esp32: compile failed when enable sysbuild

[feilongfl]

Describe the bug

compile failed when build in sysbuild mode.

To Reproduce

west build -p always -b esp32c3_devkitm --sysbuild samples/hello_world
west build -p always -b esp32s3_devkitm --sysbuild samples/hello_world

Expected behavior
compile success

Impact
compiled failed

Logs and console output

Compile Logs

(venv)  ~/P/z/zephyr  py[venv]   main ±  west build -p always -b esp32c3_devkitm --sysbuild samples/hello_world
-- west build: generating a build system
Loading Zephyr module(s) (Zephyr base): extensions sysbuild_extensions python west root zephyr_module boards shields sysbuild_kconfig
-- Found Python3: /home/feilong/Program-ext/zephyr/zephyr/venv/bin/python (found suitable version "3.11.3", minimum required is "3.8") found components: Interpreter 
-- Cache files will be written to: /home/feilong/.cache/zephyr
-- Found west (found suitable version "1.1.0", minimum required is "0.14.0")
-- Board: esp32c3_devkitm
Parsing /home/feilong/Program-ext/zephyr/zephyr/share/sysbuild/Kconfig
Loaded configuration '/home/feilong/Program-ext/zephyr/zephyr/build/zephyr/.config'
No change to configuration in '/home/feilong/Program-ext/zephyr/zephyr/build/zephyr/.config'
No change to Kconfig header in '/home/feilong/Program-ext/zephyr/zephyr/build/autoconf.h'
-- 
   *********************************
   * Running CMake for hello_world *
   *********************************

Loading Zephyr default modules (Zephyr base).
-- Application: /home/feilong/Program-ext/zephyr/zephyr/samples/hello_world
-- CMake version: 3.27.4
-- Found Python3: /home/feilong/Program-ext/zephyr/zephyr/venv/bin/python (found suitable version "3.11.3", minimum required is "3.8") found components: Interpreter 
-- Cache files will be written to: /home/feilong/.cache/zephyr
-- Zephyr version: 3.4.99 (/home/feilong/Program-ext/zephyr/zephyr)
-- Found west (found suitable version "1.1.0", minimum required is "0.14.0")
-- Board: esp32c3_devkitm
-- Found host-tools: zephyr 0.16.1 (/opt/zephyr-sdk)
-- Found toolchain: zephyr 0.16.1 (/opt/zephyr-sdk)
-- Found Dtc: /opt/zephyr-sdk/sysroots/x86_64-pokysdk-linux/usr/bin/dtc (found suitable version "1.6.0", minimum required is "1.4.6") 
-- Found BOARD.dts: /home/feilong/Program-ext/zephyr/zephyr/boards/riscv/esp32c3_devkitm/esp32c3_devkitm.dts
-- Generated zephyr.dts: /home/feilong/Program-ext/zephyr/zephyr/build/hello_world/zephyr/zephyr.dts
-- Generated devicetree_generated.h: /home/feilong/Program-ext/zephyr/zephyr/build/hello_world/zephyr/include/generated/devicetree_generated.h
-- Including generated dts.cmake file: /home/feilong/Program-ext/zephyr/zephyr/build/hello_world/zephyr/dts.cmake
Parsing /home/feilong/Program-ext/zephyr/zephyr/Kconfig
Loaded configuration '/home/feilong/Program-ext/zephyr/zephyr/boards/riscv/esp32c3_devkitm/esp32c3_devkitm_defconfig'
Merged configuration '/home/feilong/Program-ext/zephyr/zephyr/samples/hello_world/prj.conf'
Merged configuration '/home/feilong/Program-ext/zephyr/zephyr/build/hello_world/zephyr/.config.sysbuild'
Configuration saved to '/home/feilong/Program-ext/zephyr/zephyr/build/hello_world/zephyr/.config'
Kconfig header saved to '/home/feilong/Program-ext/zephyr/zephyr/build/hello_world/zephyr/include/generated/autoconf.h'
-- Found GnuLd: /opt/zephyr-sdk/riscv64-zephyr-elf/bin/../lib/gcc/riscv64-zephyr-elf/12.2.0/../../../../riscv64-zephyr-elf/bin/ld.bfd (found version "2.38") 
-- The C compiler identification is GNU 12.2.0
-- The CXX compiler identification is GNU 12.2.0
-- The ASM compiler identification is GNU
-- Found assembler: /opt/zephyr-sdk/riscv64-zephyr-elf/bin/riscv64-zephyr-elf-gcc
-- Including signing script: /home/feilong/Program-ext/zephyr/zephyr/cmake/mcuboot.cmake
-- Configuring done (1.9s)
-- Generating done (0.1s)
-- Build files have been written to: /home/feilong/Program-ext/zephyr/zephyr/build/hello_world
-- 
   *****************************
   * Running CMake for mcuboot *
   *****************************

Loading Zephyr default modules (Zephyr base).
-- Application: /home/feilong/Program-ext/zephyr/bootloader/mcuboot/boot/zephyr
-- CMake version: 3.27.4
-- Found Python3: /home/feilong/Program-ext/zephyr/zephyr/venv/bin/python (found suitable version "3.11.3", minimum required is "3.8") found components: Interpreter 
-- Cache files will be written to: /home/feilong/.cache/zephyr
-- Zephyr version: 3.4.99 (/home/feilong/Program-ext/zephyr/zephyr)
-- Found west (found suitable version "1.1.0", minimum required is "0.14.0")
-- Board: esp32c3_devkitm
-- Found host-tools: zephyr 0.16.1 (/opt/zephyr-sdk)
-- Found toolchain: zephyr 0.16.1 (/opt/zephyr-sdk)
-- Found Dtc: /opt/zephyr-sdk/sysroots/x86_64-pokysdk-linux/usr/bin/dtc (found suitable version "1.6.0", minimum required is "1.4.6") 
-- Found BOARD.dts: /home/feilong/Program-ext/zephyr/zephyr/boards/riscv/esp32c3_devkitm/esp32c3_devkitm.dts
-- Found devicetree overlay: /home/feilong/Program-ext/zephyr/bootloader/mcuboot/boot/zephyr/app.overlay
-- Generated zephyr.dts: /home/feilong/Program-ext/zephyr/zephyr/build/mcuboot/zephyr/zephyr.dts
-- Generated devicetree_generated.h: /home/feilong/Program-ext/zephyr/zephyr/build/mcuboot/zephyr/include/generated/devicetree_generated.h
-- Including generated dts.cmake file: /home/feilong/Program-ext/zephyr/zephyr/build/mcuboot/zephyr/dts.cmake

warning: MCUBOOT_GENERATE_UNSIGNED_IMAGE (defined at
soc/riscv/espressif_esp32/common/Kconfig.defconfig.series:43,
soc/riscv/espressif_esp32/common/Kconfig.defconfig.series:43, modules/Kconfig.mcuboot:121) was
assigned the value 'y' but got the value 'n'. Check these unsatisfied dependencies:
((BOOTLOADER_MCUBOOT && SOC_FAMILY_ESP32) || (BOOTLOADER_MCUBOOT && SOC_FAMILY_ESP32) ||
BOOTLOADER_MCUBOOT) (=n). See
http:docs.zephyrproject.org/latest/kconfig.html#CONFIG_MCUBOOT_GENERATE_UNSIGNED_IMAGE and/or look
up MCUBOOT_GENERATE_UNSIGNED_IMAGE in the menuconfig/guiconfig interface. The Application
Development Primer, Setting Configuration Values, and Kconfig - Tips and Best Practices sections of
the manual might be helpful too.

Parsing /home/feilong/Program-ext/zephyr/bootloader/mcuboot/boot/zephyr/Kconfig
Loaded configuration '/home/feilong/Program-ext/zephyr/zephyr/boards/riscv/esp32c3_devkitm/esp32c3_devkitm_defconfig'
Merged configuration '/home/feilong/Program-ext/zephyr/bootloader/mcuboot/boot/zephyr/prj.conf'
Merged configuration '/home/feilong/Program-ext/zephyr/bootloader/mcuboot/boot/zephyr/boards/esp32c3_devkitm.conf'
Merged configuration '/home/feilong/Program-ext/zephyr/zephyr/build/mcuboot/zephyr/.config.sysbuild'
Configuration saved to '/home/feilong/Program-ext/zephyr/zephyr/build/mcuboot/zephyr/.config'
Kconfig header saved to '/home/feilong/Program-ext/zephyr/zephyr/build/mcuboot/zephyr/include/generated/autoconf.h'
-- Found GnuLd: /opt/zephyr-sdk/riscv64-zephyr-elf/bin/.. /lib/gcc/riscv64-zephyr-elf/12.2.0/.. /.. /.. /.. /riscv64-zephyr-elf/bin/ld.bfd (found version "2.38") 
-- The C compiler identification is GNU 12.2.0
-- The CXX compiler identification is GNU 12.2.0
-- The ASM compiler identification is GNU
-- Found assembler: /opt/zephyr-sdk/riscv64-zephyr-elf/bin/riscv64-zephyr-elf-gcc
-- Configuring done (1.9s)
-- Generating done (0.0s)
-- Build files have been written to: /home/feilong/Program-ext/zephyr/zephyr/build/mcuboot
-- Configuring done (4.7s)
-- Generating done (0.0s)
CMake Warning:
  Manually-specified variables were not used by the project:

    CMAKE_EXPORT_COMPILE_COMMANDS


-- Build files have been written to: /home/feilong/Program-ext/zephyr/zephyr/build
-- west build: building application
[9/16] Performing build step for 'mcuboot'
[1/170] Preparing syscall dependency handling

