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DominikNpablogs9
DominikN
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pablogs9
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added support for STM32F4 and Ethernet (#593)
* added support for STM32F4 and Ethernet * Revert library changes Signed-off-by: Pablo Garrido <[email protected]> Co-authored-by: Pablo Garrido <[email protected]>
1 parent 4f22b23 commit 03779a8

5 files changed

Lines changed: 155 additions & 1 deletion

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‎extras/library_generation/cortex_m4_toolchain.cmake‎

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SET(CMAKE_SYSTEM_NAME Generic)
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set(CMAKE_CROSSCOMPILING 1)
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set(CMAKE_TRY_COMPILE_TARGET_TYPE STATIC_LIBRARY)
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set(CMAKE_C_COMPILER $ENV{TOOLCHAIN_PREFIX}gcc)
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set(CMAKE_CXX_COMPILER $ENV{TOOLCHAIN_PREFIX}g++)
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SET(CMAKE_C_COMPILER_WORKS 1 CACHE INTERNAL "")
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SET(CMAKE_CXX_COMPILER_WORKS 1 CACHE INTERNAL "")
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set(FLAGS "-O2 -mfloat-abi=hard -mfpu=vfpv3-d16 -ffunction-sections -fdata-sections -fno-exceptions -mcpu=cortex-m4 -nostdlib -DARDUINO=10813 -mthumb --param max-inline-insns-single=500 -DF_CPU=168000000L -D'RCUTILS_LOG_MIN_SEVERITY=RCUTILS_LOG_MIN_SEVERITY_NONE'" CACHE STRING "" FORCE)
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set(CMAKE_C_FLAGS_INIT "-std=c11 ${FLAGS} -DCLOCK_MONOTONIC=0 -D'__attribute__(x)='" CACHE STRING "" FORCE)
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set(CMAKE_CXX_FLAGS_INIT "-std=c++14 ${FLAGS} -fno-rtti -DCLOCK_MONOTONIC=0 -D'__attribute__(x)='" CACHE STRING "" FORCE)
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set(__BIG_ENDIAN__ 0)

‎extras/library_generation/library_generation.sh‎

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@@ -16,6 +16,7 @@ if [ $OPTIND -eq 1 ]; then
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PLATFORMS+=("teensy35")
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PLATFORMS+=("cortex_m0")
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PLATFORMS+=("cortex_m3")
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PLATFORMS+=("cortex_m4")
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# PLATFORMS+=("portenta-m4")
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PLATFORMS+=("portenta-m7")
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PLATFORMS+=("kakutef7-m7")
@@ -101,6 +102,20 @@ if [[ " ${PLATFORMS[@]} " =~ " cortex_m3 " ]]; then
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cp -R firmware/build/libmicroros.a /project/src/cortex-m3/libmicroros.a
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fi
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######## Build for STM32F4 ########
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if [[ " ${PLATFORMS[@]} " =~ " cortex_m4 " ]]; then
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rm -rf firmware/build
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export TOOLCHAIN_PREFIX=/uros_ws/gcc-arm-none-eabi-9-2020-q2-update/bin/arm-none-eabi-
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ros2 run micro_ros_setup build_firmware.sh /project/extras/library_generation/cortex_m4_toolchain.cmake /project/extras/library_generation/colcon_lowmem.meta
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find firmware/build/include/ -name "*.c" -delete
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cp -R firmware/build/include/* /project/src/
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mkdir -p /project/src/cortex-m4
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cp -R firmware/build/libmicroros.a /project/src/cortex-m4/libmicroros.a
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fi
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######## Build for Teensy 3.2 ########
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if [[ " ${PLATFORMS[@]} " =~ " teensy32 " ]]; then
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rm -rf firmware/build

‎library.properties‎

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@@ -7,4 +7,4 @@ paragraph=micro-ROS Arduino library
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url=https://github.com/micro-ROS
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precompiled=true
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category=Other
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architectures=OpenCR,Teensyduino,samd,sam,mbed
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architectures=stm32,OpenCR,Teensyduino,samd,sam,mbed

