Cortex-M4 Core

The CM4 runs at 240 MHz and is reserved for auxiliary processing. It boots after CM7 releases it via HSEM.

Build

cd microrosWs/Micro_ros_eth/microroseth/Makefile/CM4
make clean && make -j$(nproc)

Synchronization

CM7 uses Hardware Semaphore HSEM to signal CM4 boot readiness. No shared memory is used by default — extend Common/Src/ for inter-core communication.