Add support for Arduino Due and Arduino Zero #34
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| Original file line number | Diff line number | Diff line change |
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| @@ -0,0 +1,50 @@ | ||
| #include <Arduino.h> | ||
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There was a problem hiding this comment. I would love to be able to change the transport in the project instead of the library. MCUs usually have multiple UARTs that users may switch to, or to other protocols, SPI, I2C, and CAN. Also, we can benefit from Arduino's libraries to interact with those protocols. Defining transport in the project would be super handy. However, in that case, we need to include the same transport file in all examples which is not the best solution. Let me know if you have any suggestions. |
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| extern "C" | ||
| { | ||
| #include <stdio.h> | ||
| #include <stdbool.h> | ||
| #include <sys/time.h> | ||
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| int clock_gettime(clockid_t unused, struct timespec *tp) | ||
| { | ||
| (void)unused; | ||
| uint64_t m = micros(); | ||
| tp->tv_sec = m / 1000000; | ||
| tp->tv_nsec = (m % 1000000) * 1000; | ||
| return 0; | ||
| } | ||
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| bool arduino_serial_platform_open() | ||
| { | ||
| // Place here your initialization platform code | ||
| // Return true if success | ||
| SerialUSB.begin(115200); | ||
| return true; | ||
| } | ||
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| bool arduino_serial_platform_close() | ||
| { | ||
| // Place here your closing platform code | ||
| // Return true if success | ||
| return true; | ||
| } | ||
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| size_t arduino_serial_platform_write(uint8_t *buf, size_t len, uint8_t *errcode) | ||
| { | ||
| // Place here your writing bytes platform code | ||
| // Return number of bytes written | ||
| (void)errcode; | ||
| size_t sent = SerialUSB.write(buf, len); | ||
| return sent; | ||
| } | ||
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| size_t arduino_serial_platform_read(uint8_t *buf, size_t len, int timeout, uint8_t *errcode) | ||
| { | ||
| // Place here your reading bytes platform code | ||
| // Return number of bytes read (max bytes: len) | ||
| (void)errcode; | ||
| SerialUSB.setTimeout(timeout); | ||
| return SerialUSB.readBytes((char *)buf, len); | ||
| } | ||
| } | ||
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,51 @@ | ||
| { | ||
| "names": { | ||
| "tracetools": { | ||
| "cmake-args": [ | ||
| "-DTRACETOOLS_DISABLED=ON", | ||
| "-DTRACETOOLS_STATUS_CHECKING_TOOL=OFF" | ||
| ] | ||
| }, | ||
| "rosidl_typesupport": { | ||
| "cmake-args": [ | ||
| "-DROSIDL_TYPESUPPORT_SINGLE_TYPESUPPORT=ON" | ||
| ] | ||
| }, | ||
| "rcl": { | ||
| "cmake-args": [ | ||
| "-DBUILD_TESTING=OFF", | ||
| "-DRCL_COMMAND_LINE_ENABLED=OFF", | ||
| "-DRCL_LOGGING_ENABLED=OFF" | ||
| ] | ||
| }, | ||
| "rcutils": { | ||
| "cmake-args": [ | ||
| "-DENABLE_TESTING=OFF", | ||
| "-DRCUTILS_NO_FILESYSTEM=ON", | ||
| "-DRCUTILS_NO_THREAD_SUPPORT=ON", | ||
| "-DRCUTILS_NO_64_ATOMIC=ON", | ||
| "-DRCUTILS_AVOID_DYNAMIC_ALLOCATION=ON" | ||
| ] | ||
| }, | ||
| "microxrcedds_client": { | ||
| "cmake-args": [ | ||
| "-DUCLIENT_PIC=OFF", | ||
| "-DUCLIENT_PROFILE_UDP=OFF", | ||
| "-DUCLIENT_PROFILE_DISCOVERY=OFF", | ||
