Add new hardware: Licardo HT

.github/workflows/build-firmware.yml

@@ -85,6 +85,11 @@ jobs:
           cd /src/firmware/src
           west build -p -b dtqsys_ht
           cp ./build/zephyr/*.bin build_bins/
+      - name: Build Firmware Licardo Ht
+        run: |
+          cd /src/firmware/src
+          west build -p -b licardo_ht
+          cp ./build/zephyr/*.bin build_bins/
 
       # - name: Setup tmate session
       #   uses: mxschmitt/action-tmate@v3

firmware/src/CMakeLists.txt

@@ -35,7 +35,8 @@ set (BOARD_HW_REV "")
 if((${BOARD} STREQUAL "arduino_nano_33_ble") OR
    (${BOARD} STREQUAL "xiao_ble/nrf52840/sense") OR
    (${BOARD} STREQUAL "xiao_ble/nrf52840") OR
-   (${BOARD} STREQUAL "dtqsys_ht"))
+   (${BOARD} STREQUAL "dtqsys_ht") OR
+   (${BOARD} STREQUAL "licardo_ht"))
   message(STATUS "  Board is a NRF52 based board")
 
   # Pick the correct project file for this architecture
@@ -52,7 +53,8 @@ if((${BOARD} STREQUAL "arduino_nano_33_ble") OR
   endif()
 
   #DTQ Board, use local board file from /zephyr/boards
-  if((${BOARD} STREQUAL "dtqsys_ht"))
+  if((${BOARD} STREQUAL "dtqsys_ht") OR
+    (${BOARD} STREQUAL "licardo_ht"))
     set (BOARD_ROOT "${CMAKE_SOURCE_DIR}/zephyr")
   endif()
 

firmware/src/build_all.cmd

@@ -22,4 +22,7 @@ west build -p -b rpi_pico/rp2040/w || exit /b
 copy .\build\zephyr\rpi*.uf2 build_bins\
 
 west build -p -b dtqsys_ht || exit /b
+copy .\build\zephyr\*.bin build_bins\
+
+west build -p -b licardo_ht || exit /b
 copy .\build\zephyr\*.bin build_bins\

firmware/src/build_all.sh

@@ -15,4 +15,6 @@ cp ./build/zephyr/*.bin build_bins/ &&
 west build -p -b rpi_pico/rp2040/w &&
 cp ./build/zephyr/*.uf2 build_bins/ &&
 west build -p -b dtqsys_ht &&
+cp ./build/zephyr/*.bin build_bins/ &&
+west build -p -b licardo_ht &&
 cp ./build/zephyr/*.bin build_bins/

firmware/src/headtracker.code-workspace

@@ -138,6 +138,23 @@
         "preLaunchTask": "Build (DTQSYS HT) - Debug",
         "svdFile": "${workspaceRoot:src}/nrf52840.svd",
       },
+      {
+        "name": "Jlink - Licardo HT",
+        "device": "nRF52840_XXAA",
+        "cwd": "${workspaceRoot:src}",
+        "executable": "build/zephyr/zephyr.elf",
+        "request": "launch",
+        "type": "cortex-debug",
+        "runToEntryPoint": "main",
+        "servertype": "jlink",
+        "rtos": "Zephyr",
+        //"showDevDebugOutput":"raw",
+        "serverpath": "C:/Program Files/SEGGER/JLink/JLinkGDBServerCL.exe", // Check path to Jlink installation
+        "armToolchainPath": "${workspaceRoot:src}/../zephyr-sdk/arm-zephyr-eabi/bin", // NOTE Check version & path of SDK here
+        "toolchainPrefix": "arm-zephyr-eabi",
+        "preLaunchTask": "Build (Licardo HT) - Debug",
+        "svdFile": "${workspaceRoot:src}/nrf52840.svd",
+      },
       {
         "name": "OpenOCD - ESP32C3_DevKitM (RISC-V)",
         "type": "cppdbg",
@@ -271,6 +288,24 @@
           "reveal": "always"
         },
         "group": "build"
+      },
+      {
+        "label": "Build (LICARDO HT) - Debug",
+        "type": "shell",
+        "command": "west",
+        "args": [
+          "build",
+          "-p", "auto",
+          "-b", "licardo_ht",
+          "--", "-DCMAKE_BUILD_TYPE=Debug"
+        ],
+        "problemMatcher": [
+          "$tsc"
+        ],
+        "presentation": {
+          "reveal": "always"
+        },
+        "group": "build"
       }
     ]
   }

