micro-ROS Zephyr Display demo

This project showcases the use of a display peripheral on the stm32f429i-disc1 board in the ROS 2 framework using micro-ROS, LVGL and the Zephyr RTOS.

Limitations

This project uses micro-ROS on the stm32f429i-disc1 board, which is not yet supported by the micro-ROS project. It was developed against an older version of this board, which is why it probably won't work with current versions (most significant: It uses the L3GD20 MEMS gyroscope).

The Zephyr display-driver used in this project only works with the SPI-based interface to the ILI9341 display driver. This means it cannot take advantage of the powerful 24-bit parallel RGB interface and the integrated graphics accelerator.

I hope this project can still serve as a demonstrator and template for micro-ROS and Zephyr projects.

Building

This project is set up so that it can be built right inside a ROS 2 workspace. This section assumes you already have a micro-ROS workspace set up for this, if you haven't you can take a look at the micro-ROS tutorial.

Inside this workspace, you start by cloning this repository:

$ ls
build  firmware  install  log  src
$ git clone https://github.com/RobertWilbrandt/micro-ROS_zephyr_display_demo \
    src/micro-ROS_zephyr_display_demo

You now need to export UROS_CUSTOM_APP_FOLDER to let micro-ROS know where to look for the microcontroller application. After this, you should be able to build and flash the application to your board:

$ source /opt/ros/foxy/setup.bash
$ colcon build
$ source install/setup.zsh
$ export UROS_CUSTOM_APP_FOLDER=$(pwd)/src/micro-ROS_zephyr_display_demo/uros_apps
$ ros2 run micro_ros_setup build_firmware.sh -f
$ ros2 run micro_ros_setup flash_firmware.sh

I recommend to use the -f switch (means fast) nearly every time, as it means the command won't completely rebuild the mcu_ws every time you just want to test a little change in your code.