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 <[email protected]>

.github/CODEOWNERS

@@ -1,4 +1,5 @@
 *                                   @pablogs9 @jamoralp @FranFin
 config/freertos/nucleo_f446ze/      @alsaibie
 config/freertos/esp32/              @donRaphaco
-config/freertos/nucleo_f746zg/      @edesta-be 
+config/freertos/nucleo_f746zg/      @edesta-be 
+config/freertos/nucleo_f767zi/      @jnugen 

.github/workflows/ci.yml

@@ -119,6 +119,12 @@ jobs:
             configuration: int32_publisher
             transport_arguments: -t serial -d 1
             binary: 'firmware/freertos_apps/microros_nucleo_f746zg_extensions/build/micro-ROS.elf'
+
+          - rtos: freertos
+            platform: nucleo_f767zi
+            configuration: int32_publisher
+            transport_arguments: -t serial -d 1
+            binary: 'firmware/freertos_apps/microros_nucleo_f767zi_extensions/build/micro-ROS.elf'
 
           - rtos: freertos
             platform: esp32

README.md

@@ -26,6 +26,7 @@ This package is the **official build system for micro-ROS**. It provides tools a
 | [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 F446ZE](https://www.st.com/en/evaluation-tools/nucleo-f446ze.html)  <sup>1</sup>          | STM32CubeMX latest   | `freertos nucleo_f446ze`     |
 | [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`     |
+| [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`     |
 | [FreeRTOS](https://www.freertos.org/)    | [Espressif ESP32](https://www.espressif.com/en/products/socs/esp32/overview)                         | v8.2.0               | `freertos esp32`             |
 | [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`   |
 | [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` |
@@ -134,6 +135,7 @@ In summary, the supported configurations for transports are:
 | ST Nucleo F446ZE <sup>1</sup> |         -          |       UART        |         -          |
 | ST Nucleo H743ZI <sup>1</sup> |         -          |         -         |        UART        |
 | ST Nucleo F746ZG <sup>1</sup> |         -          |       UART        |        UART        |
+| ST Nucleo F767ZI <sup>1</sup> |         -          |       UART        |         -          |
 
 *<sup>1</sup> Community supported, may have lack of official support*
 

config/freertos/nucleo_f767zi/board.repos

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

config/freertos/nucleo_f767zi/build.sh

@@ -0,0 +1,36 @@
+EXTENSIONS_DIR=$FW_TARGETDIR/freertos_apps/microros_nucleo_f767zi_extensions
+
+. $PREFIX/config/utils.sh
+
+pushd $EXTENSIONS_DIR >/dev/null
+
+    export UROS_APP=$(head -n1 $FW_TARGETDIR/APP | tail -n1)
+
+    if [ -v UROS_CUSTOM_APP_FOLDER ]; then
+        export UROS_APP_FOLDER="$UROS_CUSTOM_APP_FOLDER/$UROS_APP"
+    else
+        export UROS_APP_FOLDER="$FW_TARGETDIR/freertos_apps/apps/$UROS_APP"
+    fi
+
+    if [ -d "$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

config/freertos/nucleo_f767zi/client-colcon.meta

@@ -0,0 +1,36 @@
+{
+    "names": {
+        "tracetools": {
+            "cmake-args": [
+                "-DTRACETOOLS_DISABLED=ON",
+                "-DTRACETOOLS_STATUS_CHECKING_TOOL=OFF"
+            ]
+        },
+        "rcutils": {
+            "cmake-args": [
+                "-DENABLE_TESTING=OFF",
+                "-DRCUTILS_NO_FILESYSTEM=ON",
+                "-DRCUTILS_AVOID_DYNAMIC_ALLOCATION=ON"
+            ]
+        },
+        "microxrcedds_client": {
+            "cmake-args": [
+                "-DUCLIENT_PIC=OFF",
+                "-DUCLIENT_PROFILE_DISCOVERY=OFF"
+            ]
+        },
+        "rmw_microxrcedds": {
+            "cmake-args": [
+                "-DRMW_UXRCE_XML_BUFFER_LENGTH=400",
+                "-DRMW_UXRCE_TRANSPORT=custom_serial",
+                "-DRMW_UXRCE_DEFAULT_SERIAL_DEVICE=3"
+            ]
+        },
+        "tracetools": {
+            "cmake-args": [
+                "-DTRACETOOLS_DISABLED=ON",
+                "-DTRACETOOLS_STATUS_CHECKING_TOOL=OFF"
+            ]
+        }
+    }
+}

