Hello, I am trying to work with microros on STM32H753ZIT6U .

System: WSL Ubuntu22.04 Ros Distro: Humble Microcontroller: STM32H753ZIT6U Transport: USART with DMA USART baudrate: 115200

What I have done

I followed the instrunctions on microros tutorials and I created microros workspace, cloned micro_ros_setup, updated dependencies, installed python3-pip, builded, sourced. Then, I created firmware, builded it and crated microros agent.

I created a stm32cubeide project and arranged peripherals as HSE to crystal/seramic, SYS to TIM1. I enabled the USART3 (PD8, PD9) which is directly connected STLINKs microusb. I adjusted usart3_rx and usart3_tx for DMA with very high priority. I selected circular buffer for RX, I enabled the global interrupt for that. Finally, I enabled the FreeRTOS and I gave 12kb storage for stack of default task.

I cloned the micro_ros_stm32cubemx_utils and moved the files in extra_sources to /Core/Src . I deleted the files except dma_transport.c in microros_transports. Then, I added prebuid steps, micro-ROS include directory and Add the micro-ROS precompiled library as described. I sourced ros2 humble, micro ros workspace and gave the permissions via "sudo chmod 666 /var/run/docker.sock ". I found a basic projects ,compiled it and flashed succesfully. I runned the microros agent with "ros2 run micro_ros_agent micro_ros_agent serial --dev /dev/ttyACM0". I also tried the run it with "ros2 run micro_ros_agent micro_ros_agent udp4 --port 8888". However the publisher does not publish anything. Ekran görüntüsü 2024-08-16 152739

I tried to see the publisher with "ros2 topic list" but it is not seen.

Code

/ USER CODE BEGIN Header / /**

@file : main.c
@brief : Main program body
@attention
Copyright (c) 2024 STMicroelectronics.
All rights reserved.
This software is licensed under terms that can be found in the LICENSE file
in the root directory of this software component.
If no LICENSE file comes with this software, it is provided AS-IS.
/ / USER CODE END Header / / Includes ------------------------------------------------------------------*/

include "main.h"

include "cmsis_os.h"

/ Private includes ----------------------------------------------------------/ / USER CODE BEGIN Includes /

include <rcl/rcl.h>

include <rcl/error_handling.h>

include <rclc/rclc.h>

include <rclc/executor.h>

include <uxr/client/transport.h>

include <rmw_microxrcedds_c/config.h>

include <rmw_microros/rmw_microros.h>

include <std_msgs/msg/int32.h>

/ USER CODE END Includes /

/ Private typedef -----------------------------------------------------------/ / USER CODE BEGIN PTD /

/ USER CODE END PTD /

/ Private define ------------------------------------------------------------/ / USER CODE BEGIN PD /

/ USER CODE END PD /

/ Private macro -------------------------------------------------------------/ / USER CODE BEGIN PM /

/ USER CODE END PM /

/ Private variables ---------------------------------------------------------/

UART_HandleTypeDef huart3; DMA_HandleTypeDef hdma_usart3_rx; DMA_HandleTypeDef hdma_usart3_tx;

/ Definitions for defaultTask / osThreadId_t defaultTaskHandle; const osThreadAttr_t defaultTask_attributes = { .name = "defaultTask", .stack_size = 3000 4, .priority = (osPriority_t) osPriorityNormal, }; / USER CODE BEGIN PV */

/ USER CODE END PV /

/ Private function prototypes -----------------------------------------------/ void SystemClock_Config(void); static void MPU_Config(void); static void MX_GPIO_Init(void); static void MX_DMA_Init(void); static void MX_USART3_UART_Init(void); void StartDefaultTask(void *argument);

/ USER CODE BEGIN PFP /

/ USER CODE END PFP /

/ Private user code ---------------------------------------------------------/ / USER CODE BEGIN 0 /

/ USER CODE END 0 /

/**

@brief The application entry point.
@retval int */ int main(void) {

/ USER CODE BEGIN 1 /

/ USER CODE END 1 /

/ MPU Configuration--------------------------------------------------------/ MPU_Config();

/ MCU Configuration--------------------------------------------------------/

/ Reset of all peripherals, Initializes the Flash interface and the Systick. / HAL_Init();

/ USER CODE BEGIN Init /

/ USER CODE END Init /

/ Configure the system clock / SystemClock_Config();

/ USER CODE BEGIN SysInit /

/ USER CODE END SysInit /

/ Initialize all configured peripherals / MX_GPIO_Init(); MX_DMA_Init(); MX_USART3_UART_Init(); / USER CODE BEGIN 2 /

/ USER CODE END 2 /

/ Init scheduler / osKernelInitialize();

/ USER CODE BEGIN RTOS_MUTEX / / add mutexes, ... / / USER CODE END RTOS_MUTEX /

/ USER CODE BEGIN RTOS_SEMAPHORES / / add semaphores, ... / / USER CODE END RTOS_SEMAPHORES /

/ USER CODE BEGIN RTOS_TIMERS / / start timers, add new ones, ... / / USER CODE END RTOS_TIMERS /

/ USER CODE BEGIN RTOS_QUEUES / / add queues, ... / / USER CODE END RTOS_QUEUES /

/ Create the thread(s) / / creation of defaultTask / defaultTaskHandle = osThreadNew(StartDefaultTask, NULL, &defaultTask_attributes);

/ USER CODE BEGIN RTOS_THREADS / / add threads, ... / / USER CODE END RTOS_THREADS /

/ USER CODE BEGIN RTOS_EVENTS / / add events, ... / / USER CODE END RTOS_EVENTS /

/ Start scheduler / osKernelStart();

/ We should never get here as control is now taken by the scheduler /

/ Infinite loop / / USER CODE BEGIN WHILE / while (1) { / USER CODE END WHILE /

/ USER CODE BEGIN 3 / } / USER CODE END 3 / }

/**

@brief System Clock Configuration
@retval None */ void SystemClock_Config(void) { RCC_OscInitTypeDef RCC_OscInitStruct = {0}; RCC_ClkInitTypeDef RCC_ClkInitStruct = {0};

/* Supply configuration update enable / HAL_PWREx_ConfigSupply(PWR_LDO_SUPPLY);

/* Configure the main internal regulator output voltage / __HAL_PWR_VOLTAGESCALING_CONFIG(PWR_REGULATOR_VOLTAGE_SCALE1);

while(!__HAL_PWR_GET_FLAG(PWR_FLAG_VOSRDY)) {}

/** Initializes the RCC Oscillators according to the specified parameters
in the RCC_OscInitTypeDef structure. */ RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSE; RCC_OscInitStruct.HSEState = RCC_HSE_ON; RCC_OscInitStruct.PLL.PLLState = RCC_PLL_ON; RCC_OscInitStruct.PLL.PLLSource = RCC_PLLSOURCE_HSE; RCC_OscInitStruct.PLL.PLLM = 2; RCC_OscInitStruct.PLL.PLLN = 64; RCC_OscInitStruct.PLL.PLLP = 2; RCC_OscInitStruct.PLL.PLLQ = 2; RCC_OscInitStruct.PLL.PLLR = 2; RCC_OscInitStruct.PLL.PLLRGE = RCC_PLL1VCIRANGE_3; RCC_OscInitStruct.PLL.PLLVCOSEL = RCC_PLL1VCOWIDE; RCC_OscInitStruct.PLL.PLLFRACN = 0; if (HAL_RCC_OscConfig(&RCC_OscInitStruct) != HAL_OK) { Error_Handler(); }

/* Initializes the CPU, AHB and APB buses clocks / RCC_ClkInitStruct.ClockType = RCC_CLOCKTYPE_HCLK|RCC_CLOCKTYPE_SYSCLK |RCC_CLOCKTYPE_PCLK1|RCC_CLOCKTYPE_PCLK2 |RCC_CLOCKTYPE_D3PCLK1|RCC_CLOCKTYPE_D1PCLK1; RCC_ClkInitStruct.SYSCLKSource = RCC_SYSCLKSOURCE_PLLCLK; RCC_ClkInitStruct.SYSCLKDivider = RCC_SYSCLK_DIV1; RCC_ClkInitStruct.AHBCLKDivider = RCC_HCLK_DIV2; RCC_ClkInitStruct.APB3CLKDivider = RCC_APB3_DIV2; RCC_ClkInitStruct.APB1CLKDivider = RCC_APB1_DIV2; RCC_ClkInitStruct.APB2CLKDivider = RCC_APB2_DIV2; RCC_ClkInitStruct.APB4CLKDivider = RCC_APB4_DIV2;

if (HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_2) != HAL_OK) { Error_Handler(); } }

/**

@brief USART3 Initialization Function
@param None
@retval None */ static void MX_USART3_UART_Init(void) {

/ USER CODE BEGIN USART3_Init 0 /

/ USER CODE END USART3_Init 0 /

/ USER CODE BEGIN USART3_Init 1 /

/ USER CODE END USART3_Init 1 / huart3.Instance = USART3; huart3.Init.BaudRate = 115200; huart3.Init.WordLength = UART_WORDLENGTH_8B; huart3.Init.StopBits = UART_STOPBITS_1; huart3.Init.Parity = UART_PARITY_NONE; huart3.Init.Mode = UART_MODE_TX_RX; huart3.Init.HwFlowCtl = UART_HWCONTROL_NONE; huart3.Init.OverSampling = UART_OVERSAMPLING_16; huart3.Init.OneBitSampling = UART_ONE_BIT_SAMPLE_DISABLE; huart3.Init.ClockPrescaler = UART_PRESCALER_DIV1; huart3.AdvancedInit.AdvFeatureInit = UART_ADVFEATURE_NO_INIT; if (HAL_UART_Init(&huart3) != HAL_OK) { Error_Handler(); } if (HAL_UARTEx_SetTxFifoThreshold(&huart3, UART_TXFIFO_THRESHOLD_1_8) != HAL_OK) { Error_Handler(); } if (HAL_UARTEx_SetRxFifoThreshold(&huart3, UART_RXFIFO_THRESHOLD_1_8) != HAL_OK) { Error_Handler(); } if (HAL_UARTEx_DisableFifoMode(&huart3) != HAL_OK) { Error_Handler(); } / USER CODE BEGIN USART3_Init 2 /

/ USER CODE END USART3_Init 2 /

}

/**

Enable DMA controller clock */ static void MX_DMA_Init(void) {

/ DMA controller clock enable / __HAL_RCC_DMA1_CLK_ENABLE();

/ DMA interrupt init / / DMA1_Stream0_IRQn interrupt configuration / HAL_NVIC_SetPriority(DMA1_Stream0_IRQn, 5, 0); HAL_NVIC_EnableIRQ(DMA1_Stream0_IRQn); / DMA1_Stream1_IRQn interrupt configuration / HAL_NVIC_SetPriority(DMA1_Stream1_IRQn, 5, 0); HAL_NVIC_EnableIRQ(DMA1_Stream1_IRQn);

}

/**

@brief GPIO Initialization Function
@param None
@retval None / static void MX_GPIO_Init(void) { / USER CODE BEGIN MX_GPIO_Init_1 / / USER CODE END MX_GPIO_Init_1 */

/ GPIO Ports Clock Enable / HAL_RCC_GPIOC_CLK_ENABLE(); HAL_RCC_GPIOH_CLK_ENABLE(); __HAL_RCC_GPIOD_CLK_ENABLE();

/ USER CODE BEGIN MX_GPIO_Init_2 / / USER CODE END MX_GPIO_Init_2 / }

/ USER CODE BEGIN 4 / bool cubemx_transport_open(struct uxrCustomTransport transport); bool cubemx_transport_close(struct uxrCustomTransport transport); size_t cubemx_transport_write(struct uxrCustomTransport transport, const uint8_t buf, size_t len, uint8_t err); size_t cubemx_transport_read(struct uxrCustomTransport transport, uint8_t buf, size_t len, int timeout, uint8_t err);

void microros_allocate(size_t size, void state); void microros_deallocate(void pointer, void state); void microros_reallocate(void pointer, size_t size, void state); void microros_zero_allocate(size_t number_of_elements, size_t size_of_element, void * state);

/ USER CODE END 4 /

/ USER CODE BEGIN Header_StartDefaultTask / /**

@brief Function implementing the defaultTask thread.
@param argument: Not used
@retval None / / USER CODE END Header_StartDefaultTask / void StartDefaultTask(void argument) { / USER CODE BEGIN 5 /

