Merge branch 'main' into feature/YF-cover-ui

Author: ClemensElflein

.github/workflows/ci.yaml

@@ -42,12 +42,16 @@ jobs:
           mkdir artifacts
           cp ./out/openmower-yardforce.bin ./artifacts
           cp ./out/openmower-yardforce.elf ./artifacts
+          cp ./out/openmower-yardforce-v4.bin ./artifacts
+          cp ./out/openmower-yardforce-v4.elf ./artifacts
           cp ./out/openmower-worx.bin ./artifacts
           cp ./out/openmower-worx.elf ./artifacts
           cp ./out/openmower-lyfco-e1600.bin ./artifacts
           cp ./out/openmower-lyfco-e1600.elf ./artifacts
           cp ./out/openmower-sabo.bin ./artifacts
           cp ./out/openmower-sabo.elf ./artifacts
+          cp ./out/ram-info.html ./artifacts
+          cp ./out/flash-info.html ./artifacts
       - name: Upload Artifacts
         uses: actions/upload-artifact@v4
         with:
@@ -64,9 +68,9 @@ jobs:
           name: openmower
           path: artifacts
       - name: Compress release directory into a versioned ZIP file
-        run: zip -r "xcore-boot-${{ github.ref_name }}.zip" artifacts/*
+        run: cd artifacts && zip -r "../fw-openmower-v2-${{ github.ref_name }}.zip" .
       - uses: "marvinpinto/action-automatic-releases@latest"
         with:
           repo_token: "${{ secrets.GITHUB_TOKEN }}"
           prerelease: false
-          files: "xcore-boot-${{ github.ref_name }}.zip"
+          files: "fw-openmower-v2-${{ github.ref_name }}.zip"

CMakeLists.txt

@@ -36,7 +36,6 @@ set_target_properties(${CMAKE_PROJECT_NAME} PROPERTIES
 
 target_compile_options(${CMAKE_PROJECT_NAME} PUBLIC -Wall -Wextra -Werror)
 
-
 # Add lib subdirectory
 add_subdirectory(ext)
 target_compile_definitions(ulog PUBLIC ULOG_ENABLED)
@@ -47,6 +46,12 @@ target_link_directories(${CMAKE_PROJECT_NAME} PRIVATE
         # Add user defined library search paths
 )
 
+# Add LVGL assets
+file(GLOB LVGL_ASSETS_SRC
+    "src/drivers/ui/lvgl/assets/*.c"
+    "src/drivers/ui/lvgl/assets/Orbitron/*.c"
+)
+
 # Add sources to executable
 target_sources(${CMAKE_PROJECT_NAME} PRIVATE
         boards/XCORE/board_utils.cpp
@@ -77,6 +82,8 @@ target_sources(${CMAKE_PROJECT_NAME} PRIVATE
         src/drivers/motor/vesc/buffer.cpp
         src/drivers/motor/vesc/crc.cpp
         src/drivers/motor/vesc/VescDriver.cpp
+        # YFR4-ESC driver
+        src/drivers/motor/yfr4esc/YFR4escDriver.cpp
         # PWM motor driver
         src/drivers/motor/pwm/pwm_motor_driver.cpp
         # GPS driver
@@ -92,12 +99,17 @@ target_sources(${CMAKE_PROJECT_NAME} PRIVATE
         $<$<CONFIG:Debug>:src/drivers/input/simulated_input_driver.cpp>
         # YardForce Cover UI Driver
         src/drivers/ui/YardForceCoverUI/yardforce_cover_ui_driver.cpp
+        # Sabo driver
+        src/drivers/ui/SaboCoverUI/sabo_cover_ui_cabo_driver_base.cpp
+        src/drivers/ui/SaboCoverUI/sabo_cover_ui_controller.cpp
+        src/drivers/ui/SaboCoverUI/sabo_cover_ui_display_driver_uc1698.cpp
         # Raw driver debug interface
         src/debug/debug_tcp_interface.cpp
         src/debug/debug_udp_interface.cpp
         src/debug/debuggable_driver.cpp
         robots/src/robot.cpp
         ${PLATFORM_SOURCES}
+        ${LVGL_ASSETS_SRC}
 )
 
 # Add include paths
@@ -124,6 +136,7 @@ target_link_libraries(${CMAKE_PROJECT_NAME} PUBLIC
         etl::etl
         LittleFS
         lwjson
+        lvgl
 )
 
 target_add_service(${CMAKE_PROJECT_NAME} ImuService ${CMAKE_CURRENT_SOURCE_DIR}/services/imu_service.json)
@@ -149,3 +162,16 @@ add_custom_target(upload
         COMMAND docker run --rm --network=host -v ${CMAKE_BINARY_DIR}:/workdir ghcr.io/xtech/fw-xcore-boot:latest -i tap0 upload /workdir/${CMAKE_PROJECT_NAME}.bin
         DEPENDS ${CMAKE_PROJECT_NAME}
 )
+
+# Check if elf-size-analyze is available
+find_program(ELF_SIZE_ANALYZE_EXECUTABLE elf-size-analyze)
+
+if(ELF_SIZE_ANALYZE_EXECUTABLE)
+    add_custom_command(
+            TARGET ${CMAKE_PROJECT_NAME} POST_BUILD
+            COMMAND ${ELF_SIZE_ANALYZE_EXECUTABLE} -R -t arm-none-eabi- ${CMAKE_PROJECT_NAME}.elf
+            COMMENT "Running elf-size-analyze on target binary..."
+    )
+else()
+    message(WARNING "elf-size-analyze not found! Skipping size analysis.")
+endif()

