New drivers out of device tree

[thomasoggiersoprod]

Hello,
I try to add new customs drivers in my project out of the device tree but I can't do it.
I've add in my project folder/files:
1 the file prj.conf

• add line
  CONFIG_GPIO_MCP23S08=y
  2 the file drivers/CMakeLists.txt
• add line
  add_subdirectory_ifdef(CONFIG_MCP23S08 mcp23s08)
  3 the file drivers/KConfig
• add line
  rsource "mcp23s08/Kconfig"
  4 the folder drivers/mcp23s08
  5 the file drivers/mcp23s08/CMakeLists.txt
• add line
  zephyr_library_sources_ifdef(CONFIG_GPIO_MCP23S08 gpio_mcp23s08.c)
  6 the file drivers/mcp23s08/KConfig
• add line
  menuconfig gpio_mcp23s08
  bool "gpio_mcp23s08 driver"
  default y
  select BLAH
  depends on MEH
  help
  Enable support for gpio_mcp23s08 driver
  if gpio_mcp23s08
  module = gpio_mcp23s08
  module-str = gpio_mcp23s08
  source "subsys/logging/Kconfig.template.log_config"
  endif
  7 the file module.yml
• add line
  build:
  cmake: .
  kconfig: Kconfig
  8 the files gpio_mcp23s08.c/.h
  9 the folder dts/bindings/gpio
  10 the file dts/bindings/gpio/microchip,mcp23s08.yaml

But when I try to compile, I get the error:
-> warning: attempt to assign the value 'y' to the undefined symbol GPIO_MCP23S08

I've allready tried my driver in "driver in tree" and it works.
Maybe you can help me, I can't find any real documentation/sample.
thanks
Thomas Oggier

[tejlmand]

@thomasoggiersoprod the following is based on my assumption of you folder layout.

It seems you are trying to place you out of tree device as a Zephyr module: https://docs.zephyrproject.org/latest/guides/modules.html

So your structure might look similar to:

<module-path>
| --- zephyr
|       |--- module.yml
|
|--- drivers
        |--- CMakeLists.txt
        |--- Kconfig

In that case, you should either have the zephyr/module.yml with:

build:
  cmake: drivers
  kconfig: drivers/Kconfig

or place a CMakeLists.txt and Kconfig file at <module-path> root, that include the files in drivers, so you would have:

<module-path>
| --- zephyr
|       |--- module.yml
|--- CMakeLists.txt
|--- Kconfig

also remember, that if you want to include modules, that is not in a repository specified in west.yml, then you must use:

cmake -DZEPHYR_EXTRA_MODULES=<module-path>  .....

[thomasoggiersoprod]

I think will are not talking about the same folder layout, so I set it in attachment.

app01.zip

[tejlmand]

I see one mistake.

In app01/CMakeLists.txt:13:

add_subdirectory(${CMAKE_CURRENT_SOURCE_DIR}/drivers)

but you also have:

build:
  cmake: drivers
  kconfig: drivers/Kconfig

which will add the same drivers folder to the build system.
Thus, I become a bit unsure exactly how the system will behave, but you ought to see some errors if multiple libraries with the same name are defined.

So I currently suspect the module in not loaded into the build system.

Could you check the content of:

<build-folder>/zephyr_modules.txt 

in there you should see a line similar to:

"app01":"<patrh-to>/app01"

also check the output of west list to see app01 is correctly displayed.

[thomasoggiersoprod]

So in my "/zephyr_modules.txt " I get

"mcuboot":"/home/thomas/Documents/IoT_Hevs/soprod_iot/bootloader/mcuboot/zephyr" "mcumgr":"/home/thomas/Documents/IoT_Hevs/soprod_iot/modules/lib/mcumgr" "nrfxlib":"/home/thomas/Documents/IoT_Hevs/soprod_iot/nrfxlib" "nrf":"/home/thomas/Documents/IoT_Hevs/soprod_iot/nrf" "cmsis":"/home/thomas/Documents/IoT_Hevs/soprod_iot/modules/hal/cmsis" "nordic":"/home/thomas/Documents/IoT_Hevs/soprod_iot/modules/hal/nordic" "mbedtls":"/home/thomas/Documents/IoT_Hevs/soprod_iot/modules/crypto/mbedtls" "segger":"/home/thomas/Documents/IoT_Hevs/soprod_iot/modules/debug/segger" "tinycbor":"/home/thomas/Documents/IoT_Hevs/soprod_iot/modules/lib/tinycbor/zephyr" "tinycrypt":"/home/thomas/Documents/IoT_Hevs/soprod_iot/modules/crypto/tinycrypt" "nrf_hw_models":"/home/thomas/Documents/IoT_Hevs/soprod_iot/modules/bsim_hw_models/nrf_hw_models"

