Merge remote-tracking branch 'origin/main' into feature/Sabo-WIP

Author: Apehaenger

.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

@@ -81,6 +81,8 @@ 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
@@ -155,3 +157,16 @@ 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/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

robots/CMakeLists.txt

@@ -6,20 +6,8 @@ else()
     message("Selected Robot Platform: ${ROBOT_PLATFORM}")
 endif ()
 
-string(TOLOWER "${ROBOT_PLATFORM}" ROBOT_PLATFORM_LOWER)
+# find the platform sources and add them
+file(GLOB_RECURSE PLATFORM_SOURCES "${CMAKE_CURRENT_LIST_DIR}/src/*")
 
-# Common Robot sources
-file(GLOB ROBOT_COMMON_SOURCES
-    "${CMAKE_CURRENT_LIST_DIR}/src/robot.cpp"
-)
-
-# Robot specific sources
-file(GLOB ROBOT_PLATFORM_SOURCES
-    "${CMAKE_CURRENT_LIST_DIR}/src/${ROBOT_PLATFORM_LOWER}_*.cpp"
-)
-
-# Zusammenführen und nach oben geben
-set(PLATFORM_SOURCES
-    ${ROBOT_COMMON_SOURCES}
-    ${ROBOT_PLATFORM_SOURCES}
-)
+# Expose a preprocessor guard like ROBOT_PLATFORM_YardForce_V4=1 for #ifdef use
+add_compile_definitions(ROBOT_PLATFORM_${ROBOT_PLATFORM}=1)

robots/include/robot.hpp

@@ -2,6 +2,7 @@
 #define ROBOT_HPP
 
 #include <drivers/motor/vesc/VescDriver.h>
+#include <drivers/motor/yfr4esc/YFR4escDriver.h>
 #include <hal.h>
 
 #include <debug/debug_tcp_interface.hpp>
@@ -48,7 +49,14 @@ class MowerRobot : public Robot {
 
   xbot::driver::motor::VescDriver left_motor_driver_{};
   xbot::driver::motor::VescDriver right_motor_driver_{};
-  xbot::driver::motor::VescDriver mower_motor_driver_{};
+
+  // Select mower motor ESC by platform: YFR4 on YardForce_V4, VESC otherwise
+#if defined(ROBOT_PLATFORM_YardForce_V4)
+  using MowerEscDriver = xbot::driver::motor::YFR4escDriver;
+#else
+  using MowerEscDriver = xbot::driver::motor::VescDriver;
+#endif
+  MowerEscDriver mower_motor_driver_{};
 
   DebugTCPInterface left_esc_driver_interface_{65102, &left_motor_driver_};
   DebugTCPInterface mower_esc_driver_interface_{65103, &mower_motor_driver_};

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 +1,25 @@
+#include "../include/yardforce_v4_robot.hpp"
+
+#include <services.hpp>
+
+void YardForce_V4Robot::InitPlatform() {
+  // Initialize default motors (VESC for left/right + mower)
+  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;
+}