Porting stm32f4_disco on FreeRTOS

micro_ros_setup/README.md

@@ -37,7 +37,7 @@ This package targets **ROS 2** installation. ROS 2 supported distributions are:
 |-|-|-|
 | Crystal | Supported | `crystal` |
 | Dashing | Supported | `dashing` |
-| Eloquent | *Work in progress* |  |
+| Foxy    | Supported | `foxy`    |
 
 Some other prerequisites needed for building a firmware using this package are:
 
@@ -116,49 +116,55 @@ For more information please visit the links.
             <td>uros</td>
         </tr>
         <tr>
-            <td rowspan=6>freertos</td>
-            <td rowspan=2>crazyflie21</td>
-            <td><a href="https://github.com/micro-ROS/freertos_apps/blob/dashing/apps/crazyflie_position_publisher/app.c">crazyflie_position_publisher</a></td>
+            <td rowspan=4>freertos</td>
+            <td rowspan=1>crazyflie21</td>
+            <td><a href="https://github.com/micro-ROS/freertos_apps/blob/foxy/apps/crazyflie_position_publisher/app.c">crazyflie_position_publisher</a></td>
         </tr>
         <tr>
-            <td><a href="https://github.com/micro-ROS/freertos_apps/blob/dashing/apps/crazyflie_uros_sample/app.c">crazyflie_uros_sample</a></td>
+            <td rowspan=3>olimex-stm32-e407</td>
+            <td><a href="https://github.com/micro-ROS/freertos_apps/blob/foxy/apps/add_two_ints_service/app.c">add_two_ints_service</a></td>
         </tr>
         <tr>
-            <td rowspan=4>olimex-stm32-e407</td>
-            <td><a href="https://github.com/micro-ROS/freertos_apps/blob/dashing/apps/add_two_ints/app.c">add_two_ints</a></td>
+            <td><a href="https://github.com/micro-ROS/freertos_apps/blob/foxy/apps/int32_publisher/app.c">int32_publisher</a></td>
         </tr>
         <tr>
-            <td><a href="https://github.com/micro-ROS/freertos_apps/blob/dashing/apps/ping_pong/app.c">ping_pong</a></td>
+            <td><a href="https://github.com/micro-ROS/freertos_apps/blob/foxy/apps/ping_pong/app.c">ping_pong</a></td>
         </tr>
         <tr>
-            <td><a href="https://github.com/micro-ROS/freertos_apps/blob/dashing/apps/olimex_uros_sample/app.c">olimex_uros_sample</a></td>
+            <td rowspan=11>zephyr</td>
+            <td rowspan=6>discovery_l475_iot1</td>
+            <td><a href="https://github.com/micro-ROS/zephyr_apps/blob/foxy/apps/add_two_ints_service/src/main.c">add_two_ints_service</a></td>
         </tr>
         <tr>
-            <td><a href="https://github.com/micro-ROS/freertos_apps/blob/dashing/apps/int32_publisher/app.c">int32_publisher</a></td>
+            <td><a href="https://github.com/micro-ROS/zephyr_apps/blob/foxy/apps/int32_publisher/src/main.c">int32_publisher</a></td>
         </tr>
         <tr>
-            <td rowspan=7>zephyr</td>
-            <td rowspan=4>discovery_l475_iot1</td>
-            <td><a href="https://github.com/micro-ROS/zephyr_apps/blob/dashing/apps/ping_pong/src/main.c">ping_pong</a></td>
+            <td><a href="https://github.com/micro-ROS/zephyr_apps/blob/foxy/apps/int32_wifi_publisher/src/main.c">int32_wifi_publisher</a></td>
         </tr>
         <tr>
-            <td><a href="https://github.com/micro-ROS/zephyr_apps/blob/dashing/apps/int32_publisher/src/main.c">int32_publisher</a></td>
+            <td><a href="https://github.com/micro-ROS/zephyr_apps/blob/foxy/apps/ping_pong/src/main.c">ping_pong</a></td>
         </tr>
         <tr>
-            <td><a href="https://github.com/micro-ROS/zephyr_apps/blob/dashing/apps/sensors_publisher/src/main.c">sensors_publisher</a></td>
+            <td><a href="https://github.com/micro-ROS/zephyr_apps/blob/foxy/apps/sensors_publisher/src/main.c">sensors_publisher</a></td>
         </tr>
         <tr>
-            <td><a href="https://github.com/micro-ROS/zephyr_apps/blob/dashing/apps/tof_ws2812/src/main.c">tof_ws2812</a></td>
+            <td><a href="https://github.com/micro-ROS/zephyr_apps/blob/foxy/apps/tof_ws2812/src/main.c">tof_ws2812</a></td>
         </tr>
         <tr>
-            <td rowspan=3>olimex-stm32-e407</td>
-            <td><a href="https://github.com/micro-ROS/zephyr_apps/blob/dashing/apps/ping_pong/src/main.c">ping_pong</a></td>
+            <td rowspan=5>olimex-stm32-e407</td>
+            <td><a href="https://github.com/micro-ROS/zephyr_apps/blob/foxy/apps/add_two_ints_service/src/main.c">add_two_ints_service</a></td>
+        </tr>
+        <tr>
+            <td><a href="https://github.com/micro-ROS/zephyr_apps/blob/foxy/apps/int32_publisher/src/main.c">int32_publisher</a></td>
+        </tr>
+        <tr>
+            <td><a href="https://github.com/micro-ROS/zephyr_apps/blob/foxy/apps/openmanipulator_tof/src/main.c">openmanipulator_tof</a></td>
         </tr>
         <tr>
-            <td><a href="https://github.com/micro-ROS/zephyr_apps/blob/dashing/apps/int32_publisher/src/main.c">int32_publisher</a></td>
+            <td><a href="https://github.com/micro-ROS/zephyr_apps/blob/foxy/apps/ping_pong/src/main.c">ping_pong</a></td>
         </tr>
         <tr>
-            <td><a href="https://github.com/micro-ROS/zephyr_apps/blob/dashing/apps/vl53l1x_tof_sensor/src/main.c">vl53l1x_tof_sensor</a></td>
+            <td><a href="https://github.com/micro-ROS/zephyr_apps/blob/foxy/apps/vl53l1x_tof_sensor/src/main.c">vl53l1x_tof_sensor</a></td>
         </tr>
     </tbody>
 </table>

