Arduino Nano Every Support

[k-kleber]

Arduino just released its new Nano variant EVERY Nano Every It uses the ATMega4809 processor, but is not supported using rosserial-arduino yet.

If someone could add the compile files for it it would be amazing, as I could not figure out how to do it myself.

Thanks

[romainreignier]

Hi @k-kleber Did you actually tried current version of rosserial_arduino on it? Because thanks of the Arduino abstraction API, it should work out of the box.

If it does not work, maybe the HardwareSerial type does not exist. In that case, this part should be modified if include a specific section:

https://github.com/ros-drivers/rosserial/blob/ae3366efafce82ec36fd730c604fd0b55d7bff0e/rosserial_arduino/src/ros_lib/ArduinoHardware.h#L54,L63

[k-kleber]

Hey @romainreignier I managed to compile for the board by using some small changes to arduino-mk and using that directly. There is a pull request for that in the Aruino-Makefile reposistory. I do, however, have a problem with the ros_lib where I am hoping that someone might know the solution. I created a very basic test program only creating a node_handle where it complains about: undefined reference to 'Print::write(unsigned char const*, unsigned int)'

Source Code:

#include <Arduino.h>
#include <ros.h>

void setup() {
  ros::NodeHandle nh;
}

void loop() {}

Makefile

ARDUINO_DIR = $(HOME)/arduino-1.8.9
BOARD_TAG = nona4809
ALTERNATE_CORE_PATH = $(HOME)/.arduino15/packages/arduino/hardware/megaavr/1.8.2
ARDUINO_LIBS = ros_lib
include /home/kevin/Arduino-Makefile/Arduino.mk

Make Output (Make ran 2 times to remove non-error related ouput)

-------------------------
Arduino.mk Configuration:
- [AUTODETECTED]       CURRENT_OS = LINUX 
- [USER]               ARDUINO_DIR = /home/kevin/arduino-1.8.9 
- [COMPUTED]           ARDMK_DIR = /home/kevin/Arduino-Makefile (relative to Common.mk)
- [AUTODETECTED]       ARDUINO_VERSION = 189 
- [DEFAULT]            ARCHITECTURE = avr 
- [DEFAULT]            ARDMK_VENDOR = arduino 
- [AUTODETECTED]       ARDUINO_PREFERENCES_PATH = /home/kevin/.arduino15/preferences.txt 
- [AUTODETECTED]       ARDUINO_SKETCHBOOK = /home/kevin/Arduino (from arduino preferences file)
- [USER]               ALTERNATE_CORE_PATH = /home/kevin/.arduino15/packages/arduino/hardware/megaavr/1.8.2 
- [COMPUTED]           ARDUINO_VAR_PATH = /home/kevin/.arduino15/packages/arduino/hardware/megaavr/1.8.2/variants (from ALTERNATE_CORE_PATH)
- [COMPUTED]           BOARDS_TXT = /home/kevin/.arduino15/packages/arduino/hardware/megaavr/1.8.2/boards.txt (from ALTERNATE_CORE_PATH)
- [BUNDLED]            AVR_TOOLS_DIR = /home/kevin/arduino-1.8.9/hardware/tools/avr (in Arduino distribution)
- [COMPUTED]           ARDUINO_LIB_PATH = /home/kevin/arduino-1.8.9/libraries (from ARDUINO_DIR)
- [COMPUTED]           ARDUINO_PLATFORM_LIB_PATH = /home/kevin/arduino-1.8.9/hardware/arduino/avr/libraries (from ARDUINO_DIR)
- [DEFAULT]            USER_LIB_PATH = /home/kevin/Arduino/libraries (in user sketchbook)
- [DEFAULT]            PRE_BUILD_HOOK = pre-build-hook.sh 
- [USER]               BOARD_TAG = nona4809 
- [COMPUTED]           CORE = arduino (from build.core)
- [COMPUTED]           VARIANT = nona4809 (from build.variant)
- [COMPUTED]           OBJDIR = build-nona4809 (from BOARD_TAG)
- [COMPUTED]           ARDUINO_CORE_PATH = /home/kevin/.arduino15/packages/arduino/hardware/megaavr/1.8.2/cores/arduino (from ALTERNATE_CORE_PATH, BOARD_TAG and boards.txt)
- [ASSUMED]            MONITOR_BAUDRATE = 9600 
- [DEFAULT]            OPTIMIZATION_LEVEL = s 
- [DEFAULT]            MCU_FLAG_NAME = mmcu 
- [DEFAULT]            CFLAGS_STD = -std=gnu11 
- [DEFAULT]            CXXFLAGS_STD = -std=gnu++11 
- [AUTODETECTED]       DEVICE_PATH =  
- [DEFAULT]            FORCE_MONITOR_PORT =  
- [AUTODETECTED]       Size utility: AVR-aware for enhanced output
-
-                      ARDUINO_LIBS =
- [USER]                 ros_lib
- [COMPUTED]           BOOTLOADER_PARENT = /home/kevin/arduino-1.8.9/hardware/arduino/avr/bootloaders (from ARDUINO_DIR)
- [COMPUTED]           ARDMK_VERSION = 1.6 
- [COMPUTED]           CC_VERSION = 5.4.0 (avr-gcc)
-------------------------
mkdir -p build-nona4809
/home/kevin/arduino-1.8.9/hardware/tools/avr/bin/avr-g++ -x c++ -include Arduino.h -MMD -c -D__PROG_TYPES_COMPAT__ -mmcu=atmega4809 -DF_CPU=16000000L -DARDUINO=189 -DARDUINO_ARCH_AVR -I/home/kevin/.arduino15/packages/arduino/hardware/megaavr/1.8.2/cores/arduino -I/home/kevin/.arduino15/packages/arduino/hardware/megaavr/1.8.2/cores/arduino/api -I/home/kevin/.arduino15/packages/arduino/hardware/megaavr/1.8.2/variants/nona4809     -I/home/kevin/Arduino/libraries/ros_lib -Wall -ffunction-sections -fdata-sections -Os -fpermissive -fno-exceptions -std=gnu++11 -fno-threadsafe-statics -flto -fno-devirtualize -fdiagnostics-color=always tester.ino -o build-nona4809/tester.ino.o
/home/kevin/arduino-1.8.9/hardware/tools/avr/bin/avr-gcc -mmcu=atmega4809 -Wl,--gc-sections -Os -flto -fuse-linker-plugin -o build-nona4809/tester.elf build-nona4809/tester.ino.o   build-nona4809/libcore.a -lc -lm 
/tmp/ccsWxgLi.ltrans0.ltrans.o:(.rodata+0x46): undefined reference to `Print::write(unsigned char const*, unsigned int)'
collect2: error: ld returned 1 exit status
/home/kevin/Arduino-Makefile/Arduino.mk:1669: recipe for target 'build-nona4809/tester.elf' failed
make: *** [build-nona4809/tester.elf] Error 1

[jHaselberger]

@k-kleber can you please explain, how you compile for the every board? We have the same problem right now, that rosserial is not working for the every.

[johnsonmitchelld]

It looks like this is the pull request @k-kleber used to fix the issue:

https://github.com/sudar/Arduino-Makefile/issues/607