Adding ethernet support

CMakeLists.txt

@@ -20,6 +20,7 @@ set(SRCS "mros2/src/mros2.cpp"
         "cmsis-esp32/lwip.c"
         "cmsis-esp32/cmsis-esp.c"
         "platform/wifi/wifi.c"
+        "platform/ethernet/ethernet.c"
         "platform/mros2-platform.cpp"
         )
 
@@ -32,6 +33,7 @@ set(INCS "mros2/include"
         "cmsis-esp32/include"
         "platform"
         "platform/wifi"
+        "platform/ethernet"
         ${CMAKE_SOURCE_DIR}/main
         )
 
@@ -42,14 +44,14 @@ endif()
 idf_component_register(
         SRCS ${SRCS}
         INCLUDE_DIRS ${INCS}
-        REQUIRES nvs_flash esp_wifi)
+        REQUIRES nvs_flash esp_wifi esp_eth)
 
 # Generate plaform/templates.hpp from mros2 application code
 ## You can add dir(s) in `--indir` if you have several dirs 
 ## that contain application code files
 add_custom_command(
         OUTPUT templates.hpp
-        COMMAND python3 ${COMPONENT_PATH}/mros2/mros2_header_generator/templates_generator.py --outdir ${COMPONENT_PATH}/platform --indir ${CMAKE_SOURCE_DIR}/main)
+        COMMAND python ${COMPONENT_PATH}/mros2/mros2_header_generator/templates_generator.py --outdir ${COMPONENT_PATH}/platform --indir ${CMAKE_SOURCE_DIR}/main)
 add_custom_target(Template SOURCES templates.hpp)
 add_dependencies(${COMPONENT_LIB} Template)
 

Kconfig.projbuild

@@ -0,0 +1,204 @@
+menu "mROS Settings"
+
+    ##################################
+    #    CHOOSE NETWORK INTERFACE    #
+    ##################################
+
+    choice
+        prompt "mROS network interface select"
+        config  M_ROS_ESP_NETIF_WLAN
+            bool "WLAN interface"
+        config  M_ROS_ESP_NETIF_ENET
+            bool "Ethernet interface"
+    endchoice
+
+
+    #####################
+    #    WLAN CONFIG    #
+    #####################
+
+    if M_ROS_ESP_NETIF_WLAN
+
+    menu "WiFi Configuration"
+
+        config ESP_WIFI_SSID
+            string "WiFi SSID"
+            default "myssid"
+            help
+                SSID (network name) for the example to connect to.
+
+        config ESP_WIFI_PASSWORD
+            string "WiFi Password"
+            default "mypassword"
+            help
+                WiFi password (WPA or WPA2) for the example to use.
+
+        config ESP_MAXIMUM_RETRY
+            int "Maximum retry"
+            default 5
+            help
+                Set the Maximum retry to avoid station reconnecting to the AP unlimited when the AP is really inexistent.
+    endmenu
+
+    endif # M_ROS_ESP_NETIF_WLAN
+
+    #########################
+    #    ETHERNET CONFIG    #
+    #########################
+
+    if M_ROS_ESP_NETIF_ENET
+
+    menu "Ethernet Configuration"
+        config M_ROS_USE_SPI_ETHERNET
+            bool
+
+        choice M_ROS_ETHERNET_TYPE
+            prompt "Ethernet Type"
+            default M_ROS_USE_INTERNAL_ETHERNET if IDF_TARGET_ESP32
+            default M_ROS_USE_W5500
+            help
+                Select which kind of Ethernet will be used in the example.
+
+            config M_ROS_USE_INTERNAL_ETHERNET
+                depends on IDF_TARGET_ESP32
+                select ETH_USE_ESP32_EMAC
+                bool "Internal EMAC"
+                help
+                    Select internal Ethernet MAC controller.
+
+            config M_ROS_USE_DM9051
+                bool "DM9051 Module"
+                select M_ROS_USE_SPI_ETHERNET
+                select ETH_USE_SPI_ETHERNET
+                select ETH_SPI_ETHERNET_DM9051
+                help
+                    Select external SPI-Ethernet module (DM9051).
+
+            config M_ROS_USE_W5500
+                bool "W5500 Module"
+                select M_ROS_USE_SPI_ETHERNET
+                select ETH_USE_SPI_ETHERNET
+                select ETH_SPI_ETHERNET_W5500
+                help
+                    Select external SPI-Ethernet module (W5500).
+        endchoice # M_ROS_ETHERNET_TYPE
+
+        if M_ROS_USE_INTERNAL_ETHERNET
+            choice M_ROS_ETH_PHY_MODEL
+                prompt "Ethernet PHY Device"
+                default M_ROS_ETH_PHY_LAN8720
+                help
+                    Select the Ethernet PHY device to use in the example.
+
+                config M_ROS_ETH_PHY_IP101
+                    bool "IP101"
+                    help
+                        IP101 is a single port 10/100 MII/RMII/TP/Fiber Fast Ethernet Transceiver.
+                        Goto http://www.icplus.com.tw/pp-IP101G.html for more information about it.
+
+                config M_ROS_ETH_PHY_RTL8201
+                    bool "RTL8201/SR8201"
+                    help
+                        RTL8201F/SR8201F is a single port 10/100Mb Ethernet Transceiver with auto MDIX.
+                        Goto http://www.corechip-sz.com/productsview.asp?id=22 for more information about it.
+
+                config M_ROS_ETH_PHY_LAN8720
+                    bool "LAN8720"
+                    help
+                        LAN8720A is a small footprint RMII 10/100 Ethernet Transceiver with HP Auto-MDIX Support.
+                        Goto https://www.microchip.com/LAN8720A for more information about it.
+
+                config M_ROS_ETH_PHY_DP83848
+                    bool "DP83848"
+                    help
+                        DP83848 is a single port 10/100Mb/s Ethernet Physical Layer Transceiver.
+                        Goto http://www.ti.com/product/DP83848J for more information about it.
+
+                config M_ROS_ETH_PHY_KSZ8041
+                    bool "KSZ8041"
+                    help
+                        The KSZ8041 is a single supply 10Base-T/100Base-TX Physical Layer Transceiver.
+                        Goto https://www.microchip.com/wwwproducts/en/KSZ8041 for more information about it.
+            endchoice # M_ROS_ETH_PHY_MODEL
+
+            config M_ROS_ETH_MDC_GPIO
+                int "SMI MDC GPIO number"
+                default 23
+                help
+                    Set the GPIO number used by SMI MDC.
+
+            config M_ROS_ETH_MDIO_GPIO
+                int "SMI MDIO GPIO number"
+                default 18
+                help
+                    Set the GPIO number used by SMI MDIO.
+        endif # M_ROS_USE_INTERNAL_ETHERNET
+
+        if M_ROS_USE_SPI_ETHERNET
+            config M_ROS_ETH_SPI_HOST
+                int "SPI Host Number"
+                range 0 2
+                default 1
+                help
+                    Set the SPI host used to communicate with the SPI Ethernet Controller.
+
+            config M_ROS_ETH_SPI_SCLK_GPIO
+                int "SPI SCLK GPIO number"
+                range 0 33
+                default 20
+                help
+                    Set the GPIO number used by SPI SCLK.
+
+            config M_ROS_ETH_SPI_MOSI_GPIO
+                int "SPI MOSI GPIO number"
+                range 0 33
+                default 19
+                help
+                    Set the GPIO number used by SPI MOSI.
+
+            config M_ROS_ETH_SPI_MISO_GPIO
+                int "SPI MISO GPIO number"
+                range 0 33
+                default 18
+                help
+                    Set the GPIO number used by SPI MISO.
+
+            config M_ROS_ETH_SPI_CS_GPIO
+                int "SPI CS GPIO number"
+                range 0 33
+                default 21
+                help
+                    Set the GPIO number used by SPI CS.
+
+            config M_ROS_ETH_SPI_CLOCK_MHZ
+                int "SPI clock speed (MHz)"
+                range 5 80
+                default 36
+                help
+                    Set the clock speed (MHz) of SPI interface.
+
+            config M_ROS_ETH_SPI_INT_GPIO
+                int "Interrupt GPIO number"
+                default 4
+                help
+                    Set the GPIO number used by the SPI Ethernet module interrupt line.
+        endif # M_ROS_USE_SPI_ETHERNET
+
+        config M_ROS_ETH_PHY_RST_GPIO
+            int "PHY Reset GPIO number"
+            default -1
+            help
+                Set the GPIO number used to reset PHY chip.
+                Set to -1 to disable PHY chip hardware reset.
+
+        config M_ROS_ETH_PHY_ADDR
+            int "PHY Address"
+            range 0 31
+            default 0
+            help
+                Set PHY address according your board schematic.
+    endmenu
+
+    endif # M_ROS_ESP_NETIF_ENET
+
+    endmenu

