micro_ros

原文链接Supported Hardware | micro-ROS

Supported Hardware

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 describing it and a tutorial on how to tune the memory consuption 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.

（STM32F103C8T6内存也有20K，是不是也能安装?）

The micro-ROS hardware support is divided into two categories:

Officially supported boards
Community supported boards

Officially supported boards

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

STM32L4 Discovery kit IoT

Key features:

MCU: ARM Cortex-M4 STM32L4
RAM: 128 kB
Flash: 1 MB
Peripherals: Bluetooth, low-power RF module, 802.11 b/g/n, NFC, 2 digital microphone, temperature/humidity sensor, 3 axis IMU, ToF sensor...

Resources:

Official website

Supported platforms:

RTOSes:Zephyr #这个开发板支持Zephyr的RTOS系统

External tools:Zephyr build system

Supported transports: USB, UART, Ethernet UDP

Olimex LTD STM32-E407

Key features:

MCU: STM32F407ZGT6 Cortex-M4F
RAM: 196 kB
Flash: 1 MB
Peripherals: USB OTG, Ethernet, SD Card slot, SPI, CAN, I2C...

Resources:

Official website
Schematics
User Manual

从上边这个图片可以看到freeRTOS的市场占有率非常高，是主流的RTOS系统，所以Micro_ros才会支持

Supported platforms:

RTOSes: Zephyr, FreeRTOS, NuttX
External tools: Zephyr build system

Supported transports: USB (Z, N), UART (Z, F, N), Ethernet UDP (F, N)
Note: Only RTOS initials used for convenience.

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Renesas EK RA6M5 and e2studio

Key features:

MCU: ARM Cortex M-33 core @ 200 MHz
RAM: 512 kB
Flash: up to 2 MB
Peripherals: Ethernet, SCI, SPI, I2C, I2S, UART, USB, SDIO, CAN, GPIO, ADC/DAC, PWM

Supported platforms:

RTOSes:FreeRTOS,ThreadX and Bare-metal

这个开发板支持的RTOS多，好像价格也比较贵

Supported transports: UDP, UART, USB-CDC

Espressif ESP32

Key features:

MCU: ultra-low power dual-core Xtensa LX6
RAM: 520 kB
Flash: 4 MB
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

Datashee

Supported platforms:

RTOSes: FreeRTOS
External tools: ESP-IDF

Supported transports: UART, WiFi UDP, Ethernet UDP

Arduino Portenta H7

Key features:

MCU: Dual-core Arm Cortex-M7 and Cortex-M4
RAM: 8 MB
Flash: 16 MB
Peripherals: USB HS, Ethernet, WiFi/BT...

Resources:

Official website

Supported platforms:

RTOSes: –
External tools: Arduino

Supported transports: USB, WiFi UDP

Raspberry Pi Pico RP2040

Key features:

MCU: Dual-core Arm Cortex-M0+
RAM: 264 kB
Flash: up to 16 MB
Peripherals: I2C, SPI, PIO...

Resources:

Official website
micro-ROS support package

Supported platforms:

RTOSes: –
External tools: Raspberry Pi Pico SDK

Supported transports: USB, UART

ROBOTIS OpenCR 1.0

Key features:

MCU: ARM Cortex-M7 STM32F746ZGT6
RAM: 320 kB
Flash: 1024 kB
Peripherals: 3-axis IMU, Dynamixel ports, SPI, I2C...

Resources:

Official website

Supported platforms:

RTOSes: –
External tools: Arduino

Supported transports: USB, UART

Teensy 3.2

Key features:

MCU: ARM Cortex-M4 MK20DX256VLH7
RAM: 64 kB
Flash: 256 kB
Peripherals: USB, SPI, I2C, CAN, I2S...

Resources:

Official website

Supported platforms:

RTOSes: –
External tools: Arduino

Supported transports: USB, UART

Teensy 4.0/4.1

Key features:

MCU: ARM Cortex-M7 iMXRT1062
RAM: 1024 kB
Flash: 2048 kB
Peripherals: USB, PWM, SPI, I2C, CAN, I2S, SDIO,...

Resources:

Official website

Supported platforms:

RTOSes: –
External tools: Arduino

Supported transports: USB, UART, Ethernet UDP (4.1)

Crazyflie 2.1 Drone

Key features:

MCU: ARM Cortex-M4 STM32F405
RAM: 192 kB
Flash: 1 MB
Peripherals: 3 axis IMU, pressure sensor, SPI, I2C, UART, nRF51822 radio...

Resources:

Official website

Supported platforms:

RTOSes: FreeRTOS
External tools: –

Supported transports: Custom Radio Link

STM32L4 Discovery kit IoT

Key features:

MCU: ARM Cortex-M4 STM32L4
RAM: 128 kB
Flash: 1 MB
Peripherals: Bluetooth, low-power RF module, 802.11 b/g/n, NFC, 2 digital microphone, temperature/humidity sensor, 3 axis IMU, ToF sensor...

Resources: