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Re: [Paparazzi-devel] problems building arduimu in v4.0.3_stable-2-gdeeb


From: Chris Gough
Subject: Re: [Paparazzi-devel] problems building arduimu in v4.0.3_stable-2-gdeebbe3-dirty
Date: Thu, 1 Nov 2012 01:13:15 +1100

> I can not reproduce the settings issue with these fixes in place. If I
> back them all out and restore settins/ins_arduimu_basic.xml, then  the
> error says:

Forget that, my mistake. I need sleep.

I get the settings error with module ins_arduimu, but not with
ins_arduimu_basic (regardless of the other fixes). So I don't define
that setting with ins_arduimu.

Chris Gough

On Thu, Nov 1, 2012 at 1:05 AM, Chris Gough
<address@hidden> wrote:
> Yes that worked, thank you Gautier.
>
> I added <define name="USE_I2C0"/> to my AP target, and then it built OK.
>
> I edited sw/airborn/firmwares/fixedwing/main_ap.c (~line 645) to be
> like this, and it fixed the ahrs_update_gps() warning
>
> #if USE_GPS
> static inline void on_gps_solution( void ) {
>   estimator_update_state_gps();
> #if USE_AHRS
>   ahrs_update_gps();
> #endif
> #ifdef GPS_TRIGGERED_FUNCTION
>   GPS_TRIGGERED_FUNCTION();
> #endif
> }
> #endif
>
>
> I still got a warning like this, but make exited without error so I
> guess it's OK
>
> modules/ins/ins_arduimu_basic.c:210:6: warning: no previous prototype
> for 'ahrs_update_gps' [-Wmissing-prototypes]
>
> I can not reproduce the settings issue with these fixes in place. If I
> back them all out and restore settins/ins_arduimu_basic.xml, then  the
> error says:
>
> CC 
> /home/chris/src/paparazzi/var/blinken_arduimu/ap/firmwares/fixedwing/main_ap.o
> In file included from ./subsystems/settings.h:13:0,
>                  from firmwares/fixedwing/main_ap.c:70:
> /home/chris/src/paparazzi/var/blinken_arduimu/generated/settings.h: In
> function 'settings_get_value':
> /home/chris/src/paparazzi/var/blinken_arduimu/generated/settings.h:78:21:
> error: 'arduimu_calibrate_neutrals' undeclared (first use in this
> function)
> /home/chris/src/paparazzi/var/blinken_arduimu/generated/settings.h:78:21:
> note: each undeclared identifier is reported only once for each
> function it appears in
> firmwares/fixedwing/main_ap.c: At top level:
>
> So I guess I just wont do that then :)
>
> Thanks again.
>
> Chris Gough
>
> On Thu, Nov 1, 2012 at 12:34 AM, Gautier Hattenberger
> <address@hidden> wrote:
>> Hi,
>>
>> This setting issue is a bit strange, what was the error message ?
>> For the i2c0 undeclared, I guess you are missing a USE_I2C0 define in your
>> airframe file.
>> The warning about ahrs_update_gps is because the call to this function in
>> main_ap.c is not protected by #if USE_AHRS. I don't really have the time to
>> do those modification, but can you try them and tell me if it solves your
>> problem ?
>>
>> In airframe:
>> <define value="USE_I2C0"/>
>>
>> In sw/airborne/firmwares/fixedwing/main_ap.c:
>> #if USE_AHRS
>>   ahrs_update_gps();
>> #endif
>>
>> Thank you
>>
>> Gautier
>>
>> Le 31/10/2012 13:40, Chris Gough a écrit :
>>
>>> I've had a few problems with building Paparazzi version
>>> v4.0.3_stable-2-gdeebbe3-dirty on a fresh debian machine. I used with
>>> paparazzi-dev and paparazzi-arm-multilib from
>>>
>>> http://widehat.opensuse.org/repositories/home:/flixr:/paparazzi-uav/Debian_6.0/
>>>
>>> First up, I had to install gedit myself, there's a problem with the
>>> deb dependancies. No big deal, just FYI.
>>>
>>> Then, I tried and failed to build an airframe with an arduimu. I know
