Will not compile on Arduino IDE with an STM32F103 (Bluepill)

[fjdebruijn81]

This fails to compile the MPU9250 example using this library with either SPI or I2C examples. It seems to be unhappy about the round macro .

Here is the log from the Compiler Arduino: 1.8.19 (Linux), Board: "Generic STM32F103C series, STM32F103C8 (20k RAM. 64k Flash), Serial, 72Mhz (Normal), Smallest (default)"

In file included from /home/user/.arduino15/packages/stm32duino/hardware/STM32F1/2021.5.31/cores/maple/wirish.h:63:0, from /home/user/.arduino15/packages/stm32duino/hardware/STM32F1/2021.5.31/cores/maple/Arduino.h:30, from sketch/spi.ino.cpp:1: /home/user/Arduino/libraries/Bolder_Flight_Systems_Eigen/src/Eigen/src/Core/MathFunctions.h:1389:51: error: expected unqualified-id before 'const' inline EIGEN_MATHFUNC_RETVAL(round, Scalar) round(const Scalar& x) ^ /home/user/.arduino15/packages/stm32duino/hardware/STM32F1/2021.5.31/cores/maple/wirish_math.h:123:35: note: in definition of macro 'round'

define round(x) ((x)>=0?(long)((x)+0.5):(long)((x)-0.5))

                               ^

/home/user/Arduino/libraries/Bolder_Flight_Systems_Eigen/src/Eigen/src/Core/MathFunctions.h:1389:51: error: expected ')' before 'const' inline EIGEN_MATHFUNC_RETVAL(round, Scalar) round(const Scalar& x) ^ /home/user/.arduino15/packages/stm32duino/hardware/STM32F1/2021.5.31/cores/maple/wirish_math.h:123:35: note: in definition of macro 'round'

define round(x) ((x)>=0?(long)((x)+0.5):(long)((x)-0.5))

                               ^

/home/user/Arduino/libraries/Bolder_Flight_Systems_Eigen/src/Eigen/src/Core/MathFunctions.h:1389:51: error: expected ')' before 'const' inline EIGEN_MATHFUNC_RETVAL(round, Scalar) round(const Scalar& x) ^ /home/user/.arduino15/packages/stm32duino/hardware/STM32F1/2021.5.31/cores/maple/wirish_math.h:123:35: note: in definition of macro 'round'

define round(x) ((x)>=0?(long)((x)+0.5):(long)((x)-0.5))

                               ^

In file included from /home/user/Arduino/libraries/Bolder_Flight_Systems_Eigen/src/Eigen/Core:172:0, from /home/user/Arduino/libraries/Bolder_Flight_Systems_Eigen/src/eigen.h:36, from /home/user/Arduino/libraries/Bolder_Flight_Systems_MPU9250/src/mpu9250.h:38, from /home/user/Arduino/libraries/Bolder_Flight_Systems_MPU9250/examples/arduino/spi/spi.ino:26: /home/user/Arduino/libraries/Bolder_Flight_Systems_Eigen/src/Eigen/src/Core/GenericPacketMath.h: In function 'Packet Eigen::internal::pround(const Packet&)': /home/user/Arduino/libraries/Bolder_Flight_Systems_Eigen/src/Eigen/src/Core/GenericPacketMath.h:826:48: error: 'Eigen::numext::round' has not been declared Packet pround(const Packet& a) { using numext::round; return round(a); } ^ In file included from /home/user/.arduino15/packages/stm32duino/hardware/STM32F1/2021.5.31/cores/maple/wirish.h:63:0, from /home/user/.arduino15/packages/stm32duino/hardware/STM32F1/2021.5.31/cores/maple/Arduino.h:30, from sketch/spi.ino.cpp:1: /home/user/Arduino/libraries/Bolder_Flight_Systems_Eigen/src/Eigen/src/Core/arch/Default/Half.h: At global scope: /home/user/Arduino/libraries/Bolder_Flight_Systems_Eigen/src/Eigen/src/Core/arch/Default/Half.h:732:50: error: expected unqualified-id before 'const' EIGEN_STRONG_INLINE EIGEN_DEVICE_FUNC half round(const half& a) { ^ /home/user/.arduino15/packages/stm32duino/hardware/STM32F1/2021.5.31/cores/maple/wirish_math.h:123:35: note: in definition of macro 'round'

define round(x) ((x)>=0?(long)((x)+0.5):(long)((x)-0.5))

