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Open Bot Brain primitives for motors + color sensor #285

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Open Bot Brain primitives for motors + color sensor #285

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36895b3
Add open bot brain Zephyr primitives
MaartenS11 Oct 31, 2024
8b18863
Move some motor code into a separate file
MaartenS11 Nov 4, 2024
737e3e5
Refactor motor code a bit more by creating a Motor class that does mo…
MaartenS11 Nov 5, 2024
b3a0656
Only use one interrupt for the motor encoders instead of two, this al…
MaartenS11 Dec 2, 2024
62fde47
Enable CONFIG_STM32_ENABLE_DEBUG_SLEEP_STOP to allow flashing the boa…
MaartenS11 Dec 3, 2024
e087255
Clean up color sensor code a bit
MaartenS11 Dec 4, 2024
730a189
Rename colour_sensor to color_sensor + add abort primitive + set hear…
MaartenS11 Dec 4, 2024
f31c16b
Minor cleanup
MaartenS11 Dec 4, 2024
5e8ab40
Move sensor setup into separate function
MaartenS11 Dec 4, 2024
2614f79
Move most of the color sensor code into the uart_sensor files
MaartenS11 Dec 4, 2024
68b76e1
Fix case where invalid data was read from the sensor
MaartenS11 Dec 4, 2024
5000e46
Move uart sensor data into a struct
MaartenS11 Dec 5, 2024
e2f3c56
Misc type conversions
MaartenS11 Dec 5, 2024
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5 changes: 5 additions & 0 deletions platforms/Zephyr/CMakeLists.txt
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Original file line number Diff line number Diff line change
Expand Up @@ -2,6 +2,9 @@ cmake_minimum_required(VERSION 3.20.0)
find_package(Zephyr REQUIRED HINTS $ENV{ZEPHYR_BASE})
project(warduino)

# Note on _POSIX_C_SOURCE: If you define this macro to a value greater than or equal to 200809L, then the functionality from the 2008 edition of the POSIX standard (IEEE Standard 1003.1-2008) is made available.
target_compile_definitions(app PRIVATE _POSIX_C_SOURCE=200809L)

add_custom_command(
OUTPUT ${CMAKE_CURRENT_SOURCE_DIR}/upload.h
COMMAND xxd -i upload.wasm > upload.h
Expand All @@ -16,6 +19,8 @@ target_sources(app PRIVATE
../../src/Interpreter/instructions.cpp
../../src/Interpreter/interpreter.cpp
../../src/Primitives/zephyr.cpp
../../src/Primitives/Mindstorms/Motor.cpp
../../src/Primitives/Mindstorms/uart_sensor.cpp
../../src/Memory/mem.cpp
../../src/Utils/util.cpp
../../src/Utils/util_arduino.cpp
Expand Down
258 changes: 137 additions & 121 deletions platforms/Zephyr/boards/stm32l496g_disco.overlay
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Original file line number Diff line number Diff line change
@@ -1,132 +1,148 @@
#include "../app.overlay"

