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Published 20 hours ago • verified publisher icon micro-ROS

STM32 micro ros help

Open rsc9421 opened this issue 3 years ago • 4 comments

I followed these instructions: https://github.com/micro-ROS/micro_ros_stm32cubemx_utils/tree/foxy#using-this-package-with-stm32cubeide

and i get this error when I build it

arm-none-eabi-gcc "../Core/Src/custom_memory_manager.c" -mcpu=cortex-m4 -std=gnu11 -g3 -DDEBUG -DUSE_HAL_DRIVER -DSTM32F303xE -c -I../Core/Inc -Imicro_ros_stm32cubemx_utils/microros_static_library_ide/libmicroros/include -I../Drivers/STM32F3xx_HAL_Driver/Inc -I../Drivers/STM32F3xx_HAL_Driver/Inc/Legacy -I../Drivers/CMSIS/Device/ST/STM32F3xx/Include -I../Drivers/CMSIS/Include -I../Middlewares/Third_Party/FreeRTOS/Source/include -I../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2 -I../Middlewares/Third_Party/FreeRTOS/Source/portable/GCC/ARM_CM4F -O0 -ffunction-sections -fdata-sections -Wall -fstack-usage -MMD -MP -MF"Core/Src/custom_memory_manager.d" -MT"Core/Src/custom_memory_manager.o" --specs=nano.specs -mfpu=fpv4-sp-d16 -mfloat-abi=hard -mthumb -o "Core/Src/custom_memory_manager.o"
arm-none-eabi-gcc "../Core/Src/dma_transport.c" -mcpu=cortex-m4 -std=gnu11 -g3 -DDEBUG -DUSE_HAL_DRIVER -DSTM32F303xE -c -I../Core/Inc -Imicro_ros_stm32cubemx_utils/microros_static_library_ide/libmicroros/include -I../Drivers/STM32F3xx_HAL_Driver/Inc -I../Drivers/STM32F3xx_HAL_Driver/Inc/Legacy -I../Drivers/CMSIS/Device/ST/STM32F3xx/Include -I../Drivers/CMSIS/Include -I../Middlewares/Third_Party/FreeRTOS/Source/include -I../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2 -I../Middlewares/Third_Party/FreeRTOS/Source/portable/GCC/ARM_CM4F -O0 -ffunction-sections -fdata-sections -Wall -fstack-usage -MMD -MP -MF"Core/Src/dma_transport.d" -MT"Core/Src/dma_transport.o" --specs=nano.specs -mfpu=fpv4-sp-d16 -mfloat-abi=hard -mthumb -o "Core/Src/dma_transport.o"
arm-none-eabi-gcc "../Core/Src/freertos.c" -mcpu=cortex-m4 -std=gnu11 -g3 -DDEBUG -DUSE_HAL_DRIVER -DSTM32F303xE -c -I../Core/Inc -Imicro_ros_stm32cubemx_utils/microros_static_library_ide/libmicroros/include -I../Drivers/STM32F3xx_HAL_Driver/Inc -I../Drivers/STM32F3xx_HAL_Driver/Inc/Legacy -I../Drivers/CMSIS/Device/ST/STM32F3xx/Include -I../Drivers/CMSIS/Include -I../Middlewares/Third_Party/FreeRTOS/Source/include -I../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2 -I../Middlewares/Third_Party/FreeRTOS/Source/portable/GCC/ARM_CM4F -O0 -ffunction-sections -fdata-sections -Wall -fstack-usage -MMD -MP -MF"Core/Src/freertos.d" -MT"Core/Src/freertos.o" --specs=nano.specs -mfpu=fpv4-sp-d16 -mfloat-abi=hard -mthumb -o "Core/Src/freertos.o"
