From 9518bcb90cc9d62130489e4c4efa6a0502b25d9a Mon Sep 17 00:00:00 2001 From: Chris Hollis-Locke Date: Fri, 28 Oct 2022 14:35:21 +1300 Subject: [PATCH 1/3] Update native posix configs --- prj_native_posix.conf | 38 ++++++++++++++++++++++++++++++++++++++ prj_native_posix_64.conf | 38 ++++++++++++++++++++++++++++++++++++++ 2 files changed, 76 insertions(+) diff --git a/prj_native_posix.conf b/prj_native_posix.conf index fa7da80..8728572 100644 --- a/prj_native_posix.conf +++ b/prj_native_posix.conf @@ -1 +1,39 @@ +CONFIG_MAIN_THREAD_PRIORITY=3 +CONFIG_MAIN_STACK_SIZE=25000 + +#CONFIG_POSIX_API=y +#CONFIG_PICOLIBC=y +CONFIG_PTHREAD_IPC=n + CONFIG_CPLUSPLUS=y +CONFIG_MICROROS_AGENT_IP="192.168.1.42" +CONFIG_MICRO_XRCE_DDS_CLIENT_CUSTOM=y + +CONFIG_LOG=y + +CONFIG_NETWORKING=y +CONFIG_NET_UDP=y +CONFIG_NET_IPV4=y +CONFIG_NET_IPV6=n +CONFIG_NET_LOG=y +CONFIG_NET_STATISTICS=y + +CONFIG_NET_PKT_RX_COUNT=32 +CONFIG_NET_PKT_TX_COUNT=32 +CONFIG_NET_BUF_RX_COUNT=32 +CONFIG_NET_BUF_TX_COUNT=32 + +CONFIG_NET_MAX_CONTEXTS=10 + +CONFIG_NET_SHELL=y + +CONFIG_NET_CONFIG_SETTINGS=y +CONFIG_NET_CONFIG_NEED_IPV4=y +CONFIG_NET_CONFIG_MY_IPV4_ADDR="192.0.2.1" +CONFIG_NET_CONFIG_PEER_IPV4_ADDR="192.0.2.2" + +CONFIG_NET_L2_ETHERNET=y + +#CONFIG_ETH_DRIVER=y +CONFIG_ETH_NATIVE_POSIX=y + diff --git a/prj_native_posix_64.conf b/prj_native_posix_64.conf index fa7da80..8728572 100644 --- a/prj_native_posix_64.conf +++ b/prj_native_posix_64.conf @@ -1 +1,39 @@ +CONFIG_MAIN_THREAD_PRIORITY=3 +CONFIG_MAIN_STACK_SIZE=25000 + +#CONFIG_POSIX_API=y +#CONFIG_PICOLIBC=y +CONFIG_PTHREAD_IPC=n + CONFIG_CPLUSPLUS=y +CONFIG_MICROROS_AGENT_IP="192.168.1.42" +CONFIG_MICRO_XRCE_DDS_CLIENT_CUSTOM=y + +CONFIG_LOG=y + +CONFIG_NETWORKING=y +CONFIG_NET_UDP=y +CONFIG_NET_IPV4=y +CONFIG_NET_IPV6=n +CONFIG_NET_LOG=y +CONFIG_NET_STATISTICS=y + +CONFIG_NET_PKT_RX_COUNT=32 +CONFIG_NET_PKT_TX_COUNT=32 +CONFIG_NET_BUF_RX_COUNT=32 +CONFIG_NET_BUF_TX_COUNT=32 + +CONFIG_NET_MAX_CONTEXTS=10 + +CONFIG_NET_SHELL=y + +CONFIG_NET_CONFIG_SETTINGS=y +CONFIG_NET_CONFIG_NEED_IPV4=y +CONFIG_NET_CONFIG_MY_IPV4_ADDR="192.0.2.1" +CONFIG_NET_CONFIG_PEER_IPV4_ADDR="192.0.2.2" + +CONFIG_NET_L2_ETHERNET=y + +#CONFIG_ETH_DRIVER=y +CONFIG_ETH_NATIVE_POSIX=y + From b7b953c013142af6f8ea0d3648f34b7ca5e660ea Mon Sep 17 00:00:00 2001 From: Chris Hollis-Locke Date: Fri, 28 Oct 2022 14:35:55 +1300 Subject: [PATCH 2/3] Fix native posix builds usleep() in main loop under native