boards: move board specific configurations

[uLipe]

Te idea is to keep consistent with other zephyr modules and separate board specific details into their own overlays.

Also add the example l475 IoT discovery board as an example.

No changes in the environment or build.

[uLipe]

@pablogs9 @Acuadros95 PTAL.

[pablogs9]

Running CI, thanks a lot @uLipe

[pablogs9]

@mergify backport foxy galactic main

[mergify[bot]]

backport foxy galactic main

✅ Backports have been created

* [#76 boards: move board specific configurations (backport #63)](https://github.com/micro-ROS/micro_ros_zephyr_module/pull/76) has been created for branch `foxy` * [#77 boards: move board specific configurations (backport #63)](https://github.com/micro-ROS/micro_ros_zephyr_module/pull/77) has been created for branch `galactic` * [#78 boards: move board specific configurations (backport #63)](https://github.com/micro-ROS/micro_ros_zephyr_module/pull/78) has been created for branch `main`

[pablogs9]

It seems to break the CI @uLipe : https://github.com/micro-ROS/micro_ros_zephyr_module/runs/7534484810?check_suite_focus=true#step:4:5888

[uLipe]

@pablogs9 my bad, during rebase I dropped a piece of the dts I will change this to draft while I fix it

[uLipe]

It seems the problem is more complex, the ucd node was introduced from zephyr version 2.7 , which is on my env for now.

For now I will make this compatible with 2.6 and figure later how to make the things to be compatible across the RTOS versions

[pablogs9]

Thanks. Maybe we should investigate the working status of this module in 2.7 @Acuadros95

[uLipe]

@pablogs9 PTAL again, for now let's keep compatible with 2.6.

Actually I have this running on Zephyr 3.1 but using the overlay + kconfig updates that broke the CI + this PR https://github.com/ros2/rcutils/pull/368

[pablogs9]

Could you take a look at this https://github.com/micro-ROS/micro_ros_zephyr_module/pull/64 @uLipe. We would like to have this working with v3.1.0 as you have.

[uLipe]

@pablogs9 , @Acuadros95 , I just took the opportunity to modify the zephyr transport serial port to use the DT macros, label property in the devices are being removed from Zephyr and will not work in future kernel releases.

Please take another review and ask me any questions you might to have.

[pablogs9]

I'll take a look on Monday when I have some hardware in the office

[pablogs9]

Hello @uLipe:

• I have been able to test this with serial transport in disco_l475_iot1
• Not able to build the serial-usb example
• Should we drop the support for v2.4.0 if we merge this PR?

[uLipe]

Hi @pablogs9 my bad, I forgot to push the serial to usb commit to the PR will do it later and you will be able to test.

[uLipe]

@pablogs9 PTAL again, you may able to build serial usb now

[uLipe]

Hi @pablogs9 any updates regarding your tests?

About the Zephyr version I think it is safe to drop the 2.4 support, since most of V2 users would go to version 2.6 or 2.7, the last one is a LTS version.

There is no Zephyr-API breaking changes across 2.4 to 2.7, the same is not true for the build system for example, depending on what changed in a particular subsystem.

[pablogs9]

Hello @uLipe, I'll check this on Monday in the office, because I have no boards right now.

Meanwhile, I would like to drop 2.4 and add 2.7 in this PR: https://github.com/micro-ROS/micro_ros_zephyr_module/pull/64 is it possible for you to take a look there?

[pablogs9]

Hello @uLipe, I have been able to build the USB example but I have the following error:

*** Booting Zephyr OS build v2.6.0-rc1  ***
Failed to enable USB

Any idea? I'm working in the disco_l475_iot1

[uLipe]

What is the ERRNO @pablogs9 ? Have you tried in a different board like that?

[pablogs9]

That's our reference board for Zephyr, not sure if I have other. errno is 0 (?!?!)

    ret = usb_enable(NULL);
    if (ret != 0) {
        printk("Failed to enable USB %d\n",errno);
        return false;
    }

result in

*** Booting Zephyr OS build v2.6.0-rc1  ***
Failed to enable USB 0

[uLipe]

actually ret comes with the error code translated into errno code, could you print ret instead?

My board currently opens and attches to the usb correctly.

[pablogs9]

    ret = usb_enable(NULL);
    if (ret != 0) {
        printk("Failed to enable USB %d\n", ret);
        return false;
    }

results in

*** Booting Zephyr OS build v2.6.0-rc1  ***
Failed to enable USB -5

Any idea?

[pablogs9]

I have been testing samples/subsys/usb/cdc_acm with my board and I have:

*** Booting Zephyr OS build zephyr-v3.1.0  ***
[00:00:00.034,000] <err> usb_dc_stm32: PCD_Init failed, 1
[00:00:00.034,000] <err> cdc_acm_echo: Failed to enable USB

This does not seems like a micro-ROS transport problem.

[pablogs9]

@uLipe I have updated the support here: https://github.com/micro-ROS/micro_ros_zephyr_module/pull/64: now we support the latest v2.x version and the latest v3.x version.

Please rebase this PR and we can merge since my USB-CDC problems are not related

BTW I have backported https://github.com/ros2/rcutils/pull/368 to foxy, humble and galactic in the micro-ROS fork. Are you aware of this being backported in the mainline?

[uLipe]

@pablogs9 sure, I will do that late here, and re-request your review.

[uLipe]

@pablogs9 btw the error you re receiving is a timeout that is coming from USB endopoint, code 5 is -EIO, which is generated by the CDC ACM class when starting endpoint sending and no notification about the write is read back, are the connections, cable ot host computer okay? Do you see the enumeration on your host?

[uLipe]

@pablogs9 rebase, please check one more time.

[uLipe]

@pablogs9 fixed the changelog, please do a check again.

[Acuadros95]

@uLipe Could you take a look at the CI? detail

/__w/micro_ros_zephyr_module/micro_ros_zephyr_module/micro_ros_zephyr_module/boards/disco_l475_iot1.conf:1: warning: attempt to assign the value 'y' to the undefined symbol USB
...

error: Aborting due to Kconfig warnings

[uLipe]

@pablogs9 sorry for the delay, since we dropped the version 2.6 the CONFIG_USB symbol was also deprecated, I will remove it and update the PR

[uLipe]

@pablogs9 @Acuadros95 I added the Zephyr UDC0 nodelabel, which replaces the CONFIG_USB from version 2.7 and above, please approve the workflow when you have time.

[pablogs9]

@Acuadros95 PTAL and merger if you are ok