Added precompiled library for STMicroelectronics Nucleo H723ZG (USB), Nucleo H503RB (USB), Arduino Giga R1 (ETH UDP), and Portenta C33(USB)

.github/workflows/ci.yml

@@ -29,19 +29,26 @@ jobs:
                 - https://raw.githubusercontent.com/ROBOTIS-GIT/OpenCR/master/arduino/opencr_release/package_opencr_index.json
                 - https://github.com/espressif/arduino-esp32/releases/download/2.0.2/package_esp32_index.json
                 - https://www.pjrc.com/teensy/package_teensy_index.json
-                - https://files.seeedstudio.com/arduino/package_seeeduino_boards_index.json''' > arduino-cli.yaml
+                - https://files.seeedstudio.com/arduino/package_seeeduino_boards_index.json
+                - https://github.com/stm32duino/BoardManagerFiles/raw/main/package_stmicroelectronics_index.json''' > arduino-cli.yaml
             curl -fsSL https://raw.githubusercontent.com/ROBOTIS-GIT/OpenCR/master/arduino/opencr_release/package_opencr_index.json -o /github/home/.arduino15/package_opencr_index.json
             curl -fsSL https://github.com/espressif/arduino-esp32/releases/download/2.0.2/package_esp32_index.json -o /github/home/.arduino15/package_esp32_index.json
             curl -fsSL https://www.pjrc.com/teensy/package_teensy_index.json -o /github/home/.arduino15/package_teensy_index.json
             curl -fsSL https://files.seeedstudio.com/arduino/package_seeeduino_boards_index.json -o /github/home/.arduino15/package_seeeduino_boards_index.json
+            curl -fsSL https://github.com/stm32duino/BoardManagerFiles/raw/main/package_stmicroelectronics_index.json -o /github/home/.arduino15/package_stmicroelectronics_index.json
+
             export PATH=$PATH:/github/workspace/bin:/__w/micro_ros_arduino/micro_ros_arduino/bin
             arduino-cli core install OpenCR:OpenCR -v
             arduino-cli core install arduino:samd -v
             arduino-cli core install arduino:sam -v
-            arduino-cli core install arduino:mbed -v
+            arduino-cli core install arduino:mbed_portenta -v
+            arduino-cli core install arduino:mbed_giga -v
+            arduino-cli core install arduino:mbed_nano -v
+            arduino-cli core install arduino:renesas_portenta -v
             arduino-cli core install esp32:esp32 -v
             arduino-cli core install teensy:[email protected] -v
             arduino-cli core install Seeeduino:samd -v
+            arduino-cli core install STMicroelectronics:stm32 -v
             #
             # PATCHING TEENSY AND SAM
             cat checkout/extras/patching_boards/platform_teensy.txt > /github/home/.arduino15/packages/teensy/hardware/avr/1.59.0/platform.txt
@@ -52,6 +59,7 @@ jobs:
             arduino-cli core update-index
             arduino-cli lib update-index
             arduino-cli lib install WiFiNINA
+            arduino-cli lib install Ethernet
             arduino-cli lib install "STM32duino X-NUCLEO-IKS01A3"
             arduino-cli lib install "Seeed Arduino rpcWiFi" # Dependent libraries(e.g. "Seeed Arduino rpcUnified") will be installed together. See https://wiki.seeedstudio.com/Wio-Terminal-Network-Overview/#needed-libraries-for-wi-fi for more details.
             # Build all demos
@@ -64,20 +72,24 @@ jobs:
             arduino-cli compile --fqbn teensy:avr:teensy41 /github/home/Arduino/libraries/micro_ros_arduino/examples/micro-ros_time_sync -v
             arduino-cli compile --fqbn teensy:avr:teensy41 /github/home/Arduino/libraries/micro_ros_arduino/examples/micro-ros_types_handling -v
             # Build one demo for each platform
-            arduino-cli compile --fqbn arduino:mbed:nanorp2040connect /github/home/Arduino/libraries/micro_ros_arduino/examples/micro-ros_publisher -v
-            arduino-cli compile --fqbn arduino:mbed:nanorp2040connect /github/home/Arduino/libraries/micro_ros_arduino/examples/micro-ros_decibels -v
