Merge pull request dlktdr#150 from dlktdr/xaio_zephyr_2.7

Merging to main. So I can work on hwfeatures branch and clean up various board specific things in the code

.github/workflows/build-firmware.yml

@@ -32,6 +32,7 @@ jobs:
       - uses: actions/checkout@v3
         with:
           fetch-depth: 0
+          submodules: 'true'
 
       - name: Cache pip
         uses: actions/cache@v2
@@ -56,6 +57,11 @@ jobs:
           pip install --upgrade platformio
 
       # Runs a single command using the runners shell
+
+      - name: Workaround bug in github actions issue 6775
+        run: |
+          git config --global --add safe.directory '*'
+
       - name: Build Firmware Nano 33 BLE
         run: |
           cd /src/firmware/src
@@ -71,12 +77,23 @@ jobs:
           cd /src/firmware/src
           pio run -e Head_Tracker-Nano33_BLE_Sense_Rev_2
 
+      - name: Build XIAO Sense Firmware
+        run: |
+          gitrevshort=$(git rev-parse --short HEAD)
+          gitlasttag=$(git describe --tags --abbrev=0)
+          gitlasttag=`echo $gitlasttag | tr '.' '_'`
+          cd /src/firmware/src
+          pio run -e Head_Tracker-XIAOSense
+          cd /src/firmware/src/.pio/build/Head_Tracker-XIAOSense
+          python ../../../tools/uf2conv.py XIA_${gitlasttag}_${gitrevshort}.bin -o ./XIAO_${gitlasttag}_${gitrevshort}.uf2 -f 0xADA52840 -c -b 0x27000
+
       # Runs a set of commands using the runners shell
       - name: Package Firmware
         uses: 'actions/upload-artifact@v2'
         with:
           name: Firmware_Binaries
           path: |
             /src/firmware/src/.pio/build/*/*.bin
-          retention-days: 60
+            /src/firmware/src/.pio/build/*/*.uf2
+          retention-days: 90
           if-no-files-found: error

.gitmodules

@@ -1,3 +1,6 @@
 [submodule "web_configurator"]
 	path = web_configurator
 	url = https://github.com/dlktdr/HeadTracker_WebBLE.git
+[submodule "firmware/src/src/LSM6DS3"]
+	path = firmware/src/src/LSM6DS3
+	url = https://github.com/STMicroelectronics/LSM6DS3TR-C-PID

firmware/src/boards/xiao_sense.json

@@ -0,0 +1,62 @@
+{
+  "build": {
+    "arduino":{
+      "ldscript": "linker_script.ld"
+    },
+    "core": "nRF5",
+    "cpu": "cortex-m4",
+    "extra_flags": "-DNRF52840_XXAA",
+    "f_cpu": "64000000L",
+    "hwids": [
+      [
+        "0x2886",
+        "0x0045"
+      ],
+      [
+        "0x2886",
+        "0x8045"
+      ]
+    ],
+    "mcu": "nrf52840",
+    "variant": "xiao_sense",
+    "zephyr": {
+      "variant": "xiao_sense"
+    },
+    "softdevice": {
+      "sd_flags": "-DS140",
+      "sd_name": "s140",
+      "sd_version": "7.3.0",
+      "sd_fwid": "0x0123"
+    }
+  },
+  "connectivity": [
+    "bluetooth"
+  ],
+  "debug": {
+    "jlink_device": "nRF52840_xxAA",
+    "openocd_target": "nrf52.cfg",
+    "svd_path": "nrf52840.svd"
+  },
+  "frameworks": [
+    "zephyr"
+  ],
+  "name": "XIAO Sense",
+  "upload": {
+    "maximum_ram_size": 262144,
+    "maximum_size": 983040,
+    "protocol": "sam-ba",
+    "protocols": [
+      "jlink",
+      "nrfjprog",
+      "nrfutil",
+      "cmsis-dap",
+      "sam-ba",
+      "blackmagic"
+    ],
+    "use_1200bps_touch": true,
+    "require_upload_port": true,
+    "wait_for_upload_port": true
+  },
+  "url": "https://wiki.seeedstudio.com/XIAO_BLE",
+  "vendor": "Seeed Studio"
+}

firmware/src/platformio.ini

@@ -20,8 +20,9 @@
 [platformio]
     description = "Head Tracker"
 #    default_envs = Head_Tracker-Nano33_BLE
-#    default_envs = Head_Tracker-Nano33_BLE_Sense_Rev_2
 #    default_envs = Head_Tracker-DTQSys
+#    default_envs = Head_Tracker-Nano33_BLE_Sense2
+#    default_envs = Head_Tracker-XIAOSense
 
