Support for Arduino Uno R4

[james-yoo]

Are there any plans to support a new Arduino UNO R4 (Renesas RA4M1 Arm® Cortex®-M4)?

[pablogs9]

Hello, there is no plan for integrating Arduino UNO R4, but it is easy to integrate new platforms in this repo, and community contributions are very welcomed.

[patrickwasp]

hi @pablogs9 can you point me to any documentation for integrating new platforms? Thanks

[pablogs9]

Hello, there is no official documentation for making new ports, but you can see some PR that have integrated new platforms:

• Add support for Arduino Due and Arduino Zero #35
• Wio Terminal Support #1284
• Add ESP32 support #680

In general, you will need to:

• Determine which compiler (version specific) uses Arduino for the target platform
• If not available in the building docker, add it here and PR changes.
• Update the library_generation.sh script to use the compiler to build the micro-ROS static library and put it in the correct folder
• Update CI to test your changes

In general, this is not a trivial process, but handling it with care should be possible to do it.

---

IMPORTANT

It is very important to check if one of the already precompiled libraries actually works for the platform.

For example, R4 uses a Cortex-M4 and we already have a precompiled Cortex-M4 library: https://github.com/micro-ROS/micro_ros_arduino/tree/iron/src/cortex-m4

Have you check if adding it as supported plaftorm it works out of the box?

[gbr1]

Hi! I have just checked this issue. I made a PR to get Arduino UNO R4 working over USB

[gbr1]

Now it is supported 😃

[james-yoo]

Love it

[anhdong2194]

Now it is supported 😃

First of all, thank you very much for supporting micro_ros on the Arduino Uno R4. I have tested Micro-ROS on the Arduino UNO R4 WiFi, but it was unsuccessful. I tried uploading the example of a publisher node, and while it could build and load successfully,But it automatically jumps into the error loop about a minute later. Could you please help me check this?

[hippo5329]

@anhdong2194 It might be time out on micro-ros connection. You can try reset R4 and start the micro-ros agent immediately.

[anhdong2194]

@anhdong2194 It might be time out on micro-ros connection. You can try reset R4 and start the micro-ros agent immediately.

Thank you for your response. Yes, I tried resetting, but the result remains the same. I have tested with both Docker and micro_ros_agent built from source. Additionally, when debugging, I noticed that changing the baud rate from 115200 to 921600 ( change at "default_transport.cpp" ) causes the error_loop to hang at the publish node creation function. Below are the screenshots for baud rates 115200 and 921600.

[gbr1]

About wifi, just to be sure, did you run the agent with wifi? Did you write the right IP address in your sketch?

[hippo5329]

The Uno R4 main cpu core is 48MHz, and very limited 256 kB Flash, 32 kB RAM. I would not suggest this board. You should use pico, which has more resources for robotics.

[anhdong2194]

About wifi, just to be sure, did you run the agent with wifi? Did you write the right IP address in your sketch?

Yes, I also tried using WiFi, but it couldn't connect. After some time, it timed out, and the LED started blinking (entered the error_loop)

[gbr1]

@anhdong2194 the IP into your sketch must be the one of your PC not the one of the Arduino board

[WinetheLe]

@gbr1, hi, I'm having the same problem with Anhdong2194 when I'm trying to test the code. After troubleshooting, it seems the problem lies with the first initialisation. I placed a serial.print function between the RCCcheck and this one seems to have lead to it:

the serial stoped at the 0 and afterward the LED starts blinking so I think this might be it. though I'm inspecting the code to see what went wrong, as of right now I also dont know what's the cause.

[gbr1]

@WinetheLe , you are right. I'm investingating on what could be. It seems to happen on USB, too. So probably it is something on how is managed the bytestream.

[sdaerasd]

How to configure Micro-ROS on Arduino UNO R4 WiFi?