| "-DUCLIENT_PROFILE_SERIAL=ON", | ||
| "-DUCLIENT_EXTERNAL_SERIAL=ON" | ||
| ] | ||
| }, | ||
| "rmw_microxrcedds": { | ||
| "cmake-args": [ | ||
| "-DRMW_UXRCE_MAX_NODES=1", | ||
| "-DRMW_UXRCE_MAX_PUBLISHERS=2", | ||
| "-DRMW_UXRCE_MAX_SUBSCRIPTIONS=1", | ||
| "-DRMW_UXRCE_MAX_SERVICES=0", | ||
| "-DRMW_UXRCE_MAX_CLIENTS=1", | ||
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There was a problem hiding this comment. Without these changes, I wasn't able to fit the library into Arduino Zero. Ideally, we would also be able to change these parameters from an Arduino project (without changing and recompiling the library), but I didn't know how to solve it. |
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| "-DRMW_UXRCE_MAX_HISTORY=1", | ||
| "-DRMW_UXRCE_TRANSPORT=custom_serial" | ||
| ] | ||
| } | ||
| } | ||
| } | ||
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,16 @@ | ||
| SET(CMAKE_SYSTEM_NAME Generic) | ||
| set(CMAKE_CROSSCOMPILING 1) | ||
| set(CMAKE_TRY_COMPILE_TARGET_TYPE STATIC_LIBRARY) | ||
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| set(CMAKE_C_COMPILER $ENV{TOOLCHAIN_PREFIX}gcc) | ||
| set(CMAKE_CXX_COMPILER $ENV{TOOLCHAIN_PREFIX}g++) | ||
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| SET(CMAKE_C_COMPILER_WORKS 1 CACHE INTERNAL "") | ||
| SET(CMAKE_CXX_COMPILER_WORKS 1 CACHE INTERNAL "") | ||
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| set(FLAGS "-O2 -fsingle-precision-constant -ffunction-sections -fdata-sections -fno-exceptions -mcpu=cortex-m0 -nostdlib -mthumb -D'RCUTILS_LOG_MIN_SEVERITY=RCUTILS_LOG_MIN_SEVERITY_NONE'" CACHE STRING "" FORCE) | ||
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| 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) | ||
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| set(__BIG_ENDIAN__ 0) |
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,16 @@ | ||
| SET(CMAKE_SYSTEM_NAME Generic) | ||
| set(CMAKE_CROSSCOMPILING 1) | ||
| set(CMAKE_TRY_COMPILE_TARGET_TYPE STATIC_LIBRARY) | ||
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| set(CMAKE_C_COMPILER $ENV{TOOLCHAIN_PREFIX}gcc) | ||
| set(CMAKE_CXX_COMPILER $ENV{TOOLCHAIN_PREFIX}g++) | ||
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| SET(CMAKE_C_COMPILER_WORKS 1 CACHE INTERNAL "") | ||
| SET(CMAKE_CXX_COMPILER_WORKS 1 CACHE INTERNAL "") | ||
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| set(FLAGS "-O2 -ffunction-sections -fdata-sections -fno-exceptions -mcpu=cortex-m3 -nostdlib -DARDUINO=10813 -mthumb --param max-inline-insns-single=500 -DF_CPU=84000000L -D'RCUTILS_LOG_MIN_SEVERITY=RCUTILS_LOG_MIN_SEVERITY_NONE'" CACHE STRING "" FORCE) | ||
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| set(CMAKE_C_FLAGS_INIT "-std=c11 ${FLAGS} -DCLOCK_MONOTONIC=0 -D'__attribute__(x)='" CACHE STRING "" FORCE) | ||
| set(CMAKE_CXX_FLAGS_INIT "-std=c++11 ${FLAGS} -fno-rtti -DCLOCK_MONOTONIC=0 -D'__attribute__(x)='" CACHE STRING "" FORCE) | ||
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| set(__BIG_ENDIAN__ 0) |
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CI tests are missing here as the upstream version of Arduino Due core doesn't support static libraries. Here is a relevant PR:
arduino/ArduinoCore-sam#115
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Ok, I'm curious to know why they allow precompiled linking and dont have to support in their own boards