arm-none-eabi-gcc "../Core/Src/main.c" -mcpu=cortex-m4 -std=gnu11 -g3 -DDEBUG -DUSE_HAL_DRIVER -DSTM32F303xE -c -I../Core/Inc -Imicro_ros_stm32cubemx_utils/microros_static_library_ide/libmicroros/include -I../Drivers/STM32F3xx_HAL_Driver/Inc -I../Drivers/STM32F3xx_HAL_Driver/Inc/Legacy -I../Drivers/CMSIS/Device/ST/STM32F3xx/Include -I../Drivers/CMSIS/Include -I../Middlewares/Third_Party/FreeRTOS/Source/include -I../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2 -I../Middlewares/Third_Party/FreeRTOS/Source/portable/GCC/ARM_CM4F -O0 -ffunction-sections -fdata-sections -Wall -fstack-usage -MMD -MP -MF"Core/Src/main.d" -MT"Core/Src/main.o" --specs=nano.specs -mfpu=fpv4-sp-d16 -mfloat-abi=hard -mthumb -o "Core/Src/main.o"
arm-none-eabi-gcc "../Core/Src/microros_allocators.c" -mcpu=cortex-m4 -std=gnu11 -g3 -DDEBUG -DUSE_HAL_DRIVER -DSTM32F303xE -c -I../Core/Inc -Imicro_ros_stm32cubemx_utils/microros_static_library_ide/libmicroros/include -I../Drivers/STM32F3xx_HAL_Driver/Inc -I../Drivers/STM32F3xx_HAL_Driver/Inc/Legacy -I../Drivers/CMSIS/Device/ST/STM32F3xx/Include -I../Drivers/CMSIS/Include -I../Middlewares/Third_Party/FreeRTOS/Source/include -I../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2 -I../Middlewares/Third_Party/FreeRTOS/Source/portable/GCC/ARM_CM4F -O0 -ffunction-sections -fdata-sections -Wall -fstack-usage -MMD -MP -MF"Core/Src/microros_allocators.d" -MT"Core/Src/microros_allocators.o" --specs=nano.specs -mfpu=fpv4-sp-d16 -mfloat-abi=hard -mthumb -o "Core/Src/microros_allocators.o"
arm-none-eabi-gcc "../Core/Src/microros_time.c" -mcpu=cortex-m4 -std=gnu11 -g3 -DDEBUG -DUSE_HAL_DRIVER -DSTM32F303xE -c -I../Core/Inc -Imicro_ros_stm32cubemx_utils/microros_static_library_ide/libmicroros/include -I../Drivers/STM32F3xx_HAL_Driver/Inc -I../Drivers/STM32F3xx_HAL_Driver/Inc/Legacy -I../Drivers/CMSIS/Device/ST/STM32F3xx/Include -I../Drivers/CMSIS/Include -I../Middlewares/Third_Party/FreeRTOS/Source/include -I../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2 -I../Middlewares/Third_Party/FreeRTOS/Source/portable/GCC/ARM_CM4F -O0 -ffunction-sections -fdata-sections -Wall -fstack-usage -MMD -MP -MF"Core/Src/microros_time.d" -MT"Core/Src/microros_time.o" --specs=nano.specs -mfpu=fpv4-sp-d16 -mfloat-abi=hard -mthumb -o "Core/Src/microros_time.o"
arm-none-eabi-gcc "../Core/Src/stm32f3xx_hal_msp.c" -mcpu=cortex-m4 -std=gnu11 -g3 -DDEBUG -DUSE_HAL_DRIVER -DSTM32F303xE -c -I../Core/Inc -Imicro_ros_stm32cubemx_utils/microros_static_library_ide/libmicroros/include -I../Drivers/STM32F3xx_HAL_Driver/Inc -I../Drivers/STM32F3xx_HAL_Driver/Inc/Legacy -I../Drivers/CMSIS/Device/ST/STM32F3xx/Include -I../Drivers/CMSIS/Include -I../Middlewares/Third_Party/FreeRTOS/Source/include -I../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2 -I../Middlewares/Third_Party/FreeRTOS/Source/portable/GCC/ARM_CM4F -O0 -ffunction-sections -fdata-sections -Wall -fstack-usage -MMD -MP -MF"Core/Src/stm32f3xx_hal_msp.d" -MT"Core/Src/stm32f3xx_hal_msp.o" --specs=nano.specs -mfpu=fpv4-sp-d16 -mfloat-abi=hard -mthumb -o "Core/Src/stm32f3xx_hal_msp.o"