and with the cmd "west list" I get

manifest app01 HEAD N/A zephyr zephyr v2.3.0-rc1-ncs1 https://github.com/nrfconnect/sdk-zephyr mcuboot bootloader/mcuboot v1.6.0-rc2-ncs1 https://github.com/nrfconnect/sdk-mcuboot mcumgr modules/lib/mcumgr v0.0.1-ncs2 https://github.com/nrfconnect/sdk-mcumgr nrfxlib nrfxlib v1.3.0 https://github.com/nrfconnect/sdk-nrfxlib mbedtls-nrf mbedtls mbedtls-2.16.6 https://github.com/ARMmbed/mbedtls nrf nrf v1.3.0 https://github.com/nrfconnect/sdk-nrf cmsis modules/hal/cmsis 542b2296e6d515b265e25c6b7208e8fea3014f90 https://github.com/zephyrproject-rtos/cmsis hal_nordic modules/hal/nordic c84263d8ecc7767b25d9abab9502c9e748d045e9 https://github.com/zephyrproject-rtos/hal_nordic mbedtls modules/crypto/mbedtls 821154171b246f64eaeef3ccc267f58d8274739a https://github.com/zephyrproject-rtos/mbedtls segger modules/debug/segger 6fcf61606d6012d2c44129edc033f59331e268bc https://github.com/zephyrproject-rtos/segger tinycbor modules/lib/tinycbor 40daca97b478989884bffb5226e9ab73ca54b8c4 https://github.com/zephyrproject-rtos/tinycbor tinycrypt modules/crypto/tinycrypt 3e9a49d2672ec01435ffbf0d788db6d95ef28de0 https://github.com/zephyrproject-rtos/tinycrypt nrf_hw_models modules/bsim_hw_models/nrf_hw_models fec69703cb1ca06fcdab6d5fde01274f0fc5c759 https://github.com/zephyrproject-rtos/nrf_hw_models

If I remove the line 13 add_subdirectory... or the "zephyr/module.yml" file, I get each time the same result

[tejlmand]

I just noticed one thing that could be a root cause.

In your <manifest-repo>/west.yml there is a section like:

  self:
    path: app01

which is revealed by this line:

manifest app01 HEAD N/A

this means that for this to work, your folder structure should be:

/home/thomas/Documents/IoT_Hevs/soprod_iot/app01/...

but if this code is actually located in another folder, let's say:

/home/thomas/Documents/IoT_Hevs/soprod_iot/myapp/...

then things will not work as expected.

Could you check up on that.
And also provide the output from:

west config manifest.path

[thomasoggiersoprod]

I'm not sur to understand what you are talking about.

All my folder are in the folder /home/thomas/Documents/IoT_Hevs/soprod_iot/app01/

and the result of the command west config manifest.path is "app01"

[tejlmand]

@thomasoggiersoprod found the issue.
You are using zephyr/modules.yml which is wrong.
The correct name is: zephyr/module.yml without s.

[thomasoggiersoprod]

