[1/12] Performing build step for 'bootloader' [1/1] cmd.exe /C "cd /D E:\Espressif\frameworks\esp-idf-v5.0.4\app\wheel\build\bootloader\esp-idf\esptool_py && E:\Espressif\python_env\idf5.0_py3.11_env\Scripts\python.exe E:/Espressif/frameworks/esp-idf-v5.0.4/components/partition_table/check_sizes.py --offset 0x8000 bootloader 0x0 E:/Espressif/frameworks/esp-idf-v5.0.4/app/wheel/build/bootloader/bootloader.bin" Bootloader binary size 0x4f90 bytes. 0x3070 bytes (38%) free. [2/10] Building C object esp-idf/bdc_motor/CMakeFiles/__idf_bdc_motor.dir/bdc_motor.c.obj FAILED: esp-idf/bdc_motor/CMakeFiles/__idf_bdc_motor.dir/bdc_motor.c.obj ccache E:\Espressif\tools\xtensa-esp32s3-elf\esp-2022r1-11.2.0\xtensa-esp32s3-elf\bin\xtensa-esp32s3-elf-gcc.exe -DSOC_MMU_PAGE_SIZE=CONFIG_MMU_PAGE_SIZE -IE:/Espressif/frameworks/esp-idf-v5.0.4/app/wheel/build/config -IE:/Espressif/frameworks/esp-idf-v5.0.4/app/wheel/components/bdc_motor -IE:/Espressif/frameworks/esp-idf-v5.0.4/components/newlib/platform_include -IE:/Espressif/frameworks/esp-idf-v5.0.4/components/freertos/FreeRTOS-Kernel/include -IE:/Espressif/frameworks/esp-idf-v5.0.4/components/freertos/esp_additions/include/freertos -IE:/Espressif/frameworks/esp-idf-v5.0.4/components/freertos/FreeRTOS-Kernel/portable/xtensa/include -IE:/Espressif/frameworks/esp-idf-v5.0.4/components/freertos/esp_additions/include -IE:/Espressif/frameworks/esp-idf-v5.0.4/components/esp_hw_support/include -IE:/Espressif/frameworks/esp-idf-v5.0.4/components/esp_hw_support/include/soc -IE:/Espressif/frameworks/esp-idf-v5.0.4/components/esp_hw_support/include/soc/esp32s3 -IE:/Espressif/frameworks/esp-idf-v5.0.4/components/esp_hw_support/port/esp32s3/. -IE:/Espressif/frameworks/esp-idf-v5.0.4/components/esp_hw_support/port/esp32s3/private_include -IE:/Espressif/frameworks/esp-idf-v5.0.4/components/heap/include -IE:/Espressif/frameworks/esp-idf-v5.0.4/components/log/include -IE:/Espressif/frameworks/esp-idf-v5.0.4/components/soc/include -IE:/Espressif/frameworks/esp-idf-v5.0.4/components/soc/esp32s3/. -IE:/Espressif/frameworks/esp-idf-v5.0.4/components/soc/esp32s3/include -IE:/Espressif/frameworks/esp-idf-v5.0.4/components/hal/esp32s3/include -IE:/Espressif/frameworks/esp-idf-v5.0.4/components/hal/include -IE:/Espressif/frameworks/esp-idf-v5.0.4/components/hal/platform_port/include -IE:/Espressif/frameworks/esp-idf-v5.0.4/components/esp_rom/include -IE:/Espressif/frameworks/esp-idf-v5.0.4/components/esp_rom/include/esp32s3 -IE:/Espressif/frameworks/esp-idf-v5.0.4/components/esp_rom/esp32s3 -IE:/Espressif/frameworks/esp-idf-v5.0.4/components/esp_common/include -IE:/Espressif/frameworks/esp-idf-v5.0.4/components/esp_system/include -IE:/Espressif/frameworks/esp-idf-v5.0.4/components/esp_system/port/soc -IE:/Espressif/frameworks/esp-idf-v5.0.4/components/esp_system/port/include/private -IE:/Espressif/frameworks/esp-idf-v5.0.4/components/xtensa/include -IE:/Espressif/frameworks/esp-idf-v5.0.4/components/xtensa/esp32s3/include -IE:/Espressif/frameworks/esp-idf-v5.0.4/components/lwip/include -IE:/Espressif/frameworks/esp-idf-v5.0.4/components/lwip/include/apps -IE:/Espressif/frameworks/esp-idf-v5.0.4/components/lwip/include/apps/sntp -IE:/Espressif/frameworks/esp-idf-v5.0.4/components/lwip/lwip/src/include -IE:/Espressif/frameworks/esp-idf-v5.0.4/components/lwip/port/esp32/include -IE:/Espressif/frameworks/esp-idf-v5.0.4/components/lwip/port/esp32/include/arch -IE:/Espressif/frameworks/esp-idf-v5.0.4/components/driver/include -IE:/Espressif/frameworks/esp-idf-v5.0.4/components/driver/deprecated -IE:/Espressif/frameworks/esp-idf-v5.0.4/components/driver/esp32s3/include -IE:/Espressif/frameworks/esp-idf-v5.0.4/components/esp_pm/include -IE:/Espressif/frameworks/esp-idf-v5.0.4/components/esp_ringbuf/include -mlongcalls -fdiagnostics-color=always -ffunction-sections -fdata-sections -Wall -Werror=all -Wno-error=unused-function -Wno-error=unused-variable -Wno-error=deprecated-declarations -Wextra -Wno-unused-parameter -Wno-sign-compare -Wno-enum-conversion -gdwarf-4 -ggdb -Og -fmacro-prefix-map=E:/Espressif/frameworks/esp-idf-v5.0.4/app/wheel=. -fmacro-prefix-map=E:/Espressif/frameworks/esp-idf-v5.0.4=/IDF -fstrict-volatile-bitfields -Wno-error=unused-but-set-variable -fno-jump-tables -fno-tree-switch-conversion -DconfigENABLE_FREERTOS_DEBUG_OCDAWARE=1 -std=gnu17 -Wno-old-style-declaration -D_GNU_SOURCE -DIDF_VER=\"v5.0.4-dirty\" -DESP_PLATFORM -D_POSIX_READER_WRITER_LOCKS -MD -MT esp-idf/bdc_motor/CMakeFiles/__idf_bdc_motor.dir/bdc_motor.c.obj -MF esp-idf\bdc_motor\CMakeFiles\__idf_bdc_motor.dir\bdc_motor.c.obj.d -o esp-idf/bdc_motor/CMakeFiles/__idf_bdc_motor.dir/bdc_motor.c.obj -c E:/Espressif/frameworks/esp-idf-v5.0.4/app/wheel/components/bdc_motor/bdc_motor.c In file included from E:/Espressif/frameworks/esp-idf-v5.0.4/app/wheel/components/bdc_motor/bdc_motor.c:11: E:/Espressif/frameworks/esp-idf-v5.0.4/app/wheel/components/bdc_motor/bdc_motor.h:23:5: error: unknown type name 'pcnt_unit_handle_t' 23 | pcnt_unit_handle_t pcnt_encoder; | ^~~~~~~~~~~~~~~~~~ E:/Espressif/frameworks/esp-idf-v5.0.4/app/wheel/components/bdc_motor/bdc_motor.h:24:5: error: unknown type name 'pid_ctrl_block_handle_t' 24 | pid_ctrl_block_handle_t pid_ctrl; | ^~~~~~~~~~~~~~~~~~~~~~~ E:/Espressif/frameworks/esp-idf-v5.0.4/app/wheel/components/bdc_motor/bdc_motor.h:25:5: error: unknown type name 'esp_timer_handle_t' 25 | esp_timer_handle_t pid_loop_timer; | ^~~~~~~~~~~~~~~~~~ E:/Espressif/frameworks/esp-idf-v5.0.4/app/wheel/components/bdc_motor/bdc_motor.c: In function 'bdc_motor_enable': E:/Espressif/frameworks/esp-idf-v5.0.4/app/wheel/components/bdc_motor/bdc_motor.c:19:12: error: 'motor' undeclared (first use in this function) 19 | return motor->enable(motor_ctrl_ctx.motor); | ^~~~~ E:/Espressif/frameworks/esp-idf-v5.0.4/app/wheel/components/bdc_motor/bdc_motor.c:19:12: note: each undeclared identifier is reported only once for each function it appears in E:/Espressif/frameworks/esp-idf-v5.0.4/app/wheel/components/bdc_motor/bdc_motor.c: In function 'bdc_motor_disable': E:/Espressif/frameworks/esp-idf-v5.0.4/app/wheel/components/bdc_motor/bdc_motor.c:25:12: error: 'motor' undeclared (first use in this function) 25 | return motor->disable(motor_ctrl_ctx.motor); | ^~~~~ E:/Espressif/frameworks/esp-idf-v5.0.4/app/wheel/components/bdc_motor/bdc_motor.c: In function 'bdc_motor_set_speed': E:/Espressif/frameworks/esp-idf-v5.0.4/app/wheel/components/bdc_motor/bdc_motor.c:31:12: error: 'motor' undeclared (first use in this function) 31 | return motor->set_speed(motor_ctrl_ctx.motor, speed); | ^~~~~ E:/Espressif/frameworks/esp-idf-v5.0.4/app/wheel/components/bdc_motor/bdc_motor.c: