Micro-XRCE-DDS-Client MCU porting demo

This is a Micro-XRCE-DDS-Client porting of STM32F407ZGT6 MCU. You can port to another STM32 with the following tutorial.

Function of This Demo

1. send customized HelloWorld message periodically.
2. use USB CDC(default) or USART1 as transport interface.

Compile and Flash

git clone https://github.com/Pansamic/Micro-XRCE-DDS-Client-MCU
git submodule init
git submodule update
mkdir build && cd build
cmake ..
make -j
openocd -f interface/stlink.cfg -f target/stm32f4x.cfg -c "program ./Micro-XRCE-DDS-Client-MCU.elf verify reset exit"

It need to automatically git clone from github. If you failed to compile because of failing to git clone, please check your web connection.

Use other MCUs

It's impossible to port this to device whose flash size less than 256KB, especially the most common one - STM32F103C8T6 core board.

1. Create another STM32CubeMX code project 1.1 Configure Clock configuration, notice that RTC clock source is HSE, choose proper division number to make RTC clock under 1000kHz. 1.2 RTC configure Make sure RTC clock source(as seen in the picture above is 1000kHz)/(Asynchronous Predivider+1 + Synchronous Predivider+1)=1Hz 1.3 USART configuration Async mode 1.4 USB FS configuration 1.5 USB Device CDC configuration 1.6 FreeRTOS configuration

2. copy the following files to your project

   Core/Inc/HelloWorld.h
   Core/Src/HelloWorld.c
   Core/Inc/uxr_transport.h
   Core/Src/uxr_transport_uart_it.c
   Core/Src/uxr_transport_usb.c
   toolchains/gcc-arm-none-eabi.cmake
   CMakeLists.txt
   

3. copy essential functions copy clock_gettime() and __write() functions in Core/Src/main.c to your new main.c copy init code of Micro-XRCE-DDS-Client in Core/Src/freertos.c to your new freertos.c

4. include essetial headers just copy included headers in Core/Src/main.c and Core/Src/freertos.c. Here are some core headers.

   #include <time.h>
   #include <errno.h>
   #include <stdio.h>

Micro-XRCE-DDS-Client Porting Details

Add Client CMake Project

include(ExternalProject)

# Set the URL of the Git repository
set(UXRCE_URL "https://github.com/eProsima/Micro-XRCE-DDS-Client.git")

# Set the destination directory for the cloned repository
set(EXTERNAL_REPO_DIR "${CMAKE_BINARY_DIR}/external")

# Set CMake configuration parameters
set(UXRCE_CMAKE_ARGS
    -DCMAKE_BUILD_TYPE=Debug
	-DCMAKE_C_FLAGS=${CMAKE_C_FLAGS}
    -DCMAKE_INSTALL_PREFIX=${CMAKE_BINARY_DIR}/install
	-DCMAKE_TOOLCHAIN_FILE=${CMAKE_TOOLCHAIN_FILE}
	-DUCLIENT_PIC=OFF
	-DUCLIENT_PROFILE_DISCOVERY=OFF
	-DUCLIENT_PROFILE_UDP=OFF
	-DUCLIENT_PROFILE_TCP=OFF
	-DUCLIENT_PROFILE_SERIAL=OFF
    # Add more configuration parameters as needed
)

# Use ExternalProject_Add to clone the repository and configure the project
ExternalProject_Add(
    micro-xrce-dds-client
    PREFIX ${EXTERNAL_REPO_DIR}
    GIT_REPOSITORY ${UXRCE_URL}
    TIMEOUT 1000
    CMAKE_ARGS ${UXRCE_CMAKE_ARGS}
)

# Specify the target to depend on the external project
add_dependencies(${PROJECT_NAME} micro-xrce-dds-client)

target_link_libraries(${PROJECT_NAME}
	${CMAKE_BINARY_DIR}/install/lib/libmicroxrcedds_client.a
	${CMAKE_BINARY_DIR}/install/lib/libmicrocdr.a)
target_include_directories(${PROJECT_NAME} PUBLIC
	${CMAKE_BINARY_DIR}/install/include
)