Can not correctly compile the new version of iRM 2020!

[AlchemicRonin]

I guess the problem is related with the controller.cc

Here is the compile report:

====================[ Build | example_buzzer.elf | Debug ]======================
/opt/clion-2019.3.4/bin/cmake/linux/bin/cmake --build /home/alchemic_ronin/Documents/iRM_Embedded_2020/build --target example_buzzer.elf -- -j 4
Scanning dependencies of target DJI_Board_TypeA_irm
Scanning dependencies of target DJI_Board_TypeA_libDSP
[  0%] Building CXX object shared/CMakeFiles/DJI_Board_TypeA_irm.dir/bsp/bsp_can.cc.obj
[  0%] Building CXX object shared/CMakeFiles/DJI_Board_TypeA_irm.dir/bsp/bsp_buzzer.cc.obj
[  1%] Building CXX object shared/CMakeFiles/DJI_Board_TypeA_irm.dir/bsp/bsp_error_handler.cc.obj
[  1%] Building CXX object shared/CMakeFiles/DJI_Board_TypeA_irm.dir/bsp/bsp_gpio.cc.obj
[  1%] Building C object boards/DJI_Board_TypeA/CMakeFiles/DJI_Board_TypeA_libDSP.dir/DSP/Source/BasicMathFunctions/arm_abs_f32.c.obj
[  1%] Building CXX object shared/CMakeFiles/DJI_Board_TypeA_irm.dir/bsp/bsp_imu.cc.obj
[  2%] Building CXX object shared/CMakeFiles/DJI_Board_TypeA_irm.dir/bsp/bsp_memory.cc.obj
[  2%] Building C object boards/DJI_Board_TypeA/CMakeFiles/DJI_Board_TypeA_libDSP.dir/DSP/Source/BasicMathFunctions/arm_abs_q15.c.obj
[  2%] Building CXX object shared/CMakeFiles/DJI_Board_TypeA_irm.dir/bsp/bsp_print.cc.obj
[  2%] Building CXX object shared/CMakeFiles/DJI_Board_TypeA_irm.dir/bsp/bsp_pwm.cc.obj
[  2%] Building C object boards/DJI_Board_TypeA/CMakeFiles/DJI_Board_TypeA_libDSP.dir/DSP/Source/BasicMathFunctions/arm_abs_q31.c.obj
[  2%] Building CXX object shared/CMakeFiles/DJI_Board_TypeA_irm.dir/bsp/bsp_sdio.cc.obj
[  3%] Building C object boards/DJI_Board_TypeA/CMakeFiles/DJI_Board_TypeA_libDSP.dir/DSP/Source/BasicMathFunctions/arm_abs_q7.c.obj
[  4%] Building CXX object shared/CMakeFiles/DJI_Board_TypeA_irm.dir/bsp/bsp_uart.cc.obj
[  4%] Building CXX object shared/CMakeFiles/DJI_Board_TypeA_irm.dir/bsp/bsp_usb.cc.obj
[  4%] Building C object boards/DJI_Board_TypeA/CMakeFiles/DJI_Board_TypeA_libDSP.dir/DSP/Source/BasicMathFunctions/arm_add_f32.c.obj
[  4%] Building C object boards/DJI_Board_TypeA/CMakeFiles/DJI_Board_TypeA_libDSP.dir/DSP/Source/BasicMathFunctions/arm_add_q15.c.obj
[  5%] Building C object boards/DJI_Board_TypeA/CMakeFiles/DJI_Board_TypeA_libDSP.dir/DSP/Source/BasicMathFunctions/arm_add_q31.c.obj
[  5%] Building CXX object shared/CMakeFiles/DJI_Board_TypeA_irm.dir/libraries/controller.cc.obj
[  5%] Building CXX object shared/CMakeFiles/DJI_Board_TypeA_irm.dir/libraries/motor.cc.obj
[  6%] Building CXX object shared/CMakeFiles/DJI_Board_TypeA_irm.dir/libraries/utils.cc.obj
In file included from /home/alchemic_ronin/Documents/iRM_Embedded_2020/boards/DJI_Board_TypeA/DSP/Include/arm_math.h:322,
                 from /home/alchemic_ronin/Documents/iRM_Embedded_2020/shared/libraries/controller.h:3,
