MotionFX Library compile failed under the PIO but success under Arduino IDE

por8051 · January 19, 2024, 10:35am

Hi,

I have installed the stm32duino MotionFX Library to my PlatformIO and just load the example code to run but compiled failed.

In the same time I tested the example under Arduino IDE but success build.

I am not sure is there anything I could add into my platformio.ini?

Reference: GitHub - stm32duino/MotionFX: Sensor Fusion Library for ST sensors and microcontrollers

Please note: I just compile the example code, that’s all

maxgerhardt · January 19, 2024, 10:37am

Well, what is your platformio.ini with which you’re trying to include that library?

por8051 · January 19, 2024, 10:40am

[env:nucleo_f401re]
platform = ststm32
framework = arduino
board = nucleo_f401re
board_build.core = ststm32
lib_ldf_mode = deep+

lib_deps = 
           stm32duino/STM32duino MotionFX @ ^1.1.0
           Wire
           SPI

lib_archive = false

upload_protocol = stlink

above is my platformio.ini

por8051 · January 19, 2024, 10:48am

The MotionFX library is not an open source, ST provided the pre-compiled by libMotionFX.a

…\STM32duino MotionFX\src\cortex-m4\libMotionFX.a

I am not sure, maybe compiler between PlatformIO and Arduino IDE are different version

maxgerhardt · January 19, 2024, 11:00am

Hm. PlatformIO does not link in the .pio\libdeps\nucleo_f401re\STM32duino MotionFX\src\cortex-m4\fpv4-sp-d16-hard\libMotionFX.a file although the library.properties says precompiled = true. This has been a bug before in the PlatformIO core but thought to be resolved. Let me double check.

por8051 · January 19, 2024, 11:08am

Thank you, I love PIO rather than using the Arduino IDE so waiting for your good news!

maxgerhardt · January 19, 2024, 11:18am

This is really cursed. The only way I can get it to compile is if I copy the MotionFX arduino library into lib/, delete the STM32duino MotionFX/src/cortex-m4/libMotionFX.a file and add

build_flags =
  -L"lib/STM32duino MotionFX/src/cortex-m4/fpv4-sp-d16-hard"
  -lMotionFX

into the platformio.ini.

It insisted on adding STM32duino MotionFX/src/cortex-m4/ to the library search path, where it would find the wrong MotionFX library (compiled without floating point).

Linking .pio\build\nucleo_f401re\firmware.elf
c:/users/max/.platformio/packages/toolchain-gccarmnoneeabi/bin/../lib/gcc/arm-none-eabi/12.3.1/../../../../arm-none-eabi/bin/ld.exe: warning: .pio/build/nucleo_f401re/firmware.elf has a LOAD segment with RWX permissions
Checking size .pio\build\nucleo_f401re\firmware.elf
Advanced Memory Usage is available via "PlatformIO Home > Project Inspect"
RAM:   [=         ]   6.4% (used 6336 bytes from 98304 bytes)
Flash: [=         ]  13.1% (used 68520 bytes from 524288 bytes)
Building .pio\build\nucleo_f401re\firmware.bin

I’ve pushed the proof-of-concept to

Last issues about that were in https://github.com/platformio/platformio-core/issues/4056, time to open a new one.

