Hardware directory for arduino not found

ArduRover ArduBoat
1

I’m trying to compile the master-AVR branch to use on my APM 2.x board. I am running ArchLinux. However when running make from the APMrover2 directory I get the following error:

Hardware directory for arduino not found

I was under the impression that you can either use make or the Arduino software. But regardless I installed the Arduino IDE using pacaur -S arduino.

On Mac, I’m pretty sure the hardware directory is /Applications/Arduino.app/Contents/Java/hardware/.
On Linux, the equivalent seems to be /usr/share/arduino/hardware.
However while that folder on the Mac contains lots of subfolders and binaries but on Linux it is empty.

Thanks if anyone can help to diagnose this issue.

2

Okay if I open up Arduino, install the correct stuff using ‘Board Manager’, and then add ~/.arduino15/packages/arduino/hardware/avr/1.6.14 to the list of hardware directories in mk/board_avr.mk, then it works initially.

However another issue arises…

// BUILDROOT=/tmp/APMrover2.build HAL_BOARD=HAL_BOARD_APM2 HAL_BOARD_SUBTYPE=HAL_BOARD_SUBTYPE_AVR_APM2 TOOLCHAIN=AVR EXTRAFLAGS=-DGIT_VERSION="eb6f251e"
%% Parameters.o
/usr/bin/ccache: invalid option -- 'g'
Usage:
    ccache [options]
    ccache compiler [compiler options]
    compiler [compiler options]          (via symbolic link)

Options:
    -c, --cleanup         delete old files and recalculate size counters
                          (normally not needed as this is done automatically)
    -C, --clear           clear the cache completely (except configuration)
    -F, --max-files=N     set maximum number of files in cache to N (use 0 for
                          no limit)
    -M, --max-size=SIZE   set maximum size of cache to SIZE (use 0 for no
                          limit); available suffixes: k, M, G, T (decimal) and
                          Ki, Mi, Gi, Ti (binary); default suffix: G
    -o, --set-config=K=V  set configuration key K to value V
    -p, --print-config    print current configuration options
    -s, --show-stats      show statistics summary
    -z, --zero-stats      zero statistics counters

    -h, --help            print this help text
    -V, --version         print version and copyright information

See also <https://ccache.samba.org>.
make: *** [../mk/build_rules.mk:12: /tmp/APMrover2.build/Parameters.o] Error 1

I’m beginning to think this branch is so out of date it will take ages to fix all the issues so I can compile it. Is there a better option to get stuff working on an APM 2.x?

3

You should be able to do it all from the command line. In APMrover2 I run “make apm2” and it works fine for me from latest master. Have you worked your way through these instructions?

http://ardupilot.org/dev/docs/building-the-code-onlinux.html#building-the-code-onlinux

In case this helps in my .bashrc I have

export PATH=/usr/lib/ccache:$HOME/tools/gcc-arm-none-eabi-4_9-2015q3/bin/:$PATH:$HOME/.local/bin:$HOME/uav/ardupilot/Tools/autotest:$HOME/uav/MAVProxy:$HOME/uav/mavlink/pymavlink/examples:$HOME/uav/mavlink/pymavlink/tools:$HOME/uav/jsbsim/src

. $HOME/.bashrc_git

Thanks, Grant.

4

Thanks I’d looked through that guide before, but wrongly assumed that the install-prereqs-arch.sh script would do everything I needed. Apparently that is not the case.

I’ve now got to the point where I’m starting to compile code but there are errors.

// BUILDROOT=/tmp/APMrover2.build HAL_BOARD=HAL_BOARD_APM2 HAL_BOARD_SUBTYPE=HAL_BOARD_SUBTYPE_AVR_APM2 TOOLCHAIN=AVR EXTRAFLAGS=-DGIT_VERSION="eb6f251e"
%% Parameters.o
In file included from /home/chris/Code/ardupilot/libraries/AP_GPS/AP_GPS.h:420:0,
                 from Rover.h:36,
                 from Parameters.cpp:3:
/home/chris/Code/ardupilot/libraries/AP_GPS/AP_GPS_UBLOX.h:311:23: error: flexible array member in union
         uint8_t bytes[];
                       ^
In file included from /home/chris/Code/ardupilot/libraries/AP_GPS/AP_GPS.h:421:0,
                 from Rover.h:36,
                 from Parameters.cpp:3:
/home/chris/Code/ardupilot/libraries/AP_GPS/AP_GPS_MTK.h:75:23: error: flexible array member in union
         uint8_t bytes[];
                       ^
In file included from /home/chris/Code/ardupilot/libraries/AP_GPS/AP_GPS.h:422:0,
                 from Rover.h:36,
                 from Parameters.cpp:3:
/home/chris/Code/ardupilot/libraries/AP_GPS/AP_GPS_MTK19.h:81:23: error: flexible array member in union
         uint8_t bytes[];
                       ^
In file included from /home/chris/Code/ardupilot/libraries/AP_GPS/AP_GPS.h:424:0,
                 from Rover.h:36,
                 from Parameters.cpp:3:
/home/chris/Code/ardupilot/libraries/AP_GPS/AP_GPS_SIRF.h:100:23: error: flexible array member in union
         uint8_t bytes[];
                       ^
make: *** [../mk/build_rules.mk:12: /tmp/APMrover2.build/Parameters.o] Error 1

I know a bit of C but I feel like these sort of errors are still due to misconfiguration in the compiler toolchain rather than the code itself.

5

It works if I change those flexible arrays to arrays of zero length. (why should I have to do this though?)

The next issue stems from preprocessor variables being empty.

libraries/AP_HAL_AVR/UARTDriver.cpp: F_CPU isn’t defined
libraries/AP_HAL_AVR/I2CDriver.cpp: CPU_FREQ isn’t defined

6

I bet its your compiler version. Run

avr-g++ --version

It should say something like
avr-g++ (GCC) 4.9.2
Copyright © 2014 Free Software Foundation, Inc.
This is free software; see the source for copying conditions. There is NO
warranty; not even for MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.

Note the 4.9.2. That’s the version of compiler that’s supported for the code. If your running something else I’ll bet that’s why your getting those errors.

Thanks, Grant.

7

Yep I’m running version 6.2.0… Thank you Arch for keeping everything up to date - not. I got the code to compile by changing a few lines of code. I feel like that’s easier than trying to downgrade my packages.

8

You shouldn’t downgrade your packages. Just install the 4.9.2 version of the compiler as well.
Thanks, Grant.