Vxworks 32bit system, PPC, Diab Compiler, Embedded application problems

FreyJo · June 7, 2023, 7:52am

Hi Yutao,

Can you try to add an align here?
i.e. before d_ocp_qp_ipm_ws, which has some doubles at the beginning.

acados/acados/blob/master/acados/ocp_qp/ocp_qp_hpipm.c#L204


      
          ocp_qp_dims *dims = dims_;
          ocp_qp_hpipm_opts *opts = opts_;
          ocp_qp_hpipm_memory *mem;
          
          
// char pointer
          char *c_ptr = (char *) raw_memory;
          
          
mem = (ocp_qp_hpipm_memory *) c_ptr;
          c_ptr += sizeof(ocp_qp_hpipm_memory);
          
          
mem->hpipm_workspace = (struct d_ocp_qp_ipm_ws *) c_ptr;
          c_ptr += sizeof(struct d_ocp_qp_ipm_ws);
          
          
struct d_ocp_qp_ipm_ws *ipm_workspace = mem->hpipm_workspace;
          
          
align_char_to(8, &c_ptr);
          assert((size_t) c_ptr % 8 == 0 && "memory not 8-byte aligned!");
          
          
// ipm workspace structure
          d_ocp_qp_ipm_ws_create(dims, opts->hpipm_opts, ipm_workspace, c_ptr);
          c_ptr += ipm_workspace->memsize;

Also, HPIPM has been successfully tested on a 32bit ARM, but it might be that there are issues left for PPC. It might be also related to the fact that PPC is big endian is big endian by default.

I hope this helps you to fix it and that you contribute the fix!

Best,
Jonathan