micro-ROS · Acuadros95 · Aug 26, 2022 · May 25, 2022 · Jul 28, 2022 · Jul 28, 2022
diff --git a/CHANGELOG.rst b/CHANGELOG.rst
@@ -2,7 +2,7 @@
 Changelog for package micro_ros_zephyr
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
-3.0.0 (2022-05-25)
+4.0.0 (2022-05-25)
 ------------------
 * Initial humble release (`#59 <https://github.com/micro-ROS/micro_ros_zephyr_module/issues/59>`_)
 * Update banner (`#56 <https://github.com/micro-ROS/micro_ros_zephyr_module/issues/56>`_)

diff --git a/boards/disco_l475_iot1.conf b/boards/disco_l475_iot1.conf
@@ -0,0 +1,7 @@
+CONFIG_USB_DEVICE_STACK=y
+CONFIG_USB_DEVICE_PRODUCT="Zephyr micro-ROS"
+CONFIG_LOG=y
+CONFIG_USB_CDC_ACM=y
+CONFIG_USB_DRIVER_LOG_LEVEL_ERR=y
+CONFIG_USB_DEVICE_LOG_LEVEL_ERR=y
+CONFIG_USB_CDC_ACM_RINGBUF_SIZE=2048
diff --git a/boards/disco_l475_iot1.overlay b/boards/disco_l475_iot1.overlay
@@ -0,0 +1,20 @@
+/ {
+    aliases {
+        uros-serial-port = &usart1;
+    };
+};
+
+&usart1 {
+    status = "okay";
+};
+
+zephyr_udc0: &usbotg_fs {
+    status = "okay";
+};
+
+&zephyr_udc0 {
+    cdc_acm_uart0: cdc_acm_uart0 {
+            compatible = "zephyr,cdc-acm-uart";
+            label = "CDC_ACM_0";
+    };
+};
diff --git a/modules/libmicroros/microros_transports/serial-usb/microros_transports.c b/modules/libmicroros/microros_transports/serial-usb/microros_transports.c
@@ -22,7 +22,7 @@ char uart_out_buffer[RING_BUF_SIZE];
 
 struct ring_buf out_ringbuf, in_ringbuf;
 
-static void uart_fifo_callback(const struct device *dev, void * user_data){
+static void uart_fifo_callback(const struct device *dev, void *user_data){ 
     while (uart_irq_update(dev) && uart_irq_is_pending(dev)) {
         if (uart_irq_rx_ready(dev)) {
             int recv_len;
@@ -53,14 +53,15 @@ static void uart_fifo_callback(const struct device *dev, void * user_data){
 }
 
 bool zephyr_transport_open(struct uxrCustomTransport * transport){
-    zephyr_transport_params_t * params = (zephyr_transport_params_t*) transport->args;
-
     int ret;
     uint32_t baudrate, dtr = 0U;
+    const struct device *uart_dev;
 
-
-    params->uart_dev = device_get_binding("CDC_ACM_0");
-    if (!params->uart_dev) {
+    /* for serial-usb transport we just override the device pointer
+     * with USB to use the same interface
+     */
+    transport->args = (void *)device_get_binding("CDC_ACM_0");
+    if (!transport->args) {
         printk("CDC ACM device not found\n");
         return false;
     }
@@ -71,13 +72,15 @@ bool zephyr_transport_open(struct uxrCustomTransport * transport){
         return false;
     }
 
+    uart_dev = (const struct device *)transport->args;
     ring_buf_init(&out_ringbuf, sizeof(uart_out_buffer), uart_out_buffer);
     ring_buf_init(&in_ringbuf, sizeof(uart_in_buffer), uart_out_buffer);
 
     printk("Waiting for agent connection\n");
 
     while (true) {
-        uart_line_ctrl_get(params->uart_dev, UART_LINE_CTRL_DTR, &dtr);
+
+        uart_line_ctrl_get(uart_dev, UART_LINE_CTRL_DTR, &dtr);
         if (dtr) {
             break;
         } else {
@@ -89,47 +92,46 @@ bool zephyr_transport_open(struct uxrCustomTransport * transport){
     printk("Serial port connected!\n");
 
     /* They are optional, we use them to test the interrupt endpoint */
-    ret = uart_line_ctrl_set(params->uart_dev, UART_LINE_CTRL_DCD, 1);
+    ret = uart_line_ctrl_set(uart_dev, UART_LINE_CTRL_DCD, 1);
     if (ret) {
         printk("Failed to set DCD, ret code %d\n", ret);
     }
 
-    ret = uart_line_ctrl_set(params->uart_dev, UART_LINE_CTRL_DSR, 1);
+    ret = uart_line_ctrl_set(uart_dev, UART_LINE_CTRL_DSR, 1);
     if (ret) {
         printk("Failed to set DSR, ret code %d\n", ret);
     }
 
     /* Wait 1 sec for the host to do all settings */
     k_busy_wait(1000*1000);
 
-    ret = uart_line_ctrl_get(params->uart_dev, UART_LINE_CTRL_BAUD_RATE, &baudrate);
+    ret = uart_line_ctrl_get(uart_dev, UART_LINE_CTRL_BAUD_RATE, &baudrate);
     if (ret) {
         printk("Failed to get baudrate, ret code %d\n", ret);
     }
 
-    uart_irq_callback_set(params->uart_dev, uart_fifo_callback);
+    uart_irq_callback_set(uart_dev, uart_fifo_callback);
 
     /* Enable rx interrupts */
-    uart_irq_rx_enable(params->uart_dev);
+    uart_irq_rx_enable(uart_dev);
 
     return true;
 }
 
 bool zephyr_transport_close(struct uxrCustomTransport * transport){
-    zephyr_transport_params_t * params = (zephyr_transport_params_t*) transport->args;
-    (void) params;
+    (void)transport;
 
     return true;
 }
 
 size_t zephyr_transport_write(struct uxrCustomTransport* transport, const uint8_t * buf, size_t len, uint8_t * err){
-    zephyr_transport_params_t * params = (zephyr_transport_params_t*) transport->args;
+    const struct device * uart_dev = (const struct device *) transport->args;
 
     size_t wrote;
 
     wrote = ring_buf_put(&out_ringbuf, buf, len);
-
-    uart_irq_tx_enable(params->uart_dev);
+    
+    uart_irq_tx_enable(uart_dev);
 
     while (!ring_buf_is_empty(&out_ringbuf)){
         k_sleep(K_MSEC(5));
@@ -139,7 +141,7 @@ size_t zephyr_transport_write(struct uxrCustomTransport* transport, const uint8_
 }
 
 size_t zephyr_transport_read(struct uxrCustomTransport* transport, uint8_t* buf, size_t len, int timeout, uint8_t* err){
-    zephyr_transport_params_t * params = (zephyr_transport_params_t*) transport->args;
+    const struct device * uart_dev = (const struct device *) transport->args;
 
     size_t read = 0;
     int spent_time = 0;
@@ -149,9 +151,9 @@ size_t zephyr_transport_read(struct uxrCustomTransport* transport, uint8_t* buf,
         spent_time++;
     }
 
-    uart_irq_rx_disable(params->uart_dev);
+    uart_irq_rx_disable(uart_dev);
     read = ring_buf_get(&in_ringbuf, buf, len);
-    uart_irq_rx_enable(params->uart_dev);
+    uart_irq_rx_enable(uart_dev);
 
     return read;
 }
diff --git a/modules/libmicroros/microros_transports/serial-usb/microros_transports.h b/modules/libmicroros/microros_transports/serial-usb/microros_transports.h
@@ -24,13 +24,7 @@ extern "C"
 {
 #endif
 
-typedef struct {
-    size_t fd;
-    const struct device *uart_dev;
-} zephyr_transport_params_t;
-
 #define MICRO_ROS_FRAMING_REQUIRED true
-static zephyr_transport_params_t default_params;
 
 bool zephyr_transport_open(struct uxrCustomTransport * transport);
 bool zephyr_transport_close(struct uxrCustomTransport * transport);

diff --git a/modules/libmicroros/microros_transports/serial/microros_transports.c b/modules/libmicroros/microros_transports/serial/microros_transports.c
@@ -40,24 +40,15 @@ static void uart_fifo_callback(const struct device * dev, void * args){
     }
 }
 