                 from /home/alchemic_ronin/Documents/iRM_Embedded_2020/shared/libraries/controller.cc:1:
/home/alchemic_ronin/Documents/iRM_Embedded_2020/boards/DJI_Board_TypeA/Drivers/CMSIS/Include/core_cm4.h:105:8: error: #error "Compiler generates FPU instructions for a device without an FPU (check __FPU_PRESENT)"
  105 |       #error "Compiler generates FPU instructions for a device without an FPU (check __FPU_PRESENT)"
      |        ^~~~~
[  6%] Building C object boards/DJI_Board_TypeA/CMakeFiles/DJI_Board_TypeA_libDSP.dir/DSP/Source/BasicMathFunctions/arm_add_q7.c.obj
[  6%] Building C object boards/DJI_Board_TypeA/CMakeFiles/DJI_Board_TypeA_libDSP.dir/DSP/Source/BasicMathFunctions/arm_dot_prod_f32.c.obj
[  6%] Building C object boards/DJI_Board_TypeA/CMakeFiles/DJI_Board_TypeA_libDSP.dir/DSP/Source/BasicMathFunctions/arm_dot_prod_q15.c.obj
shared/CMakeFiles/DJI_Board_TypeA_irm.dir/build.make:205: recipe for target 'shared/CMakeFiles/DJI_Board_TypeA_irm.dir/libraries/controller.cc.obj' failed
make[3]: *** [shared/CMakeFiles/DJI_Board_TypeA_irm.dir/libraries/controller.cc.obj] Error 1
make[3]: *** Waiting for unfinished jobs....
[  7%] Building C object boards/DJI_Board_TypeA/CMakeFiles/DJI_Board_TypeA_libDSP.dir/DSP/Source/BasicMathFunctions/arm_dot_prod_q31.c.obj
[  7%] Building C object boards/DJI_Board_TypeA/CMakeFiles/DJI_Board_TypeA_libDSP.dir/DSP/Source/BasicMathFunctions/arm_dot_prod_q7.c.obj
[  7%] Building C object boards/DJI_Board_TypeA/CMakeFiles/DJI_Board_TypeA_libDSP.dir/DSP/Source/BasicMathFunctions/arm_mult_f32.c.obj
[  7%] Building C object boards/DJI_Board_TypeA/CMakeFiles/DJI_Board_TypeA_libDSP.dir/DSP/Source/BasicMathFunctions/arm_mult_q15.c.obj
[  8%] Building C object boards/DJI_Board_TypeA/CMakeFiles/DJI_Board_TypeA_libDSP.dir/DSP/Source/BasicMathFunctions/arm_mult_q31.c.obj
[  8%] Building C object boards/DJI_Board_TypeA/CMakeFiles/DJI_Board_TypeA_libDSP.dir/DSP/Source/BasicMathFunctions/arm_mult_q7.c.obj
[  8%] Building C object boards/DJI_Board_TypeA/CMakeFiles/DJI_Board_TypeA_libDSP.dir/DSP/Source/BasicMathFunctions/arm_negate_f32.c.obj
CMakeFiles/Makefile2:416: recipe for target 'shared/CMakeFiles/DJI_Board_TypeA_irm.dir/all' failed
make[2]: *** [shared/CMakeFiles/DJI_Board_TypeA_irm.dir/all] Error 2
make[2]: *** Waiting for unfinished jobs....
[  9%] Building C object boards/DJI_Board_TypeA/CMakeFiles/DJI_Board_TypeA_libDSP.dir/DSP/Source/BasicMathFunctions/arm_negate_q31.c.obj
[  9%] Building C object boards/DJI_Board_TypeA/CMakeFiles/DJI_Board_TypeA_libDSP.dir/DSP/Source/BasicMathFunctions/arm_negate_q15.c.obj
[  9%] Building C object boards/DJI_Board_TypeA/CMakeFiles/DJI_Board_TypeA_libDSP.dir/DSP/Source/BasicMathFunctions/arm_negate_q7.c.obj
[  9%] Building C object boards/DJI_Board_TypeA/CMakeFiles/DJI_Board_TypeA_libDSP.dir/DSP/Source/BasicMathFunctions/arm_offset_f32.c.obj
