关于RS6x_7x SDK 参考手册新建工程问题

2026-09-11 14:35:47 258 阅读 AI 写同款 · GEO 优化AI 选题数据监测一键分发 ›

3、速腾16线激光雷达RS-16 ----- 3D建图算法LeGO-LOAM的使用（Ubuntu18.04 + ROS Melodic）速腾16线激光雷达RS-16 ----- 3D建图算法LeGO-LOAM的使用（Ubuntu18.04 + ROS Melodic）阅读详情

采购了一个MRS6240套件进行测试，使用官方固件烧录测试都没有问题，尝试按照官方教程新建一个工程来进行开发。参考的文件是《RS6x_7x SDK 参考手册》有些小问题，导致一开始就卡住了，特来咨询下：
新建工程流程参考3.2节，
1. 第3节中，手册中工程路径为……\Software_Kit\02_SDK\project\basic\new_project，实际上工程路径为
……\Software_Kit\02_SDK\psdf_sdk\project\basic\new_project，请注意修改。
2. 按照流程进行至Step-D-4中，截图中subsys下有个文件夹ft，实际上目前版本的sdk中没有，请注意修改。
3. 按照流程进行至Step-E-5时，正文中，“-MP-MMD-” 中没有包含 -Os，但实际下面截图中有选择-Os，并且后面的flags中也有-OS。
4. Step-E-6中，截图的Other Flags中的，前述步骤自动生成或者默认的部分中，不包含“……psffboot.sym”部分，实际SDK中没有这个文件，如此处不添加此部分，则后续编译会一个和 efuse有关的错误，似乎应该添加/libs/efuse/efuse_v11.sym 。请确认。
5. Step-E-6中，描述为“LinkerFile路径根据连接脚本功能选择”，截图中选择的是linker_cpus.ld，这个选择是否和后续的 Step E-7 的选择E906F或者 E906FP 以及后续 Step-F选择的 ONFIG_BOARD_MRS6240_P2512_CPUS=1 和 CONFIG_BOARD_MRS6240_P2512_CPUF=1有关？
6. 在手册中步骤的情况下（统一选择 CONFIG_BOARD_MRS6240_P2512_CPUF=1 + linker_cpuf.ld + E906FP ，编译的时候，仍然出现以下错误（仅截取出错部分），疑似连接脚本或者CDK配置问题，导致有些6130也被包括进来了，请帮忙指导下。
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riscv64-unknown-elf-gcc -o Obj/psdf.elf -Wl,-Map=.//Lst/psdf.map @Obj/myproject.txt -mcpu=e906fp -nostartfiles -Wl,--gc-sections -T".//../../../platform/utils/linker_cpuf.ld" -pipe -Wl,--whole-archive -lm -Wl,--no-whole-archive -MP -MMD -Os -Wno-main -mcmodel=medlow .//../../../libs/efuse/efuse_v11.sym -Wl,-Map=.//Lst/psdf.map
d:/C-Sky/CDKRepo/Toolchain/XTGccElfNewlib/V3.1.0/R/bin/../lib/gcc/riscv64-unknown-elf/14.1.1/../../../../riscv64-unknown-elf/bin/ld.exe: Obj/mrs6240_p2512_mrs6240_p2512.o: in function `board_GetTime':
mrs6240_p2512.c:(.keep_sram_text+0x0): multiple definition of `board_GetTime'; Obj/mrs6130_p1812_mrs6130_p1812.o:mrs6130_p1812.c:(.keep_sram_text+0x0): first defined here
d:/C-Sky/CDKRepo/Toolchain/XTGccElfNewlib/V3.1.0/R/bin/../lib/gcc/riscv64-unknown-elf/14.1.1/../../../../riscv64-unknown-elf/bin/ld.exe: Obj/mrs6240_p2512_mrs6240_p2512.o: in function `board_BlkDelay':
mrs6240_p2512.c:(.keep_sram_text+0x68): multiple definition of `board_BlkDelay'; Obj/mrs6130_p1812_mrs6130_p1812.o:mrs6130_p1812.c:(.keep_sram_text+0x68): first defined here
d:/C-Sky/CDKRepo/Toolchain/XTGccElfNewlib/V3.1.0/R/bin/../lib/gcc/riscv64-unknown-elf/14.1.1/../../../../riscv64-unknown-elf/bin/ld.exe: Obj/mrs6240_p2512_mrs6240_p2512.o: in function `board_GetFreq':
mrs6240_p2512.c:(.keep_sram_text+0xe8): multiple definition of `board_GetFreq'; Obj/mrs6130_p1812_mrs6130_p1812.o:mrs6130_p1812.c:(.keep_sram_text+0x188): first defined here
d:/C-Sky/CDKRepo/Toolchain/XTGccElfNewlib/V3.1.0/R/bin/../lib/gcc/riscv64-unknown-elf/14.1.1/../../../../riscv64-unknown-elf/bin/ld.exe: Obj/mrs6240_p2512_mrs6240_p2512.o: in function `board_Reset':
mrs6240_p2512.c:(.keep_sram_text+0xfa): multiple definition of `board_Reset'; Obj/mrs6130_p1812_mrs6130_p1812.o:mrs6130_p1812.c:(.keep_sram_text+0x19a): first defined here