micro_ros_setup/config/agent_uros_packages.repos

@@ -1,10 +1,10 @@
-# Micro XRCE-DDS agent should be a dashing package
 repositories:
 # MicroROS
-  uros/uROS_agent:
+  uros/micro-ROS-Agent:
     type: git
     url: https://github.com/microROS/micro-ROS-Agent.git
     version: dashing
+  # TODO (pablogs9): Integrate Micro XRCE-DDS Agent dependency download in micro-ROS-Agent package
   eProsima/Micro-XRCE-DDS-Agent:
     type: git
     url: https://github.com/eProsima/Micro-XRCE-DDS-Agent.git

micro_ros_setup/config/client_ros2_packages.txt

@@ -4,7 +4,6 @@ keep:
   ros2/rosidl_defaults
   ros2/rosidl
   ros2/rosidl_dds
-  ros2/rosidl_typesupport
   ros2/rmw_implementation
   ros2/common_interfaces
   ros2/libyaml_vendor
@@ -13,3 +12,4 @@ keep:
   ros2/rcl_logging
   ros2/test_interface_files
   ros2/example_interfaces
+  ros2/rcpputils

micro_ros_setup/config/freertos/crazyflie21/board.repos

@@ -2,10 +2,10 @@ repositories:
   crazyflie_firmware:
     type: git
     url: https://github.com/bitcraze/crazyflie-firmware
-    version: a2a26abd53a5f328374877bfbcb7b25ed38d8111
+    version: 2020.06
 
   freertos_apps:
     type: git
     url: https://github.com/micro-ROS/freertos_apps
-    version: dashing
+    version: foxy
 

micro_ros_setup/config/freertos/crazyflie21/build.sh

@@ -33,5 +33,5 @@ pushd $EXTENSIONS_DIR >/dev/null
     fi
 
     # build firmware
-    make PLATFORM=cf2 CLOAD=0 UROS_APP_FOLDER=$UROS_APP_FOLDER
+    make PLATFORM=cf2 CLOAD=0 UROS_APP_FOLDER=$UROS_APP_FOLDER PYTHON=python3
 popd >/dev/null

