Updated for FW v1.16 and CMSISv2

readme.md

@@ -49,13 +49,44 @@ Now select the project in the project explorer:
 ```
 Project Explorer -> embedded_rtps_stm32
 ```
-After selecting the process, right click the hammer button in the navigation bar. 
+After selecting the project, prepare the config file
+
+```
+cd rtps/include/rtps
+cp config_stm.h config.h
+```
+If you are using CMSIS v2, you have to edit the task priorities in `config.h` as follows.
+
+```config.h
+l63 const uint8_t SPDP_WRITER_PRIO = 24;
+l72 const int THREAD_POOL_WRITER_PRIO = 24;
+l73 const int THREAD_POOL_READER_PRIO = 24;
+```
+
+Then, right click the hammer button in the navigation bar. 
 This opens the menu to select the build configuration:
  - debug: The debug configuration compiles the code with debug symbols and lowers optimization for debugging.
  - release: This configuration disables debug symbols and increases optimizations to maximum.
 
 The selected configuration is then compiled by STM32CubeIDE. 
 
+#### Code generation using CubeMX
+You also can use the CubeMX code generating feature in CubeIDE to configure the project.
+After code generation, you have to do the following steps:
+
+* delete auto-generated `Src/main.c` (**not** `main.cpp`)
+* edit `Middlewares/Third_Party/LwIP/system/arc/cc.h l41` as follows
+```
+//#define LWIP_PROVIDE_ERRNO
+#define LWIP_ERRNO_INCLUDE <sys/errno.h>
+```
+* edit `Drivers/STM32F7xx_HAL_Driver/Src/stm32f7xx_eth.c l1877` as follows
+```
+ macinit.PromiscuousMode = ETH_PROMISCUOUS_MODE_ENABLE;
+```
+Note that when you change the STM's IP address, you also have to change the IP address configure in `rtps/include/rtps/config.h l37`
+
+
 #### Flashing the STM32F767ZI
 The STM32 should now be connected to the Linux/macOS computer using a micro-USB cable. The cable should be plugged into a USB socket on your computer and into the __debugger__ side of the STM32 Nucleo board.
 

stm32/.cproject

@@ -10,6 +10,7 @@
 <extension id="org.eclipse.cdt.core.GmakeErrorParser" point="org.eclipse.cdt.core.ErrorParser"/>
 <extension id="org.eclipse.cdt.core.CWDLocator" point="org.eclipse.cdt.core.ErrorParser"/>
 <extension id="org.eclipse.cdt.core.GCCErrorParser" point="org.eclipse.cdt.core.ErrorParser"/>
+<extension id="org.eclipse.cdt.core.GLDErrorParser" point="org.eclipse.cdt.core.ErrorParser"/>
 </extensions>
 </storageModule>
 <storageModule moduleId="cdtBuildSystem" version="4.0.0">
@@ -41,7 +42,7 @@
 <listOptionValue builtIn="false" value="&quot;${workspace_loc:/embedded_rtps_stm32/rtps/include}&quot;"/>
 <listOptionValue builtIn="false" value="&quot;${workspace_loc:/embedded_rtps_stm32/rtps/thirdparty/Micro-CDR/include}&quot;"/>
 </option>
-<option IS_BUILTIN_EMPTY="false" IS_VALUE_EMPTY="false" id="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.assembler.option.definedsymbols.1644057191" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.assembler.option.definedsymbols" valueType="definedSymbols">
+<option IS_BUILTIN_EMPTY="false" IS_VALUE_EMPTY="false" id="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.assembler.option.definedsymbols.1644057191" name="Define symbols (-D)" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.assembler.option.definedsymbols" valueType="definedSymbols">
 <listOptionValue builtIn="false" value="EMBEDDEDRTPS_CONFIG_STM32NF767ZI=1"/>
 </option>
 <inputType id="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.assembler.input.2092753602" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.assembler.input"/>
@@ -58,7 +59,7 @@
 <listOptionValue builtIn="false" value="../Drivers/STM32F7xx_HAL_Driver/Inc"/>
 <listOptionValue builtIn="false" value="../Drivers/STM32F7xx_HAL_Driver/Inc/Legacy"/>
 <listOptionValue builtIn="false" value="../Middlewares/Third_Party/FreeRTOS/Source/include"/>
-<listOptionValue builtIn="false" value="../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS"/>
+<listOptionValue builtIn="false" value="../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2"/>
 <listOptionValue builtIn="false" value="../Middlewares/Third_Party/FreeRTOS/Source/portable/GCC/ARM_CM7/r0p1"/>
 <listOptionValue builtIn="false" value="../Middlewares/Third_Party/LwIP/src/include/netif/ppp"/>
 <listOptionValue builtIn="false" value="../Drivers/CMSIS/Device/ST/STM32F7xx/Include"/>
@@ -98,7 +99,7 @@
 <listOptionValue builtIn="false" value="../Drivers/STM32F7xx_HAL_Driver/Inc"/>
 <listOptionValue builtIn="false" value="../Drivers/STM32F7xx_HAL_Driver/Inc/Legacy"/>
 <listOptionValue builtIn="false" value="../Middlewares/Third_Party/FreeRTOS/Source/include"/>
-<listOptionValue builtIn="false" value="../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS"/>
+<listOptionValue builtIn="false" value="../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2"/>
 <listOptionValue builtIn="false" value="../Middlewares/Third_Party/FreeRTOS/Source/portable/GCC/ARM_CM7/r0p1"/>
 <listOptionValue builtIn="false" value="../Middlewares/Third_Party/LwIP/src/include/netif/ppp"/>
 <listOptionValue builtIn="false" value="../Drivers/CMSIS/Device/ST/STM32F7xx/Include"/>
@@ -182,6 +183,7 @@
 <extension id="org.eclipse.cdt.core.GmakeErrorParser" point="org.eclipse.cdt.core.ErrorParser"/>
 <extension id="org.eclipse.cdt.core.CWDLocator" point="org.eclipse.cdt.core.ErrorParser"/>
 <extension id="org.eclipse.cdt.core.GCCErrorParser" point="org.eclipse.cdt.core.ErrorParser"/>
+<extension id="org.eclipse.cdt.core.GLDErrorParser" point="org.eclipse.cdt.core.ErrorParser"/>
 </extensions>
 </storageModule>
 <storageModule moduleId="cdtBuildSystem" version="4.0.0">
@@ -214,7 +216,7 @@
 <listOptionValue builtIn="false" value="&quot;${workspace_loc:/embedded_rtps_stm32/rtps/include}&quot;"/>
 <listOptionValue builtIn="false" value="&quot;${workspace_loc:/embedded_rtps_stm32/rtps/thirdparty/Micro-CDR/include}&quot;"/>
 </option>
-<option IS_BUILTIN_EMPTY="false" IS_VALUE_EMPTY="false" id="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.assembler.option.definedsymbols.1984219413" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.assembler.option.definedsymbols" valueType="definedSymbols">
+<option IS_BUILTIN_EMPTY="false" IS_VALUE_EMPTY="false" id="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.assembler.option.definedsymbols.1984219413" name="Define symbols (-D)" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.assembler.option.definedsymbols" valueType="definedSymbols">
 <listOptionValue builtIn="false" value="EMBEDDEDRTPS_CONFIG_STM32NF767ZI=1"/>
 </option>
 <inputType id="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.assembler.input.1979875715" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.assembler.input"/>