                               ^

/home/user/Arduino/libraries/Bolder_Flight_Systems_Eigen/src/Eigen/src/Core/arch/Default/Half.h:732:50: error: expected ')' before 'const' EIGEN_STRONG_INLINE EIGEN_DEVICE_FUNC half round(const half& a) { ^ /home/user/.arduino15/packages/stm32duino/hardware/STM32F1/2021.5.31/cores/maple/wirish_math.h:123:35: note: in definition of macro 'round'

define round(x) ((x)>=0?(long)((x)+0.5):(long)((x)-0.5))

                               ^

/home/user/Arduino/libraries/Bolder_Flight_Systems_Eigen/src/Eigen/src/Core/arch/Default/Half.h:732:50: error: expected ')' before 'const' EIGEN_STRONG_INLINE EIGEN_DEVICE_FUNC half round(const half& a) { ^ /home/user/.arduino15/packages/stm32duino/hardware/STM32F1/2021.5.31/cores/maple/wirish_math.h:123:35: note: in definition of macro 'round'

define round(x) ((x)>=0?(long)((x)+0.5):(long)((x)-0.5))

                               ^

/home/user/Arduino/libraries/Bolder_Flight_Systems_Eigen/src/Eigen/src/Core/arch/Default/BFloat16.h:564:54: error: expected unqualified-id before 'const' EIGEN_STRONG_INLINE EIGEN_DEVICE_FUNC bfloat16 round(const bfloat16& a) { ^ /home/user/.arduino15/packages/stm32duino/hardware/STM32F1/2021.5.31/cores/maple/wirish_math.h:123:35: note: in definition of macro 'round'

define round(x) ((x)>=0?(long)((x)+0.5):(long)((x)-0.5))

                               ^

/home/user/Arduino/libraries/Bolder_Flight_Systems_Eigen/src/Eigen/src/Core/arch/Default/BFloat16.h:564:54: error: expected ')' before 'const' EIGEN_STRONG_INLINE EIGEN_DEVICE_FUNC bfloat16 round(const bfloat16& a) { ^ /home/user/.arduino15/packages/stm32duino/hardware/STM32F1/2021.5.31/cores/maple/wirish_math.h:123:35: note: in definition of macro 'round'

define round(x) ((x)>=0?(long)((x)+0.5):(long)((x)-0.5))

                               ^

/home/user/Arduino/libraries/Bolder_Flight_Systems_Eigen/src/Eigen/src/Core/arch/Default/BFloat16.h:564:54: error: expected ')' before 'const' EIGEN_STRONG_INLINE EIGEN_DEVICE_FUNC bfloat16 round(const bfloat16& a) { ^ /home/user/.arduino15/packages/stm32duino/hardware/STM32F1/2021.5.31/cores/maple/wirish_math.h:123:35: note: in definition of macro 'round'

define round(x) ((x)>=0?(long)((x)+0.5):(long)((x)-0.5))

                               ^

/home/user/Arduino/libraries/Bolder_Flight_Systems_Eigen/src/Eigen/src/Core/functors/UnaryFunctors.h: In member function 'const Scalar Eigen::internal::scalar_round_op::operator()(const Scalar&) const': /home/user/.arduino15/packages/stm32duino/hardware/STM32F1/2021.5.31/cores/maple/wirish_math.h:123:33: error: expected unqualified-id before '(' token

define round(x) ((x)>=0?(long)((x)+0.5):(long)((x)-0.5))

                             ^

/home/user/Arduino/libraries/Bolder_Flight_Systems_Eigen/src/Eigen/src/Core/functors/UnaryFunctors.h:798:106: note: in expansion of macro 'round' EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE const Scalar operator() (const Scalar& a) const { return numext::round(a); } ^ /home/user/Arduino/libraries/Bolder_Flight_Systems_Eigen/src/Eigen/src/Core/../plugins/ArrayCwiseUnaryOps.h: At global scope: /home/user/.arduino15/packages/stm32duino/hardware/STM32F1/2021.5.31/cores/maple/wirish_math.h:123:36: error: expected unqualified-id before ')' token

define round(x) ((x)>=0?(long)((x)+0.5):(long)((x)-0.5))

