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Merged
pablogs9 merged 2 commits into from
Jan 29, 2025
Merged

Initial support for the ESP32 C6 board (backport #274) #276

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38a77c4
Initial support for the ESP32 C6 board (#274)
MadsRossen Jan 29, 2025
3ad406a
Update nightly.yml
pablogs9 Jan 29, 2025
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8 changes: 6 additions & 2 deletions .github/workflows/ci.yml
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Original file line number Diff line number Diff line change
Expand Up @@ -12,8 +12,12 @@ jobs:
strategy:
fail-fast: false
matrix:
idf_target: [ esp32, esp32s2, esp32s3, esp32c3]
idf_target: [ esp32, esp32s2, esp32s3, esp32c3, esp32c6]
idf_version: [ "espressif/idf:release-v4.4", "espressif/idf:release-v5.2" ]
exclude:
# Skip IDF v4 + ESP32C6 combination
- idf_target: esp32c6
idf_version: espressif/idf:release-v4.4

container:
image: ${{ matrix.idf_version }}
Expand Down Expand Up @@ -54,7 +58,7 @@ jobs:

- name: Build sample - low_consumption
shell: bash
if: matrix.idf_target != 'esp32c3' && matrix.idf_target != 'esp32s3'
if: matrix.idf_target != 'esp32c3' && matrix.idf_target != 'esp32s3' && matrix.idf_target != 'esp32c6'
run: |
. $IDF_PATH/export.sh
cd micro_ros_espidf_component/examples/low_consumption
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13 changes: 9 additions & 4 deletions .github/workflows/nightly.yml
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Expand Up @@ -14,9 +14,14 @@ jobs:
strategy:
fail-fast: false
matrix:
branch: [iron, rolling, humble]
idf_target: [ esp32, esp32s2, esp32c3, esp32s3]
branch: [rolling, jazzy, humble]
idf_target: [ esp32, esp32s2, esp32c3, esp32s3, esp32c6]
idf_version: [ "espressif/idf:release-v4.4", "espressif/idf:release-v5.2" ]
exclude:
# Skip IDF v4 + ESP32C6 combination
- idf_target: esp32c6
idf_version: espressif/idf:release-v4.4


container:
image: ${{ matrix.idf_version }}
Expand Down Expand Up @@ -58,7 +63,7 @@ jobs:

- name: Build sample - low_consumption
shell: bash
if: matrix.idf_target != 'esp32c3' && matrix.idf_target != 'esp32s3'
if: matrix.idf_target != 'esp32c3' && matrix.idf_target != 'esp32s3' && matrix.idf_target != 'esp32c6'
run: |
. $IDF_PATH/export.sh
cd micro_ros_espidf_component/examples/low_consumption
Expand Down Expand Up @@ -104,4 +109,4 @@ jobs:
make -f libmicroros.mk clean
cd examples/int32_publisher_embeddedrtps
idf.py set-target ${{ matrix.idf_target }}
idf.py build
idf.py build
2 changes: 1 addition & 1 deletion README.md
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Expand Up @@ -3,7 +3,7 @@

# micro-ROS component for ESP-IDF

This component has been tested in ESP-IDF v4.4, and v5.2 with ESP32, ESP32-S2, ESP32-S3 and ESP32-C3.
This component has been tested in ESP-IDF v4.4, and v5.2 with ESP32, ESP32-S2, ESP32-S3, ESP32-C3 and ESP32-C6.

## Dependencies

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4 changes: 3 additions & 1 deletion esp32_toolchain.cmake.in
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Original file line number Diff line number Diff line change
Expand Up @@ -5,7 +5,9 @@ set(CMAKE_SYSTEM_NAME Generic)
set(idf_target "@IDF_TARGET@")
set(idf_path "@IDF_PATH@")

if("${idf_target}" STREQUAL "esp32c3")
set(RISCV_TARGETS "esp32c3" "esp32c6")

if("${idf_target}" IN_LIST RISCV_TARGETS)
set(CMAKE_SYSTEM_PROCESSOR riscv)
set(FLAGS "-ffunction-sections -fdata-sections" CACHE STRING "" FORCE)
else()
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2 changes: 1 addition & 1 deletion libmicroros.mk
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Expand Up @@ -107,7 +107,7 @@ $(EXTENSIONS_DIR)/micro_ros_src/install: $(EXTENSIONS_DIR)/esp32_toolchain.cmake

patch_atomic:$(EXTENSIONS_DIR)/micro_ros_src/install
# Workaround https://github.com/micro-ROS/micro_ros_espidf_component/issues/18
ifeq ($(IDF_TARGET),$(filter $(IDF_TARGET),esp32s2 esp32c3))
ifeq ($(IDF_TARGET),$(filter $(IDF_TARGET),esp32s2 esp32c3 esp32c6))
echo $(UROS_DIR)/atomic_workaround; \
mkdir $(UROS_DIR)/atomic_workaround; cd $(UROS_DIR)/atomic_workaround; \
$(X_AR) x $(UROS_DIR)/install/lib/librcutils.a; \
Expand Down