ESP32c3 support (#52)

* Initial

* Update readme

* Avoid low consumption in esp32c3


Update

* Increase Stack size and update readme for ESP32C3

Co-authored-by: Antonio cuadros <acuadros1995@gmail.com>

.github/workflows/ci.yml

@@ -12,11 +12,15 @@ jobs:
     strategy:
       fail-fast: false
       matrix:
-        idf_target: [ esp32, esp32s2 ]
+        idf_target: [ esp32, esp32s2, esp32c3]
         idf_version: [ "espressif/idf:release-v4.1", "espressif/idf:release-v4.2", "espressif/idf:release-v4.3", "espressif/idf:latest" ]
         exclude:
           - idf_target: esp32s2
             idf_version: "espressif/idf:release-v4.1"
+          - idf_target: esp32c3
+            idf_version: "espressif/idf:release-v4.1"
+          - idf_target: esp32c3
+            idf_version: "espressif/idf:release-v4.2"
     container:
       image: ${{ matrix.idf_version }}
 
@@ -48,6 +52,7 @@ jobs:
       
       - name: Build sample - low_consumption
         shell: bash
+        if: matrix.idf_target != 'esp32c3'
         run: |
           . $IDF_PATH/export.sh
           cd micro_ros_espidf_component/examples/low_consumption

.github/workflows/nightly.yml

@@ -15,11 +15,15 @@ jobs:
       fail-fast: false
       matrix:
         branch: [foxy, main]
-        idf_target: [ esp32, esp32s2 ]
+        idf_target: [ esp32, esp32s2, esp32c3]
         idf_version: [ "espressif/idf:release-v4.1", "espressif/idf:release-v4.2", "espressif/idf:release-v4.3", "espressif/idf:latest" ]
         exclude:
           - idf_target: esp32s2
             idf_version: "espressif/idf:release-v4.1"
+          - idf_target: esp32c3
+            idf_version: "espressif/idf:release-v4.1"
+          - idf_target: esp32c3
+            idf_version: "espressif/idf:release-v4.2"
     container:
       image: ${{ matrix.idf_version }}
 

README.md

@@ -1,6 +1,6 @@
 # micro-ROS component for ESP-IDF
 
-This component has been tested in ESP-IDF v4.1, v4.2 and v4.3 with ESP32 and ESP32-S2.
+This component has been tested in ESP-IDF v4.1, v4.2 and v4.3 with ESP32, ESP32-S2 and ESP32-C3.
 
