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Build Error [ task in 'ChibiOS_lib' failed (exit status 2): ]

I am using Manjaro to build ArduCopter 3.6.1. I am able to build successfully using SITL board option. But when I tried to build for FMUV3 I get the following error.

Output of
'./waf configure --board fmuv3 ’

[jose@jose ardupilot]$ ./waf configure --board fmuv3
Setting top to                           : /home/jose/Marian/Personal/Drone/Code/UAV/Projects/NPNT/ardupilot 
Setting out to                           : /home/jose/Marian/Personal/Drone/Code/UAV/Projects/NPNT/ardupilot/build 
Autoconfiguration                        : enabled 
Setting board to                         : fmuv3 
Using toolchain                          : arm-none-eabi 
Checking for 'g++' (C++ compiler)        : /usr/bin/arm-none-eabi-g++ 
Checking for 'gcc' (C compiler)          : /usr/bin/arm-none-eabi-gcc 
Checking for c flags '-MMD'              : yes 
Checking for cxx flags '-MMD'            : yes 
Checking for program 'make'              : /usr/bin/make 
Checking for program 'arm-none-eabi-objcopy' : /usr/bin/arm-none-eabi-objcopy 
Setup for MCU STM32F427xx
Writing hwdef setup in /home/jose/Marian/Personal/Drone/Code/UAV/Projects/NPNT/ardupilot/build/fmuv3/hwdef.h
Writing DMA map
Generating ldscript.ld
Checking for env.py
env set HAL_WITH_UAVCAN=1
env set PROCESS_STACK=0x2000
env set MAIN_STACK=0x400
env set IOMCU_FW=0
env set PERIPH_FW=0
env set BOARD_FLASH_SIZE=2048
env set CPU_FLAGS=['-mcpu=cortex-m4', '-mfpu=fpv4-sp-d16', '-mfloat-abi=hard', '-u_printf_float']
env set APJ_BOARD_ID=9
env set APJ_BOARD_TYPE=STM32F427xx
env set USBID=0x0483/0x5740
env set FLASH_RESERVE_START_KB=16
env set CHIBIOS_BUILD_FLAGS=USE_FATFS=yes CHIBIOS_STARTUP_MK=os/common/startup/ARMCMx/compilers/GCC/mk/startup_stm32f4xx.mk CHIBIOS_PLATFORM_MK=os/hal/ports/STM32/STM32F4xx/platform.mk MCU=cortex-m4 ENV_UDEFS=-DCHPRINTF_USE_FLOAT=1
Enabling ChibiOS asserts                     : no 
Checking for intelhex module:                : disabled 
Checking for HAVE_CMATH_ISFINITE             : no 
Checking for HAVE_CMATH_ISINF                : no 
Checking for HAVE_CMATH_ISNAN                : no 
Checking for NEED_CMATH_ISFINITE_STD_NAMESPACE : no 
Checking for NEED_CMATH_ISINF_STD_NAMESPACE    : no 
Checking for NEED_CMATH_ISNAN_STD_NAMESPACE    : no 
Checking for header endian.h                   : not found 
Checking for header byteswap.h                 : not found 
Checking for HAVE_MEMRCHR                      : no 
Checking for program 'python'                  : /usr/bin/python 
Checking for python version >= 2.7.0           : 3.8.1 
Checking for program 'python'                  : /usr/bin/python 
Checking for python version >= 2.7.0           : 3.8.1 
Source is git repository                       : yes 
Update submodules                              : yes 
Checking for program 'git'                     : /usr/bin/git 
Gtest                                          : STM32 boards currently don't support compiling gtest 
Checking for program 'arm-none-eabi-size'      : /usr/bin/arm-none-eabi-size 
Benchmarks                                     : disabled 
Unit tests                                     : disabled 
Scripting                                      : enabled 
Scripting runtime checks                       : enabled 
Checking for program 'rsync'                   : /usr/bin/rsync 
'configure' finished successfully (0.368s)

Output of
‘./waf copter’

