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Add port for Nucleo-F767ZI (#247)
* Add port for Nucleo-F767ZI * Update README.md and package.xml Add nucleo-f767zi to "Supported Platforms" section Change maintainer info in nucleo-f767zi package.xml * Fix, codowners and CI * Update packages * Fix CI Co-authored-by: Pablo Garrido <pablogs9@gmail.com>
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‎.github/CODEOWNERS‎

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* @pablogs9 @jamoralp @FranFin
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config/freertos/nucleo_f446ze/ @alsaibie
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config/freertos/esp32/ @donRaphaco
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config/freertos/nucleo_f746zg/ @edesta-be
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config/freertos/nucleo_f746zg/ @edesta-be
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config/freertos/nucleo_f767zi/ @jnugen

‎.github/workflows/ci.yml‎

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configuration: int32_publisher
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transport_arguments: -t serial -d 1
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binary: 'firmware/freertos_apps/microros_nucleo_f746zg_extensions/build/micro-ROS.elf'
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- rtos: freertos
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platform: nucleo_f767zi
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configuration: int32_publisher
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transport_arguments: -t serial -d 1
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binary: 'firmware/freertos_apps/microros_nucleo_f767zi_extensions/build/micro-ROS.elf'
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- rtos: freertos
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platform: esp32

‎README.md‎

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@@ -26,6 +26,7 @@ This package is the **official build system for micro-ROS**. It provides tools a
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| [FreeRTOS](https://www.freertos.org/) | [Olimex STM32-E407](https://www.olimex.com/Products/ARM/ST/STM32-E407/open-source-hardware) | STM32CubeMX latest | `freertos olimex-stm32-e407` |
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| [FreeRTOS](https://www.freertos.org/) | [ST Nucleo F446ZE](https://www.st.com/en/evaluation-tools/nucleo-f446ze.html) <sup>1</sup> | STM32CubeMX latest | `freertos nucleo_f446ze` |
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| [FreeRTOS](https://www.freertos.org/) | [ST Nucleo F746ZG](https://www.st.com/en/evaluation-tools/nucleo-f746zg.html) <sup>1</sup> | STM32CubeMX latest | `freertos nucleo_f746zg` |
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| [FreeRTOS](https://www.freertos.org/) | [ST Nucleo F767ZI](https://www.st.com/en/evaluation-tools/nucleo-f746zg.html) <sup>1</sup> | STM32CubeMX latest | `freertos nucleo_f767zi` |
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| [FreeRTOS](https://www.freertos.org/) | [Espressif ESP32](https://www.espressif.com/en/products/socs/esp32/overview) | v8.2.0 | `freertos esp32` |
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| [Zephyr](https://www.zephyrproject.org/) | [Olimex STM32-E407](https://www.olimex.com/Products/ARM/ST/STM32-E407/open-source-hardware) | v2.4.99 | `zephyr olimex-stm32-e407` |
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| [Zephyr](https://www.zephyrproject.org/) | [ST B-L475E-IOT01A](https://docs.zephyrproject.org/latest/boards/arm/disco_l475_iot1/doc/index.html) | v2.4.99 | `zephyr discovery_l475_iot1` |
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| ST Nucleo F446ZE <sup>1</sup> | - | UART | - |
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| ST Nucleo H743ZI <sup>1</sup> | - | - | UART |
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| ST Nucleo F746ZG <sup>1</sup> | - | UART | UART |
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| ST Nucleo F767ZI <sup>1</sup> | - | UART | - |
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*<sup>1</sup> Community supported, may have lack of official support*
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‎config/freertos/nucleo_f767zi/board.repos‎

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repositories:
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freertos_apps:
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type: git
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url: https://github.com/micro-ros/freertos_apps
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version: foxy

‎config/freertos/nucleo_f767zi/build.sh‎

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EXTENSIONS_DIR=$FW_TARGETDIR/freertos_apps/microros_nucleo_f767zi_extensions
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. $PREFIX/config/utils.sh
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pushd $EXTENSIONS_DIR >/dev/null
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export UROS_APP=$(head -n1 $FW_TARGETDIR/APP | tail -n1)
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if [ -v UROS_CUSTOM_APP_FOLDER ]; then
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export UROS_APP_FOLDER="$UROS_CUSTOM_APP_FOLDER/$UROS_APP"
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else
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export UROS_APP_FOLDER="$FW_TARGETDIR/freertos_apps/apps/$UROS_APP"
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fi
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if [ -d "$UROS_APP_FOLDER" ]; then
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echo "Selected app: $UROS_APP"
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else
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echo "App not found: $UROS_APP"
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print_available_apps
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exit 1
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fi
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if [ "$UROS_FAST_BUILD" = "off" ] || [ ! -d "build" ]; then
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# Clean micro-ROS build
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rm -rf $FW_TARGETDIR/mcu_ws/build $FW_TARGETDIR/mcu_ws/install $FW_TARGETDIR/mcu_ws/log
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# Clean build
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make clean
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# Build micro-ROS stack
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make libmicroros
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fi
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# Build firmware
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make -j$(nproc) UROS_APP_FOLDER=$UROS_APP_FOLDER
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popd >/dev/null

