Add ROBOT_PLATFORM YardForce_V4

Author: Apehaenger

.github/workflows/ci.yaml

@@ -42,6 +42,8 @@ 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

Dockerfile

@@ -22,6 +22,7 @@ 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)
@@ -39,6 +40,9 @@ 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
 

robots/include/yardforce_v4_robot.hpp

@@ -0,0 +1,41 @@
+#ifndef YARDFORCE_V4_ROBOT_HPP
+#define YARDFORCE_V4_ROBOT_HPP
+
+#include <drivers/charger/bq_2576/bq_2576.hpp>
+
+#include "robot.hpp"
+
+class YardForce_V4Robot : public MowerRobot {
+ public:
+  void InitPlatform() override;
+  bool IsHardwareSupported() override;
+
+  UARTDriver* GPS_GetUartPort() override {
+#ifndef STM32_UART_USE_USART6
+#error STM32_SERIAL_USE_UART6 must be enabled for the YardForce build to work
+#endif
+    return &UARTD6;
+  }
+
+  float Power_GetDefaultBatteryFullVoltage() override {
+    return 7.0f * 4.2f;
+  }
+
+  float Power_GetDefaultBatteryEmptyVoltage() override {
+    return 7.0f * 3.3f;
+  }
+
+  float Power_GetDefaultChargeCurrent() override {
+    return 0.5;
+  }
+
+  float Power_GetAbsoluteMinVoltage() override {
+    // 3.3V min, 7s pack
+    return 7.0f * 3.0;
+  }
+
+ private:
+  BQ2576 charger_{};
+};
+
+#endif  // YARDFORCE_V4_ROBOT_HPP

robots/src/robot.cpp

@@ -7,6 +7,7 @@
 #include "../include/worx_robot.hpp"
 #include "../include/xbot_robot.hpp"
 #include "../include/yardforce_robot.hpp"
+#include "../include/yardforce_v4_robot.hpp"
 
 #define EXPAND(x) x
 #define ROBOT_CLASS_NAME(platform) platform##Robot

robots/src/yardforce_v4_robot.cpp

@@ -0,0 +1,24 @@
+#include "../include/yardforce_v4_robot.hpp"
+
+#include <services.hpp>
+
+void YardForce_V4Robot::InitPlatform() {
+  InitMotors();
+  charger_.setI2C(&I2CD1);
+  power_service.SetDriver(&charger_);
+}
+
+bool YardForce_V4Robot::IsHardwareSupported() {
+  // Accept YardForce 1.x.x boards
+  if (strncmp("hw-openmower-yardforce", carrier_board_info.board_id, sizeof(carrier_board_info.board_id)) == 0 &&
+      carrier_board_info.version_major == 1) {
+    return true;
+  }
+
+  // Accept early testing boards
+  if (strncmp("hw-xbot-devkit", carrier_board_info.board_id, sizeof(carrier_board_info.board_id)) == 0) {
+    return true;
+  }
+
+  return false;
+}