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mamerlan merged 3 commits into from
Sep 2, 2021
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Add Renesas RA6M5 board #335

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aa40984
Add Renesas RA6M5 board
pablogs9 Aug 31, 2021
75536a0
Update
pablogs9 Aug 31, 2021
e16811a
Fix zephyr logo
pablogs9 Aug 31, 2021
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2 changes: 1 addition & 1 deletion _docs/concepts/rtos/index.md
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Expand Up @@ -21,7 +21,7 @@ By clicking on the logos below, you'll be redirected to the Overview section, wh
<table style="border:none;">
<tr>
<td style="width:33%; text-align:center; vertical-align:bottom; font-weight:bold;"><a href="/docs/overview/rtos/#freertos"><img style="margin-left:auto; margin-right:auto; padding-bottom:5px;" width="263" height="100" src="https://upload.wikimedia.org/wikipedia/commons/4/4e/Logo_freeRTOS.png"><br/>FreeRTOS</a></td>
<td style="width:33%; text-align:center; vertical-align:bottom; font-weight:bold;"><a href="/docs/overview/rtos/#zephyr"><img style="margin-left:auto; margin-right:auto; padding-bottom:5px;" width="220" height="114" src="https://upload.wikimedia.org/wikipedia/commons/2/2d/Zephyr-logo.png"><br/>Zephyr</a></td>
<td style="width:33%; text-align:center; vertical-align:bottom; font-weight:bold;"><a href="/docs/overview/rtos/#zephyr"><img style="margin-left:auto; margin-right:auto; padding-bottom:5px;" width="220" height="114" src="https://www.linuxfoundation.org/wp-content/uploads/zephyr-color.svg"><br/>Zephyr</a></td>
<td style="width:33%; text-align:center; vertical-align:bottom; font-weight:bold;"><a href="/docs/overview/rtos/#nuttx"><img style="margin-left:auto; margin-right:auto; padding-bottom:5px;" width="125" height="125" src="https://upload.wikimedia.org/wikipedia/commons/b/b0/NuttX_logo.png"><br/>NuttX</a></td>
</tr>
</table>
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8 changes: 4 additions & 4 deletions _docs/overview/ext_tools/index.md
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}

.extplatitem_description {
width: 65%;
width: 65%;
}

.extplatitem_image img {
Expand Down Expand Up @@ -51,7 +51,7 @@ The modules that exist up to date for integrating into external build systems ar
<li><a href="https://github.com/micro-ROS/micro_ros_espidf_component">micro-ROS component for ESP-IDF on GitHub</a></li>
<li><a href="https://github.com/espressif/esp-idf">ESP-IDF on GitHub</a></li>
<li><a href="https://docs.espressif.com/projects/esp-idf/en/latest/esp32/">ESP-IDF docs</a></li>
</ul>
</ul>
</div>
</div>

Expand All @@ -73,12 +73,12 @@ The modules that exist up to date for integrating into external build systems ar
<li><a href="https://github.com/micro-ROS/micro_ros_zephyr_module">micro-ROS module for Zephyr build system on GitHub</a></li>
<li><a href="https://github.com/zephyrproject-rtos/zephyr">Primary GitHub repository for the Zephyr Project</a></li>
<li><a href="https://github.com/zephyrproject-rtos/zephyr">Zephyr Project official webpage</a></li>
</ul>
</ul>
</div>
</div>

<div class="extplatitem_image">
<img src="https://upload.wikimedia.org/wikipedia/commons/2/2d/Zephyr-logo.png">
<img src="https://www.linuxfoundation.org/wp-content/uploads/zephyr-color.svg">
</div>
</div>

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87 changes: 60 additions & 27 deletions _docs/overview/hardware/index.md
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}

.hardwareitem_description {
width: 60%;
width: 60%;
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.hardwareitem_image img {
max-width: 100%;
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</style>

Micro-ROS aims to **bring ROS 2 to a wide set of microcontrollers** to allow having first-class ROS 2 entities in the embedded world.

