Simulink Arduino, MPU91500 s-function error: Failed to generate all binary outputs

I am using the Arduino support package to build an s-function. However I am getting and error like this:

Warning: Removed 'C:\Users\versus\Desktop\versus\freelance\mpu_6050\MPU9150DataR2015a_ert_rtw\html\css' from the MATLAB path for this MATLAB session.
  See 'doc path' for more information. [3 similar]
C:/ProgramData/MATLAB/SupportPackages/R2017a/3P.instrset/arduinoide.instrset/arduino-1.6.13/hardware/tools/avr/bin/avr-gcc -std=gnu11 -c -g -w -ffunction-sections -fdata-sections -MMD -DARDUINO=10613 -MMD -MP -MF"MPU9150DataR2015a.dep" -MT"MPU9150DataR2015a.o" -Os -mmcu=atmega328p -DF_CPU=16000000L -DARDUINO_AVR_UNO -DARDUINO_ARCH_AVR -D_RUNONTARGETHARDWARE_BUILD_ -DMODEL=MPU9150DataR2015a -DNUMST=1 -DNCSTATES=0 -DHAVESTDIO -DTERMFCN=1 -DONESTEPFCN=1 -DMAT_FILE=0 -DMULTI_INSTANCE_CODE=0 -DINTEGER_CODE=0 -DMT=0 -DCLASSIC_INTERFACE=0 -DALLOCATIONFCN=0 -DTID01EQ=0 -DEXIT_FAILURE=1 -DEXTMODE_DISABLEPRINTF -DEXTMODE_DISABLETESTING -DEXTMODE_DISABLE_ARGS_PROCESSING=1 -DSTACK_SIZE=64 -D__MW_TARGET_USE_HARDWARE_RESOURCES_H__ -DRT -DMW_TIMERID=1 -DMW_PRESCALAR=1024 -DMW_TIMERCOUNT=62411 -DMW_SCHEDULERCOUNTER=1 -D_RTT_BAUDRATE_SERIAL0_=9600 -D_RTT_ANALOG_REF_=0 -DTERMFCN=1 -DONESTEPFCN=1 -DMAT_FILE=0 -DMULTI_INSTANCE_CODE=0 -DINTEGER_CODE=0 -DMT=0 -DCLASSIC_INTERFACE=0 -DALLOCATIONFCN=0 -DTID01EQ=0 -DEXIT_FAILURE=1 -DEXTMODE_DISABLEPRINTF -DEXTMODE_DISABLETESTING -DEXTMODE_DISABLE_ARGS_PROCESSING=1 -DSTACK_SIZE=64 -DRT -DMODEL=MPU9150DataR2015a -DNUMST=1 -DNCSTATES=0 -DHAVESTDIO -IC:/Users/versus/Desktop/versus/freelance/mpu_6050 -IC:/PROGRA~1/MATLAB/R2017a/simulink/include/sf_runtime -IC:/Users/versus/Desktop/versus/freelance/mpu_6050/MPU9150DataR2015a_ert_rtw -IC:/PROGRA~1/MATLAB/R2017a/extern/include -IC:/PROGRA~1/MATLAB/R2017a/simulink/include -IC:/PROGRA~1/MATLAB/R2017a/rtw/c/src -IC:/PROGRA~1/MATLAB/R2017a/rtw/c/src/ext_mode/common -IC:/PROGRA~1/MATLAB/R2017a/rtw/c/ert -IC:/ProgramData/MATLAB/SupportPackages/R2017a/3P.instrset/arduinoide.instrset/arduino-1.6.13/hardware/arduino/avr/cores/arduino -IC:/ProgramData/MATLAB/SupportPackages/R2017a/3P.instrset/arduinoide.instrset/arduino-1.6.13/hardware/arduino/avr/variants/standard -IC:/ProgramData/MATLAB/SupportPackages/R2017a/3P.instrset/arduinoide.instrset/arduino-1.6.13/libraries/Servo/src -IC:/ProgramData/MATLAB/SupportPackages/R2017a/toolbox/target/supportpackages/arduinotarget/include -IC:/ProgramData/MATLAB/SupportPackages/R2017a/toolbox/target/supportpackages/arduinotarget/scheduler/include -IC:/ProgramData/MATLAB/SupportPackages/R2017a/toolbox/target/supportpackages/arduinobase/include -IC:/ProgramData/MATLAB/SupportPackages/R2017a/3P.instrset/arduinoide.instrset/arduino-1.6.13/hardware/tools/avr/avr/include/avr -IC:/ProgramData/MATLAB/SupportPackages/R2017a/toolbox/target/shared/externalmode_daemon/include -o MPU9150DataR2015a.o MPU9150DataR2015a.c