‎config/freertos/nucleo_f767zi/client-colcon.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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"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_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_DISCOVERY=OFF"
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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_XML_BUFFER_LENGTH=400",
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"-DRMW_UXRCE_TRANSPORT=custom_serial",
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"-DRMW_UXRCE_DEFAULT_SERIAL_DEVICE=3"
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]
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},
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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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}
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}

‎config/freertos/nucleo_f767zi/client_uros_packages.repos‎

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repositories:
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eProsima/Micro-CDR:
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type: git
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url: https://github.com/eProsima/micro-CDR.git
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version: foxy
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eProsima/Micro-XRCE-DDS-Client:
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type: git
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url: https://github.com/eProsima/Micro-XRCE-DDS-Client.git
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version: foxy
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# MicroROS
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uros/rcl:
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type: git
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url: https://github.com/micro-ROS/rcl
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version: foxy
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uros/rclc:
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type: git
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url: https://github.com/micro-ROS/rclc
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version: master
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uros/rcutils:
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type: git
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url: https://github.com/micro-ROS/rcutils
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version: foxy
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uros/micro_ros_msgs:
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type: git
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url: https://github.com/micro-ROS/micro_ros_msgs.git
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version: foxy
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uros/rmw_microxrcedds:
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type: git
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url: https://github.com/micro-ROS/rmw-microxrcedds.git
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version: foxy
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uros/rosidl_typesupport:
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type: git
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url: https://github.com/micro-ROS/rosidl_typesupport.git
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version: foxy
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uros/rosidl_typesupport_microxrcedds:
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type: git
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url: https://github.com/micro-ROS/rosidl_typesupport_microxrcedds.git
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version: foxy
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uros/tracetools:
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type: git
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url: https://gitlab.com/micro-ROS/ros_tracing/ros2_tracing
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version: foxy_microros
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# Remove this when it returns to ros2.repos
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ros2/tinydir_vendor:
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type: git
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url: https://github.com/ros2/tinydir_vendor.git
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version: master

‎config/freertos/nucleo_f767zi/configure.sh‎

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EXTENSIONS_DIR=$FW_TARGETDIR/freertos_apps/microros_nucleo_f767zi_extensions
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. $PREFIX/config/utils.sh
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function help {
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echo "Configure script need an argument."
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echo " --transport -t udp, serial or serial-usb"
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echo " --dev -d agent string descriptor in a serial-like transport"
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echo " --ip -i agent IP in a network-like transport"
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echo " --port -p agent port in a network-like transport"
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}
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echo $CONFIG_NAME > $FW_TARGETDIR/APP
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if [ "$UROS_TRANSPORT" == "udp" ]; then
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update_meta "rmw_microxrcedds" "RMW_UXRCE_TRANSPORT="$UROS_TRANSPORT
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update_meta "rmw_microxrcedds" "RMW_UXRCE_DEFAULT_UDP_IP="$UROS_AGENT_IP
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update_meta "rmw_microxrcedds" "RMW_UXRCE_DEFAULT_UDP_PORT="$UROS_AGENT_PORT
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update_meta "microxrcedds_client" "UCLIENT_PROFILE_SERIAL=OFF"
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update_meta "microxrcedds_client" "UCLIENT_PROFILE_UDP=ON"
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update_meta "microxrcedds_client" "UCLIENT_PROFILE_TCP=OFF"
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remove_meta "rmw_microxrcedds" "RMW_UXRCE_DEFAULT_SERIAL_DEVICE"
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remove_meta "microxrcedds_client" "UCLIENT_EXTERNAL_SERIAL"
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remove_meta "microxrcedds_client" "EXTERNAL_TRANSPORT_HEADER_SERIAL"
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remove_meta "microxrcedds_client" "EXTERNAL_TRANSPORT_SRC_SERIAL"
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echo "Configured $UROS_TRANSPORT mode with agent at $UROS_AGENT_IP:$UROS_AGENT_PORT"
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elif [ "$UROS_TRANSPORT" == "serial" ]; then
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echo "Using serial device USART$UROS_AGENT_DEVICE."
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cp -f $EXTENSIONS_DIR/Src/nucleo_f767zi_serial_transport.c $FW_TARGETDIR/mcu_ws/eProsima/Micro-XRCE-DDS-Client/src/c/profile/transport/serial/serial_transport_external.c
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cp -f $EXTENSIONS_DIR/Inc/nucleo_f767zi_serial_transport.h $FW_TARGETDIR/mcu_ws/eProsima/Micro-XRCE-DDS-Client/include/uxr/client/profile/transport/serial/serial_transport_external.h
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update_meta "microxrcedds_client" "UCLIENT_EXTERNAL_SERIAL=ON"
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update_meta "microxrcedds_client" "UCLIENT_PROFILE_SERIAL=ON"
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update_meta "microxrcedds_client" "UCLIENT_PROFILE_UDP=OFF"
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update_meta "microxrcedds_client" "UCLIENT_PROFILE_TCP=OFF"
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update_meta "rmw_microxrcedds" "RMW_UXRCE_TRANSPORT=custom_serial"
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update_meta "rmw_microxrcedds" "RMW_UXRCE_DEFAULT_SERIAL_DEVICE="$UROS_AGENT_DEVICE
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remove_meta "rmw_microxrcedds" "RMW_UXRCE_DEFAULT_UDP_IP"
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remove_meta "rmw_microxrcedds" "RMW_UXRCE_DEFAULT_UDP_PORT"
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echo "Configured $UROS_TRANSPORT mode with agent at USART$UROS_AGENT_DEVICE"
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elif [ "$UROS_TRANSPORT" == "serial-usb" ]; then
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echo "Using serial USB device. EXPERIMENTAL."
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cp -f $EXTENSIONS_DIR/Src/nucleo_f767zi_usb_transport.c $FW_TARGETDIR/mcu_ws/eProsima/Micro-XRCE-DDS-Client/src/c/profile/transport/serial/serial_transport_external.c
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cp -f $EXTENSIONS_DIR/Inc/nucleo_f767zi_usb_transport.h $FW_TARGETDIR/mcu_ws/eProsima/Micro-XRCE-DDS-Client/include/uxr/client/profile/transport/serial/serial_transport_external.h
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update_meta "microxrcedds_client" "UCLIENT_EXTERNAL_SERIAL=ON"
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update_meta "rmw_microxrcedds" "RMW_UXRCE_TRANSPORT=custom_serial"
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remove_meta "rmw_microxrcedds" "RMW_UXRCE_DEFAULT_UDP_IP"
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remove_meta "rmw_microxrcedds" "RMW_UXRCE_DEFAULT_UDP_PORT"
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echo "Configured $UROS_TRANSPORT mode with agent"
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else
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help
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fi

