/Kconfig

@@ -100,15 +100,15 @@ config LIBCXXABI_VERSION
 	string "Select libcxxabi version"
 	depends on LIBCXXABI
 	default LIBCXX_VERSION if LIBCXX
-	default "17.0.6" if !LIBCXX
+	default "21.1.8" if !LIBCXX
 
 config CXX_STANDARD
 	string "Language standard"
-	default "gnu++20" if LIBCXX
+	default "gnu++23" if LIBCXX
 	default "gnu++17" if !LIBCXX
 	---help---
 		Possible values:
-		gnu++98/c++98, gnu++11/c++11, gnu++14/c++14, gnu++17/c++17 and gnu++20/c++20
+		gnu++98/c++98, gnu++11/c++11, gnu++14/c++14, gnu++17/c++17, gnu++20/c++20 and gnu++23/c++23
 
 config CXX_EXCEPTION
 	bool "Enable Exception Support"
@@ -134,6 +134,6 @@ endif
 config LIBCXX_VERSION
 	string "Select libcxx version"
 	depends on LIBCXX
-	default "17.0.6"
+	default "21.1.8"
 
 endif