Add support for Kakute F7 (M7) (#441) (#447)

(cherry picked from commit 6dacf11)

Co-authored-by: Ilya guterman <[email protected]>

Author: mergify[bot]

README.md

@@ -18,11 +18,11 @@ Supported boards are:
 
 Community contributed boards are:
 
-| Board                                                 | Min version | Contributor                                    | Details | Prebuild meta            |
-| ----------------------------------------------------- | ----------- | ---------------------------------------------- | ------- | ------------------------ |
-| [Arduino Due](https://store.arduino.cc/arduino-due)   | -           | [@lukicdarkoo](https://github.com/lukicdarkoo) |         | `colcon_verylowmem.meta` |
-| [Arduino Zero](https://store.arduino.cc/arduino-zero) | -           | [@lukicdarkoo](https://github.com/lukicdarkoo) |         | `colcon_verylowmem.meta` |
-
+| Board                                                           | Min version | Contributor                                    | Details | Prebuild meta            |
+| --------------------------------------------------------------  | ----------- | ---------------------------------------------- | ------- | ------------------------ |
+| [Arduino Due](https://store.arduino.cc/arduino-due)             | -           | [@lukicdarkoo](https://github.com/lukicdarkoo) |         | `colcon_verylowmem.meta` |
+| [Arduino Zero](https://store.arduino.cc/arduino-zero)           | -           | [@lukicdarkoo](https://github.com/lukicdarkoo) |         | `colcon_verylowmem.meta` |
+| [Kakute F7](http://www.holybro.com/product/kakute-f7-aio-v1-5/) | -           | [@amfern](https://github.com/amfern)           |         | `colcon.meta`            |
 
 You can find the available precompiled ROS 2 types for messages and services in [available_ros2_types](available_ros2_types).
 

extras/library_generation/kakutef7-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 "-O2 -mfloat-abi=hard -mfpu=fpv5-sp-d16 -fsingle-precision-constant -Wdouble-promotion -ffunction-sections -fdata-sections -nostdlib --param max-inline-insns-single=500 -fno-exceptions -mcpu=cortex-m7 -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/library_generation.sh

@@ -18,6 +18,7 @@ if [ $OPTIND -eq 1 ]; then
     PLATFORMS+=("cortex_m3")
     # PLATFORMS+=("portenta-m4")
     PLATFORMS+=("portenta-m7")
+    PLATFORMS+=("kakutef7-m7")
 fi
 
 shift $((OPTIND-1))
@@ -165,6 +166,20 @@ if [[ " ${PLATFORMS[@]} " =~ " portenta-m7 " ]]; then
     cp -R firmware/build/libmicroros.a /project/src/cortex-m7/fpv5-d16-softfp/libmicroros.a
 fi
 
+######## Build for Kakute F7 M7 core  ########
+if [[ " ${PLATFORMS[@]} " =~ " kakutef7-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/kakutef7-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/fpv5-sp-d16-hardfp
+    cp -R firmware/build/libmicroros.a /project/src/cortex-m7/fpv5-sp-d16-hardfp/libmicroros.a
+fi
+
 ######## Generate extra files ########
 find firmware/mcu_ws/ros2 \( -name "*.srv" -o -name "*.msg" -o -name "*.action" \) | awk -F"/" '{print $(NF-2)"/"$NF}' > /project/available_ros2_types
 find firmware/mcu_ws/extra_packages \( -name "*.srv" -o -name "*.msg" -o -name "*.action" \) | awk -F"/" '{print $(NF-2)"/"$NF}' >> /project/available_ros2_types