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Add ESP32-P4 support for Micro-ROS (Humble) #319

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19 changes: 15 additions & 4 deletions .github/workflows/ci.yml
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Original file line number Diff line number Diff line change
Expand Up @@ -12,12 +12,18 @@ jobs:
strategy:
fail-fast: false
matrix:
idf_target: [ esp32, esp32s2, esp32s3, esp32c3, esp32c6]
idf_version: [ "espressif/idf:release-v4.4", "espressif/idf:release-v5.2" ]
idf_target: [ esp32, esp32s2, esp32s3, esp32c3, esp32c6, esp32p4]
idf_version: [ "espressif/idf:release-v4.4", "espressif/idf:release-v5.2", "espressif/idf:release-v5.5" ]
exclude:
# Skip IDF v4 + ESP32C6 combination
- idf_target: esp32c6
idf_version: espressif/idf:release-v4.4
# Skip IDF v4 + ESP32-P4 combination
- idf_target: esp32p4
idf_version: espressif/idf:release-v4.4
# Skip IDF v5.2 + ESP32-P4 combination
- idf_target: esp32p4
idf_version: espressif/idf:release-v5.2

container:
image: ${{ matrix.idf_version }}
Expand All @@ -38,7 +44,12 @@ jobs:
# This line avoids the error when using Python < 3.7 https://importlib-resources.readthedocs.io/en/latest/
pip3 install importlib-resources
# this installs the modules also for global python interpreter, needed for IDF v5
/usr/bin/pip3 install catkin_pkg lark-parser colcon-common-extensions empy==3.3.4 importlib-resources
# IDF 5.5 uses Python 3.12 which has externally-managed-environment protection
if [ "${{ matrix.idf_version }}" == "espressif/idf:release-v5.5" ]; then \
/usr/bin/pip3 install --break-system-packages catkin_pkg lark-parser colcon-common-extensions empy==3.3.4 importlib-resources; \
else \
/usr/bin/pip3 install catkin_pkg lark-parser colcon-common-extensions empy==3.3.4 importlib-resources; \
fi

# This line can be removed when https://github.com/colcon/colcon-python-setup-py/issues/56 is solved
- name: Patch setuptools
Expand All @@ -58,7 +69,7 @@ jobs:

- name: Build sample - low_consumption
shell: bash
if: matrix.idf_target != 'esp32c3' && matrix.idf_target != 'esp32s3' && matrix.idf_target != 'esp32c6'
if: matrix.idf_target != 'esp32c3' && matrix.idf_target != 'esp32s3' && matrix.idf_target != 'esp32c6' && matrix.idf_target != 'esp32p4'
run: |
. $IDF_PATH/export.sh
cd micro_ros_espidf_component/examples/low_consumption
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19 changes: 15 additions & 4 deletions .github/workflows/nightly.yml
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Expand Up @@ -15,12 +15,18 @@ jobs:
fail-fast: false
matrix:
branch: [rolling, jazzy, humble]
idf_target: [ esp32, esp32s2, esp32c3, esp32s3, esp32c6]
idf_version: [ "espressif/idf:release-v4.4", "espressif/idf:release-v5.2" ]
idf_target: [ esp32, esp32s2, esp32c3, esp32s3, esp32c6, esp32p4]
idf_version: [ "espressif/idf:release-v4.4", "espressif/idf:release-v5.2", "espressif/idf:release-v5.5" ]
exclude:
# Skip IDF v4 + ESP32C6 combination
- idf_target: esp32c6
idf_version: espressif/idf:release-v4.4
# Skip IDF v4 + ESP32-P4 combination
- idf_target: esp32p4
idf_version: espressif/idf:release-v4.4
# Skip IDF v5.2 + ESP32-P4 combination
- idf_target: esp32p4
idf_version: espressif/idf:release-v5.2


container:
Expand All @@ -43,7 +49,12 @@ jobs:
# This line avoids the error when using Python < 3.7 https://importlib-resources.readthedocs.io/en/latest/
pip3 install importlib-resources
# this installs the modules also for global python interpreter, needed for IDF v5
/usr/bin/pip3 install catkin_pkg lark-parser colcon-common-extensions importlib-resources
# IDF 5.5 uses Python 3.12 which has externally-managed-environment protection
if [ "${{ matrix.idf_version }}" == "espressif/idf:release-v5.5" ]; then \
/usr/bin/pip3 install --break-system-packages catkin_pkg lark-parser colcon-common-extensions importlib-resources; \
else \
/usr/bin/pip3 install catkin_pkg lark-parser colcon-common-extensions importlib-resources; \
fi

