error: arm_math.h: No such file or directory

[odo2063]

Please, before reporting any issue

• Make sure you are using the latest Arduino_Core_STM32 version.
  CHECK
  https://github.com/stm32duino/Arduino_Core_STM32/releases/latest
• Make sure the issue is not already reported/fixed on GitHub or discussed on the stm32duino forum
  CHECK
• Submit a GitHub issue only for reporting a problem related to the Arduino_Core_STM32.
  CHECK
• Avoid to submit a GitHub issue for project troubleshooting.
  MAYBE

When reporting any issue, please try to provide all relevant information:

Describe the bug
get "error: arm_math.h: No such file or directory
#include <arm_math.h>"
when "#define ARM_MATH_CM4
#define __FPU_PRESENT 1
#include <arm_math.h>"

To Reproduce
Complete source code which can be used to reproduce the issue. Please try to be as generic as possible (no extra code, extra hardware,...)

Steps to reproduce the behavior:

1. Enter Code
2. Press Compile
3. See error

Expected behavior
clean compilation

Desktop (please complete the following information):

• OS: Linux
• Arduino IDE version: 1.8.9
• STM32 core version: 1.6.1

Board (please complete the following information):

• Name: Nucleo-144 L4R5ZI
• Hardware Revision: ??

Additional context
Code comes from www.micromodeler.com

[fpistm]

Hi @odo2063
I've no issue to build the Nucleo-144 L4R5ZI.

Which sketch you trying to build ?

[odo2063]

This should be the minimal example. imu_test.ino is based on http://www.micromodeler.com/articles/IntroductionToDSP/coefficients.jsp
filter1.h and filter1.cpp are straight copies from www.micromodeler.com.

//imu_test.ino
#include "filter1.h"

#define BNO055_SAMPLERATE_DELAY_MS (10)


filter1Type *filter1 = filter1_create(); //create Filter as in http://www.micromodeler.com/articles/IntroductionToDSP/coefficients.jsp
float wtf[1];
wtf[] = { 1.0 };

void setup(void)
{

}


void loop(void)
{
  filter1Type *filter1 = filter1_create();
  while(1)
  {
  
  filter1_writeInput( &filter1, wtf[0] );       // Read a sample from the ADC and write it into the filter
  //wtf = filter1_outputToFloat( filter1_readOutput( filter1 )) ;

  delay(BNO055_SAMPLERATE_DELAY_MS);
  }
}

//filter1.h
/******************************* SOURCE LICENSE *********************************
  Copyright (c) 2019 MicroModeler.

  A non-exclusive, nontransferable, perpetual, royalty-free license is granted to the Licensee to
  use the following Information for academic, non-profit, or government-sponsored research purposes.
  Use of the following Information under this License is restricted to NON-COMMERCIAL PURPOSES ONLY.
  Commercial use of the following Information requires a separately executed written license agreement.

  This Information is distributed WITHOUT ANY WARRANTY; without even the implied warranty of
  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.

******************************* END OF LICENSE *********************************/

// A commercial license for MicroModeler DSP can be obtained at http://www.micromodeler.com/launch.jsp

// Begin header file, filter1.h

#ifndef filter1_H_ // Include guards
#define filter1_H_

#define ARM_MATH_CM4  // Use ARM Cortex M4
#define __FPU_PRESENT 1   // Does this device have a floating point unit?
#include <arm_math.h> // Include CMSIS header

// Link with library: libarm_cortexM4_mathL.a (or equivalent)
// Add CMSIS/Lib/GCC to the library search path
// Add CMSIS/Include to the include search path
extern float32_t filter1_coefficients[20];
static const int filter1_numStages = 4;

typedef struct
{
  arm_biquad_casd_df1_inst_f32 instance;
  float32_t state[16];
  float32_t output;
} filter1Type;


filter1Type *filter1_create( void );
void filter1_destroy( filter1Type *pObject );
void filter1_init( filter1Type * pThis );
void filter1_reset( filter1Type * pThis );
#define filter1_writeInput( pThis, input )  \
  arm_biquad_cascade_df1_f32( &pThis->instance, &input, &pThis->output, 1 );