In function 'bdc_motor_forward': E:/Espressif/frameworks/esp-idf-v5.0.4/app/wheel/components/bdc_motor/bdc_motor.c:37:5: error: implicit declaration of function 'gpio_set_level' [-Werror=implicit-function-declaration] 37 | gpio_set_level(motor_ctrl_ctx.bdc_low0_gpio, 1); | ^~~~~~~~~~~~~~ E:/Espressif/frameworks/esp-idf-v5.0.4/app/wheel/components/bdc_motor/bdc_motor.c:39:12: error: 'motor' undeclared (first use in this function) 39 | return motor->forward(motor_ctrl_ctx.motor); | ^~~~~ E:/Espressif/frameworks/esp-idf-v5.0.4/app/wheel/components/bdc_motor/bdc_motor.c: In function 'bdc_motor_reverse': E:/Espressif/frameworks/esp-idf-v5.0.4/app/wheel/components/bdc_motor/bdc_motor.c:47:12: error: 'motor' undeclared (first use in this function) 47 | return motor->reverse(motor_ctrl_ctx.motor); | ^~~~~ E:/Espressif/frameworks/esp-idf-v5.0.4/app/wheel/components/bdc_motor/bdc_motor.c: In function 'bdc_motor_coast': E:/Espressif/frameworks/esp-idf-v5.0.4/app/wheel/components/bdc_motor/bdc_motor.c:56:12: error: 'motor' undeclared (first use in this function) 56 | return motor->coast(motor_ctrl_ctx.motor); | ^~~~~ E:/Espressif/frameworks/esp-idf-v5.0.4/app/wheel/components/bdc_motor/bdc_motor.c: In function 'bdc_motor_brake': E:/Espressif/frameworks/esp-idf-v5.0.4/app/wheel/components/bdc_motor/bdc_motor.c:65:12: error: 'motor' undeclared (first use in this function) 65 | return motor->brake(motor_ctrl_ctx.motor); | ^~~~~ E:/Espressif/frameworks/esp-idf-v5.0.4/app/wheel/components/bdc_motor/bdc_motor.c: In function 'bdc_motor_del': E:/Espressif/frameworks/esp-idf-v5.0.4/app/wheel/components/bdc_motor/bdc_motor.c:71:12: error: 'motor' undeclared (first use in this function) 71 | return motor->del(motor_ctrl_ctx.motor); | ^~~~~ E:/Espressif/frameworks/esp-idf-v5.0.4/app/wheel/components/bdc_motor/bdc_motor.c: In function 'bdc_motor_enable': E:/Espressif/frameworks/esp-idf-v5.0.4/app/wheel/components/bdc_motor/bdc_motor.c:20:1: error: control reaches end of non-void function [-Werror=return-type] 20 | } | ^ E:/Espressif/frameworks/esp-idf-v5.0.4/app/wheel/components/bdc_motor/bdc_motor.c: In function 'bdc_motor_disable': E:/Espressif/frameworks/esp-idf-v5.0.4/app/wheel/components/bdc_motor/bdc_motor.c:26:1: error: control reaches end of non-void function [-Werror=return-type] 26 | } | ^ E:/Espressif/frameworks/esp-idf-v5.0.4/app/wheel/components/bdc_motor/bdc_motor.c: In function 'bdc_motor_set_speed': E:/Espressif/frameworks/esp-idf-v5.0.4/app/wheel/components/bdc_motor/bdc_motor.c:32:1: error: control reaches end of non-void function [-Werror=return-type] 32 | } | ^ E:/Espressif/frameworks/esp-idf-v5.0.4/app/wheel/components/bdc_motor/bdc_motor.c: In function 'bdc_motor_forward': E:/Espressif/frameworks/esp-idf-v5.0.4/app/wheel/components/bdc_motor/bdc_motor.c:40:1: error: control reaches end of non-void function [-Werror=return-type] 40 | } | ^ E:/Espressif/frameworks/esp-idf-v5.0.4/app/wheel/components/bdc_motor/bdc_motor.c: In function 'bdc_motor_reverse': E:/Espressif/frameworks/esp-idf-v5.0.4/app/wheel/components/bdc_motor/bdc_motor.c:48:1: error: control reaches end of non-void function [-Werror=return-type] 48 | } | ^ E:/Espressif/frameworks/esp-idf-v5.0.4/app/wheel/components/bdc_motor/bdc_motor.c: In function 'bdc_motor_coast': E:/Espressif/frameworks/esp-idf-v5.0.4/app/wheel/components/bdc_motor/bdc_motor.c:57:1: error: control reaches end of non-void function [-Werror=return-type] 57 | } | ^ E:/Espressif/frameworks/esp-idf-v5.0.4/app/wheel/components/bdc_motor/bdc_motor.c: In function 'bdc_motor_brake': E:/Espressif/frameworks/esp-idf-v5.0.4/app/wheel/components/bdc_motor/bdc_motor.c:66:1: error: control reaches end of non-void function [-Werror=return-type] 66 | } | ^ E:/Espressif/frameworks/esp-idf-v5.0.4/app/wheel/components/bdc_motor/bdc_motor.c: In function 'bdc_motor_del': E:/Espressif/frameworks/esp-idf-v5.0.4/app/wheel/components/bdc_motor/bdc_motor.c:72:1: error: control reaches end of non-void function [-Werror=return-type] 72 | } | ^ cc1.exe: some warnings being treated as errors [3/10] Building C object esp-idf/bdc_motor/CMakeFiles/__idf_bdc_motor.dir/bdc_motor_mcpwm_impl.c.obj FAILED: esp-idf/bdc_motor/CMakeFiles/__idf_bdc_motor.dir/bdc_motor_mcpwm_impl.c.obj ccache E:\Espressif\tools\xtensa-esp32s3-elf\esp-2022r1-11.2.0\xtensa-esp32s3-elf\bin\xtensa-esp32s3-elf-gcc.exe -DSOC_MMU_PAGE_SIZE=CONFIG_MMU_PAGE_SIZE -IE:/Espressif/frameworks/esp-idf-v5.0.4/app/wheel/build/config -IE:/Espressif/frameworks/esp-idf-v5.0.4/app/wheel/components/bdc_motor -IE:/Espressif/frameworks/esp-idf-v5.0.4/components/newlib/platform_include -IE:/Espressif/frameworks/esp-idf-v5.0.4/components/freertos/FreeRTOS-Kernel/include -IE:/Espressif/frameworks/esp-idf-v5.0.4/components/freertos/esp_additions/include/freertos -IE:/Espressif/frameworks/esp-idf-v5.0.4/components/freertos/FreeRTOS-Kernel/portable/xtensa/include -IE:/Espressif/frameworks/esp-idf-v5.0.4/components/freertos/esp_additions/include -IE:/Espressif/frameworks/esp-idf-v5.0.4/components/esp_hw_support/include -IE:/Espressif/frameworks/esp-idf-v5.0.4/components/esp_hw_support/include/soc -IE:/Espressif/frameworks/esp-idf-v5.0.4/components/esp_hw_support/include/soc/esp32s3 -IE:/Espressif/frameworks/esp-idf-v5.0.4/components/esp_hw_support/port/esp32s3/. -IE:/Espressif/frameworks/esp-idf-v5.0.4/components/esp_hw_support/port/esp32s3/private_include -IE:/Espressif/frameworks/esp-idf-v5.0.4/components/heap/include -IE:/Espressif/frameworks/esp-idf-v5.0.4/components/log/include -IE:/Espressif/frameworks/esp-idf-v5.0.4/components/soc/include -IE:/Espressif/frameworks/esp-idf-v5.0.4/components/soc/esp32s3/. -IE:/Espressif/frameworks/esp-idf-v5.0.4/components/soc/esp32s3/include -IE:/Espressif/frameworks/esp-idf-v5.0.4/components/hal/esp32s3/include -IE:/Espressif/frameworks/esp-idf-v5.0.4/components/hal/include -IE:/Espressif/frameworks/esp-idf-v5.0.4/components/hal/platform_port/include -IE:/Espressif/frameworks/esp-idf-v5.0.4/components/esp_rom/include -IE:/Espressif/frameworks/esp-idf-v5.0.4/components/esp_rom/include/esp32s3 -IE:/Espressif/frameworks/esp-idf-v5.0.4/components/esp_rom/esp32s3 -IE:/Espressif/frameworks/esp-idf-v5.0.4/components/esp_common/include -IE:/Espressif/frameworks/esp-idf-v5.0.4/components/esp_system/include -IE:/Espressif/frameworks/esp-idf-v5.0.4/components/esp_system/port/soc -IE:/Espressif/frameworks/esp-idf-v5.0.4/components/esp_system/port/include/private -IE:/Espressif/frameworks/esp-idf-v5.0.4/components/xtensa/include -IE:/Espressif/frameworks/esp-idf-v5.0.4/components/xtensa/esp32s3/include -IE:/Espressif/frameworks/esp-idf-v5.0.4/components/lwip/include -IE:/Espressif/frameworks/esp-idf-v5.0.4/components/lwip/include/apps -IE:/Espressif/frameworks/esp-idf-v5.0.4/components/lwip/include/apps/sntp -IE:/Espressif/frameworks/esp-idf-v5.0.4/components/lwip/lwip/src/include -IE:/Espressif/frameworks/esp-idf-v5.0.4/components/lwip/port/esp32/include -IE:/Espressif/frameworks/esp-idf-v5.0.4/components/lwip/port/esp32/include/arch -IE:/Espressif/frameworks/esp-idf-v5.0.4/components/driver/include -IE:/Espressif/frameworks/esp-idf-v5.0.4/components/driver/deprecated -IE:/Espressif/frameworks/esp-idf-v5.0.4/components/driver/esp32s3/include -IE:/Espressif/frameworks/esp-idf-v5.0.4/components/esp_pm/include -IE:/Espressif/frameworks/esp-idf-v5.0.4/components/esp_ringbuf/include -mlongcalls -fdiagnostics-color=always -ffunction-sections -fdata-sections -Wall -Werror=all -Wno-error=unused-function -Wno-error=unused-variable -Wno-error=deprecated-declarations -Wextra -Wno-unused-parameter -Wno-sign-compare -Wno-enum-conversion -gdwarf-4 -ggdb -Og -fmacro-prefix-map=E:/Espressif/frameworks/esp-idf-v5.0.4/app/wheel=. -fmacro-prefix-map=E:/Espressif/frameworks/esp-idf-v5.0.4=/IDF -fstrict-volatile-bitfields -Wno-error=unused-but-set-variable -fno-jump-tables -fno-tree-switch-conversion -DconfigENABLE_FREERTOS_DEBUG_OCDAWARE=1 -std=gnu17 -Wno-old-style-declaration -D_GNU_SOURCE -DIDF_VER=\"v5.0.4-dirty\" -DESP_PLATFORM -D_POSIX_READER_WRITER_LOCKS -MD -MT esp-idf/bdc_motor/CMakeFiles/__idf_bdc_motor.dir/bdc_motor_mcpwm_impl.c.obj -MF esp-idf\bdc_motor\CMakeFiles\__idf_bdc_motor.dir\bdc_motor_mcpwm_impl.c.obj.d -o esp-idf/bdc_motor/CMakeFiles/__idf_bdc_motor.dir/bdc_motor_mcpwm_impl.c.obj -c E:/Espressif/frameworks/esp-idf-v5.0.4/app/wheel/components/bdc_motor/bdc_motor_mcpwm_impl.c In file included from E:/Espressif/frameworks/esp-idf-v5.0.4/app/wheel/components/bdc_motor/bdc_motor_mcpwm_impl.c:12: E:/Espressif/frameworks/esp-idf-v5.0.4/app/wheel/components/bdc_motor/bdc_motor.h:23:5: error: unknown type name 'pcnt_unit_handle_t' 23 | pcnt_unit_handle_t pcnt_encoder; | ^~~~~~~~~~~~~~~~~~ E:/Espressif/frameworks/esp-idf-v5.0.4/app/wheel/components/bdc_motor/bdc_motor.h:24:5: error: unknown type name 'pid_ctrl_block_handle_t' 24 | pid_ctrl_block_handle_t pid_ctrl; | ^~~~~~~~~~~~~~~~~~~~~~~ E:/Espressif/frameworks/esp-idf-v5.0.4/app/wheel/components/bdc_motor/bdc_motor.h:25:5: error: unknown type name 'esp_timer_handle_t' 25 | esp_timer_handle_t pid_loop_timer; | ^~~~~~~~~~~~~~~~~~ [4/10] Building C object esp-idf/mcpwm_bdc_control/CMakeFiles/__idf_mcpwm_bdc_control.dir/mcpwm_bdc_control.c.obj FAILED: esp-idf/mcpwm_bdc_control/CMakeFiles/__idf_mcpwm_bdc_control.dir/mcpwm_bdc_control.c.obj ccache E:\Espressif\tools\xtensa-esp32s3-elf\esp-2022r1-11.2.0\xtensa-esp32s3-elf\bin\xtensa-esp32s3-elf-gcc.exe -DSOC_MMU_PAGE_SIZE=CONFIG_MMU_PAGE_SIZE -IE:/Espressif/frameworks/esp-idf-v5.0.4/app/wheel/build/config -IE:/Espressif/frameworks/esp-idf-v5.0.4/app/wheel/components/mcpwm_bdc_control -IE:/Espressif/frameworks/esp-idf-v5.0.4/components/newlib/platform_include -IE:/Espressif/frameworks/esp-idf-v5.0.4/components/freertos/FreeRTOS-Kernel/include -IE:/Espressif/frameworks/esp-idf-v5.0.4/components/freertos/esp_additions/include/freertos -IE:/Espressif/frameworks/esp-idf-v5.0.4/components/freertos/FreeRTOS-Kernel/portable/xtensa/include -IE:/Espressif/frameworks/esp-idf-v5.0.4/components/freertos/esp_additions/include -IE:/Espressif/frameworks/esp-idf-v5.0.4/components/esp_hw_support/include -IE:/Espressif/frameworks/esp-idf-v5.0.4/components/esp_hw_support/include/soc -IE:/Espressif/frameworks/esp-idf-v5.0.4/components/esp_hw_support/include/soc/esp32s3 -IE:/Espressif/frameworks/esp-idf-v5.0.4/components/esp_hw_support/port/esp32s3/. -IE:/Espressif/frameworks/esp-idf-v5.0.4/components/esp_hw_support/port/esp32s3/private_include -IE:/Espressif/frameworks/esp-idf-v5.0.4/components/heap/include -IE:/Espressif/frameworks/esp-idf-v5.0.4/components/log/include -IE:/Espressif/frameworks/esp-idf-v5.0.4/components/soc/include -IE:/Espressif/frameworks/esp-idf-v5.0.4/components/soc/esp32s3/. -IE:/Espressif/frameworks/esp-idf-v5.0.4/components/soc/esp32s3/include -IE:/Espressif/frameworks/esp-idf-v5.0.4/components/hal/esp32s3/include -IE:/Espressif/frameworks/esp-idf-v5.0.4/components/hal/include -IE:/Espressif/frameworks/esp-idf-v5.0.4/components/hal/platform_port/include -IE:/Espressif/frameworks/esp-idf-v5.0.4/components/esp_rom/include -IE:/Espressif/frameworks/esp-idf-v5.0.4/components/esp_rom/include/esp32s3 -IE:/Espressif/frameworks/esp-idf-v5.0.4/components/esp_rom/esp32s3 -IE:/Espressif/frameworks/esp-idf-v5.0.4/components/esp_common/include -IE:/Espressif/frameworks/esp-idf-v5.0.4/components/esp_system/include -IE:/Espressif/frameworks/esp-idf-v5.0.4/components/esp_system/port/soc -IE:/Espressif/frameworks/esp-idf-v5.0.4/components/esp_system/port/include/private -IE:/Espressif/frameworks/esp-idf-v5.0.4/components/xtensa/include -IE:/Espressif/frameworks/esp-idf-v5.0.4/components/xtensa/esp32s3/include -IE:/Espressif/frameworks/esp-idf-v5.0.4/components/lwip/include -IE:/Espressif/frameworks/esp-idf-v5.0.4/components/lwip/include/apps -IE:/Espressif/frameworks/esp-idf-v5.0.4/components/lwip/include/apps/sntp -IE:/Espressif/frameworks/esp-idf-v5.0.4/components/lwip/lwip/src/include -IE:/Espressif/frameworks/esp-idf-v5.0.4/components/lwip/port/esp32/include -IE:/Espressif/frameworks/esp-idf-v5.0.4/components/lwip/port/esp32/include/arch -IE:/Espressif/frameworks/esp-idf-v5.0.4/app/wheel/components/bdc_motor -IE:/Espressif/frameworks/esp-idf-v5.0.4/components/driver/include -IE:/Espressif/frameworks/esp-idf-v5.0.4/components/driver/deprecated -IE:/Espressif/frameworks/esp-idf-v5.0.4/components/driver/esp32s3/include -IE:/Espressif/frameworks/esp-idf-v5.0.4/components/esp_pm/include -IE:/Espressif/frameworks/esp-idf-v5.0.4/components/esp_ringbuf/include -IE:/Espressif/frameworks/esp-idf-v5.0.4/app/wheel/components/pid_ctrl -IE:/Espressif/frameworks/esp-idf-v5.0.4/components/esp_timer/include -IE:/Espressif/frameworks/esp-idf-v5.0.4/app/wheel/components/modbus_tcp -mlongcalls -fdiagnostics-color=always -ffunction-sections -fdata-sections -Wall -Werror=all -Wno-error=unused-function -Wno-error=unused-variable -Wno-error=deprecated-declarations -Wextra -Wno-unused-parameter -Wno-sign-compare -Wno-enum-conversion -gdwarf-4 -ggdb -Og -fmacro-prefix-map=E:/Espressif/frameworks/esp-idf-v5.0.4/app/wheel=. -fmacro-prefix-map=E:/Espressif/frameworks/esp-idf-v5.0.4=/IDF -fstrict-volatile-bitfields -Wno-error=unused-but-set-variable -fno-jump-tables -fno-tree-switch-conversion -DconfigENABLE_FREERTOS_DEBUG_OCDAWARE=1 -std=gnu17 -Wno-old-style-declaration -D_GNU_SOURCE -DIDF_VER=\"v5.0.4-dirty\" -DESP_PLATFORM -D_POSIX_READER_WRITER_LOCKS -MD -MT esp-idf/mcpwm_bdc_control/CMakeFiles/__idf_mcpwm_bdc_control.dir/mcpwm_bdc_control.c.obj -MF esp-idf\mcpwm_bdc_control\CMakeFiles\__idf_mcpwm_bdc_control.dir\mcpwm_bdc_control.c.obj.d -o esp-idf/mcpwm_bdc_control/CMakeFiles/__idf_mcpwm_bdc_control.dir/mcpwm_bdc_control.c.obj -c E:/Espressif/frameworks/esp-idf-v5.0.4/app/wheel/components/mcpwm_bdc_control/mcpwm_bdc_control.c In file included from E:/Espressif/frameworks/esp-idf-v5.0.4/app/wheel/components/mcpwm_bdc_control/mcpwm_bdc_control.c:16: E:/Espressif/frameworks/esp-idf-v5.0.4/app/wheel/components/bdc_motor/bdc_motor.h:24:5: error: unknown type name 'pid_ctrl_block_handle_t' 24 | pid_ctrl_block_handle_t pid_ctrl; | ^~~~~~~~~~~~~~~~~~~~~~~ E:/Espressif/frameworks/esp-idf-v5.0.4/app/wheel/components/mcpwm_bdc_control/mcpwm_bdc_control.c:65:3: error: conflicting types for 'motor_control_context_t'; have 'struct ' 65 | } motor_control_context_t; | ^~~~~~~~~~~~~~~~~~~~~~~ In file included from E:/Espressif/frameworks/esp-idf-v5.0.4/app/wheel/components/mcpwm_bdc_control/mcpwm_bdc_control.c:16: E:/Espressif/frameworks/esp-idf-v5.0.4/app/wheel/components/bdc_motor/bdc_motor.h:31:3: note: previous declaration of 'motor_control_context_t' with type 'motor_control_context_t' 31 | } motor_control_context_t; | ^~~~~~~~~~~~~~~~~~~~~~~ E:/Espressif/frameworks/esp-idf-v5.0.4/app/wheel/components/mcpwm_bdc_control/mcpwm_bdc_control.c: In function 'pid_loop_cb': E:/Espressif/frameworks/esp-idf-v5.0.4/app/wheel/components/mcpwm_bdc_control/mcpwm_bdc_control.c:131:25: error: incompatible type for argument 1 of 'bdc_motor_set_speed' 131 | bdc_motor_set_speed(*ctx, (uint32_t)new_speed); | ^~~~ | | | motor_control_context_t In file included from E:/Espressif/frameworks/esp-idf-v5.0.4/app/wheel/components/mcpwm_bdc_control/mcpwm_bdc_control.c:16: E:/Espressif/frameworks/esp-idf-v5.0.4/app/wheel/components/bdc_motor/bdc_motor.h:35:55: note: expected 'motor_control_context_t' but argument is of type 'motor_control_context_t' 35 | esp_err_t bdc_motor_set_speed(motor_control_context_t motor_ctrl_ctx, uint32_t speed); | ~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~ E:/Espressif/frameworks/esp-idf-v5.0.4/app/wheel/components/mcpwm_bdc_control/mcpwm_bdc_control.c:110:24: warning: unused variable 'motor' [-Wunused-variable] 110 | bdc_motor_handle_t motor = ctx->motor; | ^~~~~ In file included from E:/Espressif/frameworks/esp-idf-v5.0.4/components/esp_hw_support/include/esp_intr_alloc.h:11, from E:/Espressif/frameworks/esp-idf-v5.0.4/components/esp_hw_support/include/esp_cpu.h:20, from E:/Espressif/frameworks/esp-idf-v5.0.4/components/esp_hw_support/include/spinlock.h:11, from E:/Espressif/frameworks/esp-idf-v5.0.4/components/freertos/FreeRTOS-Kernel/portable/xtensa/include/freertos/portmacro.h:74, from E:/Espressif/frameworks/esp-idf-v5.0.4/components/freertos/FreeRTOS-Kernel/include/freertos/portable.h:58, from E:/Espressif/frameworks/esp-idf-v5.0.4/components/freertos/FreeRTOS-Kernel/include/freertos/FreeRTOS.h:70, from E:/Espressif/frameworks/esp-idf-v5.0.4/app/wheel/components/mcpwm_bdc_control/mcpwm_bdc_control.c:9: E:/Espressif/frameworks/esp-idf-v5.0.4/app/wheel/components/mcpwm_bdc_control/mcpwm_bdc_control.c: In function 