Add Spresense board support

README.md

@@ -22,6 +22,7 @@ This package is the **official build system for micro-ROS**. It provides tools a
 | RTOS                                     | Platform                                                                                             | Version              | Example                      |
 | ---------------------------------------- | ---------------------------------------------------------------------------------------------------- | -------------------- | ---------------------------- |
 | [Nuttx](https://nuttx.org/)              | [Olimex STM32-E407](https://www.olimex.com/Products/ARM/ST/STM32-E407/open-source-hardware)          | v7.29                | `nuttx olimex-stm32-e407`    |
+| [Nuttx](https://nuttx.org/)              | [Spresense](https://developer.sony.com/develop/spresense/)                                           | v2.2.0               | `nuttx spresense`            |
 | [FreeRTOS](https://www.freertos.org/)    | [Crazyflie 2.1](https://www.bitcraze.io/crazyflie-2-1/)                                              | v10.2.1 - CF 2020.06 | `freertos crazyflie21`       |
 | [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` |
 | [FreeRTOS](https://www.freertos.org/)    | [ST Nucleo F446RE](https://www.st.com/en/evaluation-tools/nucleo-f446re.html)  <sup>1</sup>          | STM32CubeMX latest   | `freertos nucleo_f446re`     |
@@ -42,7 +43,9 @@ This package is the **official build system for micro-ROS**. It provides tools a
 
 *<sup>3</sup> a valid CMake toolchain with custom crosscompilation definition is required*
 
-Please note that NuttX with Olimex STM32-E407 board is the reference platform and not everything might be supported on other platforms.
+Please note that  
+- NuttX with Olimex STM32-E407 board is the reference platform and not everything might be supported on other platforms.  
+- NuttX with Spresense board is the reference platform and other platforms don't support this board.
 
 ## Secondary build system tools
 
@@ -138,6 +141,7 @@ In summary, the supported configurations for transports are:
 | ST Nucleo H743ZI <sup>1</sup> |         -          |         -         |        UART        |
 | ST Nucleo F746ZG <sup>1</sup> |         -          |       UART        |        UART        |
 | ST Nucleo F767ZI <sup>1</sup> |         -          |       UART        |         -          |
+| Spresense                     |       Network      |        -          |         -          |
 
 *<sup>1</sup> Community supported, may have lack of official support*
 

config/nuttx/spresense/build.sh

@@ -0,0 +1,12 @@
+#! /bin/bash
+
+set -e
+set -o nounset
+set -o pipefail
+
+
+NUTTX_DIR=$FW_TARGETDIR/spresense/sdk
+
+pushd $NUTTX_DIR >/dev/null
+	make
+popd >/dev/null

config/nuttx/spresense/client-colcon.meta

@@ -0,0 +1 @@
+../generic/client-colcon.meta

config/nuttx/spresense/client_uros_packages.repos

@@ -0,0 +1 @@
+../generic/client_uros_packages.repos

config/nuttx/spresense/configure.sh

@@ -0,0 +1,40 @@
+#! /bin/bash
+#
+#
+
+set -e
+set -o nounset
+set -o pipefail
+
+
+# spresense uses own sdk to config
+NUTTX_DIR=$FW_TARGETDIR/spresense/sdk
+MCU_WS_DIR=$FW_TARGETDIR/mcu_ws
+
+# parse the platform from this script's path name
+PLATFORM=$(head -n2 $FW_TARGETDIR/PLATFORM | tail -n1)
+
+# for the "generic" platform, the user must supply both board and config
+# if [ "$PLATFORM" = "generic" ]
+# then
+#     CONFIG=configs/$CONFIG_NAME
+# else
+#     CONFIG="configs/$PLATFORM/$CONFIG_NAME"
+# fi
+
+# if [ ! -d "$NUTTX_DIR/$CONFIG" ]
+# then
+#     echo "Configuration $CONFIG (expanded from $CONFIG_NAME) not found"
+#     exit 1
+# fi
+
+# source dev_ws for kconfig
+set +o nounset
+. $FW_TARGETDIR/dev_ws/install/setup.bash
+set -o nounset
+
+pushd $NUTTX_DIR >/dev/null
+make distclean
+#tools/configure.sh $CONFIG
+tools/config.py $CONFIG_NAME
+popd >/dev/null

