haoguangyang / microros-zynq

Config files and utilities for building MicroROS on Zynq-7000 SoC.

This repository provides extra config files for porting MicroROS to Zynq-7000 series SoC.

In general, the workspace follows steps described in: https://micro.ros.org/docs/tutorials/advanced/create_custom_static_library/

Build steps:

source /opt/ros/humble/setup.bash
mkdir src
cd src
git clone https://github.com/micro-ROS/micro_ros_setup.git
cd ..
colcon build
source ./install/setup.bash
ros2 run micro_ros_setup create_firmware_ws.sh generate_lib
ros2 run micro_ros_setup build_firmware.sh $(pwd)/xilinx_zynq_toolchain.cmake $(pwd)/xilinx_zynq_colcon.meta

To generate the project includes XML for Xilinx Vitis (based on Eclipse), run:

python ./generate_eclipse_include_paths_config.py

You can import the generated library and eclipse_include_paths.xml into a Vitis project:

• Right-click on the application project, then click the Properties item.
• Expand C/C++ General on the left, find Paths and Symbols, select [All configurations] under the Configuration drop-down.
• Under the Includes tab, click Import Settings..., and import this XML.
• Copy firmware/build/include/ as ${workspace_loc}/${ProjName}/src/microros/ under your application project.
• Copy firmware/build/libmicroros.a as ${workspace_loc}/${ProjName}/src/microros/libmicroros.a, and add it to your Library Paths tab under the same property page. You need to check the is a workspace path box, and add an entry:

  /${ProjName}/src/microros

• Add the library to the linking config under the Libraries tab: add an entry microros.

The agent needs to be started for the MicroROS client to run. To build the agent, perform:

ros2 run micro_ros_setup create_agent_ws.sh
ros2 run micro_ros_setup build_agent.sh
source install/local_setup.bash

To start the agent, perform:

ros2 run micro_ros_agent micro_ros_agent udp4 --port 8266

NOTES:

1. For Xilinx board running FreeRTOS, to use hard-real-time task scheduling, a good practice is to create timers as periodic tasks, and implement an advanced scheduler (if the stock Round-Robin scheduler is not enough).

   Use of FreeRTOS plus TCP is not a must, unless you want to utilize its TCP for transport. In such case, you need to set:

   "-DUCLIENT_PLATFORM_FREERTOS_PLUS_TCP=ON"
   

   under the colcon.meta file for the board, under the microxrcedds_client section.

2. You may want to invoke parallel build under the C/C++ Build page and Behavior tab, however, the linker may have trouble syncing the library states, causing the linking step to fail. This is a known bug of Vitis (https://support.xilinx.com/s/article/000034054?language=en_US). To work around this, navigate to C/C++ General/Paths and Symbols page, and go to the Libraries tab. Remove all -Wl,--start-group,...,--end-group entries, and re-enter the libraries one-by-one:

   xil
   gcc
   c
   xilffs
   rsa
   

   If you are building with math.h, add an entry m.

3. You can add a second (Neon) FPU support with Cortex A9. The option is under C/C++ Build/Settings page. Navigate to Tool Settings tab and under Arm v7 gcc compiler/Miscellaneous page. Find -mfpu=vfpv3 in the text box, and change it to -mfpu=neon-vfpv3.

microros-zynq's Issues

linking error after generating libmicroros.a

i generated libmicroros.a and includes,then i copy to the vitis project of windows10,as you said that import the xml and set the microros.a,but link error,what wrong whit my steps?