arm-none-eabi-gcc "../Core/Src/stm32f3xx_hal_timebase_tim.c" -mcpu=cortex-m4 -std=gnu11 -g3 -DDEBUG -DUSE_HAL_DRIVER -DSTM32F303xE -c -I../Core/Inc -Imicro_ros_stm32cubemx_utils/microros_static_library_ide/libmicroros/include -I../Drivers/STM32F3xx_HAL_Driver/Inc -I../Drivers/STM32F3xx_HAL_Driver/Inc/Legacy -I../Drivers/CMSIS/Device/ST/STM32F3xx/Include -I../Drivers/CMSIS/Include -I../Middlewares/Third_Party/FreeRTOS/Source/include -I../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2 -I../Middlewares/Third_Party/FreeRTOS/Source/portable/GCC/ARM_CM4F -O0 -ffunction-sections -fdata-sections -Wall -fstack-usage -MMD -MP -MF"Core/Src/stm32f3xx_hal_timebase_tim.d" -MT"Core/Src/stm32f3xx_hal_timebase_tim.o" --specs=nano.specs -mfpu=fpv4-sp-d16 -mfloat-abi=hard -mthumb -o "Core/Src/stm32f3xx_hal_timebase_tim.o"
arm-none-eabi-gcc "../Core/Src/stm32f3xx_it.c" -mcpu=cortex-m4 -std=gnu11 -g3 -DDEBUG -DUSE_HAL_DRIVER -DSTM32F303xE -c -I../Core/Inc -Imicro_ros_stm32cubemx_utils/microros_static_library_ide/libmicroros/include -I../Drivers/STM32F3xx_HAL_Driver/Inc -I../Drivers/STM32F3xx_HAL_Driver/Inc/Legacy -I../Drivers/CMSIS/Device/ST/STM32F3xx/Include -I../Drivers/CMSIS/Include -I../Middlewares/Third_Party/FreeRTOS/Source/include -I../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2 -I../Middlewares/Third_Party/FreeRTOS/Source/portable/GCC/ARM_CM4F -O0 -ffunction-sections -fdata-sections -Wall -fstack-usage -MMD -MP -MF"Core/Src/stm32f3xx_it.d" -MT"Core/Src/stm32f3xx_it.o" --specs=nano.specs -mfpu=fpv4-sp-d16 -mfloat-abi=hard -mthumb -o "Core/Src/stm32f3xx_it.o"
arm-none-eabi-gcc "../Core/Src/syscalls.c" -mcpu=cortex-m4 -std=gnu11 -g3 -DDEBUG -DUSE_HAL_DRIVER -DSTM32F303xE -c -I../Core/Inc -Imicro_ros_stm32cubemx_utils/microros_static_library_ide/libmicroros/include -I../Drivers/STM32F3xx_HAL_Driver/Inc -I../Drivers/STM32F3xx_HAL_Driver/Inc/Legacy -I../Drivers/CMSIS/Device/ST/STM32F3xx/Include -I../Drivers/CMSIS/Include -I../Middlewares/Third_Party/FreeRTOS/Source/include -I../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2 -I../Middlewares/Third_Party/FreeRTOS/Source/portable/GCC/ARM_CM4F -O0 -ffunction-sections -fdata-sections -Wall -fstack-usage -MMD -MP -MF"Core/Src/syscalls.d" -MT"Core/Src/syscalls.o" --specs=nano.specs -mfpu=fpv4-sp-d16 -mfloat-abi=hard -mthumb -o "Core/Src/syscalls.o"
arm-none-eabi-gcc "../Core/Src/sysmem.c" -mcpu=cortex-m4 -std=gnu11 -g3 -DDEBUG -DUSE_HAL_DRIVER -DSTM32F303xE -c -I../Core/Inc -Imicro_ros_stm32cubemx_utils/microros_static_library_ide/libmicroros/include -I../Drivers/STM32F3xx_HAL_Driver/Inc -I../Drivers/STM32F3xx_HAL_Driver/Inc/Legacy -I../Drivers/CMSIS/Device/ST/STM32F3xx/Include -I../Drivers/CMSIS/Include -I../Middlewares/Third_Party/FreeRTOS/Source/include -I../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2 -I../Middlewares/Third_Party/FreeRTOS/Source/portable/GCC/ARM_CM4F -O0 -ffunction-sections -fdata-sections -Wall -fstack-usage -MMD -MP -MF"Core/Src/sysmem.d" -MT"Core/Src/sysmem.o" --specs=nano.specs -mfpu=fpv4-sp-d16 -mfloat-abi=hard -mthumb -o "Core/Src/sysmem.o"