-            arduino-cli compile --fqbn arduino:mbed:nanorp2040connect /github/home/Arduino/libraries/micro_ros_arduino/examples/micro-ros_IMU_ML -v
-            arduino-cli compile --fqbn arduino:mbed:nanorp2040connect /github/home/Arduino/libraries/micro_ros_arduino/examples/micro-ros_publisher_wifi -v
+            arduino-cli compile --fqbn arduino:mbed_nano:nanorp2040connect /github/home/Arduino/libraries/micro_ros_arduino/examples/micro-ros_publisher -v
+            arduino-cli compile --fqbn arduino:mbed_nano:nanorp2040connect /github/home/Arduino/libraries/micro_ros_arduino/examples/micro-ros_decibels -v
+            arduino-cli compile --fqbn arduino:mbed_nano:nanorp2040connect /github/home/Arduino/libraries/micro_ros_arduino/examples/micro-ros_IMU_ML -v
+            arduino-cli compile --fqbn arduino:mbed_nano:nanorp2040connect /github/home/Arduino/libraries/micro_ros_arduino/examples/micro-ros_publisher_wifi -v
             arduino-cli compile --fqbn teensy:avr:teensy31 /github/home/Arduino/libraries/micro_ros_arduino/examples/micro-ros_publisher -v
             arduino-cli compile --fqbn teensy:avr:teensy35 /github/home/Arduino/libraries/micro_ros_arduino/examples/micro-ros_publisher -v
             arduino-cli compile --fqbn teensy:avr:teensy36 /github/home/Arduino/libraries/micro_ros_arduino/examples/micro-ros_publisher -v
             arduino-cli compile --fqbn teensy:avr:teensy41 /github/home/Arduino/libraries/micro_ros_arduino/examples/micro-ros_publisher -v
             arduino-cli compile --fqbn teensy:avr:teensy40 /github/home/Arduino/libraries/micro_ros_arduino/examples/micro-ros_publisher -v
             arduino-cli compile --fqbn arduino:samd:arduino_zero_native /github/home/Arduino/libraries/micro_ros_arduino/examples/micro-ros_publisher -v
             arduino-cli compile --fqbn arduino:sam:arduino_due_x /github/home/Arduino/libraries/micro_ros_arduino/examples/micro-ros_publisher -v
-            # arduino-cli compile --fqbn arduino:mbed:envie_m4 /github/home/Arduino/libraries/micro_ros_arduino/examples/micro-ros_publisher -v
-            arduino-cli compile --fqbn arduino:mbed:envie_m7 /github/home/Arduino/libraries/micro_ros_arduino/examples/micro-ros_publisher -v
-            arduino-cli compile --fqbn arduino:mbed:envie_m7 /github/home/Arduino/libraries/micro_ros_arduino/examples/micro-ros_publisher_wifi -v
+            # arduino-cli compile --fqbn arduino:mbed_portenta:envie_m4 /github/home/Arduino/libraries/micro_ros_arduino/examples/micro-ros_publisher -v
+            arduino-cli compile --fqbn arduino:mbed_portenta:envie_m7 /github/home/Arduino/libraries/micro_ros_arduino/examples/micro-ros_publisher -v
+            # arduino-cli compile --fqbn arduino:mbed_portenta:envie_m7 /github/home/Arduino/libraries/micro_ros_arduino/examples/micro-ros_publisher_wifi -v
+            arduino-cli compile --fqbn arduino:mbed_giga:giga /github/home/Arduino/libraries/micro_ros_arduino/examples/micro-ros_publisher -v
             arduino-cli compile --fqbn esp32:esp32:esp32 /github/home/Arduino/libraries/micro_ros_arduino/examples/micro-ros_publisher -v
             arduino-cli compile --fqbn esp32:esp32:esp32 /github/home/Arduino/libraries/micro_ros_arduino/examples/micro-ros_publisher_wifi -v
             arduino-cli compile --fqbn Seeeduino:samd:seeed_wio_terminal /github/home/Arduino/libraries/micro_ros_arduino/examples/micro-ros_publisher_wifi -v
+            arduino-cli compile --fqbn STMicroelectronics:stm32:Nucleo_144:pnum=NUCLEO_H723ZG /github/home/Arduino/libraries/micro_ros_arduino/examples/micro-ros_publisher -v
+            arduino-cli compile --fqbn STMicroelectronics:stm32:Nucleo_64:pnum=NUCLEO_H503RB /github/home/Arduino/libraries/micro_ros_arduino/examples/micro-ros_publisher -v
+            arduino-cli compile --fqbn arduino:renesas_portenta:portenta_c33 /github/home/Arduino/libraries/micro_ros_arduino/examples/micro-ros_publisher -v

