Add Spresense board support #323
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| #! /bin/bash | ||
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| set -e | ||
| set -o nounset | ||
| set -o pipefail | ||
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| NUTTX_DIR=$FW_TARGETDIR/spresense/sdk | ||
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| pushd $NUTTX_DIR >/dev/null | ||
| make | ||
| popd >/dev/null |
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| Original file line number | Diff line number | Diff line change |
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| ../generic/client-colcon.meta |
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| ../generic/client_uros_packages.repos |
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| #! /bin/bash | ||||||
| # | ||||||
| # | ||||||
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| set -e | ||||||
| set -o nounset | ||||||
| set -o pipefail | ||||||
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| # spresense use own sdk to config | ||||||
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| NUTTX_DIR=$FW_TARGETDIR/spresense/sdk | ||||||
| MCU_WS_DIR=$FW_TARGETDIR/mcu_ws | ||||||
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| # parse the platform from this script's path name | ||||||
| PLATFORM=$(head -n2 $FW_TARGETDIR/PLATFORM | tail -n1) | ||||||
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| # for the "generic" platform, the user must supply both board and config | ||||||
| # if [ "$PLATFORM" = "generic" ] | ||||||
| # then | ||||||
| # CONFIG=configs/$CONFIG_NAME | ||||||
| # else | ||||||
| # CONFIG="configs/$PLATFORM/$CONFIG_NAME" | ||||||
| # fi | ||||||
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| # if [ ! -d "$NUTTX_DIR/$CONFIG" ] | ||||||
| # then | ||||||
| # echo "Configuration $CONFIG (expanded from $CONFIG_NAME) not found" | ||||||
| # exit 1 | ||||||
| # fi | ||||||
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| # source dev_ws for kconfig | ||||||
| set +o nounset | ||||||
| . $FW_TARGETDIR/dev_ws/install/setup.bash | ||||||
| set -o nounset | ||||||
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| pushd $NUTTX_DIR >/dev/null | ||||||
| make distclean | ||||||
| #tools/configure.sh $CONFIG | ||||||
| tools/config.py $CONFIG_NAME | ||||||
| popd >/dev/null | ||||||
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| Original file line number | Diff line number | Diff line change |
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| @@ -0,0 +1,49 @@ | ||
| #! /bin/bash | ||
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| set -e | ||
| set -o nounset | ||
| set -o pipefail | ||
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| [ -d $FW_TARGETDIR ] || mkdir $FW_TARGETDIR | ||
| pushd $FW_TARGETDIR >/dev/null | ||
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| vcs import --input $PREFIX/config/$RTOS/$PLATFORM/uros_packages.repos --recursive | ||
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| # copy uros apps from nuttx_apps to spresense/sdk/apps | ||
| cp -a apps/uros spresense/sdk/apps | ||
| sed -i 's#default "../mcu_ws/"#default "../../../mcu_ws/"#' spresense/sdk/apps/uros/Kconfig | ||
| sed -i "/\${NUTTX_TOPDIR}\/include\/uClibc++/a \${NUTTX_TOPDIR}\/..\/sdk\/include" spresense/sdk/apps/uros/arm_toolchain.cmake.in | ||
| sed -i "/\${NUTTX_APPDIR}\/configs\/olimex-stm32-e407\/src/d" spresense/sdk/apps/uros/arm_toolchain.cmake.in | ||
| sed -i '2 a \ "rcutils": {' spresense/sdk/apps/uros/rmw_config.meta.in | ||
| sed -i '3 a \ "cmake-args": [' spresense/sdk/apps/uros/rmw_config.meta.in | ||
| sed -i '4 a \ "-DRCUTILS_NO_64_ATOMIC=ON"' spresense/sdk/apps/uros/rmw_config.meta.in | ||
| sed -i '5 a \ ]' spresense/sdk/apps/uros/rmw_config.meta.in | ||
| sed -i '6 a \ },' spresense/sdk/apps/uros/rmw_config.meta.in | ||
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| # install uclibc | ||
| if [ ! -d "spresense/nuttx/libs/libxx/uClibc++" ] | ||
| then | ||
| pushd uclibc >/dev/null | ||
| ./install.sh ../spresense/nuttx | ||
| popd >/dev/null | ||
| fi | ||
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| # 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/rcl_action/COLCON_IGNORE | ||
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| 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 | ||
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| rosdep install -y --from-paths mcu_ws -i mcu_ws --rosdistro foxy --skip-keys="$SKIP" | ||
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| popd >/dev/null | ||
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| cp $PREFIX/config/$RTOS/generic/package.xml $FW_TARGETDIR/apps/package.xml | ||
| rosdep install -y --from-paths $FW_TARGETDIR/apps -i $FW_TARGETDIR/apps --rosdistro foxy |
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,22 @@ | ||
| #! /bin/bash | ||
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| set -e | ||
| set -o nounset | ||
| set -o pipefail | ||
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| pushd $FW_TARGETDIR/spresense/sdk > /dev/null | ||
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| if [ "$PLATFORM" = "spresense" ]; then | ||
| if [ -f nuttx.spk ]; then | ||
| echo "Flashing firmware for $RTOS platform $PLATFORM" | ||
| ./tools/flash.sh -c $DEVICE_NAME nuttx.spk | ||
| else | ||
| echo "Nuttx/nuttx.spk not found: please compile before flashing." | ||
| fi | ||
| else | ||
| echo "Unrecognized board: $PLATFORM" | ||
| exit 1 | ||
| fi | ||
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| popd > /dev/null |
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| <?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>0.0.1</version> | ||||||||
| <description>This is a dummy package to supply firmware build dependencies for spresense.</description> | ||||||||
| <maintainer email="ingo.luetkebohle@de.bosch.com">Ingo Luetkebohle</maintainer> | ||||||||
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There was a problem hiding this comment. Thanks for your review comments. I have addressed them at 4184ad9. |
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| <license>APL2</license> | ||||||||
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| <build_depend>gcc-arm-none-eabi</build_depend> | ||||||||
| <build_depend>clang-tidy</build_depend> | ||||||||
| <build_depend>clang-format</build_depend> | ||||||||
| <build_depend>gperf</build_depend> | ||||||||
| <build_depend>automake</build_depend> | ||||||||
| <build_depend>nuttx_kconfig_vendor</build_depend> | ||||||||
| <build_depend>git</build_depend> | ||||||||
| <build_depend>openocd</build_depend> | ||||||||
| <build_depend>ed</build_depend> | ||||||||
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| </package> | ||||||||
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| Original file line number | Diff line number | Diff line change |
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| @@ -0,0 +1 @@ | ||
| spresense |
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| Original file line number | Diff line number | Diff line change |
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| repositories: | ||
| spresense: | ||
| type: git | ||
| url: https://github.com/sonydevworld/spresense.git | ||
| version: master | ||
| apps: | ||
| type: git | ||
| url: https://github.com/micro-ROS/nuttx_apps.git | ||
| version: foxy | ||
| uclibc: | ||
| type: git | ||
| url: https://github.com/micro-ROS/uclibc.git | ||
| version: master | ||
| drive_base: | ||
| type: git | ||
| url: https://github.com/micro-ROS/drive_base.git | ||
| version: master |
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