micro_ros_setup/config/freertos/crazyflie21/client-colcon.meta

@@ -10,7 +10,10 @@
         },
         "microxrcedds_client":{
             "cmake-args":[
-                "-DUCLIENT_PIC=OFF"
+                "-DUCLIENT_PIC=OFF",
+                "-DUCLIENT_PROFILE_DISCOVERY=OFF",
+                "-DUCLIENT_PROFILE_UDP=OFF",
+                "-DUCLIENT_PROFILE_TCP=OFF"
             ]
         },
         "rmw_microxrcedds":{

micro_ros_setup/config/freertos/crazyflie21/client_uros_packages.repos

@@ -2,32 +2,44 @@ repositories:
   eProsima/Micro-CDR:
     type: git
     url: https://github.com/eProsima/Micro-CDR.git
-    version: dashing
+    version: foxy
   eProsima/Micro-XRCE-DDS-Client:
     type: git
     url: https://github.com/eProsima/Micro-XRCE-DDS-Client.git
-    version: dashing
+    version: foxy
 
 # MicroROS
 
   uros/rcl:
     type: git
     url: https://github.com/micro-ROS/rcl
-    version: dashing
+    version: foxy
+  uros/rclc:
+    type: git
+    url: https://github.com/micro-ROS/rclc
+    version: master
   uros/rcutils:
     type: git
     url: https://github.com/micro-ROS/rcutils
-    version: dashing
+    version: foxy
   uros/rmw_microxrcedds:
     type: git
     url: https://github.com/micro-ROS/rmw-microxrcedds.git
-    version: dashing
+    version: foxy
+  uros/rosidl_typesupport:
+    type: git
+    url: https://github.com/micro-ROS/rosidl_typesupport.git
+    version: foxy
   uros/rosidl_typesupport_microxrcedds:
     type: git
     url: https://github.com/micro-ROS/rosidl_typesupport_microxrcedds.git
-    version: dashing
+    version: foxy
+  uros/tracetools:
+    type: git
+    url: https://gitlab.com/micro-ROS/ros_tracing/ros2_tracing
+    version: feature/foxy_migration
 
-# interim, until crosscompile fix is available in dashing branch
+# interim, until crosscompile fix is available in foxy branch
   ros2/tinydir_vendor:
     type: git
     url: https://github.com/ros2/tinydir_vendor.git

micro_ros_setup/config/freertos/crazyflie21/create.sh

@@ -15,12 +15,14 @@ pushd $FW_TARGETDIR >/dev/null
 
     # ignore broken packages
     touch mcu_ws/ros2/rcl_logging/rcl_logging_log4cxx/COLCON_IGNORE
-    touch mcu_ws/ros2/rcl/rcl_action/COLCON_IGNORE
+    touch mcu_ws/ros2/rcl_logging/rcl_logging_spdlog/COLCON_IGNORE
     touch mcu_ws/ros2/rcl/COLCON_IGNORE
+    touch mcu_ws/ros2/rosidl/rosidl_typesupport_introspection_c/COLCON_IGNORE
+    touch mcu_ws/ros2/rosidl/rosidl_typesupport_introspection_cpp/COLCON_IGNORE
+    touch mcu_ws/ros2/rcpputils/COLCON_IGNORE
+    touch mcu_ws/uros/rcl/rcl_yaml_param_parser/COLCON_IGNORE
+    touch mcu_ws/uros/rclc/rclc_examples/COLCON_IGNORE
 
-    rosdep install -y --from-paths mcu_ws -i mcu_ws --rosdistro dashing --skip-keys="$SKIP"
-
-    # Turn off features MicroXRCEClient
-    echo -e ",s/PROFILE_DISCOVERY=TRUE/PROFILE_DISCOVERY=FALSE/\n,s/PROFILE_UDP_TRANSPORT=TRUE/PROFILE_UDP_TRANSPORT=FALSE/\n,s/PROFILE_TCP_TRANSPORT=TRUE/PROFILE_TCP_TRANSPORT=FALSE/g\nw" | ed $(find mcu_ws -name client.config) >/dev/null &>/dev/null
+    rosdep install -y --from-paths mcu_ws -i mcu_ws --rosdistro foxy --skip-keys="$SKIP"
 