examples/micro-ros_publisher_ethernet/micro-ros_publisher_ethernet.ino

@@ -7,7 +7,8 @@
 #include <rclc/executor.h>
 #include <std_msgs/msg/int32.h>
 
-#if !defined(TARGET_STM32F4) && !defined(ARDUINO_TEENSY41) && !defined(TARGET_PORTENTA_H7_M7)
+#if !defined(TARGET_STM32F4) && !defined(ARDUINO_TEENSY41) && !defined(TARGET_PORTENTA_H7_M7) && !defined(ARDUINO_ARCH_MBED_GIGA)
+
 #error This example is only available for Arduino Portenta, Arduino Teensy41 and STM32F4
 #endif
 
@@ -74,4 +75,4 @@ void loop() {
     RCSOFTCHECK(rcl_publish(&publisher, &msg, NULL));
     msg.data++;
     delay(100);
-}
+}

extras/library_generation/library_generation.sh

@@ -22,6 +22,11 @@ if [ $OPTIND -eq 1 ]; then
     PLATFORMS+=("portenta-m7")
     PLATFORMS+=("kakutef7-m7")
     PLATFORMS+=("esp32")
+    PLATFORMS+=("stm32-m7")
+    PLATFORMS+=("stm32-m33")
+    PLATFORMS+=("portenta-c33")
+
+
 fi
 
 shift $((OPTIND-1))
@@ -244,6 +249,50 @@ if [[ " ${PLATFORMS[@]} " =~ " esp32s3 " ]]; then
     cp -R firmware/build/libmicroros.a /project/src/esp32s3/libmicroros.a
 fi
 
+######## Build for STM32 Cortex M7 core (H723ZG) ########
+if [[ " ${PLATFORMS[@]} " =~ " stm32-m7 " ]]; then
+    rm -rf firmware/build
+
+    export TOOLCHAIN_PREFIX=/uros_ws/gcc-arm-none-eabi-9-2020-q2-update/bin/arm-none-eabi-
+    ros2 run micro_ros_setup build_firmware.sh /project/extras/library_generation/stm32-m7_toolchain.cmake /project/extras/library_generation/colcon.meta
+
+    find firmware/build/include/ -name "*.c"  -delete
+    cp -R firmware/build/include/* /project/src/
+
+    mkdir -p /project/src/cortex-m7/fpv4-sp-d16-hard
+    cp -R firmware/build/libmicroros.a /project/src/cortex-m7/fpv4-sp-d16-hard/libmicroros.a
+fi
+
+######## Build for STM32 Cortex M33 core (H503RB) ########
+
+if [[ " ${PLATFORMS[@]} " =~ " stm32-m33 " ]]; then
+    rm -rf firmware/build
+
+    export TOOLCHAIN_PREFIX=/uros_ws/gcc-arm-none-eabi-9-2020-q2-update/bin/arm-none-eabi-
+    ros2 run micro_ros_setup build_firmware.sh /project/extras/library_generation/stm32-m33_toolchain.cmake /project/extras/library_generation/colcon_lowmem.meta
+
+    find firmware/build/include/ -name "*.c"  -delete
+    cp -R firmware/build/include/* /project/src/
+
+    mkdir -p /project/src/cortex-m33/fpv4-sp-d16-hard
+    cp -R firmware/build/libmicroros.a /project/src/cortex-m33/fpv4-sp-d16-hard/libmicroros.a
+fi
+
+######## Build for Arduino Cortex M33 core (Portenta C33) ########
+
+if [[ " ${PLATFORMS[@]} " =~ " portenta-c33 " ]]; then
+    rm -rf firmware/build
+
+    export TOOLCHAIN_PREFIX=/uros_ws/gcc-arm-none-eabi-7-2017-q4-major/bin/arm-none-eabi-
+    ros2 run micro_ros_setup build_firmware.sh /project/extras/library_generation/portenta-c33_toolchain.cmake /project/extras/library_generation/colcon_lowmem.meta
+
+    find firmware/build/include/ -name "*.c"  -delete
+    cp -R firmware/build/include/* /project/src/
+
+    mkdir -p /project/src/cortex-m33/fpv5-sp-d16-hard
+    cp -R firmware/build/libmicroros.a /project/src/cortex-m33/fpv5-sp-d16-hard/libmicroros.a
+fi
+
 ######## Fix include paths  ########
 pushd firmware/mcu_ws > /dev/null
     INCLUDE_ROS2_PACKAGES=$(colcon list | awk '{print $1}' | awk -v d=" " '{s=(NR==1?s:s d)$0}END{print s}')

