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?