Failure to link when targeting Arduino H7 on PlatformIO

[tnagyzambo]

I am trying to replicate the PlatformIO STM32 template for the Arduino H7.

The platformio.ini file:

[env:portenta_h7_m7]
platform = ststm32
board = portenta_h7_m7
framework = arduino

build_flags =
    -L ./.pio/libdeps/portenta_h7_m7/micro_ros_arduino/src/cortex_m7/
    -l microros
    -D TARGET_PORTENTA_H7_M7

lib_deps =
    https://github.com/micro-ROS/micro_ros_arduino

Results in the error:

Processing portenta_h7_m7 (platform: ststm32; board: portenta_h7_m7; framework: arduino)
--------------------------------------------------
Verbose mode can be enabled via `-v, --verbose` option
CONFIGURATION: https://docs.platformio.org/page/boards/ststm32/portenta_h7_m7.html
PLATFORM: ST STM32 (15.2.0) > Arduino Portenta H7 (M7 core)
HARDWARE: STM32H747XIH6 480MHz, 511.35KB RAM, 768KB Flash
DEBUG: Current (cmsis-dap) External (cmsis-dap, jlink, stlink)
PACKAGES: 
 - framework-arduino-mbed 2.6.1 
 - tool-dfuutil 1.9.200310 
 - toolchain-gccarmnoneeabi 1.70201.0 (7.2.1)
LDF: Library Dependency Finder -> https://bit.ly/configure-pio-ldf
LDF Modes: Finder ~ chain, Compatibility ~ soft
Found 32 compatible libraries
Scanning dependencies...
Dependency Graph
|-- <micro_ros_arduino> 0.0.4+sha.58d23b4
|   |-- <Ethernet> 1.0.0
|   |   |-- <SocketWrapper> 1.0
|   |-- <SPI>
|   |-- <WiFi> 1.0
|   |   |-- <SocketWrapper> 1.0
Building in release mode
Linking .pio/build/portenta_h7_m7/firmware.elf
/Users/tnagyzambo/.platformio/packages/toolchain-gccarmnoneeabi/bin/../lib/gcc/arm-none-eabi/7.2.1/../../../../arm-none-eabi/bin/ld: cannot find -lmicroros
collect2: error: ld returned 1 exit status
*** [.pio/build/portenta_h7_m7/firmware.elf] Error 1

[tnagyzambo]

So the error turned out to be a rather embarrassing typo, the .ini file should be as follow:

[env:portenta_h7_m7]
platform = ststm32
board = portenta_h7_m7
framework = arduino

build_flags =
    -L ./.pio/libdeps/portenta_h7_m7/micro_ros_arduino/src/cortex-m7/fpv5-d16-softfp/
    -l libmicroros
    -D TARGET_PORTENTA_H7_M7

lib_deps =
    https://github.com/micro-ROS/micro_ros_arduino

However now a new linking error appears seemingly related to the test cases?