C:/ProgramData/MATLAB/SupportPackages/R2017a/3P.instrset/arduinoide.instrset/arduino-1.6.13/hardware/tools/avr/bin/avr-g++ -std=gnu++11 -fpermissive -fno-exceptions -fno-threadsafe-statics -c -g -w -ffunction-sections -fdata-sections -MMD -DARDUINO=10613 -MMD -MP -MF"MPU9150_wrapper.dep" -MT"MPU9150_wrapper.o" -Os -mmcu=atmega328p -DF_CPU=16000000L -DARDUINO_AVR_UNO -DARDUINO_ARCH_AVR -D_RUNONTARGETHARDWARE_BUILD_ -DMODEL=MPU9150DataR2015a -DNUMST=1 -DNCSTATES=0 -DHAVESTDIO -DTERMFCN=1 -DONESTEPFCN=1 -DMAT_FILE=0 -DMULTI_INSTANCE_CODE=0 -DINTEGER_CODE=0 -DMT=0 -DCLASSIC_INTERFACE=0 -DALLOCATIONFCN=0 -DTID01EQ=0 -DEXIT_FAILURE=1 -DEXTMODE_DISABLEPRINTF -DEXTMODE_DISABLETESTING -DEXTMODE_DISABLE_ARGS_PROCESSING=1 -DSTACK_SIZE=64 -D__MW_TARGET_USE_HARDWARE_RESOURCES_H__ -DRT -DMW_TIMERID=1 -DMW_PRESCALAR=1024 -DMW_TIMERCOUNT=62411 -DMW_SCHEDULERCOUNTER=1 -D_RTT_BAUDRATE_SERIAL0_=9600 -D_RTT_ANALOG_REF_=0 -DTERMFCN=1 -DONESTEPFCN=1 -DMAT_FILE=0 -DMULTI_INSTANCE_CODE=0 -DINTEGER_CODE=0 -DMT=0 -DCLASSIC_INTERFACE=0 -DALLOCATIONFCN=0 -DTID01EQ=0 -DEXIT_FAILURE=1 -DEXTMODE_DISABLEPRINTF -DEXTMODE_DISABLETESTING -DEXTMODE_DISABLE_ARGS_PROCESSING=1 -DSTACK_SIZE=64 -DRT -DMODEL=MPU9150DataR2015a -DNUMST=1 -DNCSTATES=0 -DHAVESTDIO -IC:/Users/versus/Desktop/versus/freelance/mpu_6050 -IC:/PROGRA~1/MATLAB/R2017a/simulink/include/sf_runtime -IC:/Users/versus/Desktop/versus/freelance/mpu_6050/MPU9150DataR2015a_ert_rtw -IC:/PROGRA~1/MATLAB/R2017a/extern/include -IC:/PROGRA~1/MATLAB/R2017a/simulink/include -IC:/PROGRA~1/MATLAB/R2017a/rtw/c/src -IC:/PROGRA~1/MATLAB/R2017a/rtw/c/src/ext_mode/common -IC:/PROGRA~1/MATLAB/R2017a/rtw/c/ert -IC:/ProgramData/MATLAB/SupportPackages/R2017a/3P.instrset/arduinoide.instrset/arduino-1.6.13/hardware/arduino/avr/cores/arduino -IC:/ProgramData/MATLAB/SupportPackages/R2017a/3P.instrset/arduinoide.instrset/arduino-1.6.13/hardware/arduino/avr/variants/standard -IC:/ProgramData/MATLAB/SupportPackages/R2017a/3P.instrset/arduinoide.instrset/arduino-1.6.13/libraries/Servo/src -IC:/ProgramData/MATLAB/SupportPackages/R2017a/toolbox/target/supportpackages/arduinotarget/include -IC:/ProgramData/MATLAB/SupportPackages/R2017a/toolbox/target/supportpackages/arduinotarget/scheduler/include -IC:/ProgramData/MATLAB/SupportPackages/R2017a/toolbox/target/supportpackages/arduinobase/include -IC:/ProgramData/MATLAB/SupportPackages/R2017a/3P.instrset/arduinoide.instrset/arduino-1.6.13/hardware/tools/avr/avr/include/avr -IC:/ProgramData/MATLAB/SupportPackages/R2017a/toolbox/target/shared/externalmode_daemon/include -o MPU9150_wrapper.o ../MPU9150_wrapper.cpp