Waf: Entering directory `/home/jose/Marian/Personal/Drone/Code/UAV/Projects/NPNT/ardupilot/build/fmuv3'
Embedding file sandbox.lua:libraries/AP_Scripting/scripts/sandbox.lua
Embedding file io_firmware.bin:Tools/IO_Firmware/iofirmware_lowpolh.bin
Embedding file bootloader.bin:/home/jose/Marian/Personal/Drone/Code/UAV/Projects/NPNT/ardupilot/Tools/bootloaders/fmuv3_bl.bin
Checking for env.py
env added HAL_WITH_UAVCAN=1
env added PROCESS_STACK=0x2000
env added MAIN_STACK=0x400
env added IOMCU_FW=0
env added PERIPH_FW=0
env added BOARD_FLASH_SIZE=2048
env appended CPU_FLAGS=['-mcpu=cortex-m4', '-mfpu=fpv4-sp-d16', '-mfloat-abi=hard', '-u_printf_float']
env added APJ_BOARD_ID=9
env added APJ_BOARD_TYPE=STM32F427xx
env added USBID=0x0483/0x5740
env added FLASH_RESERVE_START_KB=16
env added CHIBIOS_BUILD_FLAGS=USE_FATFS=yes CHIBIOS_STARTUP_MK=os/common/startup/ARMCMx/compilers/GCC/mk/startup_stm32f4xx.mk CHIBIOS_PLATFORM_MK=os/hal/ports/STM32/STM32F4xx/platform.mk MCU=cortex-m4 ENV_UDEFS=-DCHPRINTF_USE_FLOAT=1
[8/8] Linking build/fmuv3/modules/ChibiOS/libch.a
[1/102] ChibiOS: Compiling vectors.S
[2/102] ChibiOS: Compiling chcoreasm_v7m.S
[3/102] ChibiOS: Compiling ff.c
[4/102] ChibiOS: Compiling ffunicode.c
[5/102] ChibiOS: Compiling chcore.c
[6/102] ChibiOS: Compiling chcore_v7m.c
[7/102] ChibiOS: Compiling crt1.c
[8/102] ChibiOS: Compiling chprintf.c
[9/102] ChibiOS: Compiling memstreams.c
[10/102] ChibiOS: Compiling nullstreams.c
[11/102] ChibiOS: Compiling osal.c
[12/102] ChibiOS: Compiling hal_adc_lld.c