Thanks, stupid mistake.
When I change it, the files zephyr_modules.txt add this line, great.
"app01":"/home/thomas/Documents/IoT_Hevs/soprod_iot/app01/drivers"
But I get this compilation error:
`thomas@thomas-HP:~/Documents/IoT_Hevs/soprod_iot/app01$ west build -p always -b nrf9160dk_nrf9160ns
-- west build: generating a build system
Including boilerplate (Zephyr base): /home/thomas/Documents/IoT_Hevs/soprod_iot/zephyr/cmake/app/boilerplate.cmake
-- Application: /home/thomas/Documents/IoT_Hevs/soprod_iot/app01
-- Zephyr version: 2.3.0-rc1 (/home/thomas/Documents/IoT_Hevs/soprod_iot/zephyr)
-- Found Python3: /usr/bin/python3.8 (found suitable exact version "3.8.2") found components: Interpreter
-- Board: nrf9160dk_nrf9160ns
-- Found toolchain: zephyr (/home/thomas/zephyr-sdk)
-- Found west: /home/thomas/.local/bin/west (found suitable version "0.7.2", minimum required is "0.7.1")
-- Found dtc: /home/thomas/zephyr-sdk/sysroots/x86_64-pokysdk-linux/usr/bin/dtc (found suitable version "1.5.0", minimum required is "1.4.6")
-- Found BOARD.dts: /home/thomas/Documents/IoT_Hevs/soprod_iot/zephyr/boards/arm/nrf9160dk_nrf9160/nrf9160dk_nrf9160ns.dts
-- Found devicetree overlay: /home/thomas/Documents/IoT_Hevs/soprod_iot/app01/nrf9160dk_nrf9160ns.overlay
nrf9160dk_nrf9160ns.dts.pre.tmp:394.32-398.5: Warning (simple_bus_reg): /soc/cryptocell-sw: missing or empty reg/ranges property
nrf9160dk_nrf9160ns.dts.pre.tmp:93.42-105.3: Warning (unique_unit_address_if_enabled): /soc/peripheral@40000000/flash-controller@39000: duplicate unit-address (also used in node /soc/peripheral@40000000/kmu@39000)
nrf9160dk_nrf9160ns.dts.pre.tmp:342.19-348.3: Warning (unique_unit_address_if_enabled): /soc/peripheral@40000000/clock@5000: duplicate unit-address (also used in node /soc/peripheral@40000000/power@5000)
-- Generated zephyr.dts: /home/thomas/Documents/IoT_Hevs/soprod_iot/app01/build/zephyr/zephyr.dts
-- Generated devicetree_unfixed.h: /home/thomas/Documents/IoT_Hevs/soprod_iot/app01/build/zephyr/include/generated/devicetree_unfixed.h
Parsing /home/thomas/Documents/IoT_Hevs/soprod_iot/app01/Kconfig
Loaded configuration '/home/thomas/Documents/IoT_Hevs/soprod_iot/zephyr/boards/arm/nrf9160dk_nrf9160/nrf9160dk_nrf9160ns_defconfig'
Merged configuration '/home/thomas/Documents/IoT_Hevs/soprod_iot/app01/prj.conf'
Configuration saved to '/home/thomas/Documents/IoT_Hevs/soprod_iot/app01/build/zephyr/.config'
Kconfig header saved to '/home/thomas/Documents/IoT_Hevs/soprod_iot/app01/build/zephyr/include/generated/autoconf.h'
-- The C compiler identification is GNU 9.2.0
-- The CXX compiler identification is GNU 9.2.0
-- The ASM compiler identification is GNU
-- Found assembler: /home/thomas/zephyr-sdk/arm-zephyr-eabi/bin/arm-zephyr-eabi-gcc
-- Cache files will be written to: /home/thomas/.cache/zephyr
Changed board to secure nrf9160dk_nrf9160 (NOT NS)