config/freertos/nucleo_f767zi/client_uros_packages.repos

@@ -0,0 +1,50 @@
+repositories:
+  eProsima/Micro-CDR:
+    type: git
+    url: https://github.com/eProsima/micro-CDR.git
+    version: foxy
+  eProsima/Micro-XRCE-DDS-Client:
+    type: git
+    url: https://github.com/eProsima/Micro-XRCE-DDS-Client.git
+    version: foxy
+
+# MicroROS
+
+  uros/rcl:
+    type: git
+    url: https://github.com/micro-ROS/rcl
+    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: foxy
+  uros/micro_ros_msgs:
+    type: git
+    url: https://github.com/micro-ROS/micro_ros_msgs.git
+    version: foxy
+  uros/rmw_microxrcedds:
+    type: git
+    url: https://github.com/micro-ROS/rmw-microxrcedds.git
+    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: foxy
+  uros/tracetools:
+    type: git
+    url: https://gitlab.com/micro-ROS/ros_tracing/ros2_tracing
+    version: foxy_microros
+
+# Remove this when it returns to ros2.repos
+  ros2/tinydir_vendor:
+    type: git
+    url: https://github.com/ros2/tinydir_vendor.git
+    version: master

config/freertos/nucleo_f767zi/configure.sh

@@ -0,0 +1,64 @@
+
+EXTENSIONS_DIR=$FW_TARGETDIR/freertos_apps/microros_nucleo_f767zi_extensions
+
+. $PREFIX/config/utils.sh
+
+function help {
+      echo "Configure script need an argument."
+      echo "   --transport -t       udp, serial or serial-usb"
+      echo "   --dev -d             agent string descriptor in a serial-like transport"
+      echo "   --ip -i              agent IP in a network-like transport"
+      echo "   --port -p            agent port in a network-like transport"
+}
+
+echo $CONFIG_NAME > $FW_TARGETDIR/APP
+
+if [ "$UROS_TRANSPORT" == "udp" ]; then
+
+      update_meta "rmw_microxrcedds" "RMW_UXRCE_TRANSPORT="$UROS_TRANSPORT
+      update_meta "rmw_microxrcedds" "RMW_UXRCE_DEFAULT_UDP_IP="$UROS_AGENT_IP
+      update_meta "rmw_microxrcedds" "RMW_UXRCE_DEFAULT_UDP_PORT="$UROS_AGENT_PORT
+      update_meta "microxrcedds_client" "UCLIENT_PROFILE_SERIAL=OFF"
+      update_meta "microxrcedds_client" "UCLIENT_PROFILE_UDP=ON"
+      update_meta "microxrcedds_client" "UCLIENT_PROFILE_TCP=OFF"
+
+      remove_meta "rmw_microxrcedds" "RMW_UXRCE_DEFAULT_SERIAL_DEVICE"
+      remove_meta "microxrcedds_client" "UCLIENT_EXTERNAL_SERIAL"
+      remove_meta "microxrcedds_client" "EXTERNAL_TRANSPORT_HEADER_SERIAL"
+      remove_meta "microxrcedds_client" "EXTERNAL_TRANSPORT_SRC_SERIAL"
+
+      echo "Configured $UROS_TRANSPORT mode with agent at $UROS_AGENT_IP:$UROS_AGENT_PORT"
+
+elif [ "$UROS_TRANSPORT" == "serial" ]; then
+      echo "Using serial device USART$UROS_AGENT_DEVICE."
+
+      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
+      cp -f $EXTENSIONS_DIR/Inc/nucleo_f767zi_serial_transport.h $FW_TARGETDIR/mcu_ws/eProsima/Micro-XRCE-DDS-Client/include/uxr/client/profile/transport/serial/serial_transport_external.h
+      update_meta "microxrcedds_client" "UCLIENT_EXTERNAL_SERIAL=ON"
+      update_meta "microxrcedds_client" "UCLIENT_PROFILE_SERIAL=ON"
+      update_meta "microxrcedds_client" "UCLIENT_PROFILE_UDP=OFF"
+      update_meta "microxrcedds_client" "UCLIENT_PROFILE_TCP=OFF"
+
+      update_meta "rmw_microxrcedds" "RMW_UXRCE_TRANSPORT=custom_serial"
+      update_meta "rmw_microxrcedds" "RMW_UXRCE_DEFAULT_SERIAL_DEVICE="$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"
+
+elif [ "$UROS_TRANSPORT" == "serial-usb" ]; then
+      echo "Using serial USB device. EXPERIMENTAL."
+
+      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
+      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
+      update_meta "microxrcedds_client" "UCLIENT_EXTERNAL_SERIAL=ON"
+      update_meta "rmw_microxrcedds" "RMW_UXRCE_TRANSPORT=custom_serial"
+
+      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"
+else
+      help
+fi

