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Add renesas RA6M5 (backport #390) (#391)
* Add renesas RA6M5 (#390) * Add renesas RA6M5 * Fix * Avoid toolchain (cherry picked from commit d27b83e) # Conflicts: # README.md * Fix Co-authored-by: Pablo Garrido <[email protected]>
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‎README.md‎

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@@ -4,7 +4,7 @@ This ROS 2 package is the entry point for building micro-ROS apps for different
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- [Supported platforms](#supported-platforms)
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- [Standalone build system tools](#standalone-build-system-tools)
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- [Dependencies](#dependencies)
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- [Quick Start](#quick-start)
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- [Quick start](#quick-start)
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- [Building](#building)
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- [Creating micro-ROS firmware](#creating-micro-ros-firmware)
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- [Configuring micro-ROS firmware](#configuring-micro-ros-firmware)
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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:
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| RTOS | Platform | Version | Example |
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| ---------------------------------------- | ---------------------------------------------------------------------------------------------------- | -------------------- | ---------------------------- |
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| [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` |
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| [FreeRTOS](https://www.freertos.org/) | [Crazyflie 2.1](https://www.bitcraze.io/crazyflie-2-1/) | v10.2.1 - CF 2020.06 | `freertos crazyflie21` |
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| [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` |
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| [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` |
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| [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` |
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| [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` |
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| [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` |
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| [FreeRTOS](https://www.freertos.org/) | [Espressif ESP32](https://www.espressif.com/en/products/socs/esp32/overview) | v8.2.0 | `freertos esp32` |
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| [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` |
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| [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` |
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| [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` |
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| [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` |
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| - | Static library (.a) and headers (.h) <sup>3</sup> | - | `generate_lib` |
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| Linux | *Host <sup>2</sup>* | Ubuntu 18.04/20.04 | `host` |
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| RTOS | Platform | Version | Example |
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| ------------------------------------------------------------------------------------------------------------------- | ---------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | ---------------------------- | ---------------------------- |
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| [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` |
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| [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` |
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| [FreeRTOS](https://www.freertos.org/) | [Crazyflie 2.1](https://www.bitcraze.io/crazyflie-2-1/) | v10.2.1 - CF 2020.06 | `freertos crazyflie21` |
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| [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` |
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| [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` |
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| [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` |
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| [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` |
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| [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` |
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| [FreeRTOS](https://www.freertos.org/) | [Espressif ESP32](https://www.espressif.com/en/products/socs/esp32/overview) | v8.2.0 | `freertos esp32` |
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| [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` |
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| [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` |
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| [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` |
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| [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` |
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| - | Static library (.a) and headers (.h) <sup>3</sup> | - | `generate_lib` |
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| Linux | *Host <sup>2</sup>* | Ubuntu 18.04/20.04 | `host` |
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*<sup>1</sup> Community supported, may have lack of official support*
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‎config/renesas_ra/dev_ros2_packages.txt‎

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keep:
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None

‎config/renesas_ra/dev_uros_packages.repos‎

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repositories:

‎config/renesas_ra/list_apps.sh‎

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function print_available_apps {
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echo "Available apps for Renesas RA and $PLATFORM:"
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UROS_APPS=$FW_TARGETDIR/micro_ros_renesas_demos
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pushd $UROS_APPS >/dev/null
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for app in $(ls -d */ | cut -f1 -d'/'); do
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echo "+-- $app"
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done
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popd >/dev/null
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}
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function check_available_app {
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UROS_APPS=$FW_TARGETDIR/micro_ros_renesas_demos
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pushd $UROS_APPS >/dev/null
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if [ ! -d $1 ]; then
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echo "App $1 for Renesas RA not available"
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print_available_apps
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exit 1
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fi
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popd >/dev/null
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}

‎config/renesas_ra/ra6m5/board.repos‎

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repositories:
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micro_ros_renesas_demos:
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type: git
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url: https://github.com/micro-ROS/micro_ros_renesas_demos
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version: foxy

‎config/renesas_ra/ra6m5/build.sh‎

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export UROS_APP=$(head -n1 $FW_TARGETDIR/APP | tail -n1)
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export UROS_APP_FOLDER="$FW_TARGETDIR/micro_ros_renesas_demos/$UROS_APP"
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if [ -d "$UROS_APP_FOLDER" ]; then
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echo "Selected app: $UROS_APP"
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else
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echo "App not found: $UROS_APP"
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print_available_apps
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exit 1
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fi
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pushd $UROS_APP_FOLDER
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git submodule init
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git submodule update
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print "Use Renesas e2studio to build and flash the project in $UROS_APP_FOLDER"
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popd

‎config/renesas_ra/ra6m5/client_uros_packages.repos‎

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repositories:

‎config/renesas_ra/ra6m5/configure.sh‎

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echo $CONFIG_NAME > $FW_TARGETDIR/APP

‎config/renesas_ra/ra6m5/create.sh‎

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pushd $FW_TARGETDIR >/dev/null
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# # Install toolchain
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# mkdir toolchain
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# # Install toolchain
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# echo "Downloading ARM compiler, this may take a while"
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# 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
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# tar --strip-components=1 -xvjf gcc-arm-none-eabi-9-2020-q2-update-x86_64-linux.tar.bz2 -C toolchain > /dev/null
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# rm gcc-arm-none-eabi-9-2020-q2-update-x86_64-linux.tar.bz2
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# Import repos
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vcs import --input $PREFIX/config/$RTOS/$PLATFORM/board.repos
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popd >/dev/null

‎config/renesas_ra/ra6m5/flash.sh‎

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export UROS_APP=$(head -n1 $FW_TARGETDIR/APP | tail -n1)
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export UROS_APP_FOLDER="$FW_TARGETDIR/micro_ros_renesas_demos/$UROS_APP"
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pushd $UROS_APP_FOLDER
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print "Use Renesas e2studio to build and flash the project in $UROS_APP_FOLDER"
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popd

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