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Add ESP32-P4 support for Micro-ROS
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16 files changed

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-19
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‎.github/workflows/ci.yml‎

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@@ -12,12 +12,18 @@ jobs:
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strategy:
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fail-fast: false
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matrix:
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idf_target: [ esp32, esp32s2, esp32s3, esp32c3, esp32c6]
16-
idf_version: [ "espressif/idf:release-v4.4", "espressif/idf:release-v5.2" ]
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idf_target: [ esp32, esp32s2, esp32s3, esp32c3, esp32c6, esp32p4]
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idf_version: [ "espressif/idf:release-v4.4", "espressif/idf:release-v5.2", "espressif/idf:release-v5.5" ]
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exclude:
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# Skip IDF v4 + ESP32C6 combination
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- idf_target: esp32c6
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idf_version: espressif/idf:release-v4.4
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# Skip IDF v4 + ESP32-P4 combination
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- idf_target: esp32p4
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idf_version: espressif/idf:release-v4.4
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# Skip IDF v5.2 + ESP32-P4 combination
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- idf_target: esp32p4
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idf_version: espressif/idf:release-v5.2
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container:
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image: ${{ matrix.idf_version }}
@@ -38,7 +44,12 @@ jobs:
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# This line avoids the error when using Python < 3.7 https://importlib-resources.readthedocs.io/en/latest/
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pip3 install importlib-resources
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# this installs the modules also for global python interpreter, needed for IDF v5
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/usr/bin/pip3 install catkin_pkg lark-parser colcon-common-extensions empy==3.3.4 importlib-resources
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# IDF 5.5 uses Python 3.12 which has externally-managed-environment protection
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if [ "${{ matrix.idf_version }}" == "espressif/idf:release-v5.5" ]; then \
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/usr/bin/pip3 install --break-system-packages catkin_pkg lark-parser colcon-common-extensions empy==3.3.4 importlib-resources; \
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else \
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/usr/bin/pip3 install catkin_pkg lark-parser colcon-common-extensions empy==3.3.4 importlib-resources; \
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fi
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# This line can be removed when https://github.com/colcon/colcon-python-setup-py/issues/56 is solved
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- name: Patch setuptools
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- name: Build sample - low_consumption
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shell: bash
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if: matrix.idf_target != 'esp32c3' && matrix.idf_target != 'esp32s3' && matrix.idf_target != 'esp32c6'
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if: matrix.idf_target != 'esp32c3' && matrix.idf_target != 'esp32s3' && matrix.idf_target != 'esp32c6' && matrix.idf_target != 'esp32p4'
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run: |
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. $IDF_PATH/export.sh
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cd micro_ros_espidf_component/examples/low_consumption

‎.github/workflows/nightly.yml‎

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@@ -15,12 +15,18 @@ jobs:
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fail-fast: false
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matrix:
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branch: [rolling, jazzy, humble]
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idf_target: [ esp32, esp32s2, esp32c3, esp32s3, esp32c6]
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idf_version: [ "espressif/idf:release-v4.4", "espressif/idf:release-v5.2" ]
18+
idf_target: [ esp32, esp32s2, esp32c3, esp32s3, esp32c6, esp32p4]
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idf_version: [ "espressif/idf:release-v4.4", "espressif/idf:release-v5.2", "espressif/idf:release-v5.5" ]
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exclude:
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# Skip IDF v4 + ESP32C6 combination
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- idf_target: esp32c6
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idf_version: espressif/idf:release-v4.4
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# Skip IDF v4 + ESP32-P4 combination
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- idf_target: esp32p4
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idf_version: espressif/idf:release-v4.4
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# Skip IDF v5.2 + ESP32-P4 combination
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- idf_target: esp32p4
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idf_version: espressif/idf:release-v5.2
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container:
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# This line avoids the error when using Python < 3.7 https://importlib-resources.readthedocs.io/en/latest/
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pip3 install importlib-resources
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# this installs the modules also for global python interpreter, needed for IDF v5
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/usr/bin/pip3 install catkin_pkg lark-parser colcon-common-extensions importlib-resources
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# IDF 5.5 uses Python 3.12 which has externally-managed-environment protection
53+
if [ "${{ matrix.idf_version }}" == "espressif/idf:release-v5.5" ]; then \
54+
/usr/bin/pip3 install --break-system-packages catkin_pkg lark-parser colcon-common-extensions importlib-resources; \
55+
else \
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/usr/bin/pip3 install catkin_pkg lark-parser colcon-common-extensions importlib-resources; \
57+
fi
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# This line can be removed when https://github.com/colcon/colcon-python-setup-py/issues/56 is solved
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- name: Patch setuptools
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- name: Build sample - low_consumption
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shell: bash
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if: matrix.idf_target != 'esp32c3' && matrix.idf_target != 'esp32s3' && matrix.idf_target != 'esp32c6'
77+
if: matrix.idf_target != 'esp32c3' && matrix.idf_target != 'esp32s3' && matrix.idf_target != 'esp32c6' && matrix.idf_target != 'esp32p4'
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run: |
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. $IDF_PATH/export.sh
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cd micro_ros_espidf_component/examples/low_consumption