In file included from ../../modules/ChibiOS/os/common/ports/ARMCMx/compilers/GCC/chtypes.h:32,
                 from ../../modules/ChibiOS/os/rt/include/ch.h:105,
                 from ../../libraries/AP_HAL_ChibiOS/hwdef/common/ffconf.h:4,
                 from ../../modules/ChibiOS/ext/fatfs/src/ff.h:30,
                 from ../../modules/ChibiOS/ext/fatfs/src/ff.c:22:
/usr/lib/gcc/arm-none-eabi/9.2.0/include/stdint.h:9:16: fatal error: stdint.h: No such file or directory
    9 | # include_next <stdint.h>
      |                ^~~~~~~~~~
compilation terminated.
make: *** [../../libraries/AP_HAL_ChibiOS/hwdef/common/chibios_common.mk:233: modules/ChibiOS/obj/ff.o] Error 1
make: *** Waiting for unfinished jobs....
../../modules/ChibiOS/os/hal/lib/streams/memstreams.c:26:10: fatal error: string.h: No such file or directory
   26 | #include <string.h>
      |          ^~~~~~~~~~
compilation terminated.
In file included from ../../modules/ChibiOS/os/common/ports/ARMCMx/compilers/GCC/chtypes.h:32,
                 from ../../modules/ChibiOS/os/rt/include/ch.h:105,
                 from ../../modules/ChibiOS/os/common/ports/ARMCMx/chcore_v7m.c:28:
/usr/lib/gcc/arm-none-eabi/9.2.0/include/stdint.h:9:16: fatal error: stdint.h: No such file or directory
    9 | # include_next <stdint.h>
      |                ^~~~~~~~~~
compilation terminated.
make: *** [../../libraries/AP_HAL_ChibiOS/hwdef/common/chibios_common.mk:233: modules/ChibiOS/obj/memstreams.o] Error 1
make: *** [../../libraries/AP_HAL_ChibiOS/hwdef/common/chibios_common.mk:233: modules/ChibiOS/obj/chcore_v7m.o] Error 1
In file included from ../../modules/ChibiOS/os/common/ports/ARMCMx/compilers/GCC/chtypes.h:32,
                 from ../../modules/ChibiOS/os/rt/include/ch.h:105,
                 from ../../modules/ChibiOS/os/common/ports/ARMCMx/chcore.c:28:
/usr/lib/gcc/arm-none-eabi/9.2.0/include/stdint.h:9:16: fatal error: stdint.h: No such file or directory
    9 | # include_next <stdint.h>
      |                ^~~~~~~~~~
compilation terminated.
In file included from ../../modules/ChibiOS/os/common/startup/ARMCMx/compilers/GCC/crt1.c:25:
/usr/lib/gcc/arm-none-eabi/9.2.0/include/stdint.h:9:16: fatal error: stdint.h: No such file or directory
    9 | # include_next <stdint.h>
      |                ^~~~~~~~~~
compilation terminated.
make: *** [../../libraries/AP_HAL_ChibiOS/hwdef/common/chibios_common.mk:234: modules/ChibiOS/obj/chcore.o] Error 1
make: *** [../../libraries/AP_HAL_ChibiOS/hwdef/common/chibios_common.mk:234: modules/ChibiOS/obj/crt1.o] Error 1
In file included from ../../modules/ChibiOS/os/common/ports/ARMCMx/compilers/GCC/chtypes.h:32,
                 from ../../modules/ChibiOS/os/rt/include/ch.h:105,
                 from ../../libraries/AP_HAL_ChibiOS/hwdef/common/ffconf.h:4,
                 from ../../modules/ChibiOS/ext/fatfs/src/ff.h:30,
                 from ../../modules/ChibiOS/ext/fatfs/src/ffunicode.c:26:
/usr/lib/gcc/arm-none-eabi/9.2.0/include/stdint.h:9:16: fatal error: stdint.h: No such file or directory
    9 | # include_next <stdint.h>
      |                ^~~~~~~~~~
compilation terminated.
make: *** [../../libraries/AP_HAL_ChibiOS/hwdef/common/chibios_common.mk:234: modules/ChibiOS/obj/ffunicode.o] Error 1
In file included from ../../modules/ChibiOS/os/hal/osal/rt/osal.h:29,
                 from ../../modules/ChibiOS/os/hal/include/hal.h:28,
                 from ../../modules/ChibiOS/os/hal/lib/streams/chprintf.c:31:
/usr/lib/gcc/arm-none-eabi/9.2.0/include/stdint.h:9:16: fatal error: stdint.h: No such file or directory
    9 | # include_next <stdint.h>
      |                ^~~~~~~~~~
compilation terminated.
make: *** [../../libraries/AP_HAL_ChibiOS/hwdef/common/chibios_common.mk:234: modules/ChibiOS/obj/chprintf.o] Error 1
In file included from ../../modules/ChibiOS/os/hal/osal/rt/osal.h:29,
                 from ../../modules/ChibiOS/os/hal/osal/rt/osal.c:25:
/usr/lib/gcc/arm-none-eabi/9.2.0/include/stdint.h:9:16: fatal error: stdint.h: No such file or directory
    9 | # include_next <stdint.h>
      |                ^~~~~~~~~~
compilation terminated.
make: *** [../../libraries/AP_HAL_ChibiOS/hwdef/common/chibios_common.mk:234: modules/ChibiOS/obj/osal.o] Error 1
In file included from ../../modules/ChibiOS/os/hal/osal/rt/osal.h:29,
                 from ../../modules/ChibiOS/os/hal/include/hal.h:28,
                 from ../../modules/ChibiOS/os/hal/lib/streams/nullstreams.c:26:
/usr/lib/gcc/arm-none-eabi/9.2.0/include/stdint.h:9:16: fatal error: stdint.h: No such file or directory
    9 | # include_next <stdint.h>
      |                ^~~~~~~~~~
compilation terminated.
make: *** [../../libraries/AP_HAL_ChibiOS/hwdef/common/chibios_common.mk:234: modules/ChibiOS/obj/nullstreams.o] Error 1
In file included from ../../modules/ChibiOS/os/hal/osal/rt/osal.h:29,
                 from ../../modules/ChibiOS/os/hal/include/hal.h:28,
                 from ../../modules/ChibiOS/os/hal/ports/STM32/LLD/ADCv2/hal_adc_lld.c:25:
/usr/lib/gcc/arm-none-eabi/9.2.0/include/stdint.h:9:16: fatal error: stdint.h: No such file or directory
    9 | # include_next <stdint.h>
      |                ^~~~~~~~~~
compilation terminated.
make: *** [../../libraries/AP_HAL_ChibiOS/hwdef/common/chibios_common.mk:234: modules/ChibiOS/obj/hal_adc_lld.o] Error 1

Waf: Leaving directory `/home/jose/Marian/Personal/Drone/Code/UAV/Projects/NPNT/ardupilot/build/fmuv3'
Build failed
 -> task in 'ChibiOS_lib' failed (exit status 2): 
	{task 139692471087504: ChibiOS_lib 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-> libch.a}
 (run with -v to display more information)

I followed the tutorial on the ardupilot developer’s page and install the mentioned gcc-arm libraries, but still no luck.

Any help is much appreciated.

That is a know issue with gcc 9.2.0 and ardupilot.
There are 2 solutions:

  1. Do not compile ardcopter 3.6.1. It is very old, compile Arducopter 4.0.0 instead.
  2. Do not use gcc 9.2.0. Downgrade to gcc 6.3.1 and compile arducopter 3.6.12 instead
1 Like

Apologies for the delayed reply.

I switched to Copter-4.0 branch and the above issue got solved. I also just discovered that there is an install script meant specifically for Arch Linux.

./Tools/environment_install/install-prereqs-arch.sh

and by running that I was able to work with both Copter-4.0 and master.

Thank you @amilcarlucas

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