firmware/src/src/boards/licardo_ht.h

@@ -0,0 +1,84 @@
+#pragma once
+
+#include <stdint.h>
+
+#include "boardsdefs.h"
+
+// Pull up pin mode
+#define INPUT_PULLUP (GPIO_INPUT | GPIO_PULL_UP)
+
+// Board features
+#define HAS_WS2812
+#define HAS_BUZZER
+#define HAS_NOTIFYLED
+#define HAS_MPU6500
+#define HAS_QMC5883
+#define HAS_AUXSERIAL
+#define HAS_CENTERBTN
+#define HAS_PPMOUT
+#define HAS_PPMIN
+#define HAS_3CH_ANALOG
+#define HAS_VOLTMON
+
+#define AN0 5 // Pin 0.29
+#define AN1 0 // Pin 0.02
+#define AN2 4 // Pin 0.28
+#define ANVOLTMON 1 // Battery Voltage
+#define ANVOLTMON_SCALE 2.0f
+#define ANVOLTMON_OFFSET 0.0f
+
+/*  Pins (name, number, description)
+   NOTE: These pins are an enum entry. e.g. IO_CENTER_BTN = 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_GPORT & PIN_TO_GPIN
+       - The string descrition for CENTER_BTN would be StrPinDescriptions[IO_CENTER_BTN]
+       - The string of the pin name would be StrPins[CENTER_BTN]
+
+   Change the pins to whatever you wish here. Some pins might be defined in the
+   board's devicetree overlay file (e.g. UART). You will have to change them there
+   & should make sure they match here so the GUI can show the correct pinout.
+
+   Leave descriptions empty for pins if you don't want it to
+   show up in the pinout on the GUI
+   */
+
+#define PIN_X \
+  PIN(CENTER_BTN,   NRFPIN(1, 13), "") \
+  PIN(VOLTMON,      NRFPIN(0,  3), "") \
+  PIN(AN0,          NRFPIN(0, 29), "Analog 0 (AIN_5)") \
+  PIN(AN1,          NRFPIN(0,  2), "Analog 1 (AIN_0)") \
+  PIN(AN2,          NRFPIN(0, 28), "Analog 2 (AIN_4)") \
+  PIN(LEDWS,        NRFPIN(1, 10), "") \
+  PIN(LED,          NRFPIN(0, 13), "") \
+  PIN(PPMOUT,       NRFPIN(0, 31), "") \
+  PIN(PPMIN,        NRFPIN(0, 30), "") \
+  PIN(BUZZ,         NRFPIN(1, 11), "") \
+  PIN(TX,           NRFPIN(0,  9), "")  \
+  PIN(RX,           NRFPIN(0, 10), "") \
+  PIN(TXINV,        NRFPIN(0,  4), "") \
+  PIN(RXINVO,       NRFPIN(0,  0), "") \
+  PIN(RXINVI,       NRFPIN(0,  1), "") \
+  PIN(I2CSDA,       NRFPIN(0,  5), "") \
+  PIN(I2CSCL,       NRFPIN(1,  9), "")
+
+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_GPORT(PIN_NAME_TO_NUM(pin))], PIN_TO_GPIN(PIN_NAME_TO_NUM(pin)), mode)
+#define digitalWrite(pin, value) gpio_pin_set(gpios[PIN_TO_GPORT(PIN_NAME_TO_NUM(pin))], PIN_TO_GPIN(PIN_NAME_TO_NUM(pin)), value)
+#define digitalRead(pin) gpio_pin_get(gpios[PIN_TO_GPORT(PIN_NAME_TO_NUM(pin))], PIN_TO_GPIN(PIN_NAME_TO_NUM(pin)))
+
+// Values below were determined by plotting Gyro Output (See sense.cpp, gyroCalibration())
+#define GYRO_STABLE_DIFF 200.0f
+#define ACC_STABLE_DIFF 3.5f

firmware/src/src/include/defines.h

@@ -24,6 +24,10 @@
 #define FW_BOARD "DTQSYS"
 #include "boards/dtqsys_ht.h"
 #define ARDUINO_BOOTLOADER
+#elif defined(CONFIG_BOARD_LICARDO_HT)
+#define FW_BOARD "LICARDO"
+#include "boards/licardo_ht.h"
+#define ARDUINO_BOOTLOADER
 #elif defined(CONFIG_BOARD_XIAO_BLE)
 #include "boards/xiaoble.h"
 #define SEEED_BOOTLOADER

firmware/src/zephyr/boards/arm/licardo_ht/CMakeLists.txt

@@ -0,0 +1,2 @@
+
+zephyr_library()

firmware/src/zephyr/boards/arm/licardo_ht/Kconfig.defconfig

@@ -0,0 +1,12 @@
+# Copyright (c) 2020 Jefferson Lee.
+# SPDX-License-Identifier: Apache-2.0
+
+if BOARD_LICARDO_HT
+
+config BT_CTLR
+	default BT
+
+config I2C
+  default y
+
+endif #board

firmware/src/zephyr/boards/arm/licardo_ht/Kconfig.licardo_ht

@@ -0,0 +1,6 @@
+# Copyright (c) 2020 Jefferson Lee.
+# SPDX-License-Identifier: Apache-2.0
+
+config BOARD_LICARDO_HT
+	select SOC_NRF52840_QIAA
+

firmware/src/zephyr/boards/arm/licardo_ht/board.cmake

@@ -0,0 +1,11 @@
+
+board_runner_args(pyocd "--target=nrf52840" "--frequency=4000000")
+board_runner_args(trace32
+  "--startup-args"
+    "elfFile=${PROJECT_BINARY_DIR}/${KERNEL_ELF_NAME}"
+)
+
+include(${ZEPHYR_BASE}/boards/common/bossac.board.cmake)
+include(${ZEPHYR_BASE}/boards/common/pyocd.board.cmake)
+include(${ZEPHYR_BASE}/boards/common/blackmagicprobe.board.cmake)
+include(${ZEPHYR_BASE}/boards/common/trace32.board.cmake)

firmware/src/zephyr/boards/arm/licardo_ht/board.yml

@@ -0,0 +1,6 @@
+board:
+  name: licardo_ht
+  vendor: licardo
+  socs:
+  - name: nrf52840
+

firmware/src/zephyr/boards/arm/licardo_ht/doc/index.rst

@@ -0,0 +1,10 @@
+DTQ Sys HT
+#################################
+
+Overview
+********
+
+This is a custom board built for use as a Headtracker, based on the NRF52840 cpu
+
+Visit Headtracker.gitbook.io
+

firmware/src/zephyr/boards/arm/licardo_ht/licardo_ht.dts

@@ -0,0 +1,149 @@
+/*
+ * Copyright (c) 2020 Jefferson Lee
+ *    Modified for LICARDO board by Licardo
+ *
+ * SPDX-License-Identifier: Apache-2.0
+ */
+/dts-v1/;
+
+#include <nordic/nrf52840_qiaa.dtsi>
+#include <dt-bindings/led/led.h>
+
+/ {
+	model = "LICARDO Head Tracker";
+	compatible = "licardo_ht";
+
+	chosen {
+		zephyr,sram = &sram0;
+		zephyr,flash = &flash0;
+		zephyr,code-partition = &code_partition;
+		zephyr,ieee802154 = &ieee802154;
+	};
+
+	aliases {
+		adcctrl = &adc;
+    i2csensor = &i2c1;
+		guiuart = &cdc_acm_uart0;
+	};
+};
+
+&flash0 {
+	partitions {
+		compatible = "fixed-partitions";
+		#address-cells = <1>;
+		#size-cells = <1>;
+
+		code_partition: partition@10000 {
+			label = "code";
+			reg = <0x10000 0xEC000>;
+			read-only;
+		};
+
+		storage_partition: partition@FB000 {
+			label = "storagept";
+			reg = <0xFB000 0x3000>;
+		};
+
+    ht_data_partition: partition@FD000 {
+        label = "htdatapt";
+        reg = <0xFE000 0x2000>;
+    };
+	};
+};
+
+&adc {
+	status = "okay";
+};
+
+&gpio0 {
+  status = "okay";
+};
+
+&gpio1 {
+  status = "okay";
+};
+
+&gpiote {
+	status = "okay";
+};
+
+&uart0 {
+	status = "disabled";
+};
+
+&i2c0 {
+	status = "disabled";
+};
+
+/* Disable Timer3, used by PPM output
+ */
+&timer3 {
+    status = "disabled";
+};
+
+/* Disable Timer4, used by PPM input
+ */
+&timer4 {
+    status = "disabled";
+};
+
+&pinctrl {
+  i2c1_dtq: i2c1_dtq {
+		group1 {
+			psels = <NRF_PSEL(TWIM_SDA, 0, 5)>,
+				<NRF_PSEL(TWIM_SCL, 1, 9)>;
+		};
+	};
+
+  spi2_dtq: spi2_dtq {
+    group1 {
+      psels = <NRF_PSEL(SPIM_SCK, 0, 13)>,
+        <NRF_PSEL(SPIM_MOSI, 1, 10)>,
+        <NRF_PSEL(SPIM_MISO, 1, 8)>;
+    };
+  };
+};
+
+// Sensor I2C
+&i2c1 {
+	compatible = "nordic,nrf-twim";
+	status = "okay";
+  pinctrl-0 = <&i2c1_dtq>;
+  pinctrl-names = "default";
+  clock-frequency = <400000>;
+};
+
+// RGB LED, SPI Interface
+&spi2 {
+	compatible = "nordic,nrf-spim";
+	status = "okay";
+  pinctrl-0 = <&spi2_dtq>;
+  pinctrl-names = "default";
+    led_strip: ws2812@0 {
+	    compatible = "worldsemi,ws2812-spi";
+		reg = <0>;
+    spi-max-frequency = <4000000>;
+    color-mapping = <LED_COLOR_ID_GREEN LED_COLOR_ID_RED LED_COLOR_ID_BLUE>;
+		chain-length = <1>;
+		spi-one-frame = <0x70>;
+		spi-zero-frame = <0x40>;
+	};
+};
+
+zephyr_udc0: &usbd {
+	compatible = "nordic,nrf-usbd";
+	status = "okay";
+  cdc_acm_uart0: cdc_acm_uart0 {
+		compatible = "zephyr,cdc-acm-uart";
+	};
+
+  // Uncomment the below lines for kernel logging to a second USB CDC port
+	/*
+	cdc_acm_uart1: cdc_acm_uart1 {
+		compatible = "zephyr,cdc-acm-uart";
+	}; */
+};
+
+&ieee802154 {
+	status = "okay";
+};