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MaartenS11MaartenS11
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Open Bot Brain touch sensor support. (#321)
* Initial work on getting analog read working This will also make the touch sensors work! * work in progress adc3 configuration for input 1 * Switch between adcs for the different ports Currently done with an if, we probably want to do this with an array in the end. * Add pin 6 channels for ev3 touch sensors * EV3 Touch sensor support * Rename analog_read to nxt_touch_sensor Will add support for generic analog_read later. * Rename analog_read to nxt_touch_sensor Will add support for generic analog_read later. * clang-format * Minor changes + add print_string to zephyr * Added nxt and ev3 touch sensor primitives to the emulator Instead of always returning 1 or 0 they also use a random 12bit number.
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‎platforms/Zephyr/boards/stm32l496g_disco.overlay‎

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Original file line numberDiff line numberDiff line change
@@ -180,3 +180,249 @@
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status = "okay";
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pinctrl-names = "default";
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};
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&adc1 {
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pinctrl-0 = < &adc1_in5_pa0 >;
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#address-cells = <1>;
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#size-cells = <0>;
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channel@0 {
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reg = <0>;
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zephyr,gain = "ADC_GAIN_1";
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zephyr,reference = "ADC_REF_INTERNAL";
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zephyr,vref-mv = <8>;
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zephyr,acquisition-time = <ADC_ACQ_TIME_DEFAULT>;
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zephyr,resolution = <12>;
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};
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channel@1 {
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reg = <1>;
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zephyr,gain = "ADC_GAIN_1";
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zephyr,reference = "ADC_REF_INTERNAