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Changes to do the following: #690

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Changes to do the following: #690

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c06968f
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drensber Mar 6, 2024
6262141
removing unnecessary line to update sphinx and also conditionalizing …
drensber Mar 12, 2024
7c0c303
seeing if SDK 0.16.5 works better
drensber Mar 18, 2024
e7a3c97
Merge branch 'micro-ROS:iron' into bws_zephyr36_changes_1
drensber Mar 19, 2024
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46 changes: 25 additions & 21 deletions config/zephyr/generic/create.sh
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Original file line number Diff line number Diff line change
Expand Up @@ -15,43 +15,47 @@ if ! (( $CMAKE_VERSION_MAJOR_NUMBER > 3 || \
fi

export PATH=~/.local/bin:"$PATH"
export ZEPHYR_VERSION="v0.12.4"
export ZEPHYR_VERSION="0.16.3"
export ARCH=$(uname -m)

pushd $FW_TARGETDIR >/dev/null

west init zephyrproject
pushd zephyrproject >/dev/null
cd zephyr
git checkout zephyr-v2.6.0
git checkout v3.6.0
cd ..
west update
west blobs fetch hal_espressif
west zephyr-export
popd >/dev/null

pip3 install -r zephyrproject/zephyr/scripts/requirements.txt --ignore-installed

if [ "$PLATFORM" = "host" ]; then
if [ "$ARCH" = "aarch64" ]; then
export TOOLCHAIN_VERSION=zephyr-sdk-0.13.1-linux-aarch64-setup.run
export ZEPHYR_VERSION="v0.13.1"
else
export TOOLCHAIN_VERSION=zephyr-sdk-0.12.4-x86_64-linux-setup.run
fi
else
if [ "$ARCH" = "aarch64" ]; then
export TOOLCHAIN_VERSION=zephyr-toolchain-arm-0.13.1-linux-aarch64-setup.run
export ZEPHYR_VERSION="v0.13.1"
else
export TOOLCHAIN_VERSION=zephyr-toolchain-arm-0.12.4-x86_64-linux-setup.run
fi
sdkfound=false
if [ -e ~/.zephyrrc ]; then
source ~/.zephyrrc
if [ -d $ZEPHYR_SDK_INSTALL_DIR ]; then
ln -s $ZEPHYR_SDK_INSTALL_DIR zephyr-sdk
sdkfound=true
fi
fi
echo PLATFORM: $PLATFORM
if [ "$sdkfound" = false ]; then
export TOOLCHAIN_VERSION=zephyr-sdk-${ZEPHYR_VERSION}_linux-${ARCH}.tar.xz

wget https://github.com/zephyrproject-rtos/sdk-ng/releases/download/$ZEPHYR_VERSION/$TOOLCHAIN_VERSION
chmod +x $TOOLCHAIN_VERSION
./$TOOLCHAIN_VERSION -- -d $(pwd)/zephyr-sdk -y
wget https://github.com/zephyrproject-rtos/sdk-ng/releases/download/v$ZEPHYR_VERSION/$TOOLCHAIN_VERSION
chmod +x $TOOLCHAIN_VERSION
tar -xvf ./$TOOLCHAIN_VERSION
mv zephyr-sdk-${ZEPHYR_VERSION} zephyr-sdk

rm -rf $TOOLCHAIN_VERSION
rm -rf $TOOLCHAIN_VERSION

fi
pushd zephyr-sdk
./setup.sh -t all -c -h
popd
echo FW_TARGET_DIR: ${FW_TARGET_DIR}
export ZEPHYR_TOOLCHAIN_VARIANT=zephyr
export ZEPHYR_SDK_INSTALL_DIR=$FW_TARGETDIR/zephyr-sdk

Expand All @@ -68,6 +72,6 @@ pushd $FW_TARGETDIR >/dev/null
touch mcu_ws/uros/rclc/rclc_examples/COLCON_IGNORE

# Upgrade sphinx
pip install --force-reinstall Sphinx==4.2.0
#pip install --force-reinstall Sphinx==4.2.0
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popd >/dev/null
2 changes: 1 addition & 1 deletion config/zephyr/generic/flash.sh
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Original file line number Diff line number Diff line change
Expand Up @@ -70,7 +70,7 @@ else

source $FW_TARGETDIR/zephyrproject/zephyr/zephyr-env.sh

west flash
west flash ${UROS_EXTRA_FLASH_ARGS[@]}

fi

Expand Down
3 changes: 3 additions & 0 deletions config/zephyr/generic/supported_platforms
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Original file line number Diff line number Diff line change
Expand Up @@ -3,3 +3,6 @@ olimex-stm32-e407
nucleo_f401re
nucleo_h743zi
nucleo_f746zg
esp32_devkitc_wroom
esp32c3_devkitm
rpi_pico_w
7 changes: 7 additions & 0 deletions scripts/flash_firmware.sh
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Original file line number Diff line number Diff line change
Expand Up @@ -4,6 +4,8 @@ set -e
set -o nounset
set -o pipefail

UROS_EXTRA_FLASH_ARGS=""

FW_TARGETDIR=$(pwd)/firmware
PREFIX=$(ros2 pkg prefix micro_ros_setup)

Expand All @@ -16,6 +18,11 @@ else
exit 1
fi

if [[ -n "$@" ]]; then
UROS_EXTRA_FLASH_ARGS=("$@")
fi
export UROS_EXTRA_FLASH_ARGS

# Flash specific firmware folder if needed
if [ -d "$PREFIX/config/$RTOS/generic" ]; then
if [ -f $PREFIX/config/$RTOS/generic/flash.sh ]; then
Expand Down
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