# This line can be removed when https://github.com/colcon/colcon-python-setup-py/issues/56 is solved
- name: Patch setuptools
Expand All @@ -63,7 +74,7 @@ jobs:

- name: Build sample - low_consumption
shell: bash
if: matrix.idf_target != 'esp32c3' && matrix.idf_target != 'esp32s3' && matrix.idf_target != 'esp32c6'
if: matrix.idf_target != 'esp32c3' && matrix.idf_target != 'esp32s3' && matrix.idf_target != 'esp32c6' && matrix.idf_target != 'esp32p4'
run: |
. $IDF_PATH/export.sh
cd micro_ros_espidf_component/examples/low_consumption
Expand Down
7 changes: 5 additions & 2 deletions Kconfig.projbuild
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Expand Up @@ -71,13 +71,13 @@ menu "Ethernet Configuration"

choice MICRO_ROS_ETHERNET_TYPE
prompt "Ethernet Type"
default MICRO_ROS_USE_INTERNAL_ETHERNET if IDF_TARGET_ESP32
default MICRO_ROS_USE_INTERNAL_ETHERNET if IDF_TARGET_ESP32 || IDF_TARGET_ESP32P4
default MICRO_ROS_USE_W5500
help
Select which kind of Ethernet will be used in the example.

config MICRO_ROS_USE_INTERNAL_ETHERNET
depends on IDF_TARGET_ESP32
depends on IDF_TARGET_ESP32 || IDF_TARGET_ESP32P4
select ETH_USE_ESP32_EMAC
bool "Internal EMAC"
help
Expand Down Expand Up @@ -140,12 +140,14 @@ menu "Ethernet Configuration"

config MICRO_ROS_ETH_MDC_GPIO
int "SMI MDC GPIO number"
default 31 if IDF_TARGET_ESP32P4
default 23
help
Set the GPIO number used by SMI MDC.

config MICRO_ROS_ETH_MDIO_GPIO
int "SMI MDIO GPIO number"
default 52 if IDF_TARGET_ESP32P4
default 18
help
Set the GPIO number used by SMI MDIO.
Expand Down Expand Up @@ -203,6 +205,7 @@ menu "Ethernet Configuration"

config MICRO_ROS_ETH_PHY_RST_GPIO
int "PHY Reset GPIO number"
default 51 if IDF_TARGET_ESP32P4
default 5
help
Set the GPIO number used to reset PHY chip.
Expand Down
4 changes: 2 additions & 2 deletions README.md
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Expand Up @@ -3,7 +3,7 @@

# micro-ROS component for ESP-IDF

This component has been tested in ESP-IDF v4.4, and v5.2 with ESP32, ESP32-S2, ESP32-S3, ESP32-C3 and ESP32-C6.
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.