/ {
zephyr,user {
warduino-gpios =
<&gpioa 0 0>,
<&gpioa 1 0>,
<&gpioa 2 0>,
<&gpioa 3 0>,
<&gpioa 4 0>,
<&gpioa 5 0>,
<&gpioa 6 0>,
<&gpioa 7 0>,
<&gpioa 8 0>,
<&gpioa 9 0>,
<&gpioa 10 0>,
<&gpioa 11 0>,
<&gpioa 12 0>,
<&gpioa 15 0>,
<&gpiob 0 0>,
<&gpiob 1 0>,
<&gpiob 2 0>,
<&gpiob 3 0>,
<&gpiob 4 0>,
<&gpiob 5 0>,
<&gpiob 6 0>,
<&gpiob 7 0>,
<&gpiob 8 0>,
<&gpiob 9 0>,
<&gpiob 12 0>,
<&gpiob 13 0>,
<&gpiob 14 0>,
<&gpiob 15 0>,
<&gpioc 0 0>,
<&gpioc 1 0>,
<&gpioc 2 0>,
<&gpioc 3 0>,
<&gpioc 4 0>,
<&gpioc 5 0>,
<&gpioc 6 0>,
<&gpioc 7 0>,
<&gpioc 8 0>,
<&gpioc 9 0>,
<&gpioc 12 0>,
<&gpioc 15 0>,
<&gpiod 0 0>,
<&gpiod 1 0>,
<&gpiod 2 0>,
<&gpiod 3 0>,
<&gpiod 4 0>,
<&gpiod 7 0>,
<&gpiod 8 0>,
<&gpiod 9 0>,
<&gpiod 10 0>,
<&gpiod 11 0>,
<&gpiod 12 0>,
<&gpiod 13 0>,
<&gpiod 14 0>,
<&gpiod 15 0>,
<&gpioe 0 0>,
<&gpioe 1 0>,
<&gpioe 2 0>,
<&gpioe 3 0>,
<&gpioe 4 0>,
<&gpioe 7 0>,
<&gpioe 8 0>,
<&gpioe 10 0>,
<&gpioe 11 0>,
<&gpioe 12 0>,
<&gpioe 13 0>,
<&gpioe 14 0>,
<&gpioe 15 0>,
<&gpiof 3 0>,
<&gpiof 4 0>,
<&gpiof 5 0>,
<&gpiof 6 0>,
<&gpiof 7 0>,
<&gpiof 8 0>,
<&gpiof 9 0>,
<&gpiof 10 0>,
<&gpiof 11 0>,
<&gpiof 12 0>,
<&gpiof 13 0>,
<&gpiof 14 0>,
<&gpiog 2 0>,
<&gpiog 3 0>,
<&gpiog 4 0>,
<&gpiog 5 0>,
<&gpiog 6 0>,
<&gpiog 7 0>,
<&gpiog 8 0>,
<&gpiog 11 0>,
<&gpiog 12 0>,
<&gpiog 15 0>,
<&gpiob 10 0>,
<&gpiob 11 0>,
<&gpioc 10 0>,
<&gpioc 11 0>,
<&gpiog 13 0>,
<&gpiog 14 0>,
<&gpiod 5 0>,
<&gpiod 6 0>,
<&gpiof 0 0>,
<&gpiof 1 0>,
<&gpiog 9 0>,
<&gpiog 10 0>;
zephyr,user {
warduino-gpios =
<&gpioa 0 0>,
<&gpioa 1 0>,
<&gpioa 2 0>,
<&gpioa 3 0>,
<&gpioa 4 0>,
<&gpioa 5 0>,
<&gpioa 6 0>,
<&gpioa 7 0>,
<&gpioa 8 0>,
<&gpioa 9 0>,
<&gpioa 10 0>,
<&gpioa 11 0>,
<&gpioa 12 0>,
<&gpioa 15 0>,
<&gpiob 0 0>,
<&gpiob 1 0>,
<&gpiob 2 0>,
<&gpiob 3 0>,
<&gpiob 4 0>,
<&gpiob 5 0>,
<&gpiob 6 0>,
<&gpiob 7 0>,
<&gpiob 8 0>,
<&gpiob 9 0>,
<&gpiob 12 0>,
<&gpiob 13 0>,
<&gpiob 14 0>,
<&gpiob 15 0>,
<&gpioc 0 0>,
<&gpioc 1 0>,
<&gpioc 2 0>,
<&gpioc 3 0>,
<&gpioc 4 0>,
<&gpioc 5 0>,
<&gpioc 6 0>,
<&gpioc 7 0>,
<&gpioc 8 0>,
<&gpioc 9 0>,
<&gpioc 12 0>,
<&gpioc 15 0>,
<&gpiod 0 0>,
<&gpiod 1 0>,
<&gpiod 2 0>,
<&gpiod 3 0>,
<&gpiod 4 0>,
<&gpiod 7 0>,
<&gpiod 8 0>,
<&gpiod 9 0>,
<&gpiod 10 0>,
<&gpiod 11 0>,
<&gpiod 12 0>,
<&gpiod 13 0>,
<&gpiod 14 0>,
<&gpiod 15 0>,
<&gpioe 0 0>,
<&gpioe 1 0>,
<&gpioe 2 0>,
<&gpioe 3 0>,
<&gpioe 4 0>,
<&gpioe 7 0>,
<&gpioe 8 0>,
<&gpioe 10 0>,
<&gpioe 11 0>,
<&gpioe 12 0>,
<&gpioe 13 0>,
<&gpioe 14 0>,
<&gpioe 15 0>,
<&gpiof 3 0>,
<&gpiof 4 0>,
<&gpiof 5 0>,
<&gpiof 6 0>,
<&gpiof 7 0>,
<&gpiof 8 0>,
<&gpiof 9 0>,
<&gpiof 10 0>,
<&gpiof 11 0>,
<&gpiof 12 0>,
<&gpiof 13 0>,
<&gpiof 14 0>,
<&gpiog 2 0>,
<&gpiog 3 0>,
<&gpiog 4 0>,
<&gpiog 5 0>,
<&gpiog 6 0>,
<&gpiog 7 0>,
<&gpiog 8 0>,
<&gpiog 11 0>,
<&gpiog 12 0>,
<&gpiog 15 0>,
<&gpiob 10 0>,
<&gpiob 11 0>,
<&gpioc 10 0>,
<&gpioc 11 0>,
<&gpiog 13 0>,
<&gpiog 14 0>,
<&gpiod 5 0>,
<&gpiod 6 0>,
<&gpiof 0 0>,
<&gpiof 1 0>,
<&gpiog 9 0>,
<&gpiog 10 0>;

pwms =
<&pwm8 3 10000 PWM_POLARITY_NORMAL>,
<&pwm8 4 10000 PWM_POLARITY_NORMAL>,
<&pwm8 1 10000 PWM_POLARITY_NORMAL>,
<&pwm8 2 10000 PWM_POLARITY_NORMAL>;

warduino-uarts =
<&usart1>;
};
pwms =
<&pwm8 3 10000 PWM_POLARITY_NORMAL>,
<&pwm8 4 10000 PWM_POLARITY_NORMAL>,
<&pwm8 1 10000 PWM_POLARITY_NORMAL>,
<&pwm8 2 10000 PWM_POLARITY_NORMAL>,
<&pwm1 3 10000 PWM_POLARITY_NORMAL>,
<&pwm1 4 10000 PWM_POLARITY_NORMAL>,
<&pwm1 1 10000 PWM_POLARITY_NORMAL>,
<&pwm1 2 10000 PWM_POLARITY_NORMAL>;

warduino-uarts =
<&usart1>;
};
};

&timers8 {
status = "okay";
pwm8: pwm {
status = "okay";
pinctrl-0 = <&tim8_ch3_pc8 &tim8_ch4_pc9 &tim8_ch1_pc6 &tim8_ch2_pc7>;
pinctrl-names =
"default";
};
status = "okay";

pwm8: pwm {
status = "okay";
pinctrl-0 = <&tim8_ch3_pc8 &tim8_ch4_pc9 &tim8_ch1_pc6 &tim8_ch2_pc7>;
pinctrl-names =
"default";
};
};

&timers1 {
status = "okay";

pwm1: pwm {
status = "okay";
pinctrl-0 = <&tim1_ch3_pe13 &tim1_ch4_pe14 &tim1_ch1_pa8 &tim1_ch2_pa9>;
pinctrl-names =
"default";
};
};

&usart1 {
pinctrl-0 = <&usart1_tx_pg9 &usart1_rx_pg10>;
current-speed = <2400>;
pinctrl-0 = <&usart1_tx_pg9 &usart1_rx_pg10>;
current-speed = <2400>;
};
23 changes: 14 additions & 9 deletions platforms/Zephyr/main.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -55,21 +55,26 @@ int war_console_init(void) {

WARDuino *wac = WARDuino::instance();

int valread;
uint8_t buffer[1024] = {0};

void read_debug_messages() {
while ((valread = war_console_read(NULL, buffer, 1024)) > 0) {
wac->handleInterrupt(valread, buffer);
}
}

void startDebuggerStd() {
Channel *duplex = new Duplex(stdin, stdout);
wac->debugger->setChannel(duplex);
duplex->open();

war_console_init();
int valread;
uint8_t buffer[1024] = {0};
while (true) {
k_msleep(1000);

while ((valread = war_console_read(NULL, buffer, 1024)) > 0) {
wac->handleInterrupt(valread, buffer);
}
}
/*while (true) {
k_msleep(500);
//printf("From debugger thread!\n");
read_debug_messages();
}*/
}

K_THREAD_DEFINE(debugger_tid, DEBUGGER_STACK_SIZE, startDebuggerStd, NULL, NULL,
Expand Down
3 changes: 3 additions & 0 deletions platforms/Zephyr/prj.conf
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Original file line number Diff line number Diff line change
Expand Up @@ -30,3 +30,6 @@ CONFIG_CONSOLE_PUTCHAR_BUFSIZE=4096

CONFIG_POSIX_API=y
CONFIG_MAIN_STACK_SIZE=4096

# Allow flashing the board without reset (increases power consumption so should only be used for development)
CONFIG_STM32_ENABLE_DEBUG_SLEEP_STOP=y
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