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Add renesas RA6M5 (backport #390) #391

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Sep 20, 2021
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Add renesas RA6M5 (backport #390) #391

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eecac7c
Add renesas RA6M5 (#390)
pablogs9 Sep 20, 2021
7e8f33a
Fix
pablogs9 Sep 20, 2021
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35 changes: 18 additions & 17 deletions README.md
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Expand Up @@ -4,7 +4,7 @@ This ROS 2 package is the entry point for building micro-ROS apps for different
- [Supported platforms](#supported-platforms)
- [Standalone build system tools](#standalone-build-system-tools)
- [Dependencies](#dependencies)
- [Quick Start](#quick-start)
- [Quick start](#quick-start)
- [Building](#building)
- [Creating micro-ROS firmware](#creating-micro-ros-firmware)
- [Configuring micro-ROS firmware](#configuring-micro-ros-firmware)
Expand All @@ -20,22 +20,23 @@ This ROS 2 package is the entry point for building micro-ROS apps for different

This package is the **official build system for micro-ROS**. It provides tools and utils to crosscompile micro-ROS with just the common ROS 2 tools for these platforms:

| 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` |
| [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` |
| [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) | v2.6.0 | `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) | v2.6.0 | `zephyr discovery_l475_iot1` |
| [Zephyr](https://www.zephyrproject.org/) | [ST Nucleo H743ZI](https://www.st.com/en/evaluation-tools/nucleo-h743zi.html) <sup>1</sup> | v2.6.0 | `zephyr nucleo_h743zi` |
| [Zephyr](https://www.zephyrproject.org/) | [Zephyr emulator](https://docs.zephyrproject.org/2.3.0/boards/posix/native_posix/doc/index.html) | v2.6.0 | `zephyr host` |
| - | Static library (.a) and headers (.h) <sup>3</sup> | - | `generate_lib` |
| Linux | *Host <sup>2</sup>* | Ubuntu 18.04/20.04 | `host` |
| RTOS | Platform | Version | Example |
| ------------------------------------------------------------------------------------------------------------------- | ---------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | ---------------------------- | ---------------------------- |
| [Azure RTOS](https://azure.microsoft.com/es-es/services/rtos/) / [FreeRTOS](https://www.freertos.org/) / Bare metal | [Renesas RA6M5](https://www.renesas.com/us/en/products/microcontrollers-microprocessors/ra-cortex-m-mcus/ra6m5-200mhz-arm-cortex-m33-trustzone-highest-integration-ethernet-and-can-fde) | Renesas e<sup>2</sup> studio | `renesas_ra ra6m5` |
| [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` |
| [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` |
| [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) | v2.6.0 | `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) | v2.6.0 | `zephyr discovery_l475_iot1` |
| [Zephyr](https://www.zephyrproject.org/) | [ST Nucleo H743ZI](https://www.st.com/en/evaluation-tools/nucleo-h743zi.html) <sup>1</sup> | v2.6.0 | `zephyr nucleo_h743zi` |
| [Zephyr](https://www.zephyrproject.org/) | [Zephyr emulator](https://docs.zephyrproject.org/2.3.0/boards/posix/native_posix/doc/index.html) | v2.6.0 | `zephyr host` |
| - | Static library (.a) and headers (.h) <sup>3</sup> | - | `generate_lib` |
| Linux | *Host <sup>2</sup>* | Ubuntu 18.04/20.04 | `host` |

*<sup>1</sup> Community supported, may have lack of official support*

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2 changes: 2 additions & 0 deletions config/renesas_ra/dev_ros2_packages.txt
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keep:
None
1 change: 1 addition & 0 deletions config/renesas_ra/dev_uros_packages.repos
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repositories:
24 changes: 24 additions & 0 deletions config/renesas_ra/list_apps.sh
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function print_available_apps {
echo "Available apps for Renesas RA and $PLATFORM:"

UROS_APPS=$FW_TARGETDIR/micro_ros_renesas_demos

pushd $UROS_APPS >/dev/null
for app in $(ls -d */ | cut -f1 -d'/'); do
echo "+-- $app"
done
popd >/dev/null
}

function check_available_app {

UROS_APPS=$FW_TARGETDIR/micro_ros_renesas_demos

pushd $UROS_APPS >/dev/null
if [ ! -d $1 ]; then
echo "App $1 for Renesas RA not available"
print_available_apps
exit 1
fi
popd >/dev/null
}
5 changes: 5 additions & 0 deletions config/renesas_ra/ra6m5/board.repos
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repositories:
micro_ros_renesas_demos:
type: git
url: https://github.com/micro-ROS/micro_ros_renesas_demos
version: foxy
18 changes: 18 additions & 0 deletions config/renesas_ra/ra6m5/build.sh
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export UROS_APP=$(head -n1 $FW_TARGETDIR/APP | tail -n1)
export UROS_APP_FOLDER="$FW_TARGETDIR/micro_ros_renesas_demos/$UROS_APP"

if [ -d "$UROS_APP_FOLDER" ]; then
echo "Selected app: $UROS_APP"
else
echo "App not found: $UROS_APP"
print_available_apps
exit 1
fi

pushd $UROS_APP_FOLDER
git submodule init
git submodule update

print "Use Renesas e2studio to build and flash the project in $UROS_APP_FOLDER"

popd
1 change: 1 addition & 0 deletions config/renesas_ra/ra6m5/client_uros_packages.repos
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repositories:
1 change: 1 addition & 0 deletions config/renesas_ra/ra6m5/configure.sh
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echo $CONFIG_NAME > $FW_TARGETDIR/APP
14 changes: 14 additions & 0 deletions config/renesas_ra/ra6m5/create.sh
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pushd $FW_TARGETDIR >/dev/null
# # Install toolchain
# mkdir toolchain

# # Install toolchain
# echo "Downloading ARM compiler, this may take a while"
# curl -fsSLOk https://developer.arm.com/-/media/Files/downloads/gnu-rm/9-2020q2/gcc-arm-none-eabi-9-2020-q2-update-x86_64-linux.tar.bz2
# tar --strip-components=1 -xvjf gcc-arm-none-eabi-9-2020-q2-update-x86_64-linux.tar.bz2 -C toolchain > /dev/null
# rm gcc-arm-none-eabi-9-2020-q2-update-x86_64-linux.tar.bz2

# Import repos
vcs import --input $PREFIX/config/$RTOS/$PLATFORM/board.repos

popd >/dev/null
6 changes: 6 additions & 0 deletions config/renesas_ra/ra6m5/flash.sh
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export UROS_APP=$(head -n1 $FW_TARGETDIR/APP | tail -n1)
export UROS_APP_FOLDER="$FW_TARGETDIR/micro_ros_renesas_demos/$UROS_APP"

pushd $UROS_APP_FOLDER
print "Use Renesas e2studio to build and flash the project in $UROS_APP_FOLDER"
popd
2 changes: 1 addition & 1 deletion scripts/create_firmware_ws.sh
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Expand Up @@ -34,7 +34,7 @@ print_available_platforms () {
if [ $# -ge 1 ]; then
RTOS=$1
else
echo "Syntax: ros2 run micro_ros_setup create_firmware_ws.sh <RTOS name> [<platform>]"
echo "Syntax: ros2 run micro_ros_setup create_firmware_ws.sh <package> [<platform>]"
print_available_platforms
exit 1
fi
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