arm-none-eabi-gcc "../Core/Src/system_stm32f3xx.c" -mcpu=cortex-m4 -std=gnu11 -g3 -DDEBUG -DUSE_HAL_DRIVER -DSTM32F303xE -c -I../Core/Inc -Imicro_ros_stm32cubemx_utils/microros_static_library_ide/libmicroros/include -I../Drivers/STM32F3xx_HAL_Driver/Inc -I../Drivers/STM32F3xx_HAL_Driver/Inc/Legacy -I../Drivers/CMSIS/Device/ST/STM32F3xx/Include -I../Drivers/CMSIS/Include -I../Middlewares/Third_Party/FreeRTOS/Source/include -I../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2 -I../Middlewares/Third_Party/FreeRTOS/Source/portable/GCC/ARM_CM4F -O0 -ffunction-sections -fdata-sections -Wall -fstack-usage -MMD -MP -MF"Core/Src/system_stm32f3xx.d" -MT"Core/Src/system_stm32f3xx.o" --specs=nano.specs -mfpu=fpv4-sp-d16 -mfloat-abi=hard -mthumb -o "Core/Src/system_stm32f3xx.o"
../Core/Src/dma_transport.c:1:10: fatal error: uxr/client/transport.h: No such file or directory
    1 | #include <uxr/client/transport.h>
      |          ^~~~~~~~~~~~~~~~~~~~~~~~
compilation terminated.
make[1]: *** [Core/Src/subdir.mk:52: Core/Src/dma_transport.o] Error 1
make[1]: *** Waiting for unfinished jobs....
../Core/Src/microros_time.c: In function 'clock_gettime':
../Core/Src/microros_time.c:32:5: error: unknown type name 'TimeOut_t'
   32 |     TimeOut_t xCurrentTime = { 0 };
      |     ^~~~~~~~~
../Core/Src/microros_time.c:44:5: warning: implicit declaration of function 'vTaskSetTimeOutState' [-Wimplicit-function-declaration]
   44 |     vTaskSetTimeOutState( &xCurrentTime );
      |     ^~~~~~~~~~~~~~~~~~~~
../Core/Src/microros_time.c:48:47: error: request for member 'xOverflowCount' in something not a structure or union
   48 |     ullTickCount = ( uint64_t ) ( xCurrentTime.xOverflowCount ) << ( sizeof( TickType_t ) * 8 );
      |                                               ^
../Core/Src/microros_time.c:51:33: error: request for member 'xTimeOnEntering' in something not a structure or union
   51 |     ullTickCount += xCurrentTime.xTimeOnEntering;
      |                                 ^
make[1]: *** [Core/Src/subdir.mk:52: Core/Src/microros_time.o] Error 1
make: *** [makefile:62: all] Error 2
"make -j12 all" terminated with exit code 2. Build might be incomplete.

14:10:51 Build Failed. 8 errors, 1 warnings. (took 5s.41ms)

rsc9421 avatar Jan 03 '22 17:01 rsc9421

Is your library being built? Could you paste here a list of the files and directories inside micro_ros_stm32cubemx_utils/microros_static_library_ide/libmicroros/?

pablogs9 avatar Jan 05 '22 08:01 pablogs9

Any update on this?

pablogs9 avatar Feb 02 '22 08:02 pablogs9

Hi, thanks for your support but i couldn't make it work, I have the same problem with this issue https://github.com/micro-ROS/micro_ros_stm32cubemx_utils/issues/40 I post some comments about my problem in the last section. Basically I can compile the project but when I run it in the microcontroller it get freeze after the function rclc_support_init(); I don't know why.

rsc9421 avatar Feb 02 '22 13:02 rsc9421

Could you describe here your problem? Have you tested if the serial port is sending data?

pablogs9 avatar Feb 02 '22 13:02 pablogs9

Closing due to inactivity, reopen if needed

Acuadros95 avatar Jul 31 '23 09:07 Acuadros95