// micro-ROS configuration

rmw_uros_set_custom_transport( true, (void *) &huart3, cubemx_transport_open, cubemx_transport_close, cubemx_transport_write, cubemx_transport_read);

rcl_allocator_t freeRTOS_allocator = rcutils_get_zero_initialized_allocator(); freeRTOS_allocator.allocate = microros_allocate; freeRTOS_allocator.deallocate = microros_deallocate; freeRTOS_allocator.reallocate = microros_reallocate; freeRTOS_allocator.zero_allocate = microros_zero_allocate;

if (!rcutils_set_default_allocator(&freeRTOS_allocator)) { printf("Error on default allocators (line %d)\n", LINE); }

// micro-ROS app

rcl_publisher_t publisher; std_msgsmsgInt32 msg; rclc_support_t support; rcl_allocator_t allocator; rcl_node_t node;

allocator = rcl_get_default_allocator();

//create init_options rclc_support_init(&support, 0, NULL, &allocator);

// create node rclc_node_init_default(&node, "cubemx_node", "", &support);

// create publisher rclc_publisher_init_default( &publisher, &node, ROSIDL_GET_MSG_TYPE_SUPPORT(std_msgs, msg, Int32), "cubemx_publisher");

msg.data = 0;

for(;;) { rcl_ret_t ret = rcl_publish(&publisher, &msg, NULL); if (ret != RCL_RET_OK) { printf("Error publishing (line %d)\n", LINE); }
```
msg.data++;
osDelay(10);
```
} / USER CODE END 5 / }

/ MPU Configuration /

void MPU_Config(void) { MPU_Region_InitTypeDef MPU_InitStruct = {0};

/ Disables the MPU / HAL_MPU_Disable();

/* Initializes and configures the Region and the memory to be protected / MPU_InitStruct.Enable = MPU_REGION_ENABLE; MPU_InitStruct.Number = MPU_REGION_NUMBER0; MPU_InitStruct.BaseAddress = 0x0; MPU_InitStruct.Size = MPU_REGION_SIZE_4GB; MPU_InitStruct.SubRegionDisable = 0x87; MPU_InitStruct.TypeExtField = MPU_TEX_LEVEL0; MPU_InitStruct.AccessPermission = MPU_REGION_NO_ACCESS; MPU_InitStruct.DisableExec = MPU_INSTRUCTION_ACCESS_DISABLE; MPU_InitStruct.IsShareable = MPU_ACCESS_SHAREABLE; MPU_InitStruct.IsCacheable = MPU_ACCESS_NOT_CACHEABLE; MPU_InitStruct.IsBufferable = MPU_ACCESS_NOT_BUFFERABLE;

HAL_MPU_ConfigRegion(&MPU_InitStruct); / Enables the MPU / HAL_MPU_Enable(MPU_PRIVILEGED_DEFAULT);

}

/**

@brief Period elapsed callback in non blocking mode
@note This function is called when TIM1 interrupt took place, inside
HAL_TIM_IRQHandler(). It makes a direct call to HAL_IncTick() to increment
a global variable "uwTick" used as application time base.
@param htim : TIM handle
@retval None / void HAL_TIM_PeriodElapsedCallback(TIM_HandleTypeDef htim) { / USER CODE BEGIN Callback 0 /

/ USER CODE END Callback 0 / if (htim->Instance == TIM1) { HAL_IncTick(); } / USER CODE BEGIN Callback 1 /

/ USER CODE END Callback 1 / }

/**

@brief This function is executed in case of error occurrence.
@retval None / void Error_Handler(void) { / USER CODE BEGIN Error_Handler_Debug / / User can add his own implementation to report the HAL error return state / __disable_irq(); while (1) { } / USER CODE END Error_Handler_Debug */ }

ifdef USE_FULL_ASSERT

/**

@brief Reports the name of the source file and the source line number
where the assert_param error has occurred.
@param file: pointer to the source file name
@param line: assert_param error line source number
@retval None / void assert_failed(uint8_t file, uint32_t line) { / USER CODE BEGIN 6 / / User can add his own implementation to report the file name and line number, ex: printf("Wrong parameters value: file %s on line %d\r\n", file, line) / / USER CODE END 6 / }
endif / USE_FULL_ASSERT /

What I expect to see

Then, I need to see my topic in ros2 topic list. The publisher must publish increasing counter data.

Do you have any idea to solve my problem? Thank you all.

micro-ROS / micro_ros_stm32cubemx_utils

STM32H753 microros (humble) publisher does not publish anything #152