maxgerhardt · January 19, 2024, 11:22am

Actually I think this should be tracked in

github.com/platformio/platformio-core

Precompiled libraries include path doesn't include FPU variant

opened 06:02AM - 06 Nov 22 UTC

mike1808

enhancement ldf

What kind of issue is this? - [ ] **Question**. This issue tracker is …not the place for questions. If you want to ask how to do something, or to understand why something isn't working the way you expect it to, use [Community Forums](https://community.platformio.org) or [Premium Support](https://platformio.org/support) - [ ] **PlatformIO IDE**. All issues related to PlatformIO IDE should be reported to appropriate repository: [PlatformIO IDE for Atom](https://github.com/platformio/platformio-atom-ide/issues) or [PlatformIO IDE for VSCode](https://github.com/platformio/platformio-vscode-ide/issues) - [ ] **Development Platform or Board**. All issues (building, uploading, adding new boards, etc.) related to PlatformIO development platforms should be reported to appropriate repository related to your hardware https://github.com/topics/platformio-platform - [ ] **Feature Request**. Start by telling us what problem you’re trying to solve. Often a solution already exists! Don’t send pull requests to implement new features without first getting our support. Sometimes we leave features out on purpose to keep the project small. - [x] **PlatformIO Core**. If you’ve found a bug, please provide an information below. *You can erase any parts of this template not applicable to your Issue.* ------------------------------------------------------------------ ### Configuration **Operating system**: Linux workstation 5.15.71-1-MANJARO **PlatformIO Version** (`platformio --version`): `PlatformIO Core, version 6.1.6a` ### Description of problem Some precompiled arduino libraries have the FPU variant in the source and include the library depending on it. For instance, [Adafruit nRFCrypto](https://github.com/adafruit/Adafruit_nRFCrypto/tree/master/src/cortex-m4) library has `[fpv4-sp-d16-hard](https://github.com/adafruit/Adafruit_nRFCrypto/tree/master/src/cortex-m4/fpv4-sp-d16-hard) #### Steps to Reproduce 1. Create a new project with nrf52 platform and Arduino framework and add nRFCrypto to the depedencies: ```ini [env:nrf52] platform = nordicnrf52 board = adafruit_feather_nrf52840 framework = arduino lib_deps = adafruit/Adafruit nRFCrypto@^0.0.7 ``` 2. Compile ### Actual Results Fails to link: ``` Linking .pio/build/adafruit_feather_nrf52840/firmware.elf /home/USER/.platformio/packages/toolchain-gccarmnoneeabi/bin/../lib/gcc/arm-none-eabi/7.2.1/../../../../arm-none-eabi/bin/ld: cannot find -lnrf_cc310_0.9.13-no-interrupts collect2: error: ld returned 1 exit status *** [.pio/build/xiaonrf_adafruit/firmware.elf] Error 1 ``` ### Expected Results To successfully link. ### If problems with PlatformIO Build System: **The content of `platformio.ini`:** ```ini [env:nrf52] platform = nordicnrf52 board = adafruit_feather_nrf52840 framework = arduino lib_deps = adafruit/Adafruit nRFCrypto@^0.0.7``` **Source file to reproduce issue:** ```cpp Insert here... ``` ### Additional info

por8051 · January 19, 2024, 11:44am

[env:nucleo_f401re]
platform = ststm32
framework = arduino
board = nucleo_f401re

build_flags =
-L"lib/STM32duino MotionFX/src/cortex-m4/fpv4-sp-d16-hard"
-lMotionFX

lib_ldf_mode = deep+

lib_deps =
stm32duino/STM32duino MotionFX @ ^1.1.0
Wire
SPI

lib_archive = false
upload_protocol = stlink

I still compile failed

I copied library to \lib\STM32duino MotionFX\src\cortex-m4
and deleted the file libMotionFX.a as you mentioned.

Is there anything I did wrong?

I still have .pio\libdeps\nucleo_f401re\STM32duino MotionFX.…
and Full clean, clean before I compile

maxgerhardt · January 19, 2024, 11:45am

This must be deleted from lib_deps then otherwise you have the libary twice. Better delete the whole .pio folder after this too. You might then need to re-add the library for your specific sensor, like STM32duino LSM6DSL to your lib_deps.

The Github CI builds the https://github.com/maxgerhardt/pio_motionfx_workaround base example just fine.

por8051 · January 19, 2024, 12:00pm

I created a new project

[env:nucleo_f401re]
platform = ststm32
board = nucleo_f401re
framework = arduino

build_flags =
  -L"lib/STM32duino MotionFX/src/cortex-m4/fpv4-sp-d16-hard"
  -lMotionFX

lib_ldf_mode = deep+

lib_deps = 
           Wire
           SPI

lib_archive = false

upload_protocol = stlink

I have libMotionFX.a file only this path \lib\STM32duino MotionFX\src\cortex-m4\fpv4-sp-d16-hard\libMotionFX.a
The rest I deleted out, and I used the example file name Fusion9X_IKS01A3.ino
the .pio\libdeps is empty, no file

I still cannot compile, same error

src\main.cpp:108:24: error: 'MFXState_t' was not declared in this scope
  108 |   MotionFX_initialize((MFXState_t *)mfxstate);
      |                        ^~~~~~~~~~Compiling .pio\build\nucleo_f401re\FrameworkArduino\pins_arduino.c.o

src\main.cpp:108:36: error: expected primary-expression before ')' token
  108 |   MotionFX_initialize((MFXState_t *)mfxstate);
      |                                    ^
src\main.cpp:108:3: error: 'MotionFX_initialize' was not declared in this scope; did you mean 'MotionFX_CM0P_initialize'?
  108 |   MotionFX_initialize((MFXState_t *)mfxstate);
      |   ^~~~~~~~~~~~~~~~~~~

por8051 · January 19, 2024, 12:05pm

I have 3 libraries in the \lib folder :
\lib\STM32duino MotionFX
\lib\STM32duino LSM6DSO
\lib\STM32duino LIS2MDL

por8051 · January 19, 2024, 12:11pm

This is working fine

the GitHub - maxgerhardt/pio_motionfx_workaround

Let me learn from this

Thank you!

maxgerhardt · January 19, 2024, 12:21pm

Are you sure you have

#include <Arduino.h>
#if (__CORTEX_M == 0U)
#include "motion_fx_cm0p.h"
#else
#include "motion_fx.h"
#endif
#include "LSM6DSLSensor.h"

at the top, this type is in motion_fx.h.

por8051 · January 19, 2024, 12:23pm

Yes, I got it working.
Thank you!
You are real expert!