atomic patch not working for esp32

[ernie-thi]

• Hardware description: esp32
• RTOS: FreeRTOS
• Installation type: espidf, component
• Version or commit hash: humble

Steps to reproduce the issue

Clone this repo in components folder, then as always:

idf.py set-target esp32
idf.py build 

Actual behavior

build fails:

/home/raphael/.espressif/tools/xtensa-esp-elf/esp-13.2.0_20240530/xtensa-esp-elf/bin/../lib/gcc/xtensa-esp-elf/13.2.0/../../../../xtensa-esp-elf/bin/ld: esp-idf/newlib/libnewlib.a(stdatomic.c.obj): in function `__atomic_exchange_8':
/home/raphael/esp/v5.3/esp-idf/components/newlib/stdatomic.c:77: multiple definition of `__atomic_exchange_8'; /home/raphael/idf_components/micro_ros_espidf_component/libmicroros.a(librcutils-atomic_64bits.c.obj):atomic_64bits.c:(.text.__atomic_exchange_8+0x0): first defined here
/home/raphael/.espressif/tools/xtensa-esp-elf/esp-13.2.0_20240530/xtensa-esp-elf/bin/../lib/gcc/xtensa-esp-elf/13.2.0/../../../../xtensa-esp-elf/bin/ld: esp-idf/newlib/libnewlib.a(stdatomic.c.obj): in function `__atomic_fetch_add_8':
/home/raphael/esp/v5.3/esp-idf/components/newlib/stdatomic.c:77: multiple definition of `__atomic_fetch_add_8'; /home/raphael/idf_components/micro_ros_espidf_component/libmicroros.a(librcutils-atomic_64bits.c.obj):atomic_64bits.c:(.text.__atomic_fetch_add_8+0x0): first defined here
/home/raphael/.espressif/tools/xtensa-esp-elf/esp-13.2.0_20240530/xtensa-esp-elf/bin/../lib/gcc/xtensa-esp-elf/13.2.0/../../../../xtensa-esp-elf/bin/ld: esp-idf/newlib/libnewlib.a(stdatomic.c.obj): in function `__atomic_load_8':
/home/raphael/esp/v5.3/esp-idf/components/newlib/stdatomic.c:77: multiple definition of `__atomic_load_8'; /home/raphael/idf_components/micro_ros_espidf_component/libmicroros.a(librcutils-atomic_64bits.c.obj):atomic_64bits.c:(.text.__atomic_load_8+0x0): first defined here
/home/raphael/.espressif/tools/xtensa-esp-elf/esp-13.2.0_20240530/xtensa-esp-elf/bin/../lib/gcc/xtensa-esp-elf/13.2.0/../../../../xtensa-esp-elf/bin/ld: esp-idf/newlib/libnewlib.a(stdatomic.c.obj): in function `__atomic_store_8':
/home/raphael/esp/v5.3/esp-idf/components/newlib/stdatomic.c:77: multiple definition of `__atomic_store_8'; /home/raphael/idf_components/micro_ros_espidf_component/libmicroros.a(librcutils-atomic_64bits.c.obj):atomic_64bits.c:(.text.__atomic_store_8+0x0): first defined here
collect2: error: ld returned 1 exit status
ninja: build stopped: subcommand failed.
ninja failed with exit code 1, output of the command is in the

Additional information

By modifying the file libmicroros.mk i was able to make it work:
in line 110 i added esp32 as target too. So the full line looks like this then:
ifeq ($(IDF_TARGET),$(filter $(IDF_TARGET), esp32 esp32s2 esp32c3))
However, i`m not experienced enough to know whether this has any side effects and is a valid change.

[Care-Again]

I met the same error:( with my ESP32-S3. libnewlib.a form ESP-IDF & newlib and libmicroros.a form micro-ROS
is conficting, which means my ESPIDF-V5.4 has no idea on __atomic_exchange_8、__atomic_fetch_add_8

[Roboprotos]

Hi, I'm experiencing the same issue with micro-ros on ESP32 S3 using ESP-IDF V5.3.1.
esp-idf/components/newlib/stdatomic.c:77: multiple definition of __atomic_fetch_add_8';

Has this issue been patched or solved ?

EDIT: however, adding esp32s3 to the patch_atomic section in libmicroros.mk worked for me:
feq ($(IDF_TARGET),$(filter $(IDF_TARGET),esp32s3 esp32s2 esp32c3 esp32c6))

ESP32 S3 is quite popular, it would be great if someone could add it to patch_atomic.

[Care-Again]

@Roboprotos
My issue was just as same as yours. My ESPIDF told me those __atomic__functions were defined for twice. I had tried plenty of methods but none works.

I tried to give a clear order in my Cmakelists to make sure those functions from ESPIDF should be "neglected" while only the ones from Micro-ROS are on thery duty but this DIDN'T WORK.

Then I tried to delete these functions in /esp-idf/newlib/stdatomic.c. BUT the error occurred again.

At last I had to use a complete OS from the shop which I bought my ESP32-S3 from. This time it works with no error.

HOPE you could find the solutions !

[Care-Again]

@Roboprotos
You can try previous versions of ESPIDF. The owner of the shop tells me to use ROS2-humble, Micro-ROS-humble and ESPIDF-V5.1.2.

MAYBE this works !

[Roboprotos]

@Care-Again Thank you for your feedback. I wrote the solution I found at the end of my previous comment. It works for me using ESP-IDF v5.3.1, ESP32 S3 and jazzy branch of micro-ros espidf component.