>>> it's rather obsolete, but I have one lying round so I wanted to try it
>>> out. I started with examples/easystar.xml and the instructions from
>>> the wiki... the only obvious glitch is the lack of
>>> settings/tuning_basic_ins.xml. So I used settings/fixedwing_basic.xml
>>> + settings/ins_arduimu_basic.xml, That wouldn't build until I removed
>>> this from ins_arduimu_basic.xml:
>>>
>>>   <dl_setting MAX="1" MIN="0" STEP="1" VAR="arduimu_calibrate_neutrals"
>>> shortname="calibrate" values="FALSE|TRUE"/>.
>>>
>>> After adding <subsystem name="ahrs" type="float_dcm"/> to my sim
>>> target, I could build and run a sim session. But I can't build for AP
>>> target, criticaly:
>>>
>>> modules/ins/ins_arduimu_basic.c: In function 'ArduIMU_periodicGPS':
>>> modules/ins/ins_arduimu_basic.c:134:3: error: 'i2c0' undeclared (first
>>> use in this function)
>>> modules/ins/ins_arduimu_basic.c:134:3: note: each undeclared
>>> identifier is reported only once for each function it appears in
>>> modules/ins/ins_arduimu_basic.c: In function 'ArduIMU_periodic':
>>> modules/ins/ins_arduimu_basic.c:144:5: error: 'i2c0' undeclared (first
>>> use in this function)
>>> modules/ins/ins_arduimu_basic.c: At top level:
>>> modules/ins/ins_arduimu_basic.c:210:6: warning: no previous prototype
>>> for 'ahrs_update_gps' [-Wmissing-prototypes]
>>> make[1]: ***
>>> [/home/chris/src/paparazzi/var/blinken_arduimu/ap/modules/ins/ins_arduimu_basic.o]
>>> Error 1
>>>
>>> same problem with module ins_arduimu_basic.xml and ins_arduimu.xml
>>>
>>> I've pasted my build log and config files, can someone please help me
>>> get it working
>>>
>>> Chris Gough
>>>
>>>
>>> (after make clean)
>>>
>>> Run 'make -C /home/chris/src/paparazzi -f Makefile.ac
>>> AIRCRAFT=blinken_arduimu ap.compile '
>>> make: Entering directory `/home/chris/src/paparazzi'
>>> -----------------------------------------------------------------------
>>> Paparazzi version v4.0.3_stable-2-gdeebbe3-dirty
>>> -----------------------------------------------------------------------
>>> blinken_arduimu
>>> BUILD blinken_arduimu, TARGET ap
>>> make[1]: Entering directory `/home/chris/src/paparazzi'
>>> BUILD /home/chris/src/paparazzi/var/blinken_arduimu/generated/airframe.h
>>> ##################################################
>>>   AIRFRAME MODEL: blinken_arduimu
>>> ##################################################
>>> BUILD /home/chris/src/paparazzi/var/blinken_arduimu/generated/modules.h
>>> BUILD
>>> /home/chris/src/paparazzi/var/blinken_arduimu/generated/periodic_telemetry.h
>>> BUILD /home/chris/src/paparazzi/var/blinken_arduimu/generated/settings.h
>>> BUILD /home/chris/src/paparazzi/var/blinken_arduimu/generated/tuning.h
>>> make[1]: Leaving directory `/home/chris/src/paparazzi'
>>> make[1]: Entering directory `/home/chris/src/paparazzi'
>>> BUILD /home/chris/src/paparazzi/var/blinken_arduimu/generated/radio.h
>>> ##################################################
>>>   RADIO MODEL: cockpitSX (easy)
>>> ##################################################
>>> make[1]: Leaving directory `/home/chris/src/paparazzi'
>>> make[1]: Entering directory `/home/chris/src/paparazzi'
>>> BUILD
>>> /home/chris/src/paparazzi/var/blinken_arduimu/generated/flight_plan.h
>>> ##################################################
>>>   FLIGHT PLAN: Versatile
>>> ##################################################
>>>
>>> Warning: low altitude (0<0+25) in <waypoint NAME="TD" Y="20.0"
>>> X="80.0" ALT="0"/>
>>>
>>> BUILD /home/chris/src/paparazzi/var/blinken_arduimu/flight_plan.xml