extras/library_generation/portenta-c33_toolchain.cmake

@@ -0,0 +1,16 @@
+SET(CMAKE_SYSTEM_NAME Generic)
+set(CMAKE_CROSSCOMPILING 1)
+set(CMAKE_TRY_COMPILE_TARGET_TYPE STATIC_LIBRARY)
+
+set(CMAKE_C_COMPILER $ENV{TOOLCHAIN_PREFIX}gcc)
+set(CMAKE_CXX_COMPILER $ENV{TOOLCHAIN_PREFIX}g++)
+
+SET(CMAKE_C_COMPILER_WORKS 1 CACHE INTERNAL "")
+SET(CMAKE_CXX_COMPILER_WORKS 1 CACHE INTERNAL "")
+
+set(FLAGS "-O3 -mfloat-abi=hard -mfpu=fpv5-sp-d16 -fsingle-precision-constant -Wdouble-promotion -ffunction-sections -fdata-sections -nostdlib -fno-exceptions -mcpu=cortex-m33 --param max-inline-insns-single=500 -DARDUINO=10813 -mthumb" CACHE STRING "" FORCE)
+
+set(CMAKE_C_FLAGS_INIT "-std=c11 ${FLAGS} -DCLOCK_MONOTONIC=0 -D'__attribute__(x)='" CACHE STRING "" FORCE)
+set(CMAKE_CXX_FLAGS_INIT "-std=c++14 ${FLAGS} -fno-rtti -DCLOCK_MONOTONIC=0 -D'__attribute__(x)='" CACHE STRING "" FORCE)
+
+set(__BIG_ENDIAN__ 0)

extras/library_generation/stm32-m33_toolchain.cmake

@@ -0,0 +1,16 @@
+SET(CMAKE_SYSTEM_NAME Generic)
+set(CMAKE_CROSSCOMPILING 1)
+set(CMAKE_TRY_COMPILE_TARGET_TYPE STATIC_LIBRARY)
+
+set(CMAKE_C_COMPILER $ENV{TOOLCHAIN_PREFIX}gcc)
+set(CMAKE_CXX_COMPILER $ENV{TOOLCHAIN_PREFIX}g++)
+
+SET(CMAKE_C_COMPILER_WORKS 1 CACHE INTERNAL "")
+SET(CMAKE_CXX_COMPILER_WORKS 1 CACHE INTERNAL "")
+
+set(FLAGS "-O3 -mfloat-abi=hard -mfpu=fpv4-sp-d16 -fsingle-precision-constant -Wdouble-promotion -ffunction-sections -fdata-sections -nostdlib -fno-exceptions -mcpu=cortex-m33 --param max-inline-insns-single=500 -DF_CPU=250000000L -DARDUINO=10813 -mthumb" CACHE STRING "" FORCE)
+
+set(CMAKE_C_FLAGS_INIT "-std=c11 ${FLAGS} -DCLOCK_MONOTONIC=0 -D'__attribute__(x)='" CACHE STRING "" FORCE)
+set(CMAKE_CXX_FLAGS_INIT "-std=c++14 ${FLAGS} -fno-rtti -DCLOCK_MONOTONIC=0 -D'__attribute__(x)='" CACHE STRING "" FORCE)
+
+set(__BIG_ENDIAN__ 0)