[  9%] Building C object boards/DJI_Board_TypeA/CMakeFiles/DJI_Board_TypeA_libDSP.dir/DSP/Source/BasicMathFunctions/arm_offset_q15.c.obj
[ 10%] Building C object boards/DJI_Board_TypeA/CMakeFiles/DJI_Board_TypeA_libDSP.dir/DSP/Source/BasicMathFunctions/arm_offset_q31.c.obj
[ 10%] Building C object boards/DJI_Board_TypeA/CMakeFiles/DJI_Board_TypeA_libDSP.dir/DSP/Source/BasicMathFunctions/arm_offset_q7.c.obj
[ 10%] Building C object boards/DJI_Board_TypeA/CMakeFiles/DJI_Board_TypeA_libDSP.dir/DSP/Source/BasicMathFunctions/arm_scale_f32.c.obj
[ 11%] Building C object boards/DJI_Board_TypeA/CMakeFiles/DJI_Board_TypeA_libDSP.dir/DSP/Source/BasicMathFunctions/arm_scale_q15.c.obj
[ 11%] Building C object boards/DJI_Board_TypeA/CMakeFiles/DJI_Board_TypeA_libDSP.dir/DSP/Source/BasicMathFunctions/arm_scale_q31.c.obj
[ 11%] Building C object boards/DJI_Board_TypeA/CMakeFiles/DJI_Board_TypeA_libDSP.dir/DSP/Source/BasicMathFunctions/arm_scale_q7.c.obj
[ 11%] Building C object boards/DJI_Board_TypeA/CMakeFiles/DJI_Board_TypeA_libDSP.dir/DSP/Source/BasicMathFunctions/arm_shift_q15.c.obj
[ 12%] Building C object boards/DJI_Board_TypeA/CMakeFiles/DJI_Board_TypeA_libDSP.dir/DSP/Source/BasicMathFunctions/arm_shift_q31.c.obj
[ 12%] Building C object boards/DJI_Board_TypeA/CMakeFiles/DJI_Board_TypeA_libDSP.dir/DSP/Source/BasicMathFunctions/arm_shift_q7.c.obj
[ 12%] Building C object boards/DJI_Board_TypeA/CMakeFiles/DJI_Board_TypeA_libDSP.dir/DSP/Source/BasicMathFunctions/arm_sub_f32.c.obj
[ 12%] Building C object boards/DJI_Board_TypeA/CMakeFiles/DJI_Board_TypeA_libDSP.dir/DSP/Source/BasicMathFunctions/arm_sub_q15.c.obj
[ 13%] Building C object boards/DJI_Board_TypeA/CMakeFiles/DJI_Board_TypeA_libDSP.dir/DSP/Source/BasicMathFunctions/arm_sub_q31.c.obj
[ 13%] Building C object boards/DJI_Board_TypeA/CMakeFiles/DJI_Board_TypeA_libDSP.dir/DSP/Source/BasicMathFunctions/arm_sub_q7.c.obj
[ 13%] Building C object boards/DJI_Board_TypeA/CMakeFiles/DJI_Board_TypeA_libDSP.dir/DSP/Source/CommonTables/arm_common_tables.c.obj
[ 13%] Building C object boards/DJI_Board_TypeA/CMakeFiles/DJI_Board_TypeA_libDSP.dir/DSP/Source/CommonTables/arm_const_structs.c.obj
[ 14%] Building C object boards/DJI_Board_TypeA/CMakeFiles/DJI_Board_TypeA_libDSP.dir/DSP/Source/ComplexMathFunctions/arm_cmplx_conj_f32.c.obj
[ 14%] Building C object boards/DJI_Board_TypeA/CMakeFiles/DJI_Board_TypeA_libDSP.dir/DSP/Source/ComplexMathFunctions/arm_cmplx_conj_q15.c.obj
[ 14%] Building C object boards/DJI_Board_TypeA/CMakeFiles/DJI_Board_TypeA_libDSP.dir/DSP/Source/ComplexMathFunctions/arm_cmplx_conj_q31.c.obj
[ 14%] Building C object boards/DJI_Board_TypeA/CMakeFiles/DJI_Board_TypeA_libDSP.dir/DSP/Source/ComplexMathFunctions/arm_cmplx_dot_prod_f32.c.obj
[ 15%] Building C object boards/DJI_Board_TypeA/CMakeFiles/DJI_Board_TypeA_libDSP.dir/DSP/Source/ComplexMathFunctions/arm_cmplx_dot_prod_q15.c.obj
[ 15%] Building C object boards/DJI_Board_TypeA/CMakeFiles/DJI_Board_TypeA_libDSP.dir/DSP/Source/ComplexMathFunctions/arm_cmplx_dot_prod_q31.c.obj
[ 15%] Building C object boards/DJI_Board_TypeA/CMakeFiles/DJI_Board_TypeA_libDSP.dir/DSP/Source/ComplexMathFunctions/arm_cmplx_mag_f32.c.obj
[ 17%] Building C object boards/DJI_Board_TypeA/CMakeFiles/DJI_Board_TypeA_libDSP.dir/DSP/Source/ComplexMathFunctions/arm_cmplx_mag_q15.c.obj
[ 17%] Building C object boards/DJI_Board_TypeA/CMakeFiles/DJI_Board_TypeA_libDSP.dir/DSP/Source/ComplexMathFunctions/arm_cmplx_mag_q31.c.obj
[ 17%] Building C object boards/DJI_Board_TypeA/CMakeFiles/DJI_Board_TypeA_libDSP.dir/DSP/Source/ComplexMathFunctions/arm_cmplx_mag_squared_f32.c.obj
[ 17%] Building C object boards/DJI_Board_TypeA/CMakeFiles/DJI_Board_TypeA_libDSP.dir/DSP/Source/ComplexMathFunctions/arm_cmplx_mag_squared_q15.c.obj
[ 18%] Building C object boards/DJI_Board_TypeA/CMakeFiles/DJI_Board_TypeA_libDSP.dir/DSP/Source/ComplexMathFunctions/arm_cmplx_mag_squared_q31.c.obj
[ 18%] Building C object boards/DJI_Board_TypeA/CMakeFiles/DJI_Board_TypeA_libDSP.dir/DSP/Source/ComplexMathFunctions/arm_cmplx_mult_cmplx_f32.c.obj
[ 18%] Building C object boards/DJI_Board_TypeA/CMakeFiles/DJI_Board_TypeA_libDSP.dir/DSP/Source/ComplexMathFunctions/arm_cmplx_mult_cmplx_q15.c.obj
[ 18%] Building C object boards/DJI_Board_TypeA/CMakeFiles/DJI_Board_TypeA_libDSP.dir/DSP/Source/ComplexMathFunctions/arm_cmplx_mult_cmplx_q31.c.obj
[ 19%] Building C object boards/DJI_Board_TypeA/CMakeFiles/DJI_Board_TypeA_libDSP.dir/DSP/Source/ComplexMathFunctions/arm_cmplx_mult_real_f32.c.obj
[ 19%] Building C object boards/DJI_Board_TypeA/CMakeFiles/DJI_Board_TypeA_libDSP.dir/DSP/Source/ComplexMathFunctions/arm_cmplx_mult_real_q15.c.obj
[ 19%] Building C object boards/DJI_Board_TypeA/CMakeFiles/DJI_Board_TypeA_libDSP.dir/DSP/Source/ComplexMathFunctions/arm_cmplx_mult_real_q31.c.obj
[ 19%] Building C object boards/DJI_Board_TypeA/CMakeFiles/DJI_Board_TypeA_libDSP.dir/DSP/Source/ControllerFunctions/arm_pid_init_f32.c.obj
[ 20%] Building C object boards/DJI_Board_TypeA/CMakeFiles/DJI_Board_TypeA_libDSP.dir/DSP/Source/ControllerFunctions/arm_pid_init_q15.c.obj
[ 20%] Building C object boards/DJI_Board_TypeA/CMakeFiles/DJI_Board_TypeA_libDSP.dir/DSP/Source/ControllerFunctions/arm_pid_init_q31.c.obj
[ 20%] Building C object boards/DJI_Board_TypeA/CMakeFiles/DJI_Board_TypeA_libDSP.dir/DSP/Source/ControllerFunctions/arm_pid_reset_f32.c.obj
[ 20%] Building C object boards/DJI_Board_TypeA/CMakeFiles/DJI_Board_TypeA_libDSP.dir/DSP/Source/ControllerFunctions/arm_pid_reset_q15.c.obj
[ 21%] Building C object boards/DJI_Board_TypeA/CMakeFiles/DJI_Board_TypeA_libDSP.dir/DSP/Source/ControllerFunctions/arm_pid_reset_q31.c.obj
[ 21%] Building C object boards/DJI_Board_TypeA/CMakeFiles/DJI_Board_TypeA_libDSP.dir/DSP/Source/ControllerFunctions/arm_sin_cos_f32.c.obj