config/nuttx/spresense/create.sh

@@ -0,0 +1,49 @@
+#! /bin/bash
+
+set -e
+set -o nounset
+set -o pipefail
+
+
+[ -d $FW_TARGETDIR ] || mkdir $FW_TARGETDIR
+pushd $FW_TARGETDIR >/dev/null
+
+    vcs import --input $PREFIX/config/$RTOS/$PLATFORM/uros_packages.repos --recursive
+
+    # copy uros apps from nuttx_apps to spresense/sdk/apps
+    cp -a apps/uros spresense/sdk/apps
+    sed -i 's#default "../mcu_ws/"#default "../../../mcu_ws/"#' spresense/sdk/apps/uros/Kconfig
+    sed -i "/\${NUTTX_TOPDIR}\/include\/uClibc++/a \${NUTTX_TOPDIR}\/..\/sdk\/include" spresense/sdk/apps/uros/arm_toolchain.cmake.in
+    sed -i "/\${NUTTX_APPDIR}\/configs\/olimex-stm32-e407\/src/d" spresense/sdk/apps/uros/arm_toolchain.cmake.in
+    sed -i '2 a \        "rcutils": {' spresense/sdk/apps/uros/rmw_config.meta.in
+    sed -i '3 a \            "cmake-args": [' spresense/sdk/apps/uros/rmw_config.meta.in
+    sed -i '4 a \                "-DRCUTILS_NO_64_ATOMIC=ON"' spresense/sdk/apps/uros/rmw_config.meta.in
+    sed -i '5 a \            ]' spresense/sdk/apps/uros/rmw_config.meta.in
+    sed -i '6 a \        },' spresense/sdk/apps/uros/rmw_config.meta.in
+
+    # install uclibc
+    if [ ! -d "spresense/nuttx/libs/libxx/uClibc++" ]
+    then
+      pushd uclibc >/dev/null
+      ./install.sh ../spresense/nuttx
+      popd >/dev/null
+    fi
+
+    # ignore broken packages
+    touch mcu_ws/ros2/rcl_logging/rcl_logging_log4cxx/COLCON_IGNORE
+    touch mcu_ws/ros2/rcl_logging/rcl_logging_spdlog/COLCON_IGNORE
+    touch mcu_ws/ros2/rcl/rcl_action/COLCON_IGNORE
+
+    touch mcu_ws/ros2/rcl/COLCON_IGNORE
+    touch mcu_ws/ros2/rosidl/rosidl_typesupport_introspection_c/COLCON_IGNORE
+    touch mcu_ws/ros2/rosidl/rosidl_typesupport_introspection_cpp/COLCON_IGNORE
+    touch mcu_ws/ros2/rcpputils/COLCON_IGNORE
+    touch mcu_ws/uros/rcl/rcl_yaml_param_parser/COLCON_IGNORE
+    touch mcu_ws/uros/rclc/rclc_examples/COLCON_IGNORE
+
+    rosdep install -y --from-paths mcu_ws -i mcu_ws --rosdistro foxy --skip-keys="$SKIP"
+
+popd >/dev/null
+
+cp $PREFIX/config/$RTOS/generic/package.xml $FW_TARGETDIR/apps/package.xml
+rosdep install -y --from-paths $FW_TARGETDIR/apps -i $FW_TARGETDIR/apps --rosdistro foxy

config/nuttx/spresense/flash.sh

@@ -0,0 +1,22 @@
+#! /bin/bash
+
+set -e
+set -o nounset
+set -o pipefail
+
+
+pushd $FW_TARGETDIR/spresense/sdk > /dev/null
+
+if [ "$PLATFORM" = "spresense" ]; then
+  if [ -f nuttx.spk ]; then
+    echo "Flashing firmware for $RTOS platform $PLATFORM"
+    ./tools/flash.sh -c $DEVICE_NAME nuttx.spk
+  else
+    echo "Nuttx/nuttx.spk not found: please compile before flashing."
+  fi
+else
+  echo "Unrecognized board: $PLATFORM"
+  exit 1
+fi
+
+popd > /dev/null