#define filter1_readOutput( pThis )  \
  pThis->output


int filter1_filterBlock( filter1Type * pThis, float * pInput, float * pOutput, unsigned int count );
#define filter1_outputToFloat( output )  \
  (output)

#define filter1_inputFromFloat( input )  \
  (input)

#endif // filter1_H_

//filter1.cpp
/******************************* SOURCE LICENSE *********************************
  Copyright (c) 2019 MicroModeler.

  A non-exclusive, nontransferable, perpetual, royalty-free license is granted to the Licensee to
  use the following Information for academic, non-profit, or government-sponsored research purposes.
  Use of the following Information under this License is restricted to NON-COMMERCIAL PURPOSES ONLY.
  Commercial use of the following Information requires a separately executed written license agreement.

  This Information is distributed WITHOUT ANY WARRANTY; without even the implied warranty of
  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.

******************************* END OF LICENSE *********************************/

// A commercial license for MicroModeler DSP can be obtained at http://www.micromodeler.com/launch.jsp

#include "filter1.h"

#include <stdlib.h> // For malloc/free
#include <string.h> // For memset

float32_t filter1_coefficients[20] =
{
  // Scaled for floating point

  0.8477774141503206, -1.6955548283006412, 0.8477774141503206, 1.8975700676560592, -0.9006183651747467,// b0, b1, b2, a1, a2
  1, -2, 1, 1.9545851741285774, -0.9577162876370862,// b0, b1, b2, a1, a2
  1, 2, 1, -1.874282866033339, -0.878865954532929,// b0, b1, b2, a1, a2
  1, 2, 1, -1.943381371995732, -0.948120138561757// b0, b1, b2, a1, a2

};


filter1Type *filter1_create( void )
{
  filter1Type *result = (filter1Type *)malloc( sizeof( filter1Type ) ); // Allocate memory for the object
  filter1_init( result );                     // Initialize it
  return result;                                // Return the result
}

void filter1_destroy( filter1Type *pObject )
{
  free( pObject );
}

void filter1_init( filter1Type * pThis )
{
  arm_biquad_cascade_df1_init_f32(  &pThis->instance, filter1_numStages, filter1_coefficients, pThis->state );
  filter1_reset( pThis );

}

void filter1_reset( filter1Type * pThis )
{
  memset( &pThis->state, 0, sizeof( pThis->state ) ); // Reset state to 0
  pThis->output = 0;                  // Reset output

}

int filter1_filterBlock( filter1Type * pThis, float * pInput, float * pOutput, unsigned int count )
{
  arm_biquad_cascade_df1_f32( &pThis->instance, pInput, pOutput, count );
  return count;

}

edit: correction of minimal example

[odo2063]

This looks fine to me...but i might be wrong...