>>> make[1]: Leaving directory `/home/chris/src/paparazzi'
>>> cd sw/airborne; make PAPARAZZI_SRC=/home/chris/src/paparazzi
>>> PAPARAZZI_HOME=/home/chris/src/paparazzi TARGET=ap all
>>> make[1]: Entering directory `/home/chris/src/paparazzi/sw/airborne'
>>> DEPEND /home/chris/src/paparazzi/var/blinken_arduimu/ap/.depend
>>> make[1]: Leaving directory `/home/chris/src/paparazzi/sw/airborne'
>>> make[1]: Entering directory `/home/chris/src/paparazzi/sw/airborne'
>>> Using CC   = /opt/paparazzi/arm-multilib/bin/arm-none-eabi-gcc
>>> Using LD   = /opt/paparazzi/arm-multilib/bin/arm-none-eabi-gcc
>>> Using CP   = /opt/paparazzi/arm-multilib/bin/arm-none-eabi-objcopy
>>> Using DMP  = /opt/paparazzi/arm-multilib/bin/arm-none-eabi-objdump
>>> Using NM   = /opt/paparazzi/arm-multilib/bin/arm-none-eabi-nm
>>> Using SIZE = /opt/paparazzi/arm-multilib/bin/arm-none-eabi-size
>>> GCC version:
>>> arm-none-eabi-gcc (Linaro GCC 4.6-2011.09-1) 4.6.2 20110908 (prerelease)
>>> *** Using multilib ***
>>> --------------------------------------
>>> AS /home/chris/src/paparazzi/var/blinken_arduimu/ap/crt0.o
>>> CC /home/chris/src/paparazzi/var/blinken_arduimu/ap/mcu.o
>>> CC /home/chris/src/paparazzi/var/blinken_arduimu/ap/actuators.o
>>> CC /home/chris/src/paparazzi/var/blinken_arduimu/ap/arch/lpc21/mcu_arch.o
>>> CC /home/chris/src/paparazzi/var/blinken_arduimu/ap/mcu_periph/sys_time.o
>>> CC
>>> /home/chris/src/paparazzi/var/blinken_arduimu/ap/arch/lpc21/mcu_periph/sys_time_arch.o
>>> CC /home/chris/src/paparazzi/var/blinken_arduimu/ap/./inter_mcu.o
>>> CC
>>> /home/chris/src/paparazzi/var/blinken_arduimu/ap/math/pprz_geodetic_int.o
>>> CC
>>> /home/chris/src/paparazzi/var/blinken_arduimu/ap/math/pprz_geodetic_float.o
>>> CC
>>> /home/chris/src/paparazzi/var/blinken_arduimu/ap/math/pprz_geodetic_double.o
>>> CC /home/chris/src/paparazzi/var/blinken_arduimu/ap/math/pprz_trig_int.o
>>> CC /home/chris/src/paparazzi/var/blinken_arduimu/ap/mcu_periph/i2c.o
>>> CC
>>> /home/chris/src/paparazzi/var/blinken_arduimu/ap/arch/lpc21/mcu_periph/i2c_arch.o
>>> CC
>>> /home/chris/src/paparazzi/var/blinken_arduimu/ap/firmwares/fixedwing/main_fbw.o
>>> CC
>>> /home/chris/src/paparazzi/var/blinken_arduimu/ap/subsystems/electrical.o
>>> CC /home/chris/src/paparazzi/var/blinken_arduimu/ap/./commands.o
>>> CC
>>> /home/chris/src/paparazzi/var/blinken_arduimu/ap/firmwares/fixedwing/fbw_downlink.o
>>> CC
>>> /home/chris/src/paparazzi/var/blinken_arduimu/ap/firmwares/fixedwing/main_ap.o
>>> firmwares/fixedwing/main_ap.c:85:9: note: #pragma message: CAUTION!
>>> radio control roll channel input has been changed to follow aerospace
>>> sign conventions.
>>>   You will have to change your radio control xml file to get a positive
>>> value when banking right!
>>> firmwares/fixedwing/main_ap.c: In function 'on_gps_solution':
>>> firmwares/fixedwing/main_ap.c:657:3: warning: implicit declaration of
>>> function 'ahrs_update_gps' [-Wimplicit-function-declaration]
>>> firmwares/fixedwing/main_ap.c:657:3: warning: nested extern
>>> declaration of 'ahrs_update_gps' [-Wnested-externs]
>>> CC /home/chris/src/paparazzi/var/blinken_arduimu/ap/./estimator.o
>>> CC
>>> /home/chris/src/paparazzi/var/blinken_arduimu/ap/firmwares/fixedwing/ap_downlink.o
>>> CC /home/chris/src/paparazzi/var/blinken_arduimu/ap/arch/lpc21/armVIC.o
>>> CC
>>> /home/chris/src/paparazzi/var/blinken_arduimu/ap/firmwares/fixedwing/main.o
>>> CC /home/chris/src/paparazzi/var/blinken_arduimu/ap/mcu_periph/uart.o
>>> CC
