Adding zephyr-trinamic as a west module to an existing zephyr project

[kaizoku-oh]

I have a working zephyr project running on nucleo_u575zi_q board and I'm trying to use the zephyr-trinamic inside my project.

After making the following changes in my project I'm getting a build error:

[cooked]

Hi @kaizoku-oh, try to change your manifest to:

- name: trinamic
      remote: trinamic
      repo-path: zephyr-trinamic
      path: deps/modules/trinamic
      import: true

the TMC-API is just a dependency of the zephyr-trinamic driver (this repo), to reuse most of the headers from TRINAMIC. The dependency on TMC-API is satisfied by pulling it in with the import statement (i.e. in the end you will find it in your modules tree)

let me know how it goes.

stef

[kaizoku-oh]

Hi, I changed my manifest like you said.

When I try to build the project using the following manifest, config and overlay, I get a build error and a cmake warning No SOURCES given to Zephyr library: ..__..__modules__hal__tmc:

My qustion is: Do I need to change anything else in my project aside from the manifest, board config and overlay like shown below?

west.yml

manifest:
  version: 0.7

  defaults:
    remote: zephyrproject

  remotes:
    - name: zephyrproject
      url-base: https://github.com/zephyrproject-rtos

    - name: trinamic
      url-base: https://github.com/cooked

  projects:
    - name: zephyr
      repo-path: zephyr
      revision: a6eef0ba3755f2530c5ce93524e5ac4f5be30194 # v3.5.0
      path: zephyr
      import:
        path-prefix: deps
        name-allowlist:
          - cmsis
          - hal_stm32
          - mcuboot
          - mbedtls

    - name: trinamic
      remote: trinamic
      repo-path: zephyr-trinamic
      path: deps/modules/trinamic
      import: true

  self:
    path: app

nucleo_u575zi_q.conf

CONFIG_TMC_SPI=y
CONFIG_TMC5160=y

nucleo_u575zi_q.overlay

/ {
    aliases {
        tmc0 = &tmc_0;
    };
};

&spi1 {
    cs-gpios = <&gpioa 4 (GPIO_ACTIVE_LOW | GPIO_PULL_UP)>;

    tmc_0: tmc5160@0 {
        compatible = "trinamic,tmc5160";
        status = "okay";
        reg = <0x00>;

        // 4MHz internal, 8MHz external clock
        // TODO: seems not to work for higher speed than 1MHz
        spi-max-frequency = <1000000>;

        rotation-distance = <1>;    // [mm/turn]
    };
};

Building...

$ west build app -d app/build -p auto -b nucleo_u575zi_q 

-- west build: generating a build system Loading Zephyr default modules (Zephyr base). -- Application: /workspace/app -- CMake version: 3.25.1 -- Found Python3: /opt/venv/bin/python3 (found suitable version "3.11.2", minimum required is "3.8") found components: Interpreter -- Cache files will be written to: /root/.cache/zephyr -- Zephyr version: 3.5.0 (/workspace/deps/zephyr) -- Found west (found suitable version "1.2.0", minimum required is "0.14.0") -- Board: nucleo_u575zi_q -- ZEPHYR_TOOLCHAIN_VARIANT not set, trying to locate Zephyr SDK -- Found host-tools: zephyr 0.16.4 (/opt/toolchains/zephyr-sdk-0.16.4) -- Found toolchain: zephyr 0.16.4 (/opt/toolchains/zephyr-sdk-0.16.4) -- Found Dtc: /usr/bin/dtc (found suitable version "1.6.1", minimum required is "1.4.6") -- Found BOARD.dts: /workspace/deps/zephyr/boards/arm/nucleo_u575zi_q/nucleo_u575zi_q.dts -- Found devicetree overlay: /workspace/app/boards/nucleo_u575zi_q.overlay node '/soc/spi@40013000/tmc5160@0' compatible 'trinamic,tmc5160' has unknown vendor prefix 'trinamic' -- Generated zephyr.dts: /workspace/app/build/zephyr/zephyr.dts -- Generated devicetree_generated.h: /workspace/app/build/zephyr/include/generated/devicetree_generated.h -- Including generated dts.cmake file: /workspace/app/build/zephyr/dts.cmake Parsing /workspace/deps/zephyr/Kconfig Loaded configuration '/workspace/deps/zephyr/boards/arm/nucleo_u575zi_q/nucleo_u575zi_q_defconfig' Merged configuration '/workspace/app/prj.conf' Merged configuration '/workspace/app/boards/nucleo_u575zi_q.conf' Configuration saved to '/workspace/app/build/zephyr/.config' Kconfig header saved to '/workspace/app/build/zephyr/include/generated/autoconf.h' -- Found GnuLd: /opt/toolchains/zephyr-sdk-0.16.4/arm-zephyr-eabi/bin/../lib/gcc/arm-zephyr-eabi/12.2.0/../../../../arm-zephyr-eabi/bin/ld.bfd (found version "2.38") -- The C compiler identification is GNU 12.2.0 -- The CXX compiler identification is GNU 12.2.0 -- The ASM compiler identification is GNU -- Found assembler: /opt/toolchains/zephyr-sdk-0.16.4/arm-zephyr-eabi/bin/arm-zephyr-eabi-gcc CMake Warning at /workspace/deps/zephyr/CMakeLists.txt:887 (message): No SOURCES given to Zephyr library: ..__..__modules__hal__tmc

Excluding target from build.