[ 21%] Building C object boards/DJI_Board_TypeA/CMakeFiles/DJI_Board_TypeA_libDSP.dir/DSP/Source/ControllerFunctions/arm_sin_cos_q31.c.obj
[ 22%] Building C object boards/DJI_Board_TypeA/CMakeFiles/DJI_Board_TypeA_libDSP.dir/DSP/Source/FastMathFunctions/arm_cos_f32.c.obj
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[ 23%] Building C object boards/DJI_Board_TypeA/CMakeFiles/DJI_Board_TypeA_libDSP.dir/DSP/Source/FastMathFunctions/arm_sqrt_q15.c.obj
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[ 24%] Building C object boards/DJI_Board_TypeA/CMakeFiles/DJI_Board_TypeA_libDSP.dir/DSP/Source/FilteringFunctions/arm_biquad_cascade_df1_32x64_q31.c.obj
[ 24%] Building C object boards/DJI_Board_TypeA/CMakeFiles/DJI_Board_TypeA_libDSP.dir/DSP/Source/FilteringFunctions/arm_biquad_cascade_df1_f32.c.obj
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[ 25%] Building C object boards/DJI_Board_TypeA/CMakeFiles/DJI_Board_TypeA_libDSP.dir/DSP/Source/FilteringFunctions/arm_biquad_cascade_df1_fast_q15.c.obj
[ 25%] Building C object boards/DJI_Board_TypeA/CMakeFiles/DJI_Board_TypeA_libDSP.dir/DSP/Source/FilteringFunctions/arm_biquad_cascade_df1_init_f32.c.obj
[ 25%] Building C object boards/DJI_Board_TypeA/CMakeFiles/DJI_Board_TypeA_libDSP.dir/DSP/Source/FilteringFunctions/arm_biquad_cascade_df1_init_q15.c.obj
[ 25%] Building C object boards/DJI_Board_TypeA/CMakeFiles/DJI_Board_TypeA_libDSP.dir/DSP/Source/FilteringFunctions/arm_biquad_cascade_df1_init_q31.c.obj
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[ 27%] Building C object boards/DJI_Board_TypeA/CMakeFiles/DJI_Board_TypeA_libDSP.dir/DSP/Source/FilteringFunctions/arm_biquad_cascade_df2T_f64.c.obj
[ 27%] Building C object boards/DJI_Board_TypeA/CMakeFiles/DJI_Board_TypeA_libDSP.dir/DSP/Source/FilteringFunctions/arm_biquad_cascade_df2T_init_f32.c.obj
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[ 76%] Building C object boards/DJI_Board_TypeA/CMakeFiles/DJI_Board_TypeA_libDSP.dir/DSP/Source/TransformFunctions/arm_dct4_f32.c.obj
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[ 76%] Building C object boards/DJI_Board_TypeA/CMakeFiles/DJI_Board_TypeA_libDSP.dir/DSP/Source/TransformFunctions/arm_dct4_init_q15.c.obj
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CMakeFiles/Makefile2:533: recipe for target 'examples/buzzer/CMakeFiles/example_buzzer.elf.dir/rule' failed
make[1]: *** [examples/buzzer/CMakeFiles/example_buzzer.elf.dir/rule] Error 2
Makefile:196: recipe for target 'example_buzzer.elf' failed
make: *** [example_buzzer.elf] Error 2

[alvinsunyixiao]

Try cmake .. again or do a completely clean build.

[RogerQi]

I had no issue building the latest master branch either. Try removing your build directory to do a clean rebuild as Alvin suggested.

[AlchemicRonin]

Ok. I find the reason. My default cmake changes some cmake files, so my g++ for stm32 compilation can not correctly recognize it. It works now.