 ## Dependencies
 
@@ -32,6 +32,8 @@ In order to test a int32_publisher example:
 ```bash
 . $IDF_PATH/export.sh
 cd examples/int32_publisher
+# Set target board [esp32|esp32s2|esp32c3]
+idf.py set-target esp32
 idf.py menuconfig
 # Set your micro-ROS configuration and WiFi credentials under micro-ROS Settings
 idf.py build 

esp32_toolchain.cmake.in

@@ -1,7 +1,15 @@
 include(CMakeForceCompiler)
 
 set(CMAKE_SYSTEM_NAME Generic)
-set(CMAKE_SYSTEM_PROCESSOR xtensa)
+
+set(idf_target "@IDF_TARGET@")
+
+if("${idf_target}" STREQUAL "esp32c3")
+    set(CMAKE_SYSTEM_PROCESSOR riscv)
+else()
+    set(CMAKE_SYSTEM_PROCESSOR xtensa)
+endif()
+
 set(CMAKE_CROSSCOMPILING 1)
 set(CMAKE_TRY_COMPILE_TARGET_TYPE STATIC_LIBRARY)
 set(PLATFORM_NAME "LwIP")
@@ -24,7 +32,7 @@ add_definitions(-DLWIP_IPV4 -DLWIP_IPV6)
 include_directories(
         "@BUILD_CONFIG_DIR@"
         ${idf_path}/components/soc/soc/include
-        ${idf_path}/components/freertos/port/xtensa/include
+        ${idf_path}/components/freertos/port/${CMAKE_SYSTEM_PROCESSOR}/include
         ${idf_path}/components/hal/${idf_target}/include
         ${idf_path}/components/hal/include
         ${idf_path}/components/esp_hw_support/include
@@ -40,7 +48,7 @@ include_directories(
         ${idf_path}/components/vfs/include
         ${idf_path}/components/log/include
         ${idf_path}/components/freertos/include
-        ${idf_path}/components/freertos/xtensa/include
+        ${idf_path}/components/freertos/${CMAKE_SYSTEM_PROCESSOR}/include
         ${idf_path}/components/soc/soc/${idf_target}/include
         ${idf_path}/components/wifi_provisioning/include
         ${idf_path}/components/pthread/include
@@ -60,8 +68,8 @@ include_directories(
         ${idf_path}/components/efuse/include
         ${idf_path}/components/mbedtls/port/include
         ${idf_path}/components/mbedtls/mbedtls/include
-        ${idf_path}/components/xtensa/${idf_target}/include
-        ${idf_path}/components/xtensa/include
+        ${idf_path}/components/${CMAKE_SYSTEM_PROCESSOR}/${idf_target}/include
+        ${idf_path}/components/${CMAKE_SYSTEM_PROCESSOR}/include
         ${idf_path}/components/app_trace/include
         ${idf_path}/components/nvs_flash/include
         ${idf_path}/components/jsmn/include

examples/int32_publisher/main/Kconfig.projbuild

@@ -2,7 +2,7 @@ menu "micro-ROS example-app settings"
 
     config MICRO_ROS_APP_STACK
         int "Stack the micro-ROS app (Bytes)"
-        default 15000
+        default 16000
         help
         Stack size in Bytes of the micro-ROS app
 

examples/int32_publisher_custom_transport/main/Kconfig.projbuild

@@ -2,7 +2,7 @@ menu "micro-ROS example-app settings"
 
     config MICRO_ROS_APP_STACK
         int "Stack the micro-ROS app (Bytes)"
-        default 15000
+        default 16000
         help
         Stack size in Bytes of the micro-ROS app
 

examples/low_consumption/main/Kconfig.projbuild

@@ -2,7 +2,7 @@ menu "micro-ROS example-app settings"
 
     config MICRO_ROS_APP_STACK
         int "Stack the micro-ROS app (Bytes)"
-        default 15000
+        default 16000
         help
         Stack size in Bytes of the micro-ROS app
 

examples/low_consumption/main/main.c

@@ -117,6 +117,8 @@ void app_main(void)
     // automatic light sleep is enabled if tickless idle support is enabled.
 #ifdef CONFIG_IDF_TARGET_ESP32S2
     esp_pm_config_esp32s2_t pm_config = {};
+#elif CONFIG_IDF_TARGET_ESP32C3
+	esp_pm_config_esp32c3_t pm_config = {};
 #else
     esp_pm_config_esp32_t pm_config = {};
 #endif

libmicroros.mk

@@ -90,9 +90,9 @@ $(EXTENSIONS_DIR)/micro_ros_src/install: $(EXTENSIONS_DIR)/esp32_toolchain.cmake
 		-DCMAKE_TOOLCHAIN_FILE=$(EXTENSIONS_DIR)/esp32_toolchain.cmake \
 		-DCMAKE_VERBOSE_MAKEFILE=OFF; \
 
-patch_atomic_esp32s2:$(EXTENSIONS_DIR)/micro_ros_src/install
+patch_atomic:$(EXTENSIONS_DIR)/micro_ros_src/install
 # Workaround https://github.com/micro-ROS/micro_ros_espidf_component/issues/18
-ifeq ($(IDF_TARGET), esp32s2)
+ifeq ($(IDF_TARGET),$(filter $(IDF_TARGET),esp32s2 esp32c3))
 		echo $(UROS_DIR)/atomic_workaround; \
 		mkdir $(UROS_DIR)/atomic_workaround; cd $(UROS_DIR)/atomic_workaround; \
 		$(AR) x $(UROS_DIR)/install/lib/librcutils.a; \
@@ -103,7 +103,7 @@ ifeq ($(IDF_TARGET), esp32s2)
 		cd ..; 
 endif
 
-$(EXTENSIONS_DIR)/libmicroros.a: $(EXTENSIONS_DIR)/micro_ros_src/install patch_atomic_esp32s2
+$(EXTENSIONS_DIR)/libmicroros.a: $(EXTENSIONS_DIR)/micro_ros_src/install patch_atomic
 	mkdir -p $(UROS_DIR)/libmicroros; cd $(UROS_DIR)/libmicroros; \
 	for file in $$(find $(UROS_DIR)/install/lib/ -name '*.a'); do \
 		folder=$$(echo $$file | sed -E "s/(.+)\/(.+).a/\2/"); \