config/freertos/nucleo_f767zi/create.sh

@@ -0,0 +1,26 @@
+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/$PLATFORM/board.repos
+
+    # ignore broken packages
+    touch mcu_ws/ros2/rcl_logging/rcl_logging_log4cxx/COLCON_IGNORE
+    touch mcu_ws/ros2/rcl_logging/rcl_logging_spdlog/COLCON_IGNORE
+    touch mcu_ws/ros2/rcl/COLCON_IGNORE
+    touch mcu_ws/ros2/rosidl/rosidl_typesupport_introspection_c/COLCON_IGNORE
+    touch mcu_ws/ros2/rosidl/rosidl_typesupport_introspection_cpp/COLCON_IGNORE
+    touch mcu_ws/ros2/rcpputils/COLCON_IGNORE
+    touch mcu_ws/uros/rcl/rcl_yaml_param_parser/COLCON_IGNORE
+    touch mcu_ws/uros/rclc/rclc_examples/COLCON_IGNORE
+
+    rosdep install -y --from-paths mcu_ws -i mcu_ws --rosdistro foxy --skip-keys="$SKIP"
+popd >/dev/null

config/freertos/nucleo_f767zi/flash.sh

@@ -0,0 +1,24 @@
+OLIMEX_EXTENSIONS_DIR=$FW_TARGETDIR/freertos_apps/microros_nucleo_f767zi_extensions
+
+pushd $OLIMEX_EXTENSIONS_DIR > /dev/null
+
+  if [ -f build/micro-ROS.bin ]; then
+    echo "Flashing firmware for $RTOS platform $PLATFORM"
+
+      if lsusb -d 15BA:002a; then
+        PROGRAMMER=interface/ftdi/nucleo-arm-usb-tiny-h.cfg
+      elif lsusb -d 15BA:0003;then
+        PROGRAMMER=interface/ftdi/nucleo-arm-usb-ocd.cfg
+      elif lsusb -d 15BA:002b;then
+        PROGRAMMER=interface/ftdi/nucleo-arm-usb-ocd-h.cfg
+      else
+        echo "Error. Unsuported OpenOCD USB programmer"
+        exit 1
+      fi
+
+      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"
+  else
+    echo "build/micro-ROS.bin not found: please compile before flashing."
+  fi
+
+popd > /dev/null

config/freertos/nucleo_f767zi/package.xml

@@ -0,0 +1,12 @@
+<?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>0.0.0</version>
+  <description>Micro-ROS dependecies for FreeRTOS and STM32F767ZI Nucleo Board</description>
+  <maintainer email="[email protected]">James Nugen</maintainer>
+  <license>APL2</license>
+
+  <build_depend>openocd</build_depend>
+
+</package>