>>> /home/chris/src/paparazzi/var/blinken_arduimu/ap/arch/lpc21/mcu_periph/uart_arch.o
>>> CC /home/chris/src/paparazzi/var/blinken_arduimu/ap/subsystems/settings.o
>>> CC
>>> /home/chris/src/paparazzi/var/blinken_arduimu/ap/arch/lpc21/subsystems/settings_arch.o
>>> CC
>>> /home/chris/src/paparazzi/var/blinken_arduimu/ap/arch/lpc21/mcu_periph/adc_arch.o
>>> CC
>>> /home/chris/src/paparazzi/var/blinken_arduimu/ap/arch/lpc21/servos_4017_hw.o
>>> CC
>>> /home/chris/src/paparazzi/var/blinken_arduimu/ap/subsystems/radio_control.o
>>> CC
>>> /home/chris/src/paparazzi/var/blinken_arduimu/ap/subsystems/radio_control/ppm.o
>>> CC
>>> /home/chris/src/paparazzi/var/blinken_arduimu/ap/arch/lpc21/subsystems/radio_control/ppm_arch.o
>>> CC
>>> /home/chris/src/paparazzi/var/blinken_arduimu/ap/subsystems/datalink/downlink.o
>>> CC
>>> /home/chris/src/paparazzi/var/blinken_arduimu/ap/subsystems/datalink/pprz_transport.o
>>> CC
>>> /home/chris/src/paparazzi/var/blinken_arduimu/ap/firmwares/fixedwing/datalink.o
>>> CC
>>> /home/chris/src/paparazzi/var/blinken_arduimu/ap/firmwares/fixedwing/stabilization/stabilization_attitude.o
>>> firmwares/fixedwing/stabilization/stabilization_attitude.c:40:9: note:
>>> #pragma message: CAUTION! ALL control gains have to be positive now!
>>> CC
>>> /home/chris/src/paparazzi/var/blinken_arduimu/ap/firmwares/fixedwing/guidance/guidance_v.o
>>> firmwares/fixedwing/guidance/guidance_v.c:112:9: note: #pragma
>>> message: CAUTION! ALL control gains have to be positive now!
>>> CC
>>> /home/chris/src/paparazzi/var/blinken_arduimu/ap/subsystems/gps/gps_ubx.o
>>> CC /home/chris/src/paparazzi/var/blinken_arduimu/ap/subsystems/gps.o
>>> CC /home/chris/src/paparazzi/var/blinken_arduimu/ap/subsystems/nav.o
>>> CC
>>> /home/chris/src/paparazzi/var/blinken_arduimu/ap/subsystems/navigation/common_flight_plan.o
>>> CC
>>> /home/chris/src/paparazzi/var/blinken_arduimu/ap/subsystems/navigation/traffic_info.o
>>> CC
>>> /home/chris/src/paparazzi/var/blinken_arduimu/ap/subsystems/navigation/nav_survey_rectangle.o
>>> CC
>>> /home/chris/src/paparazzi/var/blinken_arduimu/ap/subsystems/navigation/nav_line.o
>>> CC
>>> /home/chris/src/paparazzi/var/blinken_arduimu/ap/modules/ins/ins_arduimu_basic.o
>>> modules/ins/ins_arduimu_basic.c: In function 'ArduIMU_periodicGPS':
>>> modules/ins/ins_arduimu_basic.c:134:3: error: 'i2c0' undeclared (first
>>> use in this function)
>>> modules/ins/ins_arduimu_basic.c:134:3: note: each undeclared
>>> identifier is reported only once for each function it appears in
>>> modules/ins/ins_arduimu_basic.c: In function 'ArduIMU_periodic':
>>> modules/ins/ins_arduimu_basic.c:144:5: error: 'i2c0' undeclared (first
>>> use in this function)
>>> modules/ins/ins_arduimu_basic.c: At top level:
>>> modules/ins/ins_arduimu_basic.c:210:6: warning: no previous prototype
>>> for 'ahrs_update_gps' [-Wmissing-prototypes]
>>> make[1]: ***
>>> [/home/chris/src/paparazzi/var/blinken_arduimu/ap/modules/ins/ins_arduimu_basic.o]
>>> Error 1
>>> make[1]: Leaving directory `/home/chris/src/paparazzi/sw/airborne'
>>> make: *** [ap.compile] Error 2
>>> make: Leaving directory `/home/chris/src/paparazzi'
>>>
>>> DONE (exec make -C /home/chris/src/paparazzi -f Makefile.ac
>>> AIRCRAFT=blinken_arduimu ap.compile  2>&1)
>>>
>>>
>>>
>>>
>>
>>
>> _______________________________________________
>> Paparazzi-devel mailing list
>> address@hidden
>> https://lists.nongnu.org/mailman/listinfo/paparazzi-devel
>
>
>
> --
> .



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