 [common]
     build_flags =
@@ -87,6 +88,17 @@
       -DPCB_DTQSYS=y
       -DFNAME=DTQ
 
-
-
-
+# Zephyr OS + XAIO Sense
+[env:Head_Tracker-XIAOSense]
+    #build_type = debug
+    extends = nrf52common
+    platform = [email protected]
+    board = xiao_sense
+    framework = zephyr
+    lib_deps = bblanchon/[email protected]
+    debug_tool = jlink
+    build_flags =
+      ${common.build_flags}
+      -DRTOS_ZEPHYR=y
+      -DPCB_XIAOSENSE=y
+      -DFNAME=XIA

firmware/src/src/LSMCommon/lsm_common.cpp

@@ -0,0 +1,46 @@
+#include <zephyr.h>
+
+#include "io.h"
+#include "lsm_common.h"
+#include "defines.h"
+
+int32_t platform_read_lsm6(void *handle, uint8_t reg, uint8_t *bufp, uint16_t len)
+{
+  const struct device *i2c_dev = device_get_binding("I2C_1");
+  return i2c_burst_read(i2c_dev, LSM6DS3TR_C_ID, reg, bufp, len);
+}
+
+int32_t platform_write_lsm6(void *handle, uint8_t reg, const uint8_t *bufp, uint16_t len)
+{
+  const struct device *i2c_dev = device_get_binding("I2C_1");
+  return i2c_burst_write(i2c_dev, LSM6DS3TR_C_ID, reg, bufp, len);
+}
+
+int initailizeLSM6DS3(stmdev_ctx_t *dev_ctx)
+{
+  uint8_t whoamI=0, rst;
+  /* Initialize mems driver interface */
+  dev_ctx->write_reg = platform_write_lsm6;
+  dev_ctx->read_reg = platform_read_lsm6;
+  /* Wait sensor boot time */
+  k_msleep(BOOT_TIME);
+  /* Check device ID */
+  lsm6ds3tr_c_device_id_get(dev_ctx, &whoamI);
+  if (whoamI != LSM6DS3TR_C_ID)
+    return -1;
+  /* Restore default configuration */
+  lsm6ds3tr_c_reset_set(dev_ctx, PROPERTY_ENABLE);
+  do {
+    lsm6ds3tr_c_reset_get(dev_ctx, &rst);
+  } while (rst);
+    /*  Enable Block Data Update */
+  lsm6ds3tr_c_block_data_update_set(dev_ctx, PROPERTY_ENABLE);
+  /* Set full scale */
+  lsm6ds3tr_c_xl_full_scale_set(dev_ctx, LSM6DS3TR_C_2g);
+  lsm6ds3tr_c_gy_full_scale_set(dev_ctx, LSM6DS3TR_C_2000dps);
+  /* Set Output Data Rate for Acc and Gyro */
+  lsm6ds3tr_c_xl_data_rate_set(dev_ctx, LSM6DS3TR_C_XL_ODR_208Hz);
+  lsm6ds3tr_c_gy_data_rate_set(dev_ctx, LSM6DS3TR_C_GY_ODR_208Hz);
+
+  return 0;
+}

firmware/src/src/LSMCommon/lsm_common.h

@@ -0,0 +1,12 @@
+#pragma once
+
+#include <drivers/i2c.h>
+#include <zephyr.h>
+
+#include "LSM6DS3/lsm6ds3tr-c_reg.h"
+
+#define BOOT_TIME 30
+
+int32_t platform_read_lsm6(void *handle, uint8_t reg, uint8_t *bufp, uint16_t len);
+int32_t platform_write_lsm6(void *handle, uint8_t reg, const uint8_t *bufp, uint16_t len);
+int initailizeLSM6DS3(stmdev_ctx_t *dev_ctx);