config/nuttx/spresense/package.xml

@@ -0,0 +1,22 @@
+<?xml version="1.0"?>
+<?xml-model href="http://download.ros.org/schema/package_format2.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="2">
+  <name>firmware</name>
+  <version>0.0.1</version>
+  <description>This is a dummy package to supply firmware build dependencies for spresense.</description>
+  <maintainer email="[email protected]">Ingo Luetkebohle</maintainer>
+  <maintainer email="[email protected]">Barry Xu</maintainer>
+  <maintainer email="[email protected]">Tomoya Fujita</maintainer>
+  <license>APL2</license>
+
+  <build_depend>gcc-arm-none-eabi</build_depend>
+  <build_depend>clang-tidy</build_depend>
+  <build_depend>clang-format</build_depend>
+  <build_depend>gperf</build_depend>
+  <build_depend>automake</build_depend>
+  <build_depend>nuttx_kconfig_vendor</build_depend>
+  <build_depend>git</build_depend>
+  <build_depend>openocd</build_depend>
+  <build_depend>ed</build_depend>
+
+</package>

config/nuttx/spresense/supported_platforms

@@ -0,0 +1 @@
+spresense

config/nuttx/spresense/uros_packages.repos

@@ -0,0 +1,17 @@
+repositories:
+  spresense:
+    type: git
+    url: https://github.com/sonydevworld/spresense.git
+    version: master
+  apps:
+    type: git
+    url: https://github.com/micro-ROS/nuttx_apps.git
+    version: foxy
+  uclibc:
+    type: git
+    url:  https://github.com/micro-ROS/uclibc.git
+    version: master
+  drive_base:
+    type: git
+    url: https://github.com/micro-ROS/drive_base.git
+    version: master

scripts/build_firmware.sh

@@ -69,7 +69,7 @@ fi
 # Building specific firmware folder
 echo "Building firmware for $RTOS platform $PLATFORM"
 
-if [ $PLATFORM != "generic" ] && [ -d "$PREFIX/config/$RTOS/generic" ]; then
+if [ $PLATFORM == "generic" ] || [ ! -d "$PREFIX/config/$RTOS/$PLATFORM" ]; then
     . $PREFIX/config/$RTOS/generic/build.sh
 else
     . $PREFIX/config/$RTOS/$PLATFORM/build.sh

scripts/configure_firmware.sh

@@ -17,7 +17,7 @@ else
 fi
 
 # Check if configure script exists
-if [ $PLATFORM != "generic" ] && [ -d "$PREFIX/config/$RTOS/generic" ]; then
+if [ $PLATFORM == "generic" ] || [ ! -d "$PREFIX/config/$RTOS/$PLATFORM" ]; then
     if [ ! -f $PREFIX/config/$RTOS/generic/configure.sh ]; then
         echo "No configuration step needed for generic platform $PLATFORM"
         exit 0
@@ -80,7 +80,7 @@ while [[ $# -gt 0 ]]; do
 done
 
 # Configure specific firmware folder if needed
-if [ $PLATFORM != "generic" ] && [ -d "$PREFIX/config/$RTOS/generic" ]; then
+if [ $PLATFORM == "generic" ] || [ ! -d "$PREFIX/config/$RTOS/$PLATFORM" ]; then
     echo "Configuring firmware for $RTOS platform $PLATFORM"
     exec $PREFIX/config/$RTOS/generic/configure.sh $@
 else

scripts/create_firmware_ws.sh

@@ -75,7 +75,7 @@ rosdep update
 rosdep install -y --from-paths src -i src --rosdistro foxy --skip-keys="$SKIP"
 
 # Check generic build
-if [ $PLATFORM != "generic" ] && [ -d "$PREFIX/config/$RTOS/generic" ]; then
+if [ $PLATFORM == "generic" ] || [ ! -d "$PREFIX/config/$RTOS/$PLATFORM" ]; then
     TARGET_FOLDER=generic
 else
     TARGET_FOLDER=$PLATFORM

scripts/flash_firmware.sh

@@ -16,8 +16,10 @@ else
     exit 1
 fi
 
+export DEVICE_NAME=${1:-/dev/ttyUSB0}
+
 # Flash specific firmware folder if needed
-if [ $PLATFORM != "generic" ] && [ -d "$PREFIX/config/$RTOS/generic" ]; then
+if [ $PLATFORM == "generic" ] || [ ! -d "$PREFIX/config/$RTOS/$PLATFORM" ]; then
     if [ -f $PREFIX/config/$RTOS/generic/flash.sh ]; then
       echo "Flashing firmware for $RTOS platform $PLATFORM"
       . $PREFIX/config/$RTOS/generic/flash.sh