Processing portenta_h7_m7 (platform: ststm32; board: portenta_h7_m7; framework: arduino)
--------------------------------------------------------------------------------
Verbose mode can be enabled via `-v, --verbose` option
CONFIGURATION: https://docs.platformio.org/page/boards/ststm32/portenta_h7_m7.html
PLATFORM: ST STM32 (15.2.0) > Arduino Portenta H7 (M7 core)
HARDWARE: STM32H747XIH6 480MHz, 511.35KB RAM, 768KB Flash
DEBUG: Current (cmsis-dap) External (cmsis-dap, jlink, stlink)
PACKAGES: 
 - framework-arduino-mbed 2.6.1 
 - tool-dfuutil 1.9.200310 
 - toolchain-gccarmnoneeabi 1.70201.0 (7.2.1)
LDF: Library Dependency Finder -> https://bit.ly/configure-pio-ldf
LDF Modes: Finder ~ chain, Compatibility ~ soft
Found 32 compatible libraries
Scanning dependencies...
Dependency Graph
|-- <micro_ros_arduino> 0.0.4+sha.58d23b4
|   |-- <Ethernet> 1.0.0
|   |   |-- <SocketWrapper> 1.0
|   |-- <SPI>
|   |-- <WiFi> 1.0
|   |   |-- <SocketWrapper> 1.0
Building in release mode
Linking .pio/build/portenta_h7_m7/firmware.elf
.pio/libdeps/portenta_h7_m7/micro_ros_arduino/src/cortex-m7/fpv5-d16-softfp/libmicroros.a(libactionlib_msgs__rosidl_typesupport_introspection_c-goal_status__type_support.c.obj): In function `GoalStatus__rosidl_typesupport_introspection_c__GoalStatus_init_function':
goal_status__type_support.c:(.text.GoalStatus__rosidl_typesupport_introspection_c__GoalStatus_init_function+0x0): multiple definition of `GoalStatus__rosidl_typesupport_introspection_c__GoalStatus_init_function'
.pio/libdeps/portenta_h7_m7/micro_ros_arduino/src/cortex-m7/fpv5-d16-softfp/libmicroros.a(libaction_msgs__rosidl_typesupport_introspection_c-goal_status__type_support.c.obj):goal_status__type_support.c:(.text.GoalStatus__rosidl_typesupport_introspection_c__GoalStatus_init_function+0x0): first defined here
.pio/libdeps/portenta_h7_m7/micro_ros_arduino/src/cortex-m7/fpv5-d16-softfp/libmicroros.a(libactionlib_msgs__rosidl_typesupport_introspection_c-goal_status__type_support.c.obj): In function `GoalStatus__rosidl_typesupport_introspection_c__GoalStatus_fini_function':
goal_status__type_support.c:(.text.GoalStatus__rosidl_typesupport_introspection_c__GoalStatus_fini_function+0x0): multiple definition of `GoalStatus__rosidl_typesupport_introspection_c__GoalStatus_fini_function'
.pio/libdeps/portenta_h7_m7/micro_ros_arduino/src/cortex-m7/fpv5-d16-softfp/libmicroros.a(libaction_msgs__rosidl_typesupport_introspection_c-goal_status__type_support.c.obj):goal_status__type_support.c:(.text.GoalStatus__rosidl_typesupport_introspection_c__GoalStatus_fini_function+0x0): first defined here
.pio/libdeps/portenta_h7_m7/micro_ros_arduino/src/cortex-m7/fpv5-d16-softfp/libmicroros.a(libactionlib_msgs__rosidl_typesupport_introspection_c-goal_status_array__type_support.c.obj): In function `GoalStatusArray__rosidl_typesupport_introspection_c__size_function__GoalStatus__status_list':
goal_status_array__type_support.c:(.text.GoalStatusArray__rosidl_typesupport_introspection_c__size_function__GoalStatus__status_list+0x0): multiple definition of `GoalStatusArray__rosidl_typesupport_introspection_c__size_function__GoalStatus__status_list'
...

file.log

[pablogs9]

There are some linker flags issues that seems that are not present in the Arduino IDE. I have been able to build allowing duplicated symbols and removing not used symbols sections:

[env:portenta_h7_m7]
platform = ststm32
board = portenta_h7_m7
framework = arduino

build_flags =
    -L ./.pio/libdeps/portenta_h7_m7/micro_ros_arduino/src/cortex-m7/fpv5-d16-softfp/
    -l libmicroros
    -D TARGET_PORTENTA_H7_M7
    -fdata-sections
    -ffunction-sections
    -Wl,--gc-sections
    -Wl,--unresolved-symbols=ignore-in-object-files
    -Wl,--allow-multiple-definition
    -Wl,-n

lib_deps =
    https://github.com/micro-ROS/micro_ros_arduino

[Acuadros95]

Hi, this issue is explained here: https://github.com/ROBOTIS-GIT/OpenCR/pull/294, to fix this, we need to modify the linker flags.

To do this, create a python script fix_linker.py on your directory and modify the linker flags manually:

Import("env")
env["_LIBFLAGS"] =  ('-Wl,--start-group -Wl,--whole-archive '
                    '${_stripixes(LIBLINKPREFIX, LIBS, LIBLINKSUFFIX, LIBPREFIXES, '
                    'LIBSUFFIXES, __env__)} -Wl,--no-whole-archive -lstdc++ '
                    '-lsupc++ -lm -lc -lgcc -lnosys -lmicroros -Wl,--end-group')

Now add it to your platformio.ini like this: extra_scripts = fix_linker.py and delete the -l libmicroros line on build_flags.

Your final .ini file should look like this:

[env:portenta_h7_m7]
platform = ststm32
board = portenta_h7_m7
framework = arduino
extra_scripts = fix_linker.py

lib_deps =
    https://github.com/micro-ROS/micro_ros_arduino

build_flags =
    -L ./.pio/libdeps/portenta_h7_m7/micro_ros_arduino/src/cortex-m7/fpv5-d16-softfp/
    -D TARGET_PORTENTA_H7_M7

[tnagyzambo]

Thanks, I can confirm that both solutions work.

From my (limited) understanding of what's happening here it seems that @Acuadros95's solutions is more appropriate.