The main targets of micro-ROS are mid-range 32-bits microcontroller families. Usually, the minimum requirements for running micro-ROS in an embedded platform are memory constraints. Since memory usage in micro-ROS is a complex matter we provide a [complete article](/docs/concepts/benchmarking/benchmarking/) describing it and a tutorial on [how to tune the memory consuption](../../tutorials/advanced/microxrcedds_rmw_configuration/) in the micro-ROS middleware.
The main targets of micro-ROS are mid-range 32-bits microcontroller families. Usually, the minimum requirements for running micro-ROS in an embedded platform are memory constraints. Since memory usage in micro-ROS is a complex matter we provide a [complete article](/docs/concepts/benchmarking/benchmarking/) describing it and a tutorial on [how to tune the memory consuption](../../tutorials/advanced/microxrcedds_rmw_configuration/) in the micro-ROS middleware.

In general micro-ROS will need MCUs that have tens of kilobytes of RAM memory and communication peripherals that enable the micro-ROS [Client to Agent communication](../features/).

The micro-ROS hardware support is divided into two categories:
The micro-ROS hardware support is divided into two categories:
- Officially supported boards
- Community supported boards

Expand All @@ -44,6 +46,37 @@ The micro-ROS hardware support is divided into two categories:

The officially supported boards are those which have been carried out or tested officially, and to which LTS is guaranteed.

<div class="hardwarecontainer">
<div class="hardwareitem_description">
<h3><b>Renesas EK RA6M5</b> and <b>e2studio</b></h3>
<div>
&#10004; <b>Key features:</b>
<ul>
<li>MCU: ARM Cortex M-33 core @ 200 MHz</li>
<li>RAM: 512 kB</li>
<li>Flash: up to 2 MB</li>
<li>Peripherals: Ethernet, SCI, SPI, I2C, I2S, UART, USB, SDIO, CAN, GPIO, ADC/DAC, PWM</li>
</ul>
&#127758; <b>Resources:</b>
<ul>
<li><a href="https://www.renesas.com/us/en/products/microcontrollers-microprocessors/ra-cortex-m-mcus/ek-ra6m5-evaluation-kit-ra6m5-mcu-group">Official website</a></li>
<li><a href="https://www.renesas.com/us/en/products/microcontrollers-microprocessors/ra-cortex-m-mcus/ra6m5-200mhz-arm-cortex-m33-trustzone-highest-integration-ethernet-and-can-fd">Datasheet</a></li>
<li><a href="https://www.renesas.com/us/en/application/technologies/robotics">HW support information</a></li>
</ul>
&#9881; <b>Supported platforms:</b>
<ul>
<li><b>RTOSes:</b> <a href="https://www.freertos.org/">FreeRTOS</a>, <a href="https://docs.microsoft.com/en-us/azure/rtos/threadx/">ThreadX</a> and Bare-metal</li>
</ul>
&#128268; <b>Supported transports:</b>
UDP, UART, USB-CDC
</div>
</div>

<div class="hardwareitem_image">
<img src="imgs/renesas.png">
</div>
</div>

<div class="hardwarecontainer">
<div class="hardwareitem_description">
<h3><b>Espressif ESP32</b></h3>
Expand All @@ -54,7 +87,7 @@ The officially supported boards are those which have been carried out or tested
<li>RAM: 520 kB</li>
<li>Flash: 4 MB</li>
<li>Peripherals: Ethernet MAC, Wi-Fi 802.11 b/g/n, Bluetooth v4.2 BR/EDR, BLE, SPI, I2C, I2S, UART, SDIO, CAN, GPIO, ADC/DAC, PWM </li>
</ul>
</ul>
&#127758; <b>Resources:</b>
<ul>
<li><a href="https://www.espressif.com/en/products/socs/esp32">Official website</a></li>
Expand Down Expand Up @@ -86,7 +119,7 @@ The officially supported boards are those which have been carried out or tested
<li>RAM: 8 MB</li>
<li>Flash: 16 MB</li>
<li>Peripherals: USB HS, Ethernet, WiFi/BT...</li>
</ul>
</ul>
&#127758; <b>Resources:</b>
<ul>
<li><a href="https://store.arduino.cc/portenta-h7">Official website</a></li>
Expand All @@ -97,7 +130,7 @@ The officially supported boards are those which have been carried out or tested
<li><b>External tools:</b> <a href="https://www.arduino.cc/">Arduino</a></li>
</ul>
&#128268; <b>Supported transports:</b>
USB, WiFi UDP
USB, WiFi UDP
</div>
</div>

