Locally compiled ArduCopter 4.5.0-beta1 fails on MatekH743 due to watchdog

ArduCopter Copter 4.5
1

On my Linux machine, I compiled MatekH743 firmware to be used for Matek H743-WLITE board. The resulting file is attached. When I flash it, I can subsequently connect to the board from GCS, but after few seconds the connection fails. Subsequent reconnection attempts keep tell me the following in the logs:

[MAV 001:1] Baro: skipping calibration after WDG reset
[MAV 001:1] Restored watchdog attitude 0 0 0

I tried to find the actual watchdog messages via log analysis, but it appears that the logs are not really written: the log size is 4096 bytes and there is nothing in it.

I am not sure where to look for, could somebody please direct me to that?

Possibly relevant info:

  • There is a difference in *.apj image size between my version (1346036 bytes) and the official one (1360056 bytes).
  • I believe the GCC version I am using is 13.2.1.
2

Hi @MaxBuzz,

I guess the standard 4.5.0-beta firmware is OK? I think it must be because I’m sure that other users (and developers) have successfully used it.

… in which case this is most likely an issue with the development environment on your local PC. Of course you’ve followed the instructions here on the wiki?

3

@MaxBuzz can you give a link to where you got the compiler from?

4

please run: arm-none-eabi-g++ -v and give us the output
also please give the output of the waf configure step

5

The standard firmware is surely OK.

The thing is, my environment is sufficient to build working firmware for another board I have, FlywooF405S-AIO - just tested that. A month ago I also successfully built firmware for FlywooF745.

The GCC is from Gentoo crossdev, and its -v output is this:

Using built-in specs.
COLLECT_GCC=arm-none-eabi-g++
COLLECT_LTO_WRAPPER=/usr/libexec/gcc/arm-none-eabi/13/lto-wrapper
Target: arm-none-eabi
Configured with: /var/tmp/portage/cross-arm-none-eabi/gcc-13.2.1_p20240113-r1/work/gcc-13-20240113/configure --host=x86_64-pc-linux-gnu --target=arm-none-eabi --build=x86_64-pc-linux-gnu --prefix=/usr --bindir=/usr/x86_64-pc-linux-gnu/arm-none-eabi/gcc-bin/13 --includedir=/usr/lib/gcc/arm-none-eabi/13/include --datadir=/usr/share/gcc-data/arm-none-eabi/13 --mandir=/usr/share/gcc-data/arm-none-eabi/13/man --infodir=/usr/share/gcc-data/arm-none-eabi/13/info --with-gxx-include-dir=/usr/lib/gcc/arm-none-eabi/13/include/g++-v13 --disable-silent-rules --disable-dependency-tracking --with-python-dir=/share/gcc-data/arm-none-eabi/13/python --enable-languages=c,c++ --enable-obsolete --enable-secureplt --disable-werror --with-system-zlib --enable-nls --without-included-gettext --disable-libunwind-exceptions --enable-checking=release --with-bugurl=https://bugs.gentoo.org/ --with-pkgversion='Gentoo 13.2.1_p20240113-r1 p12' --with-gcc-major-version-only --enable-libstdcxx-time --enable-lto --disable-libstdcxx-pch --enable-poison-system-directories --disable-libstdcxx-time --with-sysroot=/usr/arm-none-eabi --disable-gcov --disable-bootstrap --with-newlib --enable-multilib --disable-fixed-point --with-multilib-list=aprofile,rmprofile --disable-libgomp --disable-libssp --disable-libada --disable-cet --disable-systemtap --disable-valgrind-annotations --disable-vtable-verify --disable-libvtv --without-zstd --without-isl --disable-libsanitizer --disable-default-pie --disable-default-ssp
Thread model: single
Supported LTO compression algorithms: zlib
gcc version 13.2.1 20240113 (Gentoo 13.2.1_p20240113-r1 p12)

The output of ./waf configure --board=MatekH743-bdshot is attached.
configure.log (4.6 KB)

1 Like
6

Tested it once again with identical build environment:

  • FlywooF405S-AIO builds and flies normally.
  • MatekH743-bdshot builds but chokes on watchdog early enough to provide no logs.

Raw waf configure outputs for both (no escape sequences edited out):
configure-f405.log (5.2 KB)
configure-h743.log (5.5 KB)

One of possible explanations is that GCC 13.2.1 optimizes out something it should not, but it is only relevant for complete firmware and not for the feature-reduced one.

7

With GCC 10.5.0, locally compiled firmware runs normally on a copter.

Wonder what causes this incompatibility with GCC 13.2.1, given that this compiler works nicely for the F405 board I have…