測(cè)試日期：2023年11月28日
工具鏈：STM32CubeIDE++GCC
參考資料：micro_ros_stm32cubemx_utils
注：本文內(nèi)容僅用于學(xué)習(xí)參考，不適用于生產(chǎn)環(huán)境。
1、準(zhǔn)備工作
1.1、安裝STM32CubeIDE和STM32CubeMX
1.2、準(zhǔn)備mirco_ros 支持cortex-m4的靜態(tài)庫(kù)，生成方法可參考我的一篇博文，或者直接下載地址
1.3、下載 micro_ros_stm32cubemx_utils
2、移植過(guò)程
2.1、創(chuàng)建STM32CubeMX項(xiàng)目選擇芯片為STM32F405RGT6
2.2、工程配置
2.2.1、填寫(xiě)工程名稱(chēng)的路徑
2.2.2、Toolchain/IDE配置：STM32CubeIDE
2.3、基本配置
2.3.1、時(shí)鐘配置，根據(jù)開(kāi)發(fā)板配置時(shí)鐘源為外部8MHZ，系統(tǒng)時(shí)鐘168M。
2.3.2、開(kāi)啟SW調(diào)試功能
2.3.3、調(diào)整堆棧大小
2.4、配置外設(shè)
2.4.1、配置USART1 異步模式，波特率921600bps 8N1 用于printf輸出
2.4.2、配置USART2 異步模式，波特率115200bps 8N1 使能DMA收發(fā)和全局中斷 用于mirco_ros 通訊接口
2.4.3、根據(jù)開(kāi)發(fā)板配置PD2和PA15為輸出，對(duì)應(yīng)LED3和LED2
2.4.4、配置TIM13定時(shí)1ms并開(kāi)啟更新中斷，用于mirco_ros計(jì)時(shí)
2.5、生成代碼，并使用CubeIDE打開(kāi)工程
2.6、復(fù)制文件
2.6.1、復(fù)制extra_sources文件夾工作空間
復(fù)制micro_ros_stm32cubemx_utils\extra_sources文件夾到CubeIDE工作空間的Core文件夾。我們只使用USART2的DMA傳輸方式作為mirco_ros接口，因此需要禁用或者刪除it_transport.c和usb_cdc_transport.c文件
custom_memory_manager.c文件在freertos上實(shí)現(xiàn)了內(nèi)存分配，因?yàn)橐某陕銠C(jī)所以先禁用編譯或者直接刪除
extra_sources目錄下文件說(shuō)明：
（1）、microros_transports文件夾：與硬件相關(guān)的通訊接口實(shí)現(xiàn)，3個(gè)C文件分別提供了串口中斷、串口DMA和USB虛擬串口傳輸案列，這里我們只用到串口DMA傳輸，即dma_transport.c
（2）、custom_memory_manager.c和microros_allocators.c 提供了microros的內(nèi)寸分配接口實(shí)現(xiàn)
（3）、microros_time.c 提供了microros的時(shí)間相關(guān)接口實(shí)現(xiàn)
2.6.2、將靜態(tài)庫(kù)文件和頭文件復(fù)制到工作空間
這里直接把M4lib文件夾直接復(fù)制到Core目錄，然后禁用編譯它們。這一步主要是方便后續(xù)引用，不一定要復(fù)制進(jìn)來(lái)。
2.6.3、添加頭文件路徑
右鍵項(xiàng)目->Properties->C/C++Build->Setings->MCU GCC Compiler->include paths 點(diǎn)擊右邊的+圖標(biāo)選擇工作空間下的/Core/M4lib/include 文件夾添加頭文件路徑。
2.6.4、添加靜態(tài)庫(kù)文件和路徑
右鍵項(xiàng)目->Properties->C/C++Build->Setings->MCU GCC linker->Library search path（-L） 點(diǎn)擊右邊的+圖標(biāo)選擇工作空間下的/Core/M4lib 文件夾添加庫(kù)文件路徑，在Libraries（-l） 下添加庫(kù)文件名microros，注意庫(kù)文件名在文件夾下為libmicroros.a,GCC連接器-l選項(xiàng)自動(dòng)添加前面的lib字符和后綴名，因此只需要填寫(xiě)microros
2.7、修改文件
2.7.1、刪除dma_transport.c文件中與freertos相關(guān)的無(wú)用到代碼，然后在DMA接收完成中斷回調(diào)中重新啟動(dòng)接收，否則程序運(yùn)行一段時(shí)間后打印Error publishing (line xxx)\n。修改后內(nèi)容如下
#include <uxr/client/transport.h>
#include <rmw_microxrcedds_c/config.h>
#include "main.h"
#include "usart.h"
#include <unistd.h>
#include <stdio.h>
#include <string.h>
#include <stdbool.h>
#ifdef RMW_UXRCE_TRANSPORT_CUSTOM
// --- micro-ROS Transports ---
#define UART_DMA_BUFFER_SIZE 2048
static uint8_t dma_buffer[UART_DMA_BUFFER_SIZE];
static size_t dma_head = 0, dma_tail = 0;
bool cubemx_transport_open(struct uxrCustomTransport * transport){
UART_HandleTypeDef * uart = (UART_HandleTypeDef*) transport->args;
HAL_UART_Receive_DMA(uart, dma_buffer, UART_DMA_BUFFER_SIZE);
return true;
}
bool cubemx_transport_close(struct uxrCustomTransport * transport){
UART_HandleTypeDef * uart = (UART_HandleTypeDef*) transport->args;
HAL_UART_DMAStop(uart);
return true;
}
size_t cubemx_transport_write(struct uxrCustomTransport* transport, uint8_t * buf, size_t len, uint8_t * err){
UART_HandleTypeDef * uart = (UART_HandleTypeDef*) transport->args;
HAL_StatusTypeDef ret;
if (uart->gState == HAL_UART_STATE_READY){
ret = HAL_UART_Transmit_DMA(uart, buf, len);
while (ret == HAL_OK && uart->gState != HAL_UART_STATE_READY){
HAL_Delay(1);
}
return (ret == HAL_OK) ? len : 0;
}else{
return 0;
}
}
size_t cubemx_transport_read(struct uxrCustomTransport* transport, uint8_t* buf, size_t len, int timeout, uint8_t* err){
UART_HandleTypeDef * uart = (UART_HandleTypeDef*) transport->args;
int ms_used = 0;
do
{
__disable_irq();
dma_tail = UART_DMA_BUFFER_SIZE - __HAL_DMA_GET_COUNTER(uart->hdmarx);
__enable_irq();
ms_used++;
HAL_Delay(1);
} while (dma_head == dma_tail && ms_used < timeout);
size_t wrote = 0;
while ((dma_head != dma_tail) && (wrote < len)){
buf[wrote] = dma_buffer[dma_head];
dma_head = (dma_head + 1) % UART_DMA_BUFFER_SIZE;
wrote++;
}
return wrote;
}
void HAL_UART_RxCpltCallback(UART_HandleTypeDef *huart)
{
if(huart==&huart2)
{
HAL_UART_Receive_DMA(&huart2, dma_buffer, UART_DMA_BUFFER_SIZE);
}
}
#endif //RMW_UXRCE_TRANSPORT_CUSTOM
2.7.2、修改microros_allocators.c，動(dòng)態(tài)內(nèi)存分配直接使用標(biāo)準(zhǔn)庫(kù)函數(shù) malloc free等，修改后文件如下
#include <unistd.h>
#include <stdlib.h>
void *pvPortMallocMicroROS( size_t xWantedSize );
void vPortFreeMicroROS( void *pv );
void *pvPortReallocMicroROS( void *pv, size_t xWantedSize );
//size_t getBlockSize( void *pv );
void *pvPortCallocMicroROS( size_t num, size_t xWantedSize );
void * microros_allocate(size_t size, void * state){
(void) state;
// printf("-- Alloc %d (prev: %d B)\n",size, xPortGetFreeHeapSize());
return malloc(size);
}
void microros_deallocate(void * pointer, void * state){
(void) state;
// printf("-- Free %d (prev: %d B)\n",getBlockSize(pointer), xPortGetFreeHeapSize());
if (NULL != pointer){
free(pointer);
}
}
void * microros_reallocate(void * pointer, size_t size, void * state){
(void) state;
// printf("-- Realloc %d -> %d (prev: %d B)\n",getBlockSize(pointer),size, xPortGetFreeHeapSize());
if (NULL == pointer){
return malloc(size);
} else {
return realloc(pointer,size);
}
}
void * microros_zero_allocate(size_t number_of_elements, size_t size_of_element, void * state){
(void) state;
// printf("-- Calloc %d x %d = %d -> (prev: %d B)\n",number_of_elements,size_of_element, number_of_elements*size_of_element, xPortGetFreeHeapSize());
return calloc(number_of_elements,size_of_element);
}
2.7.3、修改main.c 文件
定義一個(gè)uint32類(lèi)型全局變量ullTickCount
uint32_t ullTickCount;
在while循環(huán)前啟動(dòng)定時(shí)器13
/* USER CODE BEGIN 2 */
HAL_TIM_Base_Start_IT(&htim13);
/* USER CODE END 2 */
在定時(shí)器13更新中斷中讓ullTickCount自加1，計(jì)數(shù)總毫秒數(shù)
/* USER CODE BEGIN 4 */
void HAL_TIM_PeriodElapsedCallback(TIM_HandleTypeDef *htim)
{
if(htim==&htim13)
{
ullTickCount++;
}
}
/* USER CODE END 4 */
2.7.4、添加頭文件包含
在main.c合適位置添加以下內(nèi)容
/* Private includes ----------------------------------------------------------*/
/* USER CODE BEGIN Includes */
#include <rcl/rcl.h>
#include <rcl/error_handling.h>
#include <rclc/rclc.h>
#include <rclc/executor.h>
#include <uxr/client/transport.h>
#include <rmw_microxrcedds_c/config.h>
#include <rmw_microros/rmw_microros.h>
#include <std_msgs/msg/int32.h>
/* USER CODE END Includes */
2.7.5、添加前置聲明
/* Private function prototypes -----------------------------------------------*/
/* USER CODE BEGIN FunctionPrototypes */
bool cubemx_transport_open(struct uxrCustomTransport * transport);
bool cubemx_transport_close(struct uxrCustomTransport * transport);
size_t cubemx_transport_write(struct uxrCustomTransport* transport, const uint8_t * buf, size_t len, uint8_t * err);
size_t cubemx_transport_read(struct uxrCustomTransport* transport, uint8_t* buf, size_t len, int timeout, uint8_t* err);
void * microros_allocate(size_t size, void * state);