-
 bool zephyr_transport_open(struct uxrCustomTransport * transport){
-    zephyr_transport_params_t * params = (zephyr_transport_params_t*) transport->args;
-
-    char uart_descriptor[8];
-    sprintf(uart_descriptor,"UART_%d", params->fd);
-    params->uart_dev = device_get_binding(uart_descriptor);
-    if (!params->uart_dev) {
-        printk("Serial device not found\n");
-        return false;
-    }
+    const struct device * uart_dev = (const struct device *) transport->args;
 
     ring_buf_init(&in_ringbuf, sizeof(uart_in_buffer), uart_out_buffer);
 
-    uart_irq_callback_set(params->uart_dev, uart_fifo_callback);
+    uart_irq_callback_set(uart_dev, uart_fifo_callback);
 
     /* Enable rx interrupts */
-    uart_irq_rx_enable(params->uart_dev);
+    uart_irq_rx_enable(uart_dev);
 
     return true;
 }
@@ -69,18 +60,18 @@ bool zephyr_transport_close(struct uxrCustomTransport * transport){
 }
 
 size_t zephyr_transport_write(struct uxrCustomTransport* transport, const uint8_t * buf, size_t len, uint8_t * err){
-    zephyr_transport_params_t * params = (zephyr_transport_params_t*) transport->args;
+    const struct device * uart_dev = (const struct device *) transport->args;
 
     for (size_t i = 0; i < len; i++)
     {
-        uart_poll_out(params->uart_dev, buf[i]);
+        uart_poll_out(uart_dev, buf[i]);
     }
 
     return len;
 }
 
 size_t zephyr_transport_read(struct uxrCustomTransport* transport, uint8_t* buf, size_t len, int timeout, uint8_t* err){
-    zephyr_transport_params_t * params = (zephyr_transport_params_t*) transport->args;
+    const struct device * uart_dev = (const struct device *) transport->args;
 
     size_t read = 0;
     int spent_time = 0;
@@ -90,9 +81,9 @@ size_t zephyr_transport_read(struct uxrCustomTransport* transport, uint8_t* buf,
         spent_time++;
     }
 
-    uart_irq_rx_disable(params->uart_dev);
+    uart_irq_rx_disable(uart_dev);
     read = ring_buf_get(&in_ringbuf, buf, len);
-    uart_irq_rx_enable(params->uart_dev);
+    uart_irq_rx_enable(uart_dev);
 
     return read;
 }
diff --git a/modules/libmicroros/microros_transports/serial/microros_transports.h b/modules/libmicroros/microros_transports/serial/microros_transports.h
@@ -24,13 +24,7 @@ extern "C"
 {
 #endif
 
-typedef struct {
-    size_t fd;
-    const struct device * uart_dev;
-} zephyr_transport_params_t;
-
 #define MICRO_ROS_FRAMING_REQUIRED true
-volatile static zephyr_transport_params_t default_params = {.fd = 1};
 
 bool zephyr_transport_open(struct uxrCustomTransport * transport);
 bool zephyr_transport_close(struct uxrCustomTransport * transport);

diff --git a/prj.conf b/prj.conf
@@ -13,13 +13,7 @@ CONFIG_APP_LINK_WITH_POSIX_SUBSYS=y
 CONFIG_POSIX_CLOCK=y
 
 CONFIG_STDOUT_CONSOLE=y
-CONFIG_USB_DEVICE_STACK=y
-CONFIG_USB_DEVICE_PRODUCT="Zephyr micro-ROS"
-CONFIG_LOG=y
-CONFIG_USB_CDC_ACM=y
 CONFIG_SERIAL=y
 CONFIG_UART_INTERRUPT_DRIVEN=y
 CONFIG_UART_LINE_CTRL=y
-CONFIG_USB_DRIVER_LOG_LEVEL_ERR=y
-CONFIG_USB_DEVICE_LOG_LEVEL_ERR=y
-CONFIG_USB_CDC_ACM_RINGBUF_SIZE=2048
+CONFIG_RING_BUFFER=y
diff --git a/src/main.c b/src/main.c
@@ -33,7 +33,7 @@ void main(void)
 {
 	rmw_uros_set_custom_transport(
 		MICRO_ROS_FRAMING_REQUIRED,
-		(void *) &default_params,
+		(void *) DEVICE_DT_GET(DT_ALIAS(uros_serial_port)),
 		zephyr_transport_open,
 		zephyr_transport_close,
 		zephyr_transport_write,