This repository prototypes a ROS 2 Embedded system using NuttX.
##Hardware
The hardware used for this prototype is the STM32F4Discovery board
together with the STM32F4-BB
.
The board is connected to the computer using USB. This connection is used to power up the board, program and debug (through STLINK). PD5
, PD6
and GND
are used as the serial connection (for development and debugging purposes, NSH, etc). An Ethernet cable is connected from the STM32F4-BB
to the working station.
##Setting it up
git clone http://ymorin.is-a-geek.org/git/kconfig-frontends
cd kconfig-frontends/
sudo apt-get install gperf
sudo apt-get install flex
sudo apt-get install bison
sudo apt-get install libncurses5-dev
./bootstrap
./configure
make
sudo make install
sudo /sbin/ldconfig -v
There're are several configurations for the different applications. The following example shows how to use the hello world one:
cd nuttx/tools
./configure stm32f4discovery/hello
###Building
cd nuttx/
make menuconfig # optional
make
###Programming
make program2
###Debugging
cd nuttx/
make gdb_server3
In another terminal (same directory):
make gdb3
##UDP testing If NSH is launched with the right debug options, it can be used to test UDP traffic. On the remote machine do:
sudo mz eth0 -c 10 -A 192.168.0.2 -B 192.168.0.3 -t udp -p 100
You should see incoming packages in the NSH.