Dockerfile

@@ -9,21 +9,40 @@ RUN apt-get update && apt-get install -y  \
     make \
     && rm -rf /var/lib/apt/lists/*
 
+# Install ccache (TODO: REMOVE as soon as we have universal firmware)
+RUN apt-get update && apt-get install -y ccache \
+    && rm -rf /var/lib/apt/lists/* \
+    && /usr/sbin/update-ccache-symlinks
+ENV PATH="/usr/lib/ccache:$PATH"
+
+RUN pip install elf-size-analyze
+
 COPY . /project
 
 WORKDIR /project
 RUN mkdir build
 RUN cd build && cmake .. --preset=Release -DROBOT_PLATFORM=YardForce -BYardForce && cd YardForce && make -j$(nproc)
+RUN cd build && cmake .. --preset=Release -DROBOT_PLATFORM=YardForce_V4 -BYardForce_V4 && cd YardForce_V4 && make -j$(nproc)
 RUN cd build && cmake .. --preset=Release -DROBOT_PLATFORM=Worx -BWorx && cd Worx && make -j$(nproc)
 RUN cd build && cmake .. --preset=Release -DROBOT_PLATFORM=Lyfco_E1600 -BLyfco_E1600 && cd Lyfco_E1600 && make -j$(nproc)
 RUN cd build && cmake .. --preset=Release -DROBOT_PLATFORM=Sabo -BSabo && cd Sabo && make -j$(nproc)
 RUN cd build && cmake .. --preset=Release -DROBOT_PLATFORM=xBot -BxBot && cd xBot && make -j$(nproc)
-
+# Use Sabo build for RAM and ROM analysis for now - it has the most libraries
+RUN elf-size-analyze -H -R -t arm-none-eabi- ./build/Sabo/openmower.elf -W > build/ram-info.html
+RUN elf-size-analyze -H -F -t arm-none-eabi- ./build/Sabo/openmower.elf -W > build/flash-info.html
+RUN ccache -s > build/ccache.txt
 
 FROM scratch
+COPY --from=builder /project/build/ccache.txt /ccache.txt
+COPY --from=builder /project/build/ram-info.html /ram-info.html
+COPY --from=builder /project/build/flash-info.html /flash-info.html
+
 COPY --from=builder /project/build/YardForce/openmower.bin /openmower-yardforce.bin
 COPY --from=builder /project/build/YardForce/openmower.elf /openmower-yardforce.elf
 
+COPY --from=builder /project/build/YardForce_V4/openmower.bin /openmower-yardforce-v4.bin
+COPY --from=builder /project/build/YardForce_V4/openmower.elf /openmower-yardforce-v4.elf
+
 COPY --from=builder /project/build/Worx/openmower.bin /openmower-worx.bin
 COPY --from=builder /project/build/Worx/openmower.elf /openmower-worx.elf
 

ext/CMakeLists.txt

@@ -10,6 +10,11 @@ target_compile_definitions(xbot-service PUBLIC XBOT_ENABLE_STATIC_STACK)
 add_subdirectory(LSM6DS3TR-C-PID)
 add_subdirectory(etl)
 
+set(CMAKE_POLICY_DEFAULT_CMP0077 NEW)
+set(CONFIG_LV_BUILD_EXAMPLES OFF)
+set(CONFIG_LV_BUILD_DEMOS OFF)
+set(CONFIG_LV_USE_THORVG_INTERNAL OFF)
+add_subdirectory(lvgl)
 
 # Add LittleFS
 add_library(LittleFS littlefs/lfs.c littlefs/lfs_util.c)

ext/ChibiOS_21.11.3/os/hal/ports/STM32/LLD/USARTv3/hal_uart_lld.c

@@ -1217,6 +1217,10 @@ void uart_lld_serve_interrupt(UARTDriver *uartp) {
   isr = u->ISR;
   u->ICR = isr;
 
+  if (isr & USART_ISR_CMF) {
+    _uart_rx_char_match_isr_code(uartp);
+  }
+
   if (isr & (USART_ISR_LBDF | USART_ISR_ORE | USART_ISR_NE |
              USART_ISR_FE   | USART_ISR_PE)) {
     _uart_rx_error_isr_code(uartp, translate_errors(isr));

ext/ChibiOS_21.11.3/os/hal/ports/STM32/LLD/USARTv3/hal_uart_lld.h

@@ -894,6 +894,10 @@ typedef struct hal_uart_config {
    *          flags in CR registers and supported hardware features.
    */
   uartcb_t                  timeout_cb;
+  /**
+   * @brief Character Received callback.
+   */
+  uartcb_t                  rx_cm_cb;
   /**
    * @brief   Receiver timeout value in terms of number of bit duration.
    * @details Set it to 0 when you want to handle idle interrupt instead of

ext/lvgl/CMakeLists.txt

@@ -0,0 +1,9 @@
+Include(FetchContent)
+
+FetchContent_Declare(
+        lvgl
+        GIT_REPOSITORY https://github.com/lvgl/lvgl
+        GIT_TAG        v9.3.0
+)
+
+FetchContent_MakeAvailable(lvgl)