‎README.md‎

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# micro-ROS component for ESP-IDF
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This component has been tested in ESP-IDF v4.4, and v5.2 with ESP32, ESP32-S2, ESP32-S3, ESP32-C3 and ESP32-C6.
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This component has been tested in ESP-IDF v4.4, v5.2, and v5.5 with ESP32, ESP32-S2, ESP32-S3, ESP32-C3, ESP32-C6 and ESP32-P4.
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## Dependencies
99

@@ -34,7 +34,7 @@ In order to test a int32_publisher example:
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```bash
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. $IDF_PATH/export.sh
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cd examples/int32_publisher
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# Set target board [esp32|esp32s2|esp32s3|esp32c3]
37+
# Set target board [esp32|esp32s2|esp32s3|esp32c3|esp32c6|esp32p4]
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idf.py set-target esp32
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idf.py menuconfig
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# Set your micro-ROS configuration and WiFi credentials under micro-ROS Settings

‎esp32_toolchain.cmake.in‎

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@@ -5,11 +5,18 @@ set(CMAKE_SYSTEM_NAME Generic)
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set(idf_target "@IDF_TARGET@")
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set(idf_path "@IDF_PATH@")
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8-
set(RISCV_TARGETS "esp32c3" "esp32c6")
8+
set(RISCV_TARGETS "esp32c3" "esp32c6" "esp32p4")
9+
set(RISCV_HARD_FLOAT_TARGETS "esp32p4")
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1011
if("${idf_target}" IN_LIST RISCV_TARGETS)
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set(CMAKE_SYSTEM_PROCESSOR riscv)
12-
set(FLAGS "-ffunction-sections -fdata-sections" CACHE STRING "" FORCE)
13+
if("${idf_target}" IN_LIST RISCV_HARD_FLOAT_TARGETS)
14+
# ESP32-P4 uses hardware floating point
15+
set(FLAGS "-march=rv32imafc -mabi=ilp32f -ffunction-sections -fdata-sections" CACHE STRING "" FORCE)
16+
else()
17+
# ESP32-C3/C6 use soft-float
18+
set(FLAGS "-ffunction-sections -fdata-sections" CACHE STRING "" FORCE)
19+
endif()
1320
else()
1421
set(CMAKE_SYSTEM_PROCESSOR xtensa)
1522
set(FLAGS "-mlongcalls -ffunction-sections -fdata-sections" CACHE STRING "" FORCE)
@@ -35,3 +42,9 @@ include_directories(
3542
"@BUILD_CONFIG_DIR@"
3643
${idf_path}/components/soc/${idf_target}/include
3744
)
45+
46+
if("${idf_target}" IN_LIST RISCV_TARGETS)
47+
include_directories(
48+
${idf_path}/components/riscv/include
49+
)
50+
endif()

‎examples/addtwoints_server/.gitignore‎

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build
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managed_components
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dependencies.lock
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sdkconfig
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sdkconfig.old

‎examples/handle_static_types/.gitignore‎

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build
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managed_components
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dependencies.lock
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sdkconfig
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sdkconfig.old

‎examples/int32_publisher/.gitignore‎

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build
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managed_components
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dependencies.lock
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sdkconfig
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sdkconfig.old

‎examples/int32_publisher_custom_transport/.gitignore‎

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build
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managed_components
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dependencies.lock
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sdkconfig
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sdkconfig.old

‎examples/int32_publisher_embeddedrtps/.gitignore‎

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build
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managed_components
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dependencies.lock
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sdkconfig
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sdkconfig.old

‎examples/int32_sub_pub/.gitignore‎

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dependencies.lock
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sdkconfig
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sdkconfig.old

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