C:/ProgramData/MATLAB/SupportPackages/R2017a/3P.instrset/arduinoide.instrset/arduino-1.6.13/hardware/tools/avr/bin/avr-gcc -std=gnu11 -c -g -w -ffunction-sections -fdata-sections -MMD -DARDUINO=10613 -MMD -MP -MF"ert_main.dep" -MT"ert_main.o" -Os -mmcu=atmega328p -DF_CPU=16000000L -DARDUINO_AVR_UNO -DARDUINO_ARCH_AVR -D_RUNONTARGETHARDWARE_BUILD_ -DMODEL=MPU9150DataR2015a -DNUMST=1 -DNCSTATES=0 -DHAVESTDIO -DTERMFCN=1 -DONESTEPFCN=1 -DMAT_FILE=0 -DMULTI_INSTANCE_CODE=0 -DINTEGER_CODE=0 -DMT=0 -DCLASSIC_INTERFACE=0 -DALLOCATIONFCN=0 -DTID01EQ=0 -DEXIT_FAILURE=1 -DEXTMODE_DISABLEPRINTF -DEXTMODE_DISABLETESTING -DEXTMODE_DISABLE_ARGS_PROCESSING=1 -DSTACK_SIZE=64 -D__MW_TARGET_USE_HARDWARE_RESOURCES_H__ -DRT -DMW_TIMERID=1 -DMW_PRESCALAR=1024 -DMW_TIMERCOUNT=62411 -DMW_SCHEDULERCOUNTER=1 -D_RTT_BAUDRATE_SERIAL0_=9600 -D_RTT_ANALOG_REF_=0 -DTERMFCN=1 -DONESTEPFCN=1 -DMAT_FILE=0 -DMULTI_INSTANCE_CODE=0 -DINTEGER_CODE=0 -DMT=0 -DCLASSIC_INTERFACE=0 -DALLOCATIONFCN=0 -DTID01EQ=0 -DEXIT_FAILURE=1 -DEXTMODE_DISABLEPRINTF -DEXTMODE_DISABLETESTING -DEXTMODE_DISABLE_ARGS_PROCESSING=1 -DSTACK_SIZE=64 -DRT -DMODEL=MPU9150DataR2015a -DNUMST=1 -DNCSTATES=0 -DHAVESTDIO -IC:/Users/versus/Desktop/versus/freelance/mpu_6050 -IC:/PROGRA~1/MATLAB/R2017a/simulink/include/sf_runtime -IC:/Users/versus/Desktop/versus/freelance/mpu_6050/MPU9150DataR2015a_ert_rtw -IC:/PROGRA~1/MATLAB/R2017a/extern/include -IC:/PROGRA~1/MATLAB/R2017a/simulink/include -IC:/PROGRA~1/MATLAB/R2017a/rtw/c/src -IC:/PROGRA~1/MATLAB/R2017a/rtw/c/src/ext_mode/common -IC:/PROGRA~1/MATLAB/R2017a/rtw/c/ert -IC:/ProgramData/MATLAB/SupportPackages/R2017a/3P.instrset/arduinoide.instrset/arduino-1.6.13/hardware/arduino/avr/cores/arduino -IC:/ProgramData/MATLAB/SupportPackages/R2017a/3P.instrset/arduinoide.instrset/arduino-1.6.13/hardware/arduino/avr/variants/standard -IC:/ProgramData/MATLAB/SupportPackages/R2017a/3P.instrset/arduinoide.instrset/arduino-1.6.13/libraries/Servo/src -IC:/ProgramData/MATLAB/SupportPackages/R2017a/toolbox/target/supportpackages/arduinotarget/include -IC:/ProgramData/MATLAB/SupportPackages/R2017a/toolbox/target/supportpackages/arduinotarget/scheduler/include -IC:/ProgramData/MATLAB/SupportPackages/R2017a/toolbox/target/supportpackages/arduinobase/include -IC:/ProgramData/MATLAB/SupportPackages/R2017a/3P.instrset/arduinoide.instrset/arduino-1.6.13/hardware/tools/avr/avr/include/avr -IC:/ProgramData/MATLAB/SupportPackages/R2017a/toolbox/target/shared/externalmode_daemon/include -o ert_main.o ert_main.c
