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Feature: add build target for ESP32S3. #1795

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Merged
merged 1 commit into from
Jul 10, 2024
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Feature: add build target for ESP32S3. #1795

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14 changes: 14 additions & 0 deletions extras/library_generation/library_generation.sh
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Original file line number Diff line number Diff line change
Expand Up @@ -230,6 +230,20 @@ if [[ " ${PLATFORMS[@]} " =~ " esp32 " ]]; then
cp -R firmware/build/libmicroros.a /project/src/esp32/libmicroros.a
fi

######## Build for ESP32S3 ######
if [[ " ${PLATFORMS[@]} " =~ " esp32s3 " ]]; then
rm -rf firmware/build

export TOOLCHAIN_PREFIX=/uros_ws/xtensa-esp32-elf/bin/xtensa-esp32-elf-
ros2 run micro_ros_setup build_firmware.sh /project/extras/library_generation/esp32_toolchain.cmake /project/extras/library_generation/colcon.meta

find firmware/build/include/ -name "*.c" -delete
cp -R firmware/build/include/* /project/src/

mkdir -p /project/src/esp32s3
cp -R firmware/build/libmicroros.a /project/src/esp32s3/libmicroros.a
fi

######## Fix include paths ########
pushd firmware/mcu_ws > /dev/null
INCLUDE_ROS2_PACKAGES=$(colcon list | awk '{print $1}' | awk -v d=" " '{s=(NR==1?s:s d)$0}END{print s}')
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