                                ^

/home/user/Arduino/libraries/Bolder_Flight_Systems_Eigen/src/Eigen/src/Core/../plugins/ArrayCwiseUnaryOps.h:467:1: note: in expansion of macro 'round' round() const ^ /home/user/.arduino15/packages/stm32duino/hardware/STM32F1/2021.5.31/cores/maple/wirish_math.h:123:37: error: expected ')' before '>=' token

define round(x) ((x)>=0?(long)((x)+0.5):(long)((x)-0.5))

                                 ^

/home/user/Arduino/libraries/Bolder_Flight_Systems_Eigen/src/Eigen/src/Core/../plugins/ArrayCwiseUnaryOps.h:467:1: note: in expansion of macro 'round' round() const ^ Multiple libraries were found for "Wire.h" Used: /home/user/.arduino15/packages/stm32duino/hardware/STM32F1/2021.5.31/libraries/Wire Not used: /home/user/.arduino15/packages/stm32duino/hardware/STM32F1/2021.5.31/libraries/WireSlave exit status 1 Error compiling for board Generic STM32F103C series.

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[flybrianfly]

Thanks, I was able to reproduce this issue. Indeed the first error is with the round macro in the STM32F103 cores. I quickly bypassed this issue by adding #undef round to the eigen.h header file. Unfortunately, the STM32F103 core is using a very old toolchain (C++11), so it then has issues with the variable templates used in the units library. There are workarounds for that (i.e. defining functions instead of constants), but they have performance implications, especially in embedded. This would be resolved by moving at least to C++14.

I'm not sure the best path to fix eigen and units to work with the STM32F103 or whether those fixes should be made. In the meantime, I suggest forking the mpu9250 library and removing the dependencies on eigen and units. Sorry, I wish it was a more straightforward fix.

[Cougar83]

Hello sir I download this library, I installed it and I just ran the example to check if it was working. then I did the compilation and the IDE Arduino (2.0 RC5) returned me this message:

In file included from /Users/Documents/Arduino/libraries/eigen-main/src/Eigen/Core:19:0, from /Users:Documents/Arduino/libraries/eigen-main/src/eigen.h:36, from /Users/Documents/Arduino/libraries/eigen-main/examples/arduino/eigen_example/eigen_example.ino:5: /Users/Documents/Arduino/libraries/eigen-main/src/Eigen/src/Core/util/Macros.h:679:10: fatal error: cmath: No such file or directory

include

in fact I want to use it with this library : https://github.com/FlyTheThings/uNavINS#axis-system. The author is using your library (even give this address) and after the compilation, the system is returning me also an error :

In file included from /Documents/Arduino/Sketches/GPS/TinyGPSplus-for-Neo-M8N-master/examples/FullExample/FullExample.ino:1:0: /Users//Documents/Arduino/libraries/uNavINS-master/uNavINS.h:48:12: fatal error: Eigen.h: No such file or directory

include "Eigen.h"

I am a new for sure, but I already use several time other libraries and now, with this problem, I m little bit lost :(

Thank you in advance for your time. :)

[Heikkif]

Hi, Ran into the same problem as original poster. I would like to read data from MPU9250 to Arduino DUE. Currently I am using MPU9250-master library. On SPI I can't read magnetometer and with I2C Arduino gets stuck occasionally. Therefore I checked if there is a new library or fixes to old. Is there a program version that would work without getting stuck and read magnetometer too and would compile to Arduino DUE? Thank you for your work on this.

[flybrianfly]

@Heikkif, you can try v1.0.2 of the MPU9250 Library, which does not have dependencies on the Eigen or Units library.

[flybrianfly]

@Cougar83, which processor are you using? Based on the error message, it seems like it's not an ARM processor.

[FrankXu626522]

@Cougar83, which processor are you using? Based on the error message, it seems like it's not an ARM processor.

i met the same error, im working on porting mini cheetah's code on arduino uno, lots of cpp .h or lib can't be found,

[flybrianfly]

@FrankXu626522, are you porting to an Arduino Uno? I wouldn't expect this to work on that platform. It's going to need a 32 bit ARM processor to work.