=== child image spm - nrf9160dk_nrf9160 begin ===
Including boilerplate (Zephyr base): /home/thomas/Documents/IoT_Hevs/soprod_iot/zephyr/cmake/app/boilerplate.cmake
-- Application: /home/thomas/Documents/IoT_Hevs/soprod_iot/nrf/samples/nrf9160/spm
-- Zephyr version: 2.3.0-rc1 (/home/thomas/Documents/IoT_Hevs/soprod_iot/zephyr)
-- Found Python3: /usr/bin/python3.8 (found suitable exact version "3.8.2") found components: Interpreter
-- Board: nrf9160dk_nrf9160
-- Found toolchain: zephyr (/home/thomas/zephyr-sdk)
-- Found west: /home/thomas/.local/bin/west (found suitable version "0.7.2", minimum required is "0.7.1")
-- Found dtc: /home/thomas/zephyr-sdk/sysroots/x86_64-pokysdk-linux/usr/bin/dtc (found suitable version "1.5.0", minimum required is "1.4.6")
-- Found BOARD.dts: /home/thomas/Documents/IoT_Hevs/soprod_iot/zephyr/boards/arm/nrf9160dk_nrf9160/nrf9160dk_nrf9160.dts
-- Found devicetree overlay: /home/thomas/Documents/IoT_Hevs/soprod_iot/nrf/samples/nrf9160/spm/nrf9160dk_nrf9160.overlay
nrf9160dk_nrf9160.dts.pre.tmp:95.42-107.3: Warning (unique_unit_address_if_enabled): /soc/peripheral@50000000/flash-controller@39000: duplicate unit-address (also used in node /soc/peripheral@50000000/kmu@39000)
nrf9160dk_nrf9160.dts.pre.tmp:344.19-350.3: Warning (unique_unit_address_if_enabled): /soc/peripheral@50000000/clock@5000: duplicate unit-address (also used in node /soc/peripheral@50000000/power@5000)
-- Generated zephyr.dts: /home/thomas/Documents/IoT_Hevs/soprod_iot/app01/build/spm/zephyr/zephyr.dts
-- Generated devicetree_unfixed.h: /home/thomas/Documents/IoT_Hevs/soprod_iot/app01/build/spm/zephyr/include/generated/devicetree_unfixed.h
Parsing /home/thomas/Documents/IoT_Hevs/soprod_iot/zephyr/Kconfig
Loaded configuration '/home/thomas/Documents/IoT_Hevs/soprod_iot/zephyr/boards/arm/nrf9160dk_nrf9160/nrf9160dk_nrf9160_defconfig'
Merged configuration '/home/thomas/Documents/IoT_Hevs/soprod_iot/nrf/samples/nrf9160/spm/prj.conf'
Merged configuration '/home/thomas/Documents/IoT_Hevs/soprod_iot/nrf/samples/nrf9160/spm/boards/nrf9160dk_nrf9160.conf'
Configuration saved to '/home/thomas/Documents/IoT_Hevs/soprod_iot/app01/build/spm/zephyr/.config'
Kconfig header saved to '/home/thomas/Documents/IoT_Hevs/soprod_iot/app01/build/spm/zephyr/include/generated/autoconf.h'
-- The C compiler identification is GNU 9.2.0
-- The CXX compiler identification is GNU 9.2.0
-- The ASM compiler identification is GNU
-- Found assembler: /home/thomas/zephyr-sdk/arm-zephyr-eabi/bin/arm-zephyr-eabi-gcc
-- Cache files will be written to: /home/thomas/.cache/zephyr
-- Configuring done
-- Generating done
-- Build files have been written to: /home/thomas/Documents/IoT_Hevs/soprod_iot/app01/build/spm
=== child image spm - nrf9160dk_nrf9160 end ===

CMake Warning at /home/thomas/Documents/IoT_Hevs/soprod_iot/zephyr/CMakeLists.txt:1384 (message):
__ASSERT() statements are globally ENABLED

Changed board to secure nrf9160dk_nrf9160 (NOT NS)
-- Configuring done
-- Generating done
-- Build files have been written to: /home/thomas/Documents/IoT_Hevs/soprod_iot/app01/build
-- west build: building application
[1/153] Preparing syscall dependency handling

[8/153] Performing build step for 'spm_subimage'
[7/194] Preparing syscall dependency handling