## Dependencies

Expand Down Expand Up @@ -34,7 +34,7 @@ In order to test a int32_publisher example:
```bash
. $IDF_PATH/export.sh
cd examples/int32_publisher
# Set target board [esp32|esp32s2|esp32s3|esp32c3]
# Set target board [esp32|esp32s2|esp32s3|esp32c3|esp32c6|esp32p4]
idf.py set-target esp32
idf.py menuconfig
# Set your micro-ROS configuration and WiFi credentials under micro-ROS Settings
Expand Down
17 changes: 15 additions & 2 deletions esp32_toolchain.cmake.in
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Expand Up @@ -5,11 +5,18 @@ set(CMAKE_SYSTEM_NAME Generic)
set(idf_target "@IDF_TARGET@")
set(idf_path "@IDF_PATH@")

set(RISCV_TARGETS "esp32c3" "esp32c6")
set(RISCV_TARGETS "esp32c3" "esp32c6" "esp32p4")
set(RISCV_HARD_FLOAT_TARGETS "esp32p4")

if("${idf_target}" IN_LIST RISCV_TARGETS)
set(CMAKE_SYSTEM_PROCESSOR riscv)
set(FLAGS "-ffunction-sections -fdata-sections" CACHE STRING "" FORCE)
if("${idf_target}" IN_LIST RISCV_HARD_FLOAT_TARGETS)
# ESP32-P4 uses hardware floating point
set(FLAGS "-march=rv32imafc -mabi=ilp32f -ffunction-sections -fdata-sections" CACHE STRING "" FORCE)
else()
# ESP32-C3/C6 use soft-float
set(FLAGS "-ffunction-sections -fdata-sections" CACHE STRING "" FORCE)
endif()
else()
set(CMAKE_SYSTEM_PROCESSOR xtensa)
set(FLAGS "-mlongcalls -ffunction-sections -fdata-sections" CACHE STRING "" FORCE)
Expand All @@ -35,3 +42,9 @@ include_directories(
"@BUILD_CONFIG_DIR@"
${idf_path}/components/soc/${idf_target}/include
)

if("${idf_target}" IN_LIST RISCV_TARGETS)
include_directories(
${idf_path}/components/riscv/include
)
endif()
2 changes: 2 additions & 0 deletions examples/addtwoints_server/.gitignore
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@@ -1,3 +1,5 @@
build
managed_components
dependencies.lock
sdkconfig
sdkconfig.old
2 changes: 2 additions & 0 deletions examples/handle_static_types/.gitignore
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@@ -1,3 +1,5 @@
build
managed_components
dependencies.lock
sdkconfig
sdkconfig.old
2 changes: 2 additions & 0 deletions examples/int32_publisher/.gitignore
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@@ -1,3 +1,5 @@
build
managed_components
dependencies.lock
sdkconfig
sdkconfig.old
2 changes: 2 additions & 0 deletions examples/int32_publisher_custom_transport/.gitignore
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@@ -1,3 +1,5 @@
build
managed_components
dependencies.lock
sdkconfig
sdkconfig.old
2 changes: 2 additions & 0 deletions examples/int32_publisher_embeddedrtps/.gitignore
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@@ -1,3 +1,5 @@
build
managed_components
dependencies.lock
sdkconfig
sdkconfig.old
2 changes: 2 additions & 0 deletions examples/int32_sub_pub/.gitignore
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@@ -1,3 +1,5 @@
build
managed_components
dependencies.lock
sdkconfig
sdkconfig.old
2 changes: 2 additions & 0 deletions examples/low_consumption/.gitignore
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@@ -1,3 +1,5 @@
build
managed_components
dependencies.lock
sdkconfig
sdkconfig.old
2 changes: 2 additions & 0 deletions examples/multithread_publisher/.gitignore
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@@ -1,3 +1,5 @@
build
managed_components
dependencies.lock
sdkconfig
sdkconfig.old
2 changes: 2 additions & 0 deletions examples/parameters/.gitignore
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@@ -1,3 +1,5 @@
build
managed_components
dependencies.lock
sdkconfig
sdkconfig.old
2 changes: 2 additions & 0 deletions examples/ping_pong/.gitignore
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@@ -1,3 +1,5 @@
build
managed_components
dependencies.lock