 popd >/dev/null

micro_ros_setup/config/freertos/nucleo_f446ze/board.repos

@@ -0,0 +1,5 @@
+repositories:
+  freertos_apps:
+    type: git
+    url: https://github.com/micro-ros/freertos_apps
+    version: dashing

micro_ros_setup/config/freertos/nucleo_f446ze/build.sh

@@ -0,0 +1,31 @@
+EXTENSIONS_DIR=$FW_TARGETDIR/freertos_apps/microros_nucleo_f446ze_extensions
+
+. $PREFIX/config/utils.sh
+
+pushd $EXTENSIONS_DIR >/dev/null   
+
+    export UROS_APP=$(head -n1 $FW_TARGETDIR/APP | tail -n1)
+    export UROS_APP_FOLDER="$FW_TARGETDIR/freertos_apps/apps/$UROS_APP"
+
+    if [ -d "$UROS_APP_FOLDER" ]; then
+        echo "Selected app: $UROS_APP"
+    else
+        echo "App not found: $UROS_APP"
+        print_available_apps
+        exit 1
+    fi
+
+    if [ "$UROS_FAST_BUILD" = "off" ] || [ ! -d "build" ]; then
+        # Clean micro-ROS build
+        rm -rf $FW_TARGETDIR/mcu_ws/build $FW_TARGETDIR/mcu_ws/install $FW_TARGETDIR/mcu_ws/log
+
+        # Clean build
+        make clean
+
+        # Build micro-ROS stack
+        make libmicroros
+    fi
+
+    # Build firmware
+    make -j$(nproc) UROS_APP_FOLDER=$UROS_APP_FOLDER
+popd >/dev/null

micro_ros_setup/config/freertos/nucleo_f446ze/client-colcon.meta

@@ -0,0 +1,23 @@
+{
+    "names": {
+        "rcutils": {
+            "cmake-args": [
+                "-DENABLE_TESTING=OFF",
+                "-DRCUTILS_NO_FILESYSTEM=ON",
+                "-DRCUTILS_AVOID_DYNAMIC_ALLOCATION=ON"
+            ]
+        },
+        "microxrcedds_client": {
+            "cmake-args": [
+                "-DUCLIENT_PIC=OFF"
+            ]
+        },
+        "rmw_microxrcedds": {
+            "cmake-args": [
+                "-DRMW_UXRCE_XML_BUFFER_LENGTH=400",
+                "-DRMW_UXRCE_TRANSPORT=custom_serial",
+                "-DRMW_UXRCE_DEFAULT_SERIAL_DEVICE=3"
+            ]
+        }
+    }
+}

micro_ros_setup/config/freertos/nucleo_f446ze/client_uros_packages.repos

@@ -0,0 +1,34 @@
+repositories:
+  eProsima/Micro-CDR:
+    type: git
+    url: https://github.com/eProsima/Micro-CDR.git
+    version: dashing
+  eProsima/Micro-XRCE-DDS-Client:
+    type: git
+    url: https://github.com/eProsima/Micro-XRCE-DDS-Client.git
+    version: dashing
+
+# MicroROS
+
+  uros/rcl:
+    type: git
+    url: https://github.com/micro-ROS/rcl
+    version: dashing
+  uros/rcutils:
+    type: git
+    url: https://github.com/micro-ROS/rcutils
+    version: dashing
+  uros/rmw_microxrcedds:
+    type: git
+    url: https://github.com/micro-ROS/rmw-microxrcedds.git
+    version: dashing
+  uros/rosidl_typesupport_microxrcedds:
+    type: git
+    url: https://github.com/micro-ROS/rosidl_typesupport_microxrcedds.git
+    version: dashing
+
+# interim, until crosscompile fix is available in dashing branch
+  ros2/tinydir_vendor:
+    type: git
+    url: https://github.com/ros2/tinydir_vendor.git
+    version: master

micro_ros_setup/config/freertos/nucleo_f446ze/configure.sh

@@ -0,0 +1,31 @@
+
+EXTENSIONS_DIR=$FW_TARGETDIR/freertos_apps/microros_nucleo_f446ze_extensions
+
+. $PREFIX/config/utils.sh
+
+function help {
+      echo "Configure script need an argument."
+      echo "   --transport -t        serial or serial-usb"
+      echo "   --dev -d             agent string descriptor in a serial-like transport"
+}
+
+echo $CONFIG_NAME > $FW_TARGETDIR/APP
+# TODO add USB-OTG support
+if [ "$UROS_TRANSPORT" == "serial" ]; then
+      echo "Using serial device USART$UROS_AGENT_DEVICE."
+
+      cp -f $EXTENSIONS_DIR/uros_transport/stm32f446ze_serial_transport.c $FW_TARGETDIR/mcu_ws/eProsima/Micro-XRCE-DDS-Client/src/c/profile/transport/serial/serial_transport_external.c
+      cp -f $EXTENSIONS_DIR/uros_transport/stm32f446ze_serial_transport.h $FW_TARGETDIR/mcu_ws/eProsima/Micro-XRCE-DDS-Client/include/uxr/client/profile/transport/serial/serial_transport_external.h
+      update_meta "microxrcedds_client" "UCLIENT_EXTERNAL_SERIAL=ON"
+
+      update_meta "rmw_microxrcedds" "RMW_UXRCE_TRANSPORT=custom"
+      update_meta "rmw_microxrcedds" "RMW_UXRCE_DEFAULT_SERIAL_DEVICE="$UROS_AGENT_DEVICE
+
+      remove_meta "rmw_microxrcedds" "RMW_UXRCE_DEFAULT_UDP_IP"
+      remove_meta "rmw_microxrcedds" "RMW_UXRCE_DEFAULT_UDP_PORT"
+
+      echo "Configured $UROS_TRANSPORT mode with agent at USART$UROS_AGENT_DEVICE"
+
+else
+      help
+fi

micro_ros_setup/config/freertos/nucleo_f446ze/create.sh

@@ -0,0 +1,20 @@
+pushd $FW_TARGETDIR >/dev/null
+    # Install toolchain
+    mkdir toolchain
+
+
+    # Install toolchain
+    echo "Downloading ARM compiler, this may take a while"
+    curl -fsSLO https://developer.arm.com/-/media/Files/downloads/gnu-rm/8-2019q3/RC1.1/gcc-arm-none-eabi-8-2019-q3-update-linux.tar.bz2
+    tar --strip-components=1 -xvjf gcc-arm-none-eabi-8-2019-q3-update-linux.tar.bz2 -C toolchain  > /dev/null
+    rm gcc-arm-none-eabi-8-2019-q3-update-linux.tar.bz2
+
+    # Import repos
+    vcs import --input $PREFIX/config/$RTOS/$PLATFORM/board.repos >/dev/null
+
+    # ignore broken packages
+    touch mcu_ws/ros2/rcl_logging/rcl_logging_log4cxx/COLCON_IGNORE
+    touch mcu_ws/ros2/rcl/COLCON_IGNORE
+
+    rosdep install -y --from-paths mcu_ws -i mcu_ws --rosdistro dashing --skip-keys="$SKIP"
+popd >/dev/null

micro_ros_setup/config/freertos/nucleo_f446ze/flash.sh

@@ -0,0 +1,28 @@
+EXTENSIONS_DIR=$FW_TARGETDIR/freertos_apps/microros_nucleo_f446ze_extensions
+
+USE_STFLASH=false
+
+pushd $EXTENSIONS_DIR > /dev/null
+
+  if [ -f build/micro-ROS.bin ]; then
+
+    echo "Flashing firmware for $RTOS platform $PLATFORM"
+    if [$USE_STFLASH = true]; then 
+      st-flash --reset write build/micro-ROS.bin 0x8000000
+    else
+      if lsusb -d 0483:374b; then
+        ST_INTERFACE=interface/stlink-v2-1.cfg
+      elif lsusb -d 0483:3748; then
+        ST_INTERFACE=interface/stlink-v2.cfg
+      else
+      # TODO: add stlink v3, should it be stlink.cfg ?
+        echo "Error. Unsuported OpenOCD USB programmer"
+        exit 1
+      fi
+      openocd -f $ST_INTERFACE -f target/stm32f4x.cfg -c init -c "reset halt" -c "flash write_image erase build/micro-ROS.bin 0x08000000" -c "reset" -c "exit"
+    fi
+  else
+    echo "build/micro-ROS.bin not found: please compile before flashing."
+  fi
+
+popd > /dev/null