Arduino Uno Q: Motor Shield V2 motor test fails to upload with latest changes.

[mjs513]

Describe the bug
Using the Adafruit Motor shield library V2 Motor Test example sketch compiles but fails to upload with following errors (flash+dynamic)
IDE: 2.3.8
Arduino Uno Q 2gb version

*** Booting Zephyr OS build v4.2.0-42-gf737243623a0 ***
[00:00:00.208,000] <err> elf: sym '__aeabi_dadd': relocation out of range (0x2000223c -> 0x8000299)

[00:00:00.218,000] <err> elf: sym '__aeabi_dcmpgt': relocation out of range (0x20002244 -> 0x8000b25)

[00:00:00.228,000] <err> elf: sym '__aeabi_dadd': relocation out of range (0x20002278 -> 0x8000299)

[00:00:00.238,000] <err> elf: sym '__aeabi_dcmpgt': relocation out of range (0x20002280 -> 0x8000b25)

[00:00:00.248,000] <err> elf: sym '__aeabi_dadd': relocation out of range (0x200022ac -> 0x8000299)

[00:00:00.258,000] <err> elf: sym '__aeabi_dadd': relocation out of range (0x200022cc -> 0x8000299)

[00:00:00.268,000] <err> elf: sym '__aeabi_dcmpgt': relocation out of range (0x200022d4 -> 0x8000b25)

[00:00:00.278,000] <err> llext: Failed to link, ret -8
Failed to load sketch, rc -8

cli/IDE verbose upload output
Full verbose upload output, ideally with arduino-cli invocation or from IDE 2.3.3+
Issues without the full verbose output will be discarded as invalid.

CompileText.txt

Additional context
Note if I try and compile it from applab using 0.53.1 I get a undefined error to floor

[mjs513]

As a followup to this issue I tested with the Arduino Giga R1 and it compile, loads and runs with no issues:
Debug Window:

Timeout while waiting for high throughput clock
SDIO firmware download error, whd_bus_sdio_init failed at 559
Interface is not up/NULL and failed in function whd_deinit at line 203
Interface is not up/NULL and failed in function whd_wifi_get_mac_address at line 3184

Serial monitor:

Adafruit Motorshield v2 - DC Motor test!
Could not find Motor Shield. Check wiring.

Note I didnt have the shield attached so seems to be working

[mjs513]

See this discussion for further information:
https://forum.arduino.cc/t/how-to-install-python-packages-on-the-arduino-q/1434480

[mjs513]

Since I am looking at doing a project with this controller decided to give it a try with "FLASH" + "STATIC" and it loaded with no issues - at least with the all the current PRs incorporated on the Q4.

[mjs513]

Just went through all the compile options and the only one that does not throw the errors in post 1 is Flash+Static. Hope this will be fixed sooner than later

[mjs513]

Just wondering if there is any update on how to fix this error for the Q that I could try?

[KurtE]

@mjs513 @facchinm @pennam - not sure could better answer this. I think I got it to build/link, but don't have the
hardware or the like to test.

I believe the issues are like some like some of the other libraries..
So I modified the llext_exports.c file (loader)
And modified those two that were not linking:
like:

extern double __aeabi_dadd(double, double);
EXPORT_LIBC_SYM(__aeabi_dadd);
FORCE_EXPORT_SYM(__aeabi_fcmple);
FORCE_EXPORT_SYM(__aeabi_idiv);
extern int __aeabi_dcmpgt(double, double);
EXPORT_LIBC_SYM(__aeabi_dcmpgt);

then in cores\arduino\llext_wrappers.c I added:

/* */
W2(double, __aeabi_dadd, double, double)
W2(int, __aeabi_dcmpgt, double, double)

And of course rebuilt the Q loader, flashed the bootloader and built your sketch (inside an app on the Q)
I could be wrong, but guessing all of the _aeabi functions need to be modified likewise.
Not sure if this is the best way to predefine them or is there a header file to include, but...

[facchinm]

@KurtE @mjs513 we've been working on this topic lately, and the fix has been sent to zephyr mainline for review zephyrproject-rtos/zephyr#104994 . I just tested it (in a dry run since I don't have the shield) and it runs 🙂

*** Booting Zephyr OS build v4.3.0-3404-g5ac91df5e2a6 ***
Adafruit Motorshield v2 - DC Motor test!
Could not find Motor Shield. Check wiring.

We'll make sure the patch gets integrated into our tree as soon as we switch to 4.3.0 / 4.4.0

[mjs513]

@facchinm - @KurtE

Thanks for letting us know about fix coming down the line, it should resolve a bunch of issues and having to keep editing the exports.c file. Not sure when you all are planning on switching to 4.3/4.4.

In the meantime I tried @KurtE's fixes he posted in his last post and at least in dry run mode they seem to work at least at the dry run level.

*** Booting Zephyr OS build v4.2.0-42-gf737243623a0 ***
Invalid sketch header
Adafruit Motorshield v2 - DC Motor test!
Could not find Motor Shield. Check wiring.

I will have to set it up to give it try with hardware in the loop later today.

[KurtE]

We'll make sure the patch gets integrated into our tree as soon as we switch to 4.3.0 / 4.4.0

4.3 - was released in November?
I think last week 4.4 RC1 was tagged...

But looking at the Zephyr PR I see

@iabdalkader please let me know when/if you'd like me to look again. Will be great to see this in for 4.5

So from your comments sounds like you would cherry pick it back into the Arduino version once you switch over to the next release of Zephyr...

Thanks

[facchinm]

Exactly, you can already test using monza branch (after a run of bootstrap.sh you'll get the right zephyr branch with Ibrahim's patch backported)