Expand All @@ -117,7 +150,7 @@ The officially supported boards are those which have been carried out or tested
<li>RAM: 264 kB</li>
<li>Flash: up to 16 MB</li>
<li>Peripherals: I2C, SPI, PIO...</li>
</ul>
</ul>
&#127758; <b>Resources:</b>
<ul>
<li><a href="https://www.raspberrypi.org/products/raspberry-pi-pico/">Official website</a></li>
Expand All @@ -129,7 +162,7 @@ The officially supported boards are those which have been carried out or tested
<li><b>External tools:</b> <a href="https://github.com/raspberrypi/pico-sdk">Raspberry Pi Pico SDK</a></li>
</ul>
&#128268; <b>Supported transports:</b>
USB, UART
USB, UART
</div>
</div>

Expand All @@ -149,7 +182,7 @@ The officially supported boards are those which have been carried out or tested
<li>RAM: 320 kB</li>
<li>Flash: 1024 kB</li>
<li>Peripherals: 3-axis IMU, Dynamixel ports, SPI, I2C... </li>
</ul>
</ul>
&#127758; <b>Resources:</b>
<ul>
<li><a href="https://emanual.robotis.com/docs/en/parts/controller/opencr10/">Official website</a></li>
Expand All @@ -160,7 +193,7 @@ The officially supported boards are those which have been carried out or tested
<li><b>External tools:</b> <a href="https://www.arduino.cc/">Arduino</a></li>
</ul>
&#128268; <b>Supported transports:</b>
USB, UART
USB, UART
</div>
</div>

Expand All @@ -180,7 +213,7 @@ The officially supported boards are those which have been carried out or tested
<li>RAM: 64 kB</li>
<li>Flash: 256 kB</li>
<li>Peripherals: USB, SPI, I2C, CAN, I2S... </li>
</ul>
</ul>
&#127758; <b>Resources:</b>
<ul>
<li><a href="https://www.pjrc.com/teensy/teensy31.html">Official website</a></li>
Expand All @@ -191,7 +224,7 @@ The officially supported boards are those which have been carried out or tested
<li><b>External tools:</b> <a href="https://www.arduino.cc/">Arduino</a></li>
</ul>
&#128268; <b>Supported transports:</b>
USB, UART
USB, UART
</div>
</div>

Expand All @@ -211,7 +244,7 @@ The officially supported boards are those which have been carried out or tested
<li>RAM: 1024 kB</li>
<li>Flash: 2048 kB</li>
<li>Peripherals: USB, PWM, SPI, I2C, CAN, I2S, SDIO,... </li>
</ul>
</ul>
&#127758; <b>Resources:</b>
<ul>
<li><a href="https://www.pjrc.com/store/teensy40.html">Official website</a></li>
Expand All @@ -222,7 +255,7 @@ The officially supported boards are those which have been carried out or tested
<li><b>External tools:</b> <a href="https://www.arduino.cc/">Arduino</a></li>
</ul>
&#128268; <b>Supported transports:</b>
USB, UART
USB, UART
</div>
</div>

Expand All @@ -242,7 +275,7 @@ The officially supported boards are those which have been carried out or tested
<li>RAM: 192 kB</li>
<li>Flash: 1 MB</li>
<li>Peripherals: 3 axis IMU, pressure sensor, SPI, I2C, UART, nRF51822 radio...</li>
</ul>
</ul>
&#127758; <b>Resources:</b>
<ul>
<li><a href="https://www.bitcraze.io/products/crazyflie-2-1/">Official website</a></li>
Expand All @@ -253,7 +286,7 @@ The officially supported boards are those which have been carried out or tested
<li><b>External tools:</b> &ndash;</li>
</ul>
&#128268; <b>Supported transports:</b>
Custom Radio Link
Custom Radio Link
</div>
</div>