"### Creating standalone executable "../MPU9150DataR2015a.elf" ..."
C:/ProgramData/MATLAB/SupportPackages/R2017a/3P.instrset/arduinoide.instrset/arduino-1.6.13/hardware/tools/avr/bin/avr-gcc -w -Os -Wl,--gc-sections,--relax -mmcu=atmega328p  -o ../MPU9150DataR2015a.elf MPU9150DataR2015a.o MPU9150_wrapper.o hooks.o WInterrupts.o wiring.o wiring_analog.o wiring_digital.o wiring_pulse.o wiring_shift.o abi.o CDC.o HardwareSerial.o HardwareSerial0.o HardwareSerial1.o HardwareSerial2.o HardwareSerial3.o PluggableUSB.o IPAddress.o new.o Print.o Stream.o Tone.o USBCore.o WMath.o WString.o MW_ArduinoHWInit.o io_wrappers.o arduinoAVRScheduler.o ert_main.o  -lm
MPU9150DataR2015a.o: In function `MPU9150DataR2015a_step':
C:\Users\versus\Desktop\versus\freelance\mpu_6050\MPU9150DataR2015a_ert_rtw/MPU9150DataR2015a.c:33: undefined reference to `MPU9150_Outputs_wrapper'
C:\Users\versus\Desktop\versus\freelance\mpu_6050\MPU9150DataR2015a_ert_rtw/MPU9150DataR2015a.c:41: undefined reference to `MPU9150_Update_wrapper'
collect2.exe: error: ld returned 1 exit status
gmake: *** [../MPU9150DataR2015a.elf] Error 1
The make command returned an error of 2
'An_error_occurred_during_the_call_to_make' is not recognized as an internal or external command,
operable program or batch file.
### Build procedure for model: 'MPU9150DataR2015a' aborted due to an error.
Error(s) encountered while building "MPU9150DataR2015a":
### Failed to generate all binary outputs.

Answer 1

[nick]

Hi @Arda Araz,

It appears that the error is because the linker is unable to find the definitions for the functions 'MPU9150_Outputs_wrapper' and 'MPU9150_Update_wrapper'.

To resolve this issue, kindly ensure the 'MPU9150_Outputs_wrapper' and 'MPU9150_Update_wrapper' are defined in your source files. These functions should be implemented in a .C or .CPP file. If the header and source files do not reside in current folder, you can specify them using absolute or relative path names in the following properties of the S-function:

• 'IncPaths' - Directories containing header files.
• 'SrcPaths' - Directories containing source files.

You can use the following command in MATLAB Command Window to learn more about about defining 'Compilation Resources in S-Function':

doc legacy_code

Hope this helps!