void microros_deallocate(void * pointer, void * state);
void * microros_reallocate(void * pointer, size_t size, void * state);
void * microros_zero_allocate(size_t number_of_elements, size_t size_of_element, void * state);
/* USER CODE END FunctionPrototypes */
2.7.5、在while前添加mirco_ros 節(jié)點(diǎn)的初始化
// micro-ROS configuration
rmw_uros_set_custom_transport(
true,
(void *) &huart2,
cubemx_transport_open,
cubemx_transport_close,
cubemx_transport_write,
cubemx_transport_read);
rcl_allocator_t freeRTOS_allocator = rcutils_get_zero_initialized_allocator();
freeRTOS_allocator.allocate = microros_allocate;
freeRTOS_allocator.deallocate = microros_deallocate;
freeRTOS_allocator.reallocate = microros_reallocate;
freeRTOS_allocator.zero_allocate = microros_zero_allocate;
if (!rcutils_set_default_allocator(&freeRTOS_allocator)) {
printf("Error on default allocators (line %d)\n", __LINE__);
}
// micro-ROS app
rcl_publisher_t publisher;
std_msgs__msg__Int32 msg;
rclc_support_t support;
rcl_allocator_t allocator;
rcl_node_t node;
allocator = rcl_get_default_allocator();
//create init_options
rclc_support_init(&support, 0, NULL, &allocator);
// create node
rclc_node_init_default(&node, "cubemx_node", "", &support);
// create publisher
rclc_publisher_init_default(
&publisher,
&node,
ROSIDL_GET_MSG_TYPE_SUPPORT(std_msgs, msg, Int32),
"cubemx_publisher");
msg.data = 0;
2.7.6、在while中添加數(shù)據(jù)發(fā)布
/* USER CODE BEGIN WHILE */
while (1)
{
rcl_ret_t ret = rcl_publish(&publisher, &msg, NULL);
if (ret != RCL_RET_OK)
{
printf("Error publishing (line %d)\n", __LINE__);
}
msg.data++;
HAL_Delay(10);
/* USER CODE END WHILE */
}
2.7.7、修改microros_time.c文件
添加 #define configTICK_RATE_HZ 1000LL
將ullTickCount 傳遞給UTILS_NanosecondsToTimespec函數(shù)
更改后代碼
#include <unistd.h>
#include <time.h>
#define configTICK_RATE_HZ 1000LL
#define MICROSECONDS_PER_SECOND ( 1000000LL ) /**< Microseconds per second. */
#define NANOSECONDS_PER_SECOND ( 1000000000LL ) /**< Nanoseconds per second. */
#define NANOSECONDS_PER_TICK ( NANOSECONDS_PER_SECOND / configTICK_RATE_HZ ) /**< Nanoseconds per FreeRTOS tick. */
void UTILS_NanosecondsToTimespec( int64_t llSource,
struct timespec * const pxDestination )
{
long lCarrySec = 0;
/* Convert to timespec. */
pxDestination->tv_sec = ( time_t ) ( llSource / NANOSECONDS_PER_SECOND );
pxDestination->tv_nsec = ( long ) ( llSource % NANOSECONDS_PER_SECOND );
/* Subtract from tv_sec if tv_nsec < 0. */
if( pxDestination->tv_nsec < 0L )
{
/* Compute the number of seconds to carry. */
lCarrySec = ( pxDestination->tv_nsec / ( long ) NANOSECONDS_PER_SECOND ) + 1L;
pxDestination->tv_sec -= ( time_t ) ( lCarrySec );
pxDestination->tv_nsec += lCarrySec * ( long ) NANOSECONDS_PER_SECOND;
}
}
int clock_gettime( int clock_id,
struct timespec * tp )
{
/* Convert ullTickCount to timespec. */
extern uint32_t ullTickCount;
UTILS_NanosecondsToTimespec( ( int64_t ) ullTickCount * NANOSECONDS_PER_TICK, tp );
return 0;
}
2.7.8、添加串口printf打印支持
#include "stdio.h"
#define PUTCHAR_PROTOTYPE int __io_putchar(int ch)
PUTCHAR_PROTOTYPE
{
HAL_UART_Transmit(&huart1 , (uint8_t *)&ch, 1, 0xFFFF);
return ch;
}
編譯無(wú)報(bào)錯(cuò)，自此移植完成！文章來(lái)源：http://www.zghlxwxcb.cn/news/detail-798674.html
3、下載測(cè)試
參考micro_ros移植到STM32F405RG 測(cè)試部分文章來(lái)源地址http://www.zghlxwxcb.cn/news/detail-798674.html
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