micro_ros_stm32cubemx_utils
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micro-ROS
Use of VFD arguments
Hello,
I am trying to implement micro ros on a custom board based on the STM32L071C8T6 however I am running into this error:
Description Resource Path Location Type failed to merge target specific data of file /home/spencer/SoftwareSource/STM32Source/STM32L071C8T6-MicroRosDriver/micro_ros_stm32cubemx_utils/microros_static_library_ide/libmicroros/libmicroros.a(librcutils-allocator.c.obj) STM32L071C8T6-MicroRosDriver C/C++ Problem
Some googling lead me to several forum posts from users of various arm based micro controllers with the problem being related to the floating point abi flag being set to soft or hard however with the STM32L071C8T6 chip I cannot change to hard (there isnt a floating point unit so it uses software floats)
Which compiler are you using in CubeIDE? Notice that the the micro-ROS library is being built using arm-none-eabi-gcc version available in Ubuntu 20.04.
Make sure that the compiler you are using is the same as this.
We are working on solving this limitation in order to be able to build micro-ROS with the same default compiler of CubeMX/IDE
the GNU tools for STM32 (9-2020-q2-update)
This is the options flag from cubeide
-mcpu=cortex-m0plus -std=gnu11 -g3 -DDEBUG -DUSE_HAL_DRIVER -DSTM32L071xx -c -I../Core/Inc -I"/home/spencer/SoftwareSource/STM32Source/STM32L071C8T6-MicroRosDriver/micro_ros_stm32cubemx_utils/microros_static_library_ide/libmicroros/include" -I../Drivers/STM32L0xx_HAL_Driver/Inc -I../Drivers/STM32L0xx_HAL_Driver/Inc/Legacy -I../Drivers/CMSIS/Device/ST/STM32L0xx/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_CM0 -Os -ffunction-sections -fdata-sections -Wall -fstack-usage --specs=nano.specs -mfloat-abi=soft -mthumb
I'm running into the same issue attempting to compile for an STM32G431 using humble.
To minimise chances of compiler mismatches, I'm using the same arm gcc within the docker image that was used to build the static library (10.3.1)
Using -mfloat-abi=hard results in failed to merge target specific data errors.
Using -mfloat-abi=soft results in Error: selected FPU does not support instruction -- vstmdbeq r0!,{s16-s31} errors.
Since this MCU has an FPU, I'd assume that hard is the preferred option, but am not sure where to look next in my troubleshooting.
Aha! Looks like it was not picking up the CFLAGS correctly from my Makefile; I've successfully compiled now.
The readme contained spaces not tabs in
print_cflags:
@echo $(CFLAGS)
Which caused a missing separator error that was not visible during the static library generation.