Detecting libraries used...
/home/user/.arduino15/packages/STM32/tools/arm-none-eabi-gcc/8.2.1-1.7/bin/arm-none-eabi-g++ -mcpu=cortex-m4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard -mthumb @/tmp/arduino_build_586936/sketch/build_opt.h -c -Os -w -std=gnu++14 -ffunction-sections -fdata-sections -nostdlib -fno-threadsafe-statics --param max-inline-insns-single=500 -fno-rtti -fno-exceptions -I/home/user/Arduino/imu_test_5 -I/home/user/.arduino15/packages/STM32/hardware/stm32/1.6.1/cores/arduino/avr -I/home/user/.arduino15/packages/STM32/hardware/stm32/1.6.1/cores/arduino/stm32 -I/home/user/.arduino15/packages/STM32/hardware/stm32/1.6.1/cores/arduino/stm32/LL -I/home/user/.arduino15/packages/STM32/hardware/stm32/1.6.1/cores/arduino/stm32/usb -I/home/user/.arduino15/packages/STM32/hardware/stm32/1.6.1/cores/arduino/stm32/usb/hid -I/home/user/.arduino15/packages/STM32/hardware/stm32/1.6.1/cores/arduino/stm32/usb/cdc -I/home/user/.arduino15/packages/STM32/hardware/stm32/1.6.1/system/Drivers/STM32L4xx_HAL_Driver/Inc/ -I/home/user/.arduino15/packages/STM32/hardware/stm32/1.6.1/system/Drivers/STM32L4xx_HAL_Driver/Src/ -I/home/user/.arduino15/packages/STM32/hardware/stm32/1.6.1/system/STM32L4xx/ -I/home/user/.arduino15/packages/STM32/hardware/stm32/1.6.1/system/Middlewares/ST/STM32_USB_Device_Library/Core/Inc -I/home/user/.arduino15/packages/STM32/hardware/stm32/1.6.1/system/Middlewares/ST/STM32_USB_Device_Library/Core/Src -w -x c++ -E -CC -DSTM32L4xx -DARDUINO=10809 -DARDUINO_NUCLEO_L4R5ZI -DARDUINO_ARCH_STM32 "-DBOARD_NAME="NUCLEO_L4R5ZI"" -DSTM32L4R5xx -DHAL_UART_MODULE_ENABLED -I/home/user/.arduino15/packages/STM32/tools/CMSIS/5.5.1/CMSIS/Core/Include/ -I/home/user/.arduino15/packages/STM32/hardware/stm32/1.6.1/system/Drivers/CMSIS/Device/ST/STM32L4xx/Include/ -I/home/user/.arduino15/packages/STM32/hardware/stm32/1.6.1/system/Drivers/CMSIS/Device/ST/STM32L4xx/Source/Templates/gcc/ -I/home/user/.arduino15/packages/STM32/hardware/stm32/1.6.1/cores/arduino -I/home/user/.arduino15/packages/STM32/hardware/stm32/1.6.1/variants/NUCLEO_L4R5ZI /tmp/arduino_build_586936/sketch/imu_test_5.ino.cpp -o /dev/null

[odo2063]

OK...found something -I/home/user/.arduino15/packages/STM32/tools/CMSIS/5.5.1/CMSIS/DSP/Include/ is missing in plattform.txt(line 66)...but now i run into a new Problem...undefined reference to `arm_biquad_cascade_df1_init_f32'

[fpistm]

Could you attach the zip file of your sketch (with all sources files).
Then I could help.
Sorry, see that you provide it.

[fpistm]

@odo2063
you have partially solved your issue.
Adding the CMSIS DSP include path is not enough.
It requires to add the FilteringFunctions.c in the core path else Arduino will not build it.
I've made a branch on my fork and I'm able to build your example (I've made some fixes to your code).
fpistm@e891921

Note: that with this update it build but I do not test it.
Note2: maybe lib used can also be updated in boards.txt, to use the Cortex-M7, Little endian, Single Precision Floating Point Unit library:

#Nucleo_144.menu.pnum.NUCLEO_F767ZI.build.cmsis_lib_gcc=arm_cortexM7l_math
Nucleo_144.menu.pnum.NUCLEO_F767ZI.build.cmsis_lib_gcc=arm_cortexM7lfsp_math

[odo2063]

nice compiles for me, Thank you very very much XD ...one last Question: the FPU only works for single precision(float) and will not improve double precision calculations...is that correct?

[fpistm]

This mainly depends on your use case. working only on float, single precision is enough. For double using Double precision is better else I think you will lost precision.
https://www.st.com/content/ccc/resource/technical/document/application_note/10/6b/dc/ea/5b/6e/47/46/DM00047230.pdf/files/DM00047230.pdf/jcr:content/translations/en.DM00047230.pdf

[odo2063]

We will stay on the L4R5ZI...so testing and see what happens...great, Thank for your Help, I do really appreciate it!!!