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Support esp-idf v6.0 #334

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12 changes: 9 additions & 3 deletions esp32_toolchain.cmake.in
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Original file line number Diff line number Diff line change
Expand Up @@ -15,6 +15,11 @@ else()
set(FLAGS "-mlongcalls -ffunction-sections -fdata-sections" CACHE STRING "" FORCE)
endif()

include("@BUILD_CONFIG_DIR@/sdkconfig.cmake" OPTIONAL)
if(CONFIG_LIBC_PICOLIBC)
set(FLAGS "${FLAGS} --specs=picolibc.specs" CACHE STRING "" FORCE)
endif()

set(CMAKE_CROSSCOMPILING 1)
set(CMAKE_TRY_COMPILE_TARGET_TYPE STATIC_LIBRARY)
set(PLATFORM_NAME "LwIP")
Expand All @@ -26,10 +31,11 @@ set(CMAKE_FIND_ROOT_PATH_MODE_INCLUDE ONLY)
set(CMAKE_C_COMPILER @CMAKE_C_COMPILER@)
set(CMAKE_CXX_COMPILER @CMAKE_CXX_COMPILER@)

set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} ${FLAGS} ${IDF_INCLUDES}")
set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -fno-exceptions -fno-rtti ${FLAGS} ${IDF_INCLUDES}")
set(CMAKE_C_FLAGS "${FLAGS} ${IDF_INCLUDES}" CACHE STRING "" FORCE)
set(CMAKE_CXX_FLAGS "-fno-exceptions -fno-rtti ${FLAGS} ${IDF_INCLUDES}" CACHE STRING "" FORCE)

add_compile_definitions(ESP_PLATFORM LWIP_IPV4 LWIP_IPV6 PLATFORM_NAME_FREERTOS)
# Workaround for https://github.com/ros2/rcutils/issues/552
add_compile_definitions(ESP_PLATFORM LWIP_IPV4 LWIP_IPV6 PLATFORM_NAME_FREERTOS __STDC_WANT_LIB_EXT1__=1)

include_directories(
"@BUILD_CONFIG_DIR@"
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4 changes: 4 additions & 0 deletions network_interfaces/uros_wlan_netif.c
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Original file line number Diff line number Diff line change
Expand Up @@ -85,7 +85,11 @@ static void wifi_init_sta(void)
},
};
ESP_ERROR_CHECK(esp_wifi_set_mode(WIFI_MODE_STA) );
#if ESP_IDF_VERSION >= ESP_IDF_VERSION_VAL(6, 0, 0)
ESP_ERROR_CHECK(esp_wifi_set_config(WIFI_IF_STA, &wifi_config) );
#else
ESP_ERROR_CHECK(esp_wifi_set_config(ESP_IF_WIFI_STA, &wifi_config) );
#endif
ESP_ERROR_CHECK(esp_wifi_start() );

ESP_LOGI(TAG, "wifi_init_sta finished.");
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