microROS-Abstraction-Layer Alpha

This is an abstraction layer (AL) that unifies and simplifies the development of NuttX and freeRTOS for microROS project. In this version we can use the next features:

• I2C read/write multiple bytes.
• SPI read/write multiple bytes.
• UART read/write and poll to check is new data are available in the bus.
• GPIO read/write.
• Creation of periodic timer and modify the period.
• Creation/delete task.
• Pause a task.
• Modify and get the priority of a running task.

At this moment it's only available for the Olimex-STM32-E407 board, but in the next version will be available for the STM32L1Discovery Board.

How to implement:

NuttX

You need to copy the source code of the AL (microROS AL src) to the library folder of NuttX (NuttX library folder) and add to the compilation path, doing the next modifications:

• Open the Makefile of the library folder (Makefile)
• You must add the next lines:

include microros_al/UART/Make.defs
include microros_al/TIMER/Make.defs
include microros_al/SPI/Make.defs
include microros_al/SCHEDULER/Make.defs
include microros_al/I2C/Make.defs

Close and save the file.

• Open the libc Kconfig file (Kconfig) and add the next line: source libs/libc/microros_al/Kconfig Close and save the file.
• Finally go to the source configuration folder of the Olimex Board (Olimex-stm32-e407 configs)
• Copy the next files into the the folder: (GPIO aux files)
• Overwrite the Makefile file.

At this point the source code is already implemented, it only left to implement the headers.

• Copy this folder (microROS include) to the NuttX include directory (/NuttX/include).

freeRTOS

This alpha version only works with a generated freeRTOS STM32Cube project, set to be used with Atollic True Studio

The implementation in this RTOS is straightforward, it's only necessary to copy the source code of the AL (microros_AL src) to the source code of freeRTOS and copy the header folder of microROS Al(microros_AL inc) to the include folder of freeRTOS.

How to configure:

NuttX

WIP

freeRTOS

WIP

WIP: We will provide a version of freeRTOS with the proper configuration and includes to run microROS AL. Also a defconfig to set the proper configuration for NuttX