sdkconfig
sdkconfig.old
10 changes: 10 additions & 0 deletions idf_component.yml
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@@ -0,0 +1,10 @@
dependencies:
espressif/esp_wifi_remote:
version: ">=0.10,<2.0"
rules:
- if: "target in [esp32p4]"
espressif/esp_hosted:
version: "~2"
rules:
- if: "target in [esp32p4]"

15 changes: 8 additions & 7 deletions libmicroros.mk
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Expand Up @@ -131,20 +131,21 @@ ifeq ($(IDF_TARGET),$(filter $(IDF_TARGET),esp32s2 esp32c3 esp32c6))
cd ..; \
rm -rf $(UROS_DIR)/atomic_workaround;
endif
ifeq ($(IDF_TARGET),$(filter $(IDF_TARGET),esp32))
# ESP32-S3, ESP32-P4, ESP32: only need workaround in IDF 5.5
ifeq ($(IDF_TARGET),$(filter $(IDF_TARGET),esp32s3 esp32p4 esp32))
@if [ $(IDF_VERSION_MAJOR) -eq 5 ] && [ $(IDF_VERSION_MINOR) -eq 5 ]; then \
echo $(UROS_DIR)/atomic_workaround; \
mkdir $(UROS_DIR)/atomic_workaround; cd $(UROS_DIR)/atomic_workaround; \
$(X_AR) x $(UROS_DIR)/install/lib/librcutils.a; \
$(X_STRIP) atomic_64bits.c.obj --strip-symbol=__atomic_fetch_add_8; \
if [ $(IDF_VERSION_MAJOR) -ge 5 ] && [ $(IDF_VERSION_MINOR) -ge 3 ]; then \
$(X_STRIP) atomic_64bits.c.obj --strip-symbol=__atomic_load_8; \
$(X_STRIP) atomic_64bits.c.obj --strip-symbol=__atomic_store_8; \
$(X_STRIP) atomic_64bits.c.obj --strip-symbol=__atomic_exchange_8; \
fi; \
$(X_STRIP) atomic_64bits.c.obj --strip-symbol=__atomic_load_8; \
$(X_STRIP) atomic_64bits.c.obj --strip-symbol=__atomic_store_8; \
$(X_STRIP) atomic_64bits.c.obj --strip-symbol=__atomic_exchange_8; \
$(X_AR) rc -s librcutils.a *.obj; \
cp -rf librcutils.a $(UROS_DIR)/install/lib/librcutils.a; \
cd ..; \
rm -rf $(UROS_DIR)/atomic_workaround;
rm -rf $(UROS_DIR)/atomic_workaround; \
fi
endif

$(EXTENSIONS_DIR)/libmicroros.a: $(EXTENSIONS_DIR)/micro_ros_src/install patch_atomic
Expand Down
13 changes: 12 additions & 1 deletion network_interfaces/uros_ethernet_netif.c
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Expand Up @@ -74,20 +74,31 @@ esp_err_t uros_network_interface_initialize(void)
ESP_ERROR_CHECK(esp_event_loop_create_default());
esp_netif_config_t cfg = ESP_NETIF_DEFAULT_ETH();
esp_netif_t *eth_netif = esp_netif_new(&cfg);
// Set default handlers to process TCP/IP stuffs
// Set default handlers to process TCP/IP stuffs (removed in ESP-IDF 5.5+)
#if ESP_IDF_VERSION < ESP_IDF_VERSION_VAL(5, 5, 0)
ESP_ERROR_CHECK(esp_eth_set_default_handlers(eth_netif));
#endif
// Register user defined event handers
ESP_ERROR_CHECK(esp_event_handler_register(ETH_EVENT, ESP_EVENT_ANY_ID, &eth_event_handler, NULL));
ESP_ERROR_CHECK(esp_event_handler_register(IP_EVENT, IP_EVENT_ETH_GOT_IP, &got_ip_event_handler, NULL));

eth_mac_config_t mac_config = ETH_MAC_DEFAULT_CONFIG();
#if ESP_IDF_VERSION >= ESP_IDF_VERSION_VAL(5, 5, 0)
eth_esp32_emac_config_t esp32_emac_config = ETH_ESP32_EMAC_DEFAULT_CONFIG();
#endif
eth_phy_config_t phy_config = ETH_PHY_DEFAULT_CONFIG();
phy_config.phy_addr = CONFIG_MICRO_ROS_ETH_PHY_ADDR;
phy_config.reset_gpio_num = CONFIG_MICRO_ROS_ETH_PHY_RST_GPIO;
#if CONFIG_MICRO_ROS_USE_INTERNAL_ETHERNET
#if ESP_IDF_VERSION < ESP_IDF_VERSION_VAL(5, 5, 0)
mac_config.smi_mdc_gpio_num = CONFIG_MICRO_ROS_ETH_MDC_GPIO;
mac_config.smi_mdio_gpio_num = CONFIG_MICRO_ROS_ETH_MDIO_GPIO;
esp_eth_mac_t *mac = esp_eth_mac_new_esp32(&mac_config);
#else
esp32_emac_config.smi_gpio.mdc_num = CONFIG_MICRO_ROS_ETH_MDC_GPIO;
esp32_emac_config.smi_gpio.mdio_num = CONFIG_MICRO_ROS_ETH_MDIO_GPIO;
esp_eth_mac_t *mac = esp_eth_mac_new_esp32(&esp32_emac_config, &mac_config);
#endif
#if CONFIG_MICRO_ROS_ETH_PHY_IP101
esp_eth_phy_t *phy = esp_eth_phy_new_ip101(&phy_config);
#elif CONFIG_MICRO_ROS_ETH_PHY_RTL8201
Expand Down