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lukicdarkoolukicdarkoo
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Add support
1 parent 26ae158 commit 912b1be

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6 files changed

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6 files changed

+146
-2
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‎examples/micro-ros_publisher/transport.cpp‎

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#include <Arduino.h>
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extern "C"
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{
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#include <stdio.h>
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#include <stdbool.h>
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#include <sys/time.h>
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int clock_gettime(clockid_t unused, struct timespec *tp)
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{
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(void)unused;
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uint64_t m = micros();
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tp->tv_sec = m / 1000000;
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tp->tv_nsec = (m % 1000000) * 1000;
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return 0;
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}
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bool arduino_serial_platform_open()
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{
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// Place here your initialization platform code
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// Return true if success
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SerialUSB.begin(115200);
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return true;
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}
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bool arduino_serial_platform_close()
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{
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// Place here your closing platform code
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// Return true if success
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return true;
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}
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size_t arduino_serial_platform_write(uint8_t *buf, size_t len, uint8_t *errcode)
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{
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// Place here your writing bytes platform code
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// Return number of bytes written
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(void)errcode;
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size_t sent = SerialUSB.write(buf, len);
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return sent;
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}
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size_t arduino_serial_platform_read(uint8_t *buf, size_t len, int timeout, uint8_t *errcode)
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{
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// Place here your reading bytes platform code
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// Return number of bytes read (max bytes: len)
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(void)errcode;
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uint32_t start_time = micros() * 1000;
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size_t readed = 0;
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while ((readed < len) && ((micros() * 1000) - start_time) < (uint32_t)timeout)
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{
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if (SerialUSB.available())
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{
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buf[readed++] = SerialUSB.read();
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}
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}
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return readed;
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}
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}

‎extras/library_generation/colcon_verylowmem.meta‎

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{
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"names": {
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"tracetools": {
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"cmake-args": [
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"-DTRACETOOLS_DISABLED=ON",
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"-DTRACETOOLS_STATUS_CHECKING_TOOL=OFF"
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]
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},
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"rosidl_typesupport": {
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"cmake-args": [
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"-DROSIDL_TYPESUPPORT_SINGLE_TYPESUPPORT=ON"
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]
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},
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"rcl": {
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"cmake-args": [
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"-DBUILD_TESTING=OFF",
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"-DRCL_COMMAND_LINE_ENABLED=OFF",
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"-DRCL_LOGGING_ENABLED=OFF"
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]
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},
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"rcutils": {
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"cmake-args": [
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"-DENABLE_TESTING=OFF",
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"-DRCUTILS_NO_FILESYSTEM=ON",
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"-DRCUTILS_NO_THREAD_SUPPORT=ON",
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"-DRCUTILS_NO_64_ATOMIC=ON",
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"-DRCUTILS_AVOID_DYNAMIC_ALLOCATION=ON"
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]
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},
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"microxrcedds_client": {
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"cmake-args": [
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"-DUCLIENT_PIC=OFF",
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"-DUCLIENT_PROFILE_UDP=OFF",
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"-DUCLIENT_PROFILE_DISCOVERY=OFF",
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"-DUCLIENT_PROFILE_SERIAL=ON",
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"-DUCLIENT_EXTERNAL_SERIAL=ON",
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"-DUCLIENT_SERIAL_TRANSPORT_MTU=128"
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]
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},
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"rmw_microxrcedds": {
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"cmake-args": [
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"-DRMW_UXRCE_MAX_NODES=1",
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"-DRMW_UXRCE_MAX_PUBLISHERS=2",
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"-DRMW_UXRCE_MAX_SUBSCRIPTIONS=1",
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"-DRMW_UXRCE_MAX_SERVICES=0",
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"-DRMW_UXRCE_MAX_CLIENTS=1",
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"-DRMW_UXRCE_MAX_HISTORY=1",
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"-DRMW_UXRCE_TRANSPORT=custom_serial"
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]
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}
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}
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}

‎extras/library_generation/cortex_m0_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 -fsingle-precision-constant -ffunction-sections -fdata-sections -fno-exceptions -mcpu=cortex-m0 -nostdlib -mthumb -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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@@ -13,6 +13,7 @@ if [ $OPTIND -eq 1 ]; then
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PLATFORMS+=("opencr1")
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PLATFORMS+=("teensy4")
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PLATFORMS+=("teensy3")
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PLATFORMS+=("cortex_m0")
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fi
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shift $((OPTIND-1))
@@ -94,6 +95,20 @@ if [[ " ${PLATFORMS[@]} " =~ " teensy4 " ]]; then
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cp -R firmware/build/libmicroros.a /arduino_project/src/imxrt1062/fpv5-d16-hard/libmicroros.a
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fi
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######## Build for SAMD (e.g. Arduino Zero) ########
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if [[ " ${PLATFORMS[@]} " =~ " cortex_m0 " ]]; then
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rm -rf firmware/build
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export TOOLCHAIN_PREFIX=/uros_ws/gcc-arm-none-eabi-5_4-2016q3/bin/arm-none-eabi-
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ros2 run micro_ros_setup build_firmware.sh /arduino_project/extras/library_generation/cortex_m0_toolchain.cmake /arduino_project/extras/library_generation/colcon_verylowmem.meta
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find firmware/build/include/ -name "*.c" -delete
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cp -R firmware/build/include/* /arduino_project/src/
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mkdir -p /arduino_project/src/cortex-m0plus
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cp -R firmware/build/libmicroros.a /arduino_project/src/cortex-m0plus/libmicroros.a
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fi
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######## Generate extra files ########
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find firmware/mcu_ws/ros2 \( -name "*.srv" -o -name "*.msg" -o -name "*.action" \) | awk -F"/" '{print $(NF-2)"/"$NF}' > /arduino_project/available_ros2_types
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find firmware/mcu_ws/extra_packages \( -name "*.srv" -o -name "*.msg" -o -name "*.action" \) | awk -F"/" '{print $(NF-2)"/"$NF}' >> /arduino_project/available_ros2_types

‎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
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architectures=OpenCR,Teensyduino,samd

‎src/arduino_transports.c‎

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#include <stdio.h>
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#include <stdbool.h>
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/*
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#if defined(ARDUINO_TEENSY41) || defined(ARDUINO_TEENSY40) || defined(ARDUINO_TEENSY32)
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#include "teensy_transports.c.in"
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#elif defined(ARDUINO_ARCH_OPENCR)
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#include "opencr_transports.c.in"
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#else
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#error micro-ROS Library not supported for this platform
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#endif
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*/
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// TODO: This should be fixed
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#if defined(ARDUINO_TEENSY32)

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