firmware/src/src/boards/xiaosense.h

@@ -0,0 +1,78 @@
+#pragma once
+
+#include <stdint.h>
+
+#include "boardsdefs.h"
+
+// Pull up pin mode
+#define INPUT_PULLUP (GPIO_INPUT | GPIO_PULL_UP)
+
+// Board Features
+#define HAS_3DIODE_RGB
+#define HAS_NOTIFYLED
+#define HAS_LSM6DS3
+#define HAS_CENTERBTN
+
+// Mapping Analog numbers to Analog pins
+#define AN0 7 // Battery Voltage
+#define AN1 1 //
+#define AN2 4 //
+#define AN3 5 //
+
+// Pins (name, number, description)
+// NOTE: These pins are an enum entry. e.g. IO_D2 = 0
+//     - Use PIN_NAME_TO_NUM(IO_D2) to get actual the pin number
+//     - The pin number can be converted back into the NRF port/pin
+//       using functions PIN_TO_NRFPORT & PIN_TO_NRFPIN
+//     - The string descrition for D2 would be StrPins[IO_D2]
+
+#define PIN_X \
+  PIN(AN0,          NRFPIN(0, 31), "Analog Battery Voltage") \
+  PIN(ANBATT_ENA,   NRFPIN(0, 14), "Battery Monitor Enable") \
+  PIN(AN1,          NRFPIN(0,  3), "Analog 1 (AIN_1)") \
+  PIN(AN2,          NRFPIN(0, 28), "Analog 2 (AIN_4)") \
+  PIN(AN3,          NRFPIN(0, 29), "Analog 3 (AIN_5)") \
+  PIN(CENTER_BTN,   NRFPIN(1, 13), "Center Button, D8") \
+  PIN(LEDR,         NRFPIN(0, 26), "Red LED") \
+  PIN(LEDG,         NRFPIN(0, 30), "Green LED") \
+  PIN(LEDB,         NRFPIN(0,  6), "Blue LED") \
+  PIN(LED,          NRFPIN(0, 14), "Notification LED") \
+  PIN(PPMOUT,       NRFPIN(1, 15), "PPM Output Pin [D10]") \
+  PIN(PPMIN,        NRFPIN(1, 14), "PPM In Pin [D9]") \
+  PIN(TX,           NRFPIN(1, 11), "UART Transmit [TX]")  \
+  PIN(RX,           NRFPIN(1, 12), "UART Receive [RX]") \
+  PIN(TXINV,        NRFPIN(0, 19), "UART TX, Inv Pin") \
+  PIN(RXINVO,       NRFPIN(0, 10), "UART RX, Out Inv") \
+  PIN(RXINVI,       NRFPIN(0,  9), "UART RX, Inp Inv") \
+  PIN(SCK,          NRFPIN(0, 21), "SPI Clock - Flash") \
+  PIN(MOSI,         NRFPIN(0, 20), "SPI Data Out - Flash") \
+  PIN(MISO,         NRFPIN(0, 24), "SPI Data In - Flash") \
+  PIN(FLSH_WP,      NRFPIN(0, 22), "Flash Write Protect") \
+  PIN(FLSH_HLD,     NRFPIN(0, 23), "Flash Hold") \
+  PIN(LSM6DS3PWR,   NRFPIN(1,  8), "LSM6DS3 Power 6DPWR") \
+  PIN(LSM6DS3INT,   NRFPIN(0, 11), "LSM6DS3 Interrupt") \
+  PIN(I2CSCL,       NRFPIN(0, 27), "I2C - SCL") \
+  PIN(I2CSDA,       NRFPIN(0,  7), "I2C - SDA") \
+  END_IO_PINS \
+
+typedef enum {
+#define PIN(NAME, PINNO, DESC) IO_##NAME,
+  PIN_X
+#undef PIN
+} pins_e;
+
+const int8_t PinNumber[] = {
+#define PIN(NAME, PINNO, DESC) PINNO,
+    PIN_X
+#undef PIN
+};
+
+// Required pin setting functions
+#define pinMode(pin, mode) gpio_pin_configure(gpios[PIN_TO_NRFPORT(PIN_NAME_TO_NUM(pin))], PIN_TO_NRFPIN(PIN_NAME_TO_NUM(pin)), mode)
+#define digitalWrite(pin, value) gpio_pin_set(gpios[PIN_TO_NRFPORT(PIN_NAME_TO_NUM(pin))], PIN_TO_NRFPIN(PIN_NAME_TO_NUM(pin)), value)
+#define digitalRead(pin) gpio_pin_get(gpios[PIN_TO_NRFPORT(PIN_NAME_TO_NUM(pin))], PIN_TO_NRFPIN(PIN_NAME_TO_NUM(pin)))
+
+// TODO Find good values here
+// Values below were determined by plotting Gyro Output (See sense.cpp, gyroCalibration())
+#define GYRO_STABLE_DIFF 200.0f
+#define ACC_STABLE_DIFF 2.5f