Expand All @@ -273,7 +306,7 @@ The officially supported boards are those which have been carried out or tested
<li>RAM: 128 kB</li>
<li>Flash: 1 MB</li>
<li>Peripherals: Bluetooth, low-power RF module, 802.11 b/g/n, NFC, 2 digital microphone, temperature/humidity sensor, 3 axis IMU, ToF sensor...</li>
</ul>
</ul>
&#127758; <b>Resources:</b>
<ul>
<li><a href="https://www.st.com/en/evaluation-tools/b-l475e-iot01a.html">Official website</a></li>
Expand All @@ -284,7 +317,7 @@ The officially supported boards are those which have been carried out or tested
<li><b>External tools:</b> <a href="https://www.zephyrproject.org/">Zephyr</a> build system</li>
</ul>
&#128268; <b>Supported transports:</b>
USB, UART, Ethernet UDP
USB, UART, Ethernet UDP
</div>
</div>

Expand All @@ -304,7 +337,7 @@ The officially supported boards are those which have been carried out or tested
<li>RAM: 196 kB</li>
<li>Flash: 1 MB</li>
<li>Peripherals: USB OTG, Ethernet, SD Card slot, SPI, CAN, I2C... </li>
</ul>
</ul>
&#127758; <b>Resources:</b>
<ul>
<li><a href="https://www.olimex.com/Products/ARM/ST/STM32-E407/open-source-hardware">Official website</a></li>
Expand All @@ -318,7 +351,7 @@ The officially supported boards are those which have been carried out or tested
</ul>
&#128268; <b>Supported transports:</b>
USB (Z, N), UART (Z, F, N), Ethernet UDP (F, N)
<br><i><b>Note:</b> Only RTOS initials used for convenience.</i>
<br><i><b>Note:</b> Only RTOS initials used for convenience.</i>
</div>
</div>

Expand All @@ -340,7 +373,7 @@ The micro-ROS community supported boards are contributions of micro-ROS' users a
<li>MCU: ARM Cortex-M3 AT91SAM3X8E</li>
<li>RAM: 96 kB</li>
<li>Flash: 512 kB</li>
</ul>
</ul>
&#127758; <b>Resources:</b>
<ul>
<li><a href="https://store.arduino.cc/arduino-due">Official website</a></li>
Expand All @@ -351,7 +384,7 @@ The micro-ROS community supported boards are contributions of micro-ROS' users a
<li><b>External tools:</b> <a href="https://www.arduino.cc/">Arduino</a></li>
</ul>
&#128268; <b>Supported transports:</b>
USB, UART
USB, UART
</div>
</div>

Expand All @@ -369,7 +402,7 @@ The micro-ROS community supported boards are contributions of micro-ROS' users a
<li>MCU: ARM Cortex-M0+ ATSAMD21G18</li>
<li>RAM: 32 kB</li>
<li>Flash: 256 kB</li>
</ul>
</ul>
&#127758; <b>Resources:</b>
<ul>
<li><a href="https://store.arduino.cc/arduino-zero">Official website</a></li>
Expand All @@ -380,7 +413,7 @@ The micro-ROS community supported boards are contributions of micro-ROS' users a
<li><b>External tools:</b> <a href="https://www.arduino.cc/">Arduino</a></li>
</ul>
&#128268; <b>Supported transports:</b>
USB, UART
USB, UART
</div>
</div>

Expand All @@ -403,7 +436,7 @@ The micro-ROS community supported boards are contributions of micro-ROS' users a
<li><b>External tools:</b> <a ref="https://www.st.com/en/development-tools/stm32cubemx.html">STM32CubeMX</a></li>
</ul>
&#128268; <b>Supported transports:</b>
UART
UART
</div>
</div>

Expand All @@ -426,7 +459,7 @@ The micro-ROS community supported boards are contributions of micro-ROS' users a
<li><b>External tools:</b> <a ref="https://www.st.com/en/development-tools/stm32cubemx.html">STM32CubeMX</a></li>
</ul>
&#128268; <b>Supported transports:</b>
UART
UART
</div>
</div>

