@gingergradstudent @dc42
Thank you very much, I also managed to compile it

@dc42
Thank you very much for your reply。
I checked the compiled output of RRFLibraries and our compiled configuration is the same.
arm-none-eabi-g++ -std=gnu++17 -D__SAME70Q21__ -DRTOS -I"D:\ZQY\YIZHI\Eclipse\Firmware\FreeRTOS\src\include" -I"D:\ZQY\YIZHI\Eclipse\Firmware\FreeRTOS\src\portable\GCC\ARM_CM7\r0p1" -O2 -Wall -c -mcpu=cortex-m7 -mthumb -mfpu=fpv5-d16 -mfloat-abi=hard -mfp16-format=ieee -mno-unaligned-access -ffunction-sections -fdata-sections -fno-threadsafe-statics -fno-rtti -fno-exceptions -nostdlib -Wundef -Wdouble-promotion -fsingle-precision-constant "-Wa,-ahl=StringFunctions.s" -MMD -MP -MF"src/General/StringFunctions.d" -MT"src/General/StringFunctions.o" -o "src/General/StringFunctions.o" "../src/General/StringFunctions.cpp"

@dc42 ok
19:06:07 **** Incremental Build of configuration Duet3_MB6HC for project RepRapFirmware ****
make -j12 all
Building target: Duet3Firmware_MB6HC.elf
Invoking: Cross G++ Linker
arm-none-eabi-gcc -L"D:\ZQY\YIZHI\Eclipse\Firmware\CoreN2G\SAME70_CAN_SDHC_USB_RTOS" -L"D:\ZQY\YIZHI\Eclipse\Firmware\RRFLibraries\SAME70_RTOS" -L"D:\ZQY\YIZHI\Eclipse\Firmware\FreeRTOS\SAME70" -L"D:\ZQY\YIZHI\Eclipse\Firmware\CANlib\SAME70_RTOS" --specs=nosys.specs -Os -Wl,--gc-sections -Wl,--fatal-warnings -mcpu=cortex-m7 -mfpu=fpv5-d16 -mfloat-abi=hard -T"D:\ZQY\YIZHI\Eclipse\Firmware\RepRapFirmware\src\Hardware\SAME70\same70q20b_flash.ld" -Wl,-Map,"D:\ZQY\YIZHI\Eclipse\Firmware\RepRapFirmware\Duet3_MB6HC/Duet3Firmware_MB6HC.map" -o "Duet3Firmware_MB6HC.elf" -mthumb -Wl,--cref -Wl,--check-sections -Wl,--gc-sections -Wl,--entry=Reset_Handler -Wl,--unresolved-symbols=report-all -Wl,--warn-common -Wl,--warn-section-align -Wl,--warn-unresolved-symbols -Wl,--start-group ./src/libcpp/eh_alloc.o ./src/libcpp/vterminate.o ./src/libc/memcmp.o ./src/libc/memcpy.o ./src/libc/memmove.o ./src/libc/memset.o ./src/libc/nano-mallocr.o ./src/libc/strptime.o ./src/bossa/Applet.o ./src/bossa/BossaFlash.o ./src/bossa/Device.o ./src/bossa/EefcFlash.o ./src/bossa/Flasher.o ./src/bossa/Samba.o ./src/bossa/WordCopyApplet.o ./src/bossa/WordCopyArm.o ./src/Tools/Filament.o ./src/Tools/Spindle.o ./src/Tools/Tool.o ./src/Storage/CRC16.o ./src/Storage/CRC32.o ./src/Storage/EmbeddedFiles.o ./src/Storage/FileInfoParser.o ./src/Storage/FileStore.o ./src/Storage/MassStorage.o ./src/SBC/DataTransfer.o ./src/SBC/SbcInterface.o ./src/PrintMonitor/PrintMonitor.o ./src/Platform/Event.o ./src/Platform/Heap.o ./src/Platform/Logger.o ./src/Platform/OutputMemory.o ./src/Platform/Platform.o ./src/Platform/PortControl.o ./src/Platform/RepRap.o ./src/Platform/Roland.o ./src/Platform/Scanner.o ./src/Platform/Tasks.o ./src/Platform/UniqueId.o ./src/ObjectModel/GlobalVariables.o ./src/ObjectModel/ObjectModel.o ./src/ObjectModel/Variable.o ./src/Networking/LwipEthernet/Lwip/src/netif/bridgeif.o ./src/Networking/LwipEthernet/Lwip/src/netif/bridgeif_fdb.o ./src/Networking/LwipEthernet/Lwip/src/netif/ethernet.o ./src/Networking/LwipEthernet/Lwip/src/netif/lowpan6.o ./src/Networking/LwipEthernet/Lwip/src/netif/lowpan6_ble.o ./src/Networking/LwipEthernet/Lwip/src/netif/lowpan6_common.o ./src/Networking/LwipEthernet/Lwip/src/netif/slipif.o ./src/Networking/LwipEthernet/Lwip/src/netif/zepif.o ./src/Networking/LwipEthernet/Lwip/src/core/ipv6/dhcp6.o ./src/Networking/LwipEthernet/Lwip/src/core/ipv6/ethip6.o ./src/Networking/LwipEthernet/Lwip/src/core/ipv6/icmp6.o ./src/Networking/LwipEthernet/Lwip/src/core/ipv6/inet6.o ./src/Networking/LwipEthernet/Lwip/src/core/ipv6/ip6.o ./src/Networking/LwipEthernet/Lwip/src/core/ipv6/ip6_addr.o ./src/Networking/LwipEthernet/Lwip/src/core/ipv6/ip6_frag.o ./src/Networking/LwipEthernet/Lwip/src/core/ipv6/mld6.o ./src/Networking/LwipEthernet/Lwip/src/core/ipv6/nd6.o ./src/Networking/LwipEthernet/Lwip/src/core/ipv4/autoip.o ./src/Networking/LwipEthernet/Lwip/src/core/ipv4/dhcp.o ./src/Networking/LwipEthernet/Lwip/src/core/ipv4/etharp.o ./src/Networking/LwipEthernet/Lwip/src/core/ipv4/icmp.o ./src/Networking/LwipEthernet/Lwip/src/core/ipv4/igmp.o ./src/Networking/LwipEthernet/Lwip/src/core/ipv4/ip4.o ./src/Networking/LwipEthernet/Lwip/src/core/ipv4/ip4_addr.o ./src/Networking/LwipEthernet/Lwip/src/core/ipv4/ip4_frag.o ./src/Networking/LwipEthernet/Lwip/src/core/altcp.o ./src/Networking/LwipEthernet/Lwip/src/core/altcp_alloc.o ./src/Networking/LwipEthernet/Lwip/src/core/altcp_tcp.o ./src/Networking/LwipEthernet/Lwip/src/core/def.o ./src/Networking/LwipEthernet/Lwip/src/core/dns.o ./src/Networking/LwipEthernet/Lwip/src/core/inet_chksum.o ./src/Networking/LwipEthernet/Lwip/src/core/init.o ./src/Networking/LwipEthernet/Lwip/src/core/ip.o ./src/Networking/LwipEthernet/Lwip/src/core/mem.o ./src/Networking/LwipEthernet/Lwip/src/core/memp.o ./src/Networking/LwipEthernet/Lwip/src/core/netif.o ./src/Networking/LwipEthernet/Lwip/src/core/pbuf.o ./src/Networking/LwipEthernet/Lwip/src/core/raw.o ./src/Networking/LwipEthernet/Lwip/src/core/stats.o ./src/Networking/LwipEthernet/Lwip/src/core/sys.o ./src/Networking/LwipEthernet/Lwip/src/core/tcp.o ./src/Networking/LwipEthernet/Lwip/src/core/tcp_in.o ./src/Networking/LwipEthernet/Lwip/src/core/tcp_out.o ./src/Networking/LwipEthernet/Lwip/src/core/timeouts.o ./src/Networking/LwipEthernet/Lwip/src/core/udp.o ./src/Networking/LwipEthernet/Lwip/src/apps/netbiosns/netbiosns.o ./src/Networking/LwipEthernet/Lwip/src/apps/mdns/mdns.o ./src/Networking/LwipEthernet/Lwip/src/api/api_lib.o ./src/Networking/LwipEthernet/Lwip/src/api/api_msg.o ./src/Networking/LwipEthernet/Lwip/src/api/err.o ./src/Networking/LwipEthernet/Lwip/src/api/if_api.o ./src/Networking/LwipEthernet/Lwip/src/api/netbuf.o ./src/Networking/LwipEthernet/Lwip/src/api/netdb.o ./src/Networking/LwipEthernet/Lwip/src/api/netifapi.o ./src/Networking/LwipEthernet/Lwip/src/api/sockets.o ./src/Networking/LwipEthernet/Lwip/src/api/tcpip.o ./src/Networking/LwipEthernet/GMAC/ethernet_sam.o ./src/Networking/LwipEthernet/LwipEthernetInterface.o ./src/Networking/LwipEthernet/LwipSocket.o ./src/Networking/FtpResponder.o ./src/Networking/HttpResponder.o ./src/Networking/Network.o ./src/Networking/NetworkBuffer.o ./src/Networking/NetworkInterface.o ./src/Networking/NetworkResponder.o ./src/Networking/TelnetResponder.o ./src/Networking/UploadingNetworkResponder.o ./src/Movement/StepperDrivers/DriverMode.o ./src/Movement/StepperDrivers/TMC22xx.o ./src/Movement/StepperDrivers/TMC2660.o ./src/Movement/StepperDrivers/TMC51xx.o ./src/Movement/Kinematics/CoreKinematics.o ./src/Movement/Kinematics/FiveBarScaraKinematics.o ./src/Movement/Kinematics/HangprinterKinematics.o ./src/Movement/Kinematics/Kinematics.o ./src/Movement/Kinematics/LinearDeltaKinematics.o ./src/Movement/Kinematics/PolarKinematics.o ./src/Movement/Kinematics/RotaryDeltaKinematics.o ./src/Movement/Kinematics/RoundBedKinematics.o ./src/Movement/Kinematics/ScaraKinematics.o ./src/Movement/Kinematics/ZLeadscrewKinematics.o ./src/Movement/HeightControl/HeightController.o ./src/Movement/BedProbing/Grid.o ./src/Movement/BedProbing/RandomProbePointSet.o ./src/Movement/AxisShaper.o ./src/Movement/DDA.o ./src/Movement/DDARing.o ./src/Movement/DriveMovement.o ./src/Movement/ExtruderShaper.o ./src/Movement/Move.o ./src/Movement/MoveSegment.o ./src/Movement/RawMove.o ./src/Movement/StepTimer.o ./src/Libraries/sha1/sha1.o ./src/Libraries/sd_mmc/ctrl_access.o ./src/Libraries/sd_mmc/sd_mmc.o ./src/Libraries/sd_mmc/sd_mmc_mem.o ./src/Libraries/sd_mmc/sd_mmc_spi.o ./src/Libraries/Fatfs/diskio.o ./src/Libraries/Fatfs/fattime_rtc.o ./src/Libraries/Fatfs/ff.o ./src/Libraries/Fatfs/ffunicode.o ./src/InputMonitors/InputMonitor.o ./src/Heating/Sensors/AdditionalOutputSensor.o ./src/Heating/Sensors/CpuTemperatureSensor.o ./src/Heating/Sensors/CurrentLoopTemperatureSensor.o ./src/Heating/Sensors/DhtSensor.o ./src/Heating/Sensors/LinearAnalogSensor.o ./src/Heating/Sensors/RemoteSensor.o ./src/Heating/Sensors/RtdSensor31865.o ./src/Heating/Sensors/SensorWithPort.o ./src/Heating/Sensors/SpiTemperatureSensor.o ./src/Heating/Sensors/TemperatureSensor.o ./src/Heating/Sensors/Thermistor.o ./src/Heating/Sensors/ThermocoupleSensor31855.o ./src/Heating/Sensors/ThermocoupleSensor31856.o ./src/Heating/Sensors/TmcDriverTemperatureSensor.o ./src/Heating/FOPDT.o ./src/Heating/Heat.o ./src/Heating/Heater.o ./src/Heating/HeaterMonitor.o ./src/Heating/LocalHeater.o ./src/Heating/RemoteHeater.o ./src/Heating/TemperatureError.o ./src/Hardware/SharedSpi/SharedSpiClient.o ./src/Hardware/SharedSpi/SharedSpiDevice.o ./src/Hardware/SAME70/Ethernet/ksz8081rna/ethernet_phy.o ./src/Hardware/SAME70/Ethernet/GmacInterface.o ./src/Hardware/SAME70/Devices.o ./src/Hardware/SAME70/Main.o ./src/Hardware/ExceptionHandlers.o ./src/Hardware/I2C.o ./src/Hardware/IoPorts.o ./src/Hardware/NonVolatileMemory.o ./src/Hardware/SoftwareReset.o ./src/GPIO/GpInPort.o ./src/GPIO/GpOutPort.o ./src/GCodes/GCodeBuffer/BinaryParser.o ./src/GCodes/GCodeBuffer/ExpressionParser.o ./src/GCodes/GCodeBuffer/GCodeBuffer.o ./src/GCodes/GCodeBuffer/StringParser.o ./src/GCodes/GCodeException.o ./src/GCodes/GCodeFileInfo.o ./src/GCodes/GCodeInput.o ./src/GCodes/GCodeMachineState.o ./src/GCodes/GCodeQueue.o ./src/GCodes/GCodes.o ./src/GCodes/GCodes2.o ./src/GCodes/GCodes3.o ./src/GCodes/GCodes4.o ./src/GCodes/ObjectTracker.o ./src/GCodes/RestorePoint.o ./src/GCodes/StraightProbeSettings.o ./src/GCodes/Trigger.o ./src/FilamentMonitors/Duet3DFilamentMonitor.o ./src/FilamentMonitors/FilamentMonitor.o ./src/FilamentMonitors/LaserFilamentMonitor.o ./src/FilamentMonitors/PulsedFilamentMonitor.o ./src/FilamentMonitors/RotatingMagnetFilamentMonitor.o ./src/FilamentMonitors/SimpleFilamentMonitor.o ./src/Fans/Fan.o ./src/Fans/FansManager.o ./src/Fans/LedStripDriver.o ./src/Fans/LocalFan.o ./src/Fans/RemoteFan.o ./src/Endstops/Endstop.o ./src/Endstops/EndstopsManager.o ./src/Endstops/LocalZProbe.o ./src/Endstops/RemoteZProbe.o ./src/Endstops/StallDetectionEndstop.o ./src/Endstops/SwitchEndstop.o ./src/Endstops/ZProbe.o ./src/Endstops/ZProbeEndstop.o ./src/Config/Pins.o ./src/Comms/AuxDevice.o ./src/Comms/FirmwareUpdater.o ./src/Comms/PanelDueUpdater.o ./src/ClosedLoop/ClosedLoop.o ./src/CAN/CanDriversData.o ./src/CAN/CanInterface.o ./src/CAN/CanMessageGenericConstructor.o ./src/CAN/CanMotion.o ./src/CAN/CommandProcessor.o ./src/CAN/ExpansionManager.o ./src/Accelerometers/Accelerometers.o ./src/Accelerometers/LIS3DH.o ./src/RepRapFirmware.o -Wl,--end-group -lm -lCoreN2G -lRRFLibraries -lFreeRTOS -lCANlib -lsupc++
d:/program files (x86)/gnu arm embedded toolchain/10 2021.10/bin/../lib/gcc/arm-none-eabi/10.3.1/../../../../arm-none-eabi/bin/ld.exe: D:\ZQY\YIZHI\Eclipse\Firmware\RRFLibraries\SAME70_RTOS\libRRFLibraries.a(NumericConverter.o): in function NumericConverter::GetFloat() const': NumericConverter.cpp:(.text._ZNK16NumericConverter8GetFloatEv+0x80): warning: undefined reference to pow'
d:/program files (x86)/gnu arm embedded toolchain/10 2021.10/bin/../lib/gcc/arm-none-eabi/10.3.1/../../../../arm-none-eabi/bin/ld.exe: D:\ZQY\YIZHI\Eclipse\Firmware\RRFLibraries\SAME70_RTOS\libRRFLibraries.a(SafeVsnprintf.o): in function FormattedPrinter::PrintFloat(double, char)': SafeVsnprintf.cpp:(.text._ZN16FormattedPrinter10PrintFloatEdc+0x9a): warning: undefined reference to llrint'
d:/program files (x86)/gnu arm embedded toolchain/10 2021.10/bin/../lib/gcc/arm-none-eabi/10.3.1/../../../../arm-none-eabi/bin/ld.exe: SafeVsnprintf.cpp:(.text._ZN16FormattedPrinter10PrintFloatEdc+0x1ee): warning: undefined reference to llrint' d:/program files (x86)/gnu arm embedded toolchain/10 2021.10/bin/../lib/gcc/arm-none-eabi/10.3.1/../../../../arm-none-eabi/bin/ld.exe: SafeVsnprintf.cpp:(.text._ZN16FormattedPrinter10PrintFloatEdc+0x2c8): warning: undefined reference to llrint'
collect2.exe: error: ld returned 1 exit status
makefile:109: recipe for target 'Duet3Firmware_MB6HC.elf' failed
make[1]: *** [Duet3Firmware_MB6HC.elf] Error 1
makefile:96: recipe for target 'all' failed
make: *** [all] Error 2
"make -j12 all" terminated with exit code 2. Build might be incomplete.

19:06:10 Build Failed. 6 errors, 4 warnings. (took 3s.72ms)

@joergs5 thank you for your reply. The name of the folder was already RepRapFirmware.


I switched the project to 3.4.0, the compilation is still the same error.

Are some related library files missing?
For example the referenced math library

I followed the steps of https://github.com/Duet3D/RepRapFirmware/wiki/Building-RepRapFirmwareto build the project，compilation ended up with an error; The version of the cross-compilation tool GNU Arm Embedded Toolchain is 10.3.1
Is there anything else I need to change?