'bdc_motor_init_all': E:/Espressif/frameworks/esp-idf-v5.0.4/app/wheel/components/mcpwm_bdc_control/mcpwm_bdc_control.c:323:38: error: incompatible type for argument 1 of 'bdc_motor_enable' 323 | ESP_ERROR_CHECK(bdc_motor_enable(motor_ctrl_ctxl)); //启动电机 | ^~~~~~~~~~~~~~~ | | | motor_control_context_t E:/Espressif/frameworks/esp-idf-v5.0.4/components/esp_common/include/esp_err.h:117:30: note: in definition of macro 'ESP_ERROR_CHECK' 117 | esp_err_t err_rc_ = (x); \ | ^ In file included from E:/Espressif/frameworks/esp-idf-v5.0.4/app/wheel/components/mcpwm_bdc_control/mcpwm_bdc_control.c:16: E:/Espressif/frameworks/esp-idf-v5.0.4/app/wheel/components/bdc_motor/bdc_motor.h:33:52: note: expected 'motor_control_context_t' but argument is of type 'motor_control_context_t' 33 | esp_err_t bdc_motor_enable(motor_control_context_t motor_ctrl_ctx); | ~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~ In file included from E:/Espressif/frameworks/esp-idf-v5.0.4/components/esp_hw_support/include/esp_intr_alloc.h:11, from E:/Espressif/frameworks/esp-idf-v5.0.4/components/esp_hw_support/include/esp_cpu.h:20, from E:/Espressif/frameworks/esp-idf-v5.0.4/components/esp_hw_support/include/spinlock.h:11, from E:/Espressif/frameworks/esp-idf-v5.0.4/components/freertos/FreeRTOS-Kernel/portable/xtensa/include/freertos/portmacro.h:74, from E:/Espressif/frameworks/esp-idf-v5.0.4/components/freertos/FreeRTOS-Kernel/include/freertos/portable.h:58, from E:/Espressif/frameworks/esp-idf-v5.0.4/components/freertos/FreeRTOS-Kernel/include/freertos/FreeRTOS.h:70, from E:/Espressif/frameworks/esp-idf-v5.0.4/app/wheel/components/mcpwm_bdc_control/mcpwm_bdc_control.c:9: E:/Espressif/frameworks/esp-idf-v5.0.4/app/wheel/components/mcpwm_bdc_control/mcpwm_bdc_control.c:324:39: error: incompatible type for argument 1 of 'bdc_motor_forward' 324 | ESP_ERROR_CHECK(bdc_motor_forward(motor_ctrl_ctxl)); //电机正转 | ^~~~~~~~~~~~~~~ | | | motor_control_context_t E:/Espressif/frameworks/esp-idf-v5.0.4/components/esp_common/include/esp_err.h:117:30: note: in definition of macro 'ESP_ERROR_CHECK' 117 | esp_err_t err_rc_ = (x); \ | ^ In file included from E:/Espressif/frameworks/esp-idf-v5.0.4/app/wheel/components/mcpwm_bdc_control/mcpwm_bdc_control.c:16: E:/Espressif/frameworks/esp-idf-v5.0.4/app/wheel/components/bdc_motor/bdc_motor.h:36:53: note: expected 'motor_control_context_t' but argument is of type 'motor_control_context_t' 36 | esp_err_t bdc_motor_forward(motor_control_context_t motor_ctrl_ctx); | ~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~ E:/Espressif/frameworks/esp-idf-v5.0.4/app/wheel/components/mcpwm_bdc_control/mcpwm_bdc_control.c:326:25: error: incompatible type for argument 1 of 'bdc_motor_set_speed' 326 | bdc_motor_set_speed(motor_ctrl_ctxl, 100); // test | ^~~~~~~~~~~~~~~ | | | motor_control_context_t In file included from E:/Espressif/frameworks/esp-idf-v5.0.4/app/wheel/components/mcpwm_bdc_control/mcpwm_bdc_control.c:16: E:/Espressif/frameworks/esp-idf-v5.0.4/app/wheel/components/bdc_motor/bdc_motor.h:35:55: note: expected 'motor_control_context_t' but argument is of type 'motor_control_context_t' 35 | esp_err_t bdc_motor_set_speed(motor_control_context_t motor_ctrl_ctx, uint32_t speed); | ~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~ ninja: build stopped: subcommand failed.