posix causes the app to stop responding. Changing to zephyr's k_msleep() fixes this. --- src/main.c | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/main.c b/src/main.c index 015954f..87324ed 100644 --- a/src/main.c +++ b/src/main.c @@ -93,7 +93,7 @@ void main(void) while(1){ rclc_executor_spin_some(&executor, 100); - usleep(100000); + k_msleep(100); } // free resources From 6f260eca0e4e1e4b1af2c3e4cb62320c63d84c7e Mon Sep 17 00:00:00 2001 From: Chris Hollis-Locke Date: Mon, 31 Oct 2022 10:52:39 +1300 Subject: [PATCH 3/3] Convert all conf files to minimal form --- prj_native_posix.conf | 38 ++++++++++---------------------------- prj_native_posix_64.conf | 39 +++++++++++---------------------------- prj_nucleo_f429zi.conf | 30 +++++++++++++++++++----------- prj_qemu_cortex_m3.conf | 12 +++++++----- 4 files changed, 47 insertions(+), 72 deletions(-) diff --git a/prj_native_posix.conf b/prj_native_posix.conf index 8728572..f6742bf 100644 --- a/prj_native_posix.conf +++ b/prj_native_posix.conf @@ -1,39 +1,21 @@ +CONFIG_MICROROS_AGENT_IP="192.168.1.42" +# CONFIG_NET_IPV6 is not set +CONFIG_MICRO_XRCE_DDS_CLIENT_CUSTOM=y CONFIG_MAIN_THREAD_PRIORITY=3 CONFIG_MAIN_STACK_SIZE=25000 - -#CONFIG_POSIX_API=y -#CONFIG_PICOLIBC=y -CONFIG_PTHREAD_IPC=n - +CONFIG_SYS_CLOCK_HW_CYCLES_PER_SEC=1000000 +CONFIG_CONSOLE=y CONFIG_CPLUSPLUS=y -CONFIG_MICROROS_AGENT_IP="192.168.1.42" -CONFIG_MICRO_XRCE_DDS_CLIENT_CUSTOM=y - -CONFIG_LOG=y - CONFIG_NETWORKING=y -CONFIG_NET_UDP=y -CONFIG_NET_IPV4=y -CONFIG_NET_IPV6=n -CONFIG_NET_LOG=y -CONFIG_NET_STATISTICS=y - +CONFIG_NET_SHELL=y +CONFIG_NET_MAX_CONTEXTS=10 CONFIG_NET_PKT_RX_COUNT=32 CONFIG_NET_PKT_TX_COUNT=32 CONFIG_NET_BUF_RX_COUNT=32 CONFIG_NET_BUF_TX_COUNT=32 - -CONFIG_NET_MAX_CONTEXTS=10 - -CONFIG_NET_SHELL=y - -CONFIG_NET_CONFIG_SETTINGS=y +CONFIG_NET_STATISTICS=y +CONFIG_NET_LOG=y CONFIG_NET_CONFIG_NEED_IPV4=y +CONFIG_NET_CONFIG_SETTINGS=y CONFIG_NET_CONFIG_MY_IPV4_ADDR="192.0.2.1" CONFIG_NET_CONFIG_PEER_IPV4_ADDR="192.0.2.2" - -CONFIG_NET_L2_ETHERNET=y - -#CONFIG_ETH_DRIVER=y -CONFIG_ETH_NATIVE_POSIX=y - diff --git a/prj_native_posix_64.conf b/prj_native_posix_64.conf index 8728572..e3e2f69 100644 --- a/prj_native_posix_64.conf +++ b/prj_native_posix_64.conf @@ -1,39 +1,22 @@ +CONFIG_MICROROS_AGENT_IP="192.168.1.42" +# CONFIG_NET_IPV6 is not set +CONFIG_MICRO_XRCE_DDS_CLIENT_CUSTOM=y +CONFIG_BOARD_NATIVE_POSIX_64BIT=y CONFIG_MAIN_THREAD_PRIORITY=3 CONFIG_MAIN_STACK_SIZE=25000 - -#CONFIG_POSIX_API=y -#CONFIG_PICOLIBC=y -CONFIG_PTHREAD_IPC=n - +CONFIG_SYS_CLOCK_HW_CYCLES_PER_SEC=1000000 +CONFIG_CONSOLE=y CONFIG_CPLUSPLUS=y -CONFIG_MICROROS_AGENT_IP="192.168.1.42" -CONFIG_MICRO_XRCE_DDS_CLIENT_CUSTOM=y - -CONFIG_LOG=y - CONFIG_NETWORKING=y -CONFIG_NET_UDP=y -CONFIG_NET_IPV4=y -CONFIG_NET_IPV6=n -CONFIG_NET_LOG=y -CONFIG_NET_STATISTICS=y - +CONFIG_NET_SHELL=y +CONFIG_NET_MAX_CONTEXTS=10 CONFIG_NET_PKT_RX_COUNT=32 CONFIG_NET_PKT_TX_COUNT=32 CONFIG_NET_BUF_RX_COUNT=32 CONFIG_NET_BUF_TX_COUNT=32 - -CONFIG_NET_MAX_CONTEXTS=10 - -CONFIG_NET_SHELL=y - -CONFIG_NET_CONFIG_SETTINGS=y +CONFIG_NET_STATISTICS=y +CONFIG_NET_LOG=y CONFIG_NET_CONFIG_NEED_IPV4=y +CONFIG_NET_CONFIG_SETTINGS=y CONFIG_NET_CONFIG_MY_IPV4_ADDR="192.0.2.1" CONFIG_NET_CONFIG_PEER_IPV4_ADDR="192.0.2.2" - -CONFIG_NET_L2_ETHERNET=y - -#CONFIG_ETH_DRIVER=y -CONFIG_ETH_NATIVE_POSIX=y - diff --git a/prj_nucleo_f429zi.conf b/prj_nucleo_f429zi.conf index 8fe4dd0..8478ab1 100644 --- a/prj_nucleo_f429zi.conf +++ b/prj_nucleo_f429zi.conf @@ -1,16 +1,24 @@ -CONFIG_ETH_DRIVER=y -CONFIG_MAIN_THREAD_PRIORITY=3 +CONFIG_MICROROS_AGENT_IP="192.168.1.42" +CONFIG_GPIO=y +CONFIG_PINCTRL=y +CONFIG_CLOCK_CONTROL=y +CONFIG_SERIAL=y CONFIG_MAIN_STACK_SIZE=25000 - -CONFIG_POSIX_API=y +CONFIG_MICRO_XRCE_DDS_CLIENT_CUSTOM=y +CONFIG_SOC_SERIES_STM32F4X=y +CONFIG_SOC_STM32F429XX=y +CONFIG_ARM_MPU=y +CONFIG_HW_STACK_PROTECTION=y +CONFIG_MAIN_THREAD_PRIORITY=3 +CONFIG_CONSOLE=y +CONFIG_UART_CONSOLE=y +CONFIG_ENTROPY_STM32_THR_THRESHOLD=4 +CONFIG_ENTROPY_STM32_ISR_THRESHOLD=12 CONFIG_PICOLIBC=y -CONFIG_PTHREAD_IPC=n - +CONFIG_POSIX_API=y +# CONFIG_PTHREAD_IPC is not set CONFIG_CPLUSPLUS=y -CONFIG_MICROROS_AGENT_IP="192.168.1.42" -CONFIG_MICRO_XRCE_DDS_CLIENT_CUSTOM=y - CONFIG_NETWORKING=y -CONFIG_NET_SOCKETS=y -CONFIG_NET_CONFIG_NEED_IPV4=y CONFIG_NET_DHCPV4=y +CONFIG_NET_CONFIG_NEED_IPV4=y +CONFIG_NET_SOCKETS=y diff --git a/prj_qemu_cortex_m3.conf b/prj_qemu_cortex_m3.conf index daa0732..61b669d 100644 --- a/prj_qemu_cortex_m3.conf +++ b/prj_qemu_cortex_m3.conf @@ -1,7 +1,9 @@ -# CONFIG_NET_IPV6 is not set -# CONFIG_ETH_DRIVER is not set -#CONFIG_MINIMAL_LIBC_RAND=y -#CONFIG_MINIMAL_LIBC_STRING_ERROR_TABLE=y -CONFIG_POSIX_API=y +CONFIG_SERIAL=y +CONFIG_QEMU_ICOUNT_SHIFT=6 +CONFIG_SOC_TI_LM3S6965=y +CONFIG_SCHED_MULTIQ=y +CONFIG_CONSOLE=y +CONFIG_UART_CONSOLE=y CONFIG_PICOLIBC=y +CONFIG_POSIX_API=y CONFIG_CPLUSPLUS=y