firmware/src/src/defines.h

@@ -15,8 +15,13 @@
 
 #if defined(PCB_NANO33BLE)
 #define FW_BOARD "NANO33BLE"
+#include "boards/nano33board.h"
 #elif defined(PCB_DTQSYS)
 #define FW_BOARD "DTQSYS"
+#include "boards/dtqsys_ht.h"
+#elif defined(PCB_XIAOSENSE)
+#define FW_BOARD "XIAOSENSE"
+#include "boards/xiaosense.h"
 #else
 #error NO PCB DEFINED
 #endif
@@ -134,4 +139,4 @@
 #include "boards/nano33board.h"
 #elif defined(PCB_DTQSYS)
 #include "boards/dtqsys_ht.h"
-#endif
+#endif

firmware/src/src/io.cpp

@@ -7,7 +7,6 @@
 #include <device.h>
 #include <drivers/led_strip.h>
 #include <drivers/spi.h>
-
 #endif
 
 #include "soc_flash.h"
@@ -99,9 +98,14 @@ void io_Thread()
       digitalWrite(IO_LED, led_is_on);
     }
 #endif
+    // Unrecoverable error, Solid Red
+    if(_ledmode & LED_HARDFAULT) {
+      led_sequence[0].RGB = RGB_RED;
+      led_sequence[0].time = 10;
+      led_sequence[1].time = 0;
 
-    // Force BT head configuration mode !Must be priority 1
-    if (_ledmode & LED_BTCONFIGURATOR) {
+    // Force BT head configuration mode
+    } else if (_ledmode & LED_BTCONFIGURATOR) {
       led_sequence[0].RGB = RGB_RED;
       led_sequence[0].time = 300;
       led_sequence[1].RGB = RGB_GREEN;
@@ -157,7 +161,7 @@ void io_Thread()
 
     // Run the Sequence
     uint32_t curcolor = led_sequence[rgb_sequence_no].RGB;
-    if (led_sequence[rgb_sequence_no].time == 0) curcolor = 0;
+    if (led_sequence[rgb_sequence_no].time == 0) curcolor = led_sequence[rgb_sequence_no-1].RGB;
 
 #if defined(HAS_3DIODE_RGB)
     // TODO - Replace me with PWM control
@@ -247,6 +251,20 @@ void io_init()
   digitalWrite(IO_I2C_PU, 1);
 #endif
 
+#if defined(PCB_XIAOSENSE)
+  // 10K I2C Pull up Resistors on internal LSM6DS3, High Drive Strength
+  pinMode(IO_LSM6DS3PWR, GPIO_OUTPUT | GPIO_DS_ALT_LOW | GPIO_DS_ALT_HIGH);
+  // Shut Sensor off
+  digitalWrite(IO_LSM6DS3PWR, 0);
+  k_msleep(100);
+  // Enable Sensor
+  digitalWrite(IO_LSM6DS3PWR, 1);
+
+  // Enable Battery Voltage Monitor
+  pinMode(IO_ANBATT_ENA, GPIO_OUTPUT);
+  digitalWrite(IO_ANBATT_ENA, 0);
+#endif
+
 #if defined(HAS_CENTERBTN)
   pinMode(IO_CENTER_BTN, INPUT_PULLUP);
 #endif

firmware/src/src/io.h

@@ -25,6 +25,7 @@ extern volatile uint32_t _ledmode;
 #define LED_BTSCANNING (1 << 3)
 #define LED_MAGCAL (1 << 4)
 #define LED_BTCONFIGURATOR (1 << 5)
+#define LED_HARDFAULT (1 << 6)
 
 #define RGB_OFF 0
 #define RGB_RED (0xFF << 16)

firmware/src/src/nano33ble.cpp

@@ -35,7 +35,8 @@ void start(void)
   serial_init();
 
   // Actual Calculations - sense.cpp
-  sense_Init();
+  if(sense_Init())
+    setLEDFlag(LED_HARDFAULT);
 
   // Start Externam UART
   uart_init();