[189/194] Linking C executable zephyr/zephyr_prebuilt.elf
Memory region Used Size Region Size %age Used
FLASH: 32 KB 48 KB 66.67%
SRAM: 5416 B 64 KB 8.26%
IDT_LIST: 40 B 2 KB 1.95%
[194/194] Linking C executable zephyr/zephyr.elf
[146/153] Linking CXX executable zephyr/zephyr_prebuilt.elf
FAILED: zephyr/zephyr_prebuilt.elf
: && ccache /home/thomas/zephyr-sdk/arm-zephyr-eabi/bin/arm-zephyr-eabi-g++ -save-temps zephyr/CMakeFiles/zephyr_prebuilt.dir/misc/empty_file.c.obj -o zephyr/zephyr_prebuilt.elf -Wl,-T zephyr/linker.cmd -Wl,-Map=/home/thomas/Documents/IoT_Hevs/soprod_iot/app01/build/zephyr/zephyr_prebuilt.map -Wl,--whole-archive app/libapp.a zephyr/libzephyr.a zephyr/arch/common/libarch__common.a zephyr/arch/arch/arm/core/aarch32/libarch__arm__core__aarch32.a zephyr/arch/arch/arm/core/aarch32/cortex_m/libarch__arm__core__aarch32__cortex_m.a zephyr/arch/arch/arm/core/aarch32/cortex_m/mpu/libarch__arm__core__aarch32__cortex_m__mpu.a zephyr/arch/arch/arm/core/aarch32/cortex_m/cmse/libarch__arm__core__aarch32__cortex_m__cmse.a zephyr/lib/libc/newlib/liblib__libc__newlib.a zephyr/lib/posix/liblib__posix.a zephyr/soc/arm/common/cortex_m/libsoc__arm__common__cortex_m.a zephyr/drivers/gpio/libdrivers__gpio.a zephyr/drivers/spi/libdrivers__spi.a zephyr/drivers/serial/libdrivers__serial.a modules/app01/gpio/mcp23s08/lib..__app01__drivers__gpio__mcp23s08.a modules/nrf/lib/fatal_error/lib..__nrf__lib__fatal_error.a modules/nrf/subsys/fw_info/lib..__nrf__subsys__fw_info.a modules/nordic/lib..__modules__hal__nordic.a -Wl,--no-whole-archive zephyr/kernel/libkernel.a zephyr/CMakeFiles/offsets.dir/arch/arm/core/offsets/offsets.c.obj -L"/home/thomas/zephyr-sdk/arm-zephyr-eabi/bin/../lib/gcc/arm-zephyr-eabi/9.2.0/thumb/v8-m.main/nofp" -L/home/thomas/Documents/IoT_Hevs/soprod_iot/app01/build/zephyr -lgcc -Wl,--print-memory-usage -mcpu=cortex-m33 -mthumb -mabi=aapcs -Wl,--gc-sections -Wl,--build-id=none -Wl,--sort-common=descending -Wl,--sort-section=alignment -Wl,-u,_OffsetAbsSyms -Wl,-u,_ConfigAbsSyms -nostdlib -static -no-pie -Wl,-X -Wl,-N -lstdc++ spm/libspmsecureentries.a -lm -lc -lgcc -L"/home/thomas/zephyr-sdk/arm-zephyr-eabi/arm-zephyr-eabi"/lib/thumb/v8-m.main/nofp -specs=nano.specs && :
Memory region Used Size Region Size %age Used
FLASH: 27208 B 976 KB 2.72%
SRAM: 6800 B 128 KB 5.19%
IDT_LIST: 88 B 2 KB 4.30/home/thomas/zephyr-sdk/arm-zephyr-eabi/bin/../lib/gcc/arm-zephyr-eabi/9.2.0/../../../../arm-zephyr-eabi/bin/ld: Undefined initialization levels used.
collect2: error: ld returned 1 exit status
%
ninja: build stopped: subcommand failed.
FATAL ERROR: command exited with status 1: /usr/bin/cmake --build /home/thomas/Documents/IoT_Hevs/soprod_iot/app01/build`

[tejlmand]

When trying to build like you, I can reproduce same error which seems to originate from the generated linker file in <build-folder>/zephyr/linker.cmd

_image_rodata_start = .;                                                                           
 initlevel :                                                                                        
 {                                                                                                  
  __init_start = .; __init_PRE_KERNEL_1_start = .; KEEP(*(SORT(.init_PRE_KERNEL_1[0-9]))); KEEP(*(SORT(.init_PRE_KERNEL_1[1-9][0-9]))); __init_PRE_KERNEL_2_start = .; KEEP(*(SORT(.init_PRE_KERNEL_2[0-9]))); KEEP(*(SORT(.init_PRE_KERNEL_2[1-9][0-9]))); __init_POST_KERNEL_start = .; KEEP(*(SORT(.init_POST_KERNEL[0-9]))); KEEP(*(SORT(.init_POST_KERNEL[1-9][0-9]))); __init_APPLICATION_start = .; KEEP(*(SORT(.init_APPLICATION[0-9]))); KEEP(*(SORT(.init_APPLICATION[1-9][0-9]))); __init_SMP_start = .; KEEP(*(SORT(.init_SMP[0-9]))); KEEP(*(SORT(.init_SMP[1-9][0-9]))); __init_end = .;
 } > FLASH                                                                                          
 sw_isr_table :                                                                                     
 {                                                                                                  
  . = ALIGN(0);                                                                                     
  *(.gnu.linkonce.sw_isr_table)                                                                     
 } > FLASH                                                                                          
 initlevel_error :                                                                                  
 {                                                                                                  
  KEEP(*(SORT(.init_[_A-Z0-9]*)))                                                                   
 }                                                                                                  
 ASSERT(SIZEOF(initlevel_error) == 0, "Undefined initialization levels used.")  

however, i'm not sure on the root cause of this.

[thomasoggiersoprod]

Did you find a way to solve this problem?

[tejlmand]

another mistake, when referring to Kconfig variables, then be sure to use the right name.

You are using CONFIG_GPIO_mcp23s08_INIT_PRIORITY instead of CONFIG_GPIO_MCP23S08_INIT_PRIORITY in gpio_mcp23s08.c