# Micro-XRCE-DDS-Client-MCU

**Repository Path**: zai_chen/Micro-XRCE-DDS-Client-MCU

## Basic Information

- **Project Name**: Micro-XRCE-DDS-Client-MCU
- **Description**: MCU porting of Micro-XRCE-DDS-Client
- **Primary Language**: C
- **License**: Apache-2.0
- **Default Branch**: master
- **Homepage**: None
- **GVP Project**: No

## Statistics

- **Stars**: 0
- **Forks**: 1
- **Created**: 2025-01-02
- **Last Updated**: 2025-01-02

## Categories & Tags

**Categories**: Uncategorized

**Tags**: None

## README

# Micro-XRCE-DDS-Client MCU porting demo

This is a Micro-XRCE-DDS-Client porting of STM32F407ZGT6 MCU.
You can port to another STM32 with the following tutorial.

## Function of This Demo

1. send customized `HelloWorld` message periodically.
2. use USB CDC(default) or USART1 as transport interface.

## Compile and Flash

```bash
git clone https://github.com/Pansamic/Micro-XRCE-DDS-Client-MCU
git submodule init
git submodule update
mkdir build && cd build
cmake ..
make -j
openocd -f interface/stlink.cfg -f target/stm32f4x.cfg -c "program ./Micro-XRCE-DDS-Client-MCU.elf verify reset exit"
```

It need to automatically git clone from github. If you failed to compile because of failing to git clone, please check your web connection.

## Use other MCUs

It's impossible to port this to device whose flash size less than 256KB, especially the most common one - STM32F103C8T6 core board.

1. **Create another STM32CubeMX code project**
    1.1 Configure Clock configuration, notice that RTC clock source is HSE, choose proper division number to make RTC clock under 1000kHz.
    ![RTC clock configuration](docs/01.png)
    1.2 RTC configure
    Make sure RTC clock source(as seen in the picture above is 1000kHz)/(Asynchronous Predivider+1 + Synchronous Predivider+1)=1Hz
    ![RTC configuration](docs/02.png)
    1.3 USART configuration
    Async mode
    1.4 USB FS configuration
    ![USB FS configuration](docs/03.png)
    1.5 USB Device CDC configuration
    ![USBD CDC configuration](docs/04.png)
    1.6 FreeRTOS configuration
    ![FreeRTOS conf 1](docs/05.png)
    ![FreeRTOS conf 2](docs/06.png)
    ![FreeRTOS conf 3](docs/07.png)

2. **copy the following files to your project**
    ```
    Core/Inc/HelloWorld.h
    Core/Src/HelloWorld.c
    Core/Inc/uxr_transport.h
    Core/Src/uxr_transport_uart_it.c
    Core/Src/uxr_transport_usb.c
    toolchains/gcc-arm-none-eabi.cmake
    CMakeLists.txt
    ```
3. **copy essential functions**
    copy `clock_gettime()` and `__write()` functions in `Core/Src/main.c` to your new `main.c`
    copy init code of Micro-XRCE-DDS-Client in `Core/Src/freertos.c` to your new `freertos.c`

4. **include essetial headers**
    just copy included headers in `Core/Src/main.c` and `Core/Src/freertos.c`. Here are some core headers.
    ```c
    #include <time.h>
    #include <errno.h>
    #include <stdio.h>
    ```

## Micro-XRCE-DDS-Client Porting Details

### Add Client CMake Project

```cmake

include(ExternalProject)

# Set the URL of the Git repository
set(UXRCE_URL "https://github.com/eProsima/Micro-XRCE-DDS-Client.git")

# Set the destination directory for the cloned repository
set(EXTERNAL_REPO_DIR "${CMAKE_BINARY_DIR}/external")

# Set CMake configuration parameters
set(UXRCE_CMAKE_ARGS
    -DCMAKE_BUILD_TYPE=Debug
	-DCMAKE_C_FLAGS=${CMAKE_C_FLAGS}
    -DCMAKE_INSTALL_PREFIX=${CMAKE_BINARY_DIR}/install
	-DCMAKE_TOOLCHAIN_FILE=${CMAKE_TOOLCHAIN_FILE}
	-DUCLIENT_PIC=OFF
	-DUCLIENT_PROFILE_DISCOVERY=OFF
	-DUCLIENT_PROFILE_UDP=OFF
	-DUCLIENT_PROFILE_TCP=OFF
	-DUCLIENT_PROFILE_SERIAL=OFF
    # Add more configuration parameters as needed
)

# Use ExternalProject_Add to clone the repository and configure the project
ExternalProject_Add(
    micro-xrce-dds-client
    PREFIX ${EXTERNAL_REPO_DIR}
    GIT_REPOSITORY ${UXRCE_URL}
    TIMEOUT 1000
    CMAKE_ARGS ${UXRCE_CMAKE_ARGS}
)

# Specify the target to depend on the external project
add_dependencies(${PROJECT_NAME} micro-xrce-dds-client)

target_link_libraries(${PROJECT_NAME}
	${CMAKE_BINARY_DIR}/install/lib/libmicroxrcedds_client.a
	${CMAKE_BINARY_DIR}/install/lib/libmicrocdr.a)
target_include_directories(${PROJECT_NAME} PUBLIC
	${CMAKE_BINARY_DIR}/install/include
)
```