‎config/freertos/nucleo_f767zi/create.sh‎

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pushd $FW_TARGETDIR >/dev/null
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# Install toolchain
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mkdir toolchain
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# Install toolchain
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echo "Downloading ARM compiler, this may take a while"
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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
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tar --strip-components=1 -xvjf gcc-arm-none-eabi-8-2019-q3-update-linux.tar.bz2 -C toolchain > /dev/null
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rm gcc-arm-none-eabi-8-2019-q3-update-linux.tar.bz2
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# Import repos
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vcs import --input $PREFIX/config/$RTOS/$PLATFORM/board.repos
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# ignore broken packages
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touch mcu_ws/ros2/rcl_logging/rcl_logging_log4cxx/COLCON_IGNORE
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touch mcu_ws/ros2/rcl_logging/rcl_logging_spdlog/COLCON_IGNORE
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touch mcu_ws/ros2/rcl/COLCON_IGNORE
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touch mcu_ws/ros2/rosidl/rosidl_typesupport_introspection_c/COLCON_IGNORE
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touch mcu_ws/ros2/rosidl/rosidl_typesupport_introspection_cpp/COLCON_IGNORE
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touch mcu_ws/ros2/rcpputils/COLCON_IGNORE
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touch mcu_ws/uros/rcl/rcl_yaml_param_parser/COLCON_IGNORE
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touch mcu_ws/uros/rclc/rclc_examples/COLCON_IGNORE
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rosdep install -y --from-paths mcu_ws -i mcu_ws --rosdistro foxy --skip-keys="$SKIP"
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popd >/dev/null

‎config/freertos/nucleo_f767zi/flash.sh‎

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OLIMEX_EXTENSIONS_DIR=$FW_TARGETDIR/freertos_apps/microros_nucleo_f767zi_extensions
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pushd $OLIMEX_EXTENSIONS_DIR > /dev/null
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if [ -f build/micro-ROS.bin ]; then
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echo "Flashing firmware for $RTOS platform $PLATFORM"
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if lsusb -d 15BA:002a; then
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PROGRAMMER=interface/ftdi/nucleo-arm-usb-tiny-h.cfg
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elif lsusb -d 15BA:0003;then
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PROGRAMMER=interface/ftdi/nucleo-arm-usb-ocd.cfg
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elif lsusb -d 15BA:002b;then
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PROGRAMMER=interface/ftdi/nucleo-arm-usb-ocd-h.cfg
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else
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echo "Error. Unsuported OpenOCD USB programmer"
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exit 1
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fi
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openocd -f $PROGRAMMER -f target/stm32f7x.cfg -c init -c "reset halt" -c "flash write_image erase build/micro-ROS.bin 0x08000000" -c "reset" -c "exit"
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else
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echo "build/micro-ROS.bin not found: please compile before flashing."
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fi
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popd > /dev/null

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