[3/170] Generating include/generated/version.h
-- Zephyr version: 3.4.99 (/home/feilong/Program-ext/zephyr/zephyr), build: bakng-210-g662a14a25e41
[165/170] Linking C executable zephyr/zephyr_pre0.elf
FAILED: zephyr/zephyr_pre0.elf zephyr/zephyr_pre0.map /home/feilong/Program-ext/zephyr/zephyr/build/mcuboot/zephyr/zephyr_pre0.map 
: && ccache /opt/zephyr-sdk/riscv64-zephyr-elf/bin/riscv64-zephyr-elf-gcc  -gdwarf-4 zephyr/CMakeFiles/zephyr_pre0.dir/misc/empty_file.c.obj -o zephyr/zephyr_pre0.elf  zephyr/CMakeFiles/offsets.dir/./arch/riscv/core/offsets/offsets.c.obj  -fuse-ld=bfd  -T  zephyr/linker_zephyr_pre0.cmd  -Wl,-Map=/home/feilong/Program-ext/zephyr/zephyr/build/mcuboot/zephyr/zephyr_pre0.map  -Wl,--whole-archive  app/libapp.a  zephyr/libzephyr.a  zephyr/arch/common/libarch__common.a  zephyr/arch/arch/riscv/core/libarch__riscv__core.a  zephyr/lib/libc/picolibc/liblib__libc__picolibc.a  zephyr/lib/libc/common/liblib__libc__common.a  zephyr/drivers/interrupt_controller/libdrivers__interrupt_controller.a  zephyr/drivers/clock_control/libdrivers__clock_control.a  zephyr/drivers/flash/libdrivers__flash.a  zephyr/drivers/gpio/libdrivers__gpio.a  zephyr/drivers/pinctrl/libdrivers__pinctrl.a  zephyr/drivers/timer/libdrivers__timer.a  modules/mcuboot/ libmcuboot_util.a  -Wl,--no-whole-archive  zephyr/kernel/libkernel.a  -L"/opt/zephyr-sdk/riscv64-zephyr-elf/bin/.. /lib/gcc/riscv64-zephyr-elf/12.2.0"  -L/home/feilong/Program-ext/zephyr/zephyr/build/mcuboot/zephyr  -lgcc  zephyr/arch/common/libisr_tables.a  -lgcc  -mabi=ilp32  -march=rv32imc_zicsr  -Wl,--gc-sections  -Wl,--build-id=none  -Wl,--sort-common=descending  -Wl,--sort-section=alignment  -Wl,-u,_OffsetAbsSyms  -Wl,-u,_ConfigAbsSyms  -nostdlib  -static  -Wl,-X  -Wl,-N  -Wl,--orphan-handling=warn  -Wl,-no-pie  -DPICOLIBC_INTEGER_PRINTF_SCANF  -T/home/feilong/Program-ext/zephyr/modules/hal/espressif/zephyr/esp32c3/src/linker/esp32c3.rom.alias.ld  -T/home/feilong/Program-ext/zephyr/modules/hal/espressif/zephyr/esp32c3/.. /.. /components/esp_rom/esp32c3/ld/esp32c3.rom.ld  -T/home/feilong/Program-ext/zephyr/modules/hal/espressif/zephyr/esp32c3/.. /../components/esp_rom/esp32c3/ld/esp32c3.rom.eco3.ld  -T/home/feilong/Program-ext/zephyr/modules/hal/espressif/zephyr/esp32c3/.. /.. /components/esp_rom/esp32c3/ld/esp32c3.rom.api.ld  -T/home/feilong/Program-ext/zephyr/modules/hal/espressif/zephyr/esp32c3/.. /.. /components/esp_rom/esp32c3/ld/esp32c3.rom.libgcc.ld  -T/home/feilong/Program-ext/zephyr/modules/hal/espressif/zephyr/esp32c3/.. /.. /components/soc/esp32c3/ld/esp32c3.peripherals.ld  --specs=picolibc.specs  -lc  -lgcc && cd /home/feilong/Program-ext/zephyr/zephyr/build/mcuboot/zephyr && /usr/bin/cmake -E true
/opt/zephyr-sdk/riscv64-zephyr-elf/bin/.. /lib/gcc/riscv64-zephyr-elf/12.2.0/.. /.. /.. /.. /riscv64-zephyr-elf/bin/ld.bfd: zephyr/lib/libc/common/liblib__libc__common.a(malloc.c.obj): in function `k_mutex_unlock':
/home/feilong/Program-ext/zephyr/zephyr/build/mcuboot/zephyr/include/generated/syscalls/kernel.h:1002: undefined reference to `z_impl_k_mutex_unlock'
/opt/zephyr-sdk/riscv64-zephyr-elf/bin/.. /lib/gcc/riscv64-zephyr-elf/12.2.0/.. /.. /.. /.. /riscv64-zephyr-elf/bin/ld.bfd: zephyr/lib/libc/common/liblib__libc__common.a(malloc.c.obj): in function `k_mutex_lock':
/home/feilong/Program-ext/zephyr/zephyr/build/mcuboot/zephyr/include/generated/syscalls/kernel.h:986: undefined reference to `z_impl_k_mutex_lock'
collect2: error: ld returned 1 exit status
ninja: build stopped: subcommand failed.
[10/16] No configure step for 'hello_world'
FAILED: images/bootloader/mcuboot-prefix/src/mcuboot-stamp/mcuboot-build /home/feilong/Program-ext/zephyr/zephyr/build/images/bootloader/mcuboot-prefix/src/mcuboot-stamp/mcuboot-build 
cd /home/feilong/Program-ext/zephyr/zephyr/build/mcuboot && /usr/bin/cmake --build .
ninja: build stopped: subcommand failed.
FATAL ERROR: command exited with status 1: /usr/bin/cmake --build /home/feilong/Program-ext/zephyr/zephyr/build

Environment (please complete the following information):

• OS: Manjaro linux
• Toolchain zephyr-sdk 0.16.1
• Commit SHA or Version used
  662a14a - tests: net: lib: lwm2m: fix the missing float support

Additional context
I revert commit and found there are two PR releate to this bug:

• libc: Default to picolibc where supported #57340
  • I don't understand why this causes sysbuild to fail, but revert this patch can fix.
• modules: cmsis: move _glue_ code to modules/cmsis #59855
  • esp32 don't have cmsis, so cmsis_core.h should be ignore with esp32, I can send a patch for this later

zephyr/bootloader/mcuboot/boot/zephyr/main.c:30

+ #ifndef CONFIG_SOC_FAMILY_ESP32
#include <cmsis_core.h>
+ #endif

[github-actions]

Hi @feilongfl! We appreciate you submitting your first issue for our open-source project. 🌟

Even though I'm a bot, I can assure you that the whole community is genuinely grateful for your time and effort. 🤖💙

[feilongfl]

I find zephyrproject-rtos/mcuboot#110 fix this problem, close this