README.md

@@ -17,6 +17,7 @@ Please also check [mros2 repository](https://github.com/mROS-base/mros2) for mor
     - [M5Stack Core2](http://docs.m5stack.com/en/core/core2)
     - [M5Stack CoreS3](http://docs.m5stack.com/en/core/CoreS3)
     - [XIAO ESP32C3](https://www.seeedstudio.com/Seeed-XIAO-ESP32C3-p-5431.html) (see [#7](https://github.com/mROS-base/mros2-esp32/issues/7))
+    - [Olimex ESP32-POE (ISO/EA)](https://www.olimex.com/Products/IoT/ESP32/ESP32-POE/open-source-hardware)
   - Kernel: [ESP-IDF FreeRTOS](https://docs.espressif.com/projects/esp-idf/en/latest/esp32/api-reference/system/freertos_idf.html)
 - Host environment
   - [ROS 2 Humble Hawksbill](https://docs.ros.org/en/humble/index.html) on Ubuntu 22.04 LTS
@@ -63,17 +64,24 @@ cd mros2-esp32
 
 Note that you cannot change the directory name from `mros2-esp32` since it is used as the component name in `CMakeLists.txt`.
 
-### Setup your SSID and PASS
+### Select network platform
 
-Please setup SSID and PASS for your Wi-Fi AP in `platform/wifi/wifi.h` (be careful that we should not commit and push your network environment to the world :D)
+We support Wi-Fi and Ethernet. User `idf.py menuconfig` and go to `mROS Settings -> mROS network interface select` to choose the mode. Note that only one mode is supported at the same time.
 
-```platform/wifi/wifi.h
-#define ESP_WIFI_SSID "SSID"
-#define ESP_WIFI_PASS "PASS"
-```
+#### Setup your SSID and PASS
+
+Please setup SSID and PASS for your Wi-Fi AP in `idf.py menuconfig` and go to `mROS Settings -> Wifi Configuration`   (be careful that we should not commit and push your network environment to the world :D)
 
 Again, make sure that its SSID assigns IP by DHCP and is dedicated to 2.4 GHz band.
 
+### Setup ethernet
+
+See the [configuration guidline](https://github.com/espressif/esp-idf/blob/master/examples/ethernet/README.md#common-configurations) of espressif to setup your ethernet correctly.
+
+We selected the default settings to support the following boards out of the box:
+
+- [Olimex ESP32-POE (ISO/EA)](https://www.olimex.com/Products/IoT/ESP32/ESP32-POE/open-source-hardware)
+
 ### Set target
 
 Go to `workspace/echoback_string/` and do the below to setup the target device.