-- Configuring done -- Generating done -- Build files have been written to: /workspace/app/build -- west build: building application [1/223] Preparing syscall dependency handling

[3/223] Generating include/generated/version.h -- Zephyr version: 3.5.0 (/workspace/deps/zephyr), build: zephyr-v3.5.0 [175/223] Building C object modules/trinamic/drivers/tmc5160/CMakeFiles/..modulestrinamicdriverstmc5160.dir/src/tmc5160.c.obj /workspace/deps/modules/trinamic/drivers/tmc5160/src/tmc5160.c: In function 'tmc5160_init': /workspace/deps/modules/trinamic/drivers/tmc5160/src/tmc5160.c:80:9: warning: 'spi_is_ready' is deprecated [-Wdeprecated-declarations] 80 | if (!spi_is_ready(&cfg->spi)) { | ^~ In file included from /workspace/deps/modules/trinamic/drivers/tmc/./tmc.h:16, from /workspace/deps/modules/trinamic/drivers/tmc5160/src/tmc5160.c:20: /workspace/deps/zephyr/include/zephyr/drivers/spi.h:677:20: note: declared here 677 | static inline bool spi_is_ready(const struct spi_dt_spec spec) | ^~~~ /workspace/deps/modules/trinamic/drivers/tmc5160/src/tmc5160.c:64:26: warning: unused variable 'data' [-Wunused-variable] 64 | struct tmc_data data = dev->data; | ^~~~ In file included from /workspace/deps/zephyr/include/zephyr/sys/util_macro.h:34, from /workspace/deps/zephyr/include/zephyr/sys/util.h:17, from /workspace/deps/zephyr/include/zephyr/devicetree.h:25, from /workspace/deps/zephyr/include/zephyr/device.h:12, from /workspace/deps/modules/trinamic/drivers/tmc5160/src/tmc5160.c:12: /workspace/deps/modules/trinamic/drivers/tmc5160/src/tmc5160.c: At top level: /workspace/deps/modules/trinamic/drivers/tmc5160/src/tmc5160.c:365:60: warning: missing braces around initializer [-Wmissing-braces] 365 | static const struct tmc_config tmcconfig##inst = { \ | ^ /workspace/deps/zephyr/include/zephyr/sys/util_internal.h:72:26: note: in definition of macro 'DEBRACKET' 72 | #define DEBRACKET(...) VA_ARGS__ | ^~~ /workspace/deps/zephyr/include/zephyr/sys/util_internal.h:64:9: note: in expansion of macro 'GET_ARG2_DEBRACKET' 64 | GET_ARG2_DEBRACKET(one_or_two_args _if_code, _else_code) | ^~~~~~~~ /workspace/deps/zephyr/include/zephyr/sys/util_internal.h:59:9: note: in expansion of macro 'COND_CODE' 59 | COND_CODE(_XXXX##_flag, _if_1_code, _else_code) | ^~~ /workspace/deps/zephyr/include/zephyr/sys/util_macro.h:180:9: note: in expansion of macro 'Z_COND_CODE_1' 180 | Z_COND_CODE_1(_flag, _if_1_code, _else_code) | ^~~~~ /workspace/deps/zephyr/include/zephyr/devicetree.h:4071:9: note: in expansion of macro 'COND_CODE_1' 4071 | COND_CODE_1(DT_HAS_COMPAT_STATUS_OKAY(DT_DRV_COMPAT), \ | ^~~ /workspace/app/build/zephyr/include/generated/devicetree_generated.h:18994:51: note: in expansion of macro 'TMC5160_DEFINE' 18994 | #define DT_FOREACH_OKAY_INST_trinamic_tmc5160(fn) fn(0) | ^~ /workspace/deps/zephyr/include/zephyr/sys/util_internal.h:105:36: note: in expansion of macro 'DT_FOREACH_OKAY_INST_trinamic_tmc5160' 105 | #define UTIL_PRIMITIVE_CAT(a, ...) a##VA_ARGS | ^ /workspace/deps/modules/trinamic/drivers/tmc5160/src/tmc5160.c:394:1: note: in expansion of macro 'DT_INST_FOREACH_STATUS_OKAY' 394 | DT_INST_FOREACH_STATUS_OKAY(TMC5160_DEFINE) | ^~~~~~~ [176/223] Building C object modules/trinamic/drivers/tmc/CMakeFiles/..modulestrinamicdriverstmc.dir/tmc_shell.c.obj /workspace/deps/modules/trinamic/drivers/tmc/tmc_shell.c:96:12: warning: 'cmd_tmc_cur' defined but not used [-Wunused-function] 96 | static int cmd_tmc_cur(const struct shell shell, size_t argc, char argv[]) | ^~~ [218/223] Linking CXX executable zephyr/zephyr_pre0.elf FAILED: zephyr/zephyr_pre0.elf zephyr/zephyr_pre0.map /workspace/app/build/zephyr/zephyr_pre0.map : && /opt/toolchains/zephyr-sdk-0.16.4/arm-zephyr-eabi/bin/arm-zephyr-eabi-g++ -gdwarf-4 zephyr/CMakeFiles/zephyr_pre0.dir/misc/empty_file.c.obj -o zephyr/zephyr_pre0.elf zephyr/CMakeFiles/offsets.dir/./arch/arm/core/offsets/offsets.c.obj -fuse-ld=bfd -T zephyr/linker_zephyr_pre0.cmd -Wl,-Map=/workspace/app/build/zephyr/zephyr_pre0.map -Wl,--whole-archive app/libapp.a zephyr/libzephyr.a zephyr/arch/common/libarchcommon.a zephyr/arch/arch/arm/core/libarcharmcore.a zephyr/arch/arch/arm/core/cortex_m/libarcharmcorecortex_m.a zephyr/arch/arch/arm/core/cortex_m/cmse/libarcharmcorecortex_mcmse.a zephyr/arch/arch/arm/core/mpu/libarcharmcorempu.a zephyr/lib/libc/picolibc/libliblibcpicolibc.a zephyr/lib/libc/common/libliblibccommon.a zephyr/lib/posix/liblibposix.a zephyr/lib/smf/liblibsmf.a zephyr/soc/soc/arm/common/cortex_m/libsocarmcommoncortex_m.a zephyr/subsys/rtio/libsubsysrtio.a zephyr/subsys/zbus/libsubsyszbus.a zephyr/drivers/interrupt_controller/libdriversinterrupt_controller.a zephyr/drivers/adc/libdriversadc.a zephyr/drivers/clock_control/libdrivers__clock_control.a zephyr/drivers/console/libdriversconsole.a zephyr/drivers/flash/libdriversflash.a zephyr/drivers/gpio/libdriversgpio.a zephyr/drivers/hwinfo/libdrivershwinfo.a zephyr/drivers/pinctrl/libdriverspinctrl.a zephyr/drivers/reset/libdriversreset.a zephyr/drivers/sensor/stm32_temp/libdriverssensorstm32_temp.a zephyr/drivers/sensor/stm32_vbat/libdriverssensorstm32_vbat.a zephyr/drivers/sensor/stm32_vref/libdriverssensorstm32_vref.a zephyr/drivers/sensor/libdriverssensor.a zephyr/drivers/serial/libdriversserial.a zephyr/drivers/spi/libdriversspi.a zephyr/drivers/timer/libdriverstimer.a modules/trinamic/drivers/tmc/lib..modulestrinamicdriverstmc.a modules/trinamic/drivers/tmc5160/lib..modulestrinamicdriverstmc5160.a modules/stm32/stm32cube/lib..moduleshalstm32__stm32cube.a -Wl,--no-whole-archive zephyr/kernel/libkernel.a -L"/opt/toolchains/zephyr-sdk-0.16.4/arm-zephyr-eabi/bin/../lib/gcc/arm-zephyr-eabi/12.2.0/thumb/v8-m.main/nofp" -L/workspace/app/build/zephyr -lgcc zephyr/arch/common/libisr_tables.a -mcpu=cortex-m33 -mthumb -mabi=aapcs -mfp16-format=ieee -Wl,--gc-sections -Wl,--build-id=none -Wl,--sort-common=descending -Wl,--sort-section=alignment -Wl,-u,_OffsetAbsSyms -Wl,-u,_ConfigAbsSyms -nostdlib -static -Wl,-X -Wl,-N -Wl,--orphan-handling=warn -lstdc++ -Wl,-no-pie -DPICOLIBC_DOUBLE_PRINTF_SCANF --specs=picolibc.specs -lc -lgcc && cd /workspace/app/build/zephyr && /usr/bin/cmake -E true /opt/toolchains/zephyr-sdk-0.16.4/arm-zephyr-eabi/bin/../lib/gcc/arm-zephyr-eabi/12.2.0/../../../../arm-zephyr-eabi/bin/ld.bfd: app/libapp.a(main.cpp.obj): in functionmain': /workspace/app/src/main.cpp:22: undefined reference to tmc_run(device const*, unsigned char, int, int)' collect2: error: ld returned 1 exit status ninja: build stopped: subcommand failed. FATAL ERROR: command exited with status 1: /usr/bin/cmake --build /workspace/app/build

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