Expand All @@ -449,7 +482,7 @@ The micro-ROS community supported boards are contributions of micro-ROS' users a
<li><b>External tools:</b> <a ref="https://www.st.com/en/development-tools/stm32cubemx.html">STM32CubeMX</a></li>
</ul>
&#128268; <b>Supported transports:</b>
UART
UART
</div>
</div>

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16 changes: 8 additions & 8 deletions _docs/overview/rtos/index.md
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}

.rtositem_description {
width: 50%;
width: 50%;
}

.rtositem_image img {
Expand All @@ -34,7 +34,7 @@ The standard approach to micro-ROS assumes a Real-Time Operating System undernea

Even though recent developments aim at loosening this requirement, with the integration into Arduino IDE as an important step towards true micro-ROS bare-metal support, the RTOS-based support remains the main entrypoint to micro-ROS.

To date, micro-ROS is supported by the RTOSes FreeRTOS, Zephyr, NuttX, in addition to Linux and Windows.
To date, micro-ROS is supported by the RTOSes FreeRTOS, Zephyr, NuttX, in addition to Linux and Windows.
All three RTOSes are downloaded natively with the [micro-ROS build system](https://github.com/micro-ROS/micro_ros_setup), and can be chosen when creating
a new firmware workspace.
Dedicated tutorials for running your first micro-ROS application on each of these Operating Systems can be found [here](https://micro-ros.github.io/docs/tutorials/core/first_application_rtos/).
Expand Down Expand Up @@ -62,7 +62,7 @@ FreeRTOS is distributed under the MIT license. It is known particularly for its
<li>Memory management tools</li>
<li>Standard and idle tasks available with assignable priorities</li>
<li>Transport resources: TCP/IP and lwIP</li>
</ul>
</ul>
<b>FreeRTOS resources:</b>
<ul>
<li><a href="https://www.freertos.org/">Official FreeRTOS website</a></li>
Expand All @@ -73,7 +73,7 @@ FreeRTOS is distributed under the MIT license. It is known particularly for its
<ul>
<li><a href="https://www.freertos.org/2020/09/micro-ros-on-freertos.html">micro-ROS on FreeRTOS</a></li>
<li><a href="https://micro-ros.github.io/docs/tutorials/core/first_application_rtos/freertos/">First micro-ROS Application on FreeRTOS</a></li>
</ul>
</ul>
</div>
</div>

Expand All @@ -98,7 +98,7 @@ Zephyr is a fairly new open-source RTOS, developed in a Linux Foundation Project
<li>Multiple Scheduling Algorithms</li>
<li>Highly configurable/Modular for flexibility</li>
<li>Native Linux, macOS, and Windows Development</li>
</ul>
</ul>
<b>Zephyr resources:</b>
<ul>
<li><a href="https://www.zephyrproject.org/">Official Zephyr website</a></li>
Expand All @@ -116,7 +116,7 @@ Zephyr is a fairly new open-source RTOS, developed in a Linux Foundation Project
</div>

<div class="rtositem_image">
<img src="https://upload.wikimedia.org/wikipedia/commons/2/2d/Zephyr-logo.png">
<img src="https://www.linuxfoundation.org/wp-content/uploads/zephyr-color.svg">
</div>
</div>

Expand All @@ -133,7 +133,7 @@ NuttX emphasizes its compliance with standards - including POSIX - and small foo
<li>Rich Feature OS Set</li>
<li>Highly scalable</li>
<li>Real-Time behavior: fully pre-emptible; fixed priority, round-robin, and “sporadic” scheduling</li>
</ul>
</ul>
<b>NuttX resources:</b>
<ul>
<li><a href="https://nuttx.apache.org/">Official NuttX website</a></li>
Expand Down Expand Up @@ -176,7 +176,7 @@ The open-source Arduino Software (IDE) is a library making it easy to program an
<ul>
<li><a href="https://www.arduino.cc/">Official Arduino Website</a></li>
<li><a href="https://github.com/micro-ROS/micro_ros_arduino">micro_ros_arduino repo</a></li>
</ul>
</ul>
</div>
</div>

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