extras/library_generation/stm32-m7_toolchain.cmake

@@ -0,0 +1,16 @@
+SET(CMAKE_SYSTEM_NAME Generic)
+set(CMAKE_CROSSCOMPILING 1)
+set(CMAKE_TRY_COMPILE_TARGET_TYPE STATIC_LIBRARY)
+
+set(CMAKE_C_COMPILER $ENV{TOOLCHAIN_PREFIX}gcc)
+set(CMAKE_CXX_COMPILER $ENV{TOOLCHAIN_PREFIX}g++)
+
+SET(CMAKE_C_COMPILER_WORKS 1 CACHE INTERNAL "")
+SET(CMAKE_CXX_COMPILER_WORKS 1 CACHE INTERNAL "")
+
+set(FLAGS "-O3 -mfloat-abi=hard -mfpu=fpv4-sp-d16 -fsingle-precision-constant -Wdouble-promotion -ffunction-sections -fdata-sections -nostdlib -fno-exceptions -mcpu=cortex-m7 --param max-inline-insns-single=500 -DF_CPU=550000000L -DARDUINO=10813 -mthumb" CACHE STRING "" FORCE)
+
+set(CMAKE_C_FLAGS_INIT "-std=c11 ${FLAGS} -DCLOCK_MONOTONIC=0 -D'__attribute__(x)='" CACHE STRING "" FORCE)
+set(CMAKE_CXX_FLAGS_INIT "-std=c++14 ${FLAGS} -fno-rtti -DCLOCK_MONOTONIC=0 -D'__attribute__(x)='" CACHE STRING "" FORCE)
+
+set(__BIG_ENDIAN__ 0)

library.properties

@@ -7,4 +7,4 @@ paragraph=micro-ROS Arduino library
 url=https://github.com/micro-ROS/micro_ros_arduino
 precompiled=true
 category=Other
-architectures=stm32,OpenCR,Teensyduino,samd,sam,mbed,esp32,mbed_portenta
+architectures=stm32,OpenCR,Teensyduino,samd,sam,mbed,esp32,mbed_portenta,mbed_giga

src/default_transport.cpp

@@ -4,7 +4,7 @@ extern "C"
 {
   #include <stdio.h>
   #include <stdbool.h>
-  #include <sys/time.h>
+  #include <time.h>
 
   int clock_gettime(clockid_t unused, struct timespec *tp) __attribute__ ((weak));
   bool arduino_transport_open(struct uxrCustomTransport * transport) __attribute__ ((weak));

src/micro_ros_arduino.h

@@ -60,7 +60,17 @@ static inline void set_microros_transports(){
 #include <PortentaEthernet.h>
 #endif
 
-#if defined(TARGET_STM32F4) || defined(ARDUINO_TEENSY41)  || defined(TARGET_PORTENTA_H7_M7)
+#if defined(ARDUINO_ARCH_MBED_GIGA)
+#include <Arduino.h>
+#include <EthernetUdp.h>
+#include <Ethernet.h>
+
+#include <uxr/client/transport.h>
+#include <rmw_microros/rmw_microros.h>
+#include "IPAddress.h"
+#endif
+
+#if defined(TARGET_STM32F4) || defined(ARDUINO_TEENSY41)  || defined(TARGET_PORTENTA_H7_M7) || defined(ARDUINO_ARCH_MBED_GIGA)
 extern "C" bool arduino_native_ethernet_udp_transport_open(struct uxrCustomTransport * transport);
 extern "C" bool arduino_native_ethernet_udp_transport_close(struct uxrCustomTransport * transport);
 extern "C" size_t arduino_native_ethernet_udp_transport_write(struct uxrCustomTransport* transport, const uint8_t * buf, size_t len, uint8_t * err);

src/native_ethernet_transport.cpp

@@ -16,7 +16,15 @@
 #include <micro_ros_arduino.h>
 #endif
 
-#if defined(TARGET_STM32F4) || defined(ARDUINO_TEENSY41) || defined(TARGET_PORTENTA_H7_M7)
+#if defined(ARDUINO_ARCH_MBED_GIGA)
+#include <Arduino.h>
+#include <EthernetUdp.h>
+#include <Ethernet.h>
+#include <micro_ros_arduino.h>
+
+#endif
+
+#if defined(TARGET_STM32F4) || defined(ARDUINO_TEENSY41) || defined(TARGET_PORTENTA_H7_M7)|| defined(ARDUINO_ARCH_MBED_GIGA) 
 extern "C" {
 
 #include <stdbool.h>