‎src/micro_ros_arduino.h‎

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@@ -32,6 +32,49 @@ static inline void set_microros_transports(){
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);
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}
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#if defined(TARGET_STM32F4)
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#include <Arduino.h>
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#include <EthernetUdp.h>
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#include <LwIP.h>
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#include <STM32Ethernet.h>
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#include <uxr/client/transport.h>
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#include <rmw_microros/rmw_microros.h>
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#include "IPAddress.h"
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extern "C" bool arduino_native_ethernet_udp_transport_open(struct uxrCustomTransport * transport);
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extern "C" bool arduino_native_ethernet_udp_transport_close(struct uxrCustomTransport * transport);
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extern "C" size_t arduino_native_ethernet_udp_transport_write(struct uxrCustomTransport* transport, const uint8_t * buf, size_t len, uint8_t * err);
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extern "C" size_t arduino_native_ethernet_udp_transport_read(struct uxrCustomTransport* transport, uint8_t* buf, size_t len, int timeout, uint8_t* err);
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struct micro_ros_agent_locator {
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IPAddress address;
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int port;
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};
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static inline void set_microros_native_ethernet_udp_transports(byte mac[], IPAddress client_ip, IPAddress agent_ip, uint16_t agent_port){
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static struct micro_ros_agent_locator locator;
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Ethernet.begin(mac, client_ip);
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delay(1000);
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locator.address = agent_ip;
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locator.port = agent_port;
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rmw_uros_set_custom_transport(
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false,
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(void *) &locator,
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arduino_native_ethernet_udp_transport_open,
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arduino_native_ethernet_udp_transport_close,
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arduino_native_ethernet_udp_transport_write,
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arduino_native_ethernet_udp_transport_read
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);
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}
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#endif
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#if defined(TARGET_PORTENTA_H7_M7) || defined(ARDUINO_NANO_RP2040_CONNECT)
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#if defined(TARGET_PORTENTA_H7_M7)

‎src/native_ethernet_transport.cpp‎

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#if defined(TARGET_STM32F4)
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#include <Arduino.h>
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#include <EthernetUdp.h>
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#include <STM32Ethernet.h>
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#include <micro_ros_arduino.h>
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extern "C" {
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#include <stdbool.h>
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#include <stdio.h>
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#include <sys/time.h>
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static EthernetUDP udp_client;
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bool arduino_native_ethernet_udp_transport_open(
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struct uxrCustomTransport *transport) {
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struct micro_ros_agent_locator *locator =
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(struct micro_ros_agent_locator *)transport->args;
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udp_client.begin(locator->port);
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return true;
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}
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bool arduino_native_ethernet_udp_transport_close(
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struct uxrCustomTransport *transport) {
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udp_client.stop();
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return true;
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}
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size_t arduino_native_ethernet_udp_transport_write(
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struct uxrCustomTransport *transport, const uint8_t *buf, size_t len,
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uint8_t *errcode) {
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(void)errcode;
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struct micro_ros_agent_locator *locator =
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(struct micro_ros_agent_locator *)transport->args;
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udp_client.beginPacket(locator->address, locator->port);
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size_t sent = udp_client.write(buf, len);
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udp_client.endPacket();
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udp_client.flush();
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return sent;
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}
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size_t arduino_native_ethernet_udp_transport_read(
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struct uxrCustomTransport *transport, uint8_t *buf, size_t len, int timeout,
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uint8_t *errcode) {
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(void)errcode;
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uint32_t start_time = millis();
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while (millis() - start_time < ((uint32_t)timeout) &&
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udp_client.parsePacket() == 0) {
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delay(1);
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}
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size_t readed = udp_client.read(buf, len);
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return (readed < 0) ? 0 : readed;
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}
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#define micro_rollover_useconds 4294967295
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int clock_gettime(clockid_t unused, struct timespec *tp) {
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(void)unused;
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static uint32_t rollover = 0;
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static uint32_t last_measure = 0;
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uint32_t m = micros();
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rollover += (m < last_measure) ? 1 : 0;
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uint64_t real_us = (uint64_t)(m + rollover * micro_rollover_useconds);
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tp->tv_sec = real_us / 1000000;
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tp->tv_nsec = (real_us % 1000000) * 1000;
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last_measure = m;
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return 0;
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}
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}
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#endif

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