d:/C-Sky/CDKRepo/Toolchain/XTGccElfNewlib/V3.1.0/R/bin/../lib/gcc/riscv64-unknown-elf/14.1.1/../../../../riscv64-unknown-elf/bin/ld.exe: Obj/mrs6240_p2512_mrs6240_p2512.o: in function `BOARD_InitPowerClock':
mrs6240_p2512.c:(.text.BOARD_InitPowerClock+0x0): multiple definition of `BOARD_InitPowerClock'; Obj/mrs6130_p1812_mrs6130_p1812.o:mrs6130_p1812.c:(.text.BOARD_InitPowerClock+0x0): first defined here
d:/C-Sky/CDKRepo/Toolchain/XTGccElfNewlib/V3.1.0/R/bin/../lib/gcc/riscv64-unknown-elf/14.1.1/../../../../riscv64-unknown-elf/bin/ld.exe: Obj/mrs6240_p2512_mrs6240_p2512.o: in function `BOARD_InitXIP':
mrs6240_p2512.c:(.text.BOARD_InitXIP+0x0): multiple definition of `BOARD_InitXIP'; Obj/mrs6130_p1812_mrs6130_p1812.o:mrs6130_p1812.c:(.text.BOARD_InitXIP+0x0): first defined here
d:/C-Sky/CDKRepo/Toolchain/XTGccElfNewlib/V3.1.0/R/bin/../lib/gcc/riscv64-unknown-elf/14.1.1/../../../../riscv64-unknown-elf/bin/ld.exe: Obj/mrs6240_p2512_mrs6240_p2512.o: in function `BOARD_InitPinMux':
mrs6240_p2512.c:(.text.BOARD_InitPinMux+0x0): multiple definition of `BOARD_InitPinMux'; Obj/mrs6130_p1812_mrs6130_p1812.o:mrs6130_p1812.c:(.text.BOARD_InitPinMux+0x0): first defined here
d:/C-Sky/CDKRepo/Toolchain/XTGccElfNewlib/V3.1.0/R/bin/../lib/gcc/riscv64-unknown-elf/14.1.1/../../../../riscv64-unknown-elf/bin/ld.exe: Obj/mrs6240_p2512_mrs6240_p2512.o: in function `BOARD_InitEarlyLog':
mrs6240_p2512.c:(.text.BOARD_InitEarlyLog+0x0): multiple definition of `BOARD_InitEarlyLog'; Obj/mrs6130_p1812_mrs6130_p1812.o:mrs6130_p1812.c:(.text.BOARD_InitEarlyLog+0x0): first defined here
d:/C-Sky/CDKRepo/Toolchain/XTGccElfNewlib/V3.1.0/R/bin/../lib/gcc/riscv64-unknown-elf/14.1.1/../../../../riscv64-unknown-elf/bin/ld.exe: Obj/mrs6240_p2512_mrs6240_p2512.o: in function `BOARD_InitLogIO':
mrs6240_p2512.c:(.text.BOARD_InitLogIO+0x0): multiple definition of `BOARD_InitLogIO'; Obj/mrs6130_p1812_mrs6130_p1812.o:mrs6130_p1812.c:(.text.BOARD_InitLogIO+0x0): first defined here
d:/C-Sky/CDKRepo/Toolchain/XTGccElfNewlib/V3.1.0/R/bin/../lib/gcc/riscv64-unknown-elf/14.1.1/../../../../riscv64-unknown-elf/bin/ld.exe: Obj/mrs6240_p2512_mrs6240_p2512.o: in function `BOARD_InitLog':
mrs6240_p2512.c:(.text.BOARD_InitLog+0x0): multiple definition of `BOARD_InitLog'; Obj/mrs6130_p1812_mrs6130_p1812.o:mrs6130_p1812.c:(.text.BOARD_InitLog+0x0): first defined here
d:/C-Sky/CDKRepo/Toolchain/XTGccElfNewlib/V3.1.0/R/bin/../lib/gcc/riscv64-unknown-elf/14.1.1/../../../../riscv64-unknown-elf/bin/ld.exe: Obj/mrs6240_p2512_mrs6240_p2512.o: in function `BOARD_InitShell':
mrs6240_p2512.c:(.text.BOARD_InitShell+0x0): multiple definition of `BOARD_InitShell'; Obj/mrs6130_p1812_mrs6130_p1812.o:mrs6130_p1812.c:(.text.BOARD_InitShell+0x0): first defined here
collect2.exe: error: ld returned 1 exit status
make: *** [Obj/psdf] Error 1
myproject.mk:100: recipe for target 'Obj/psdf' failed
****Build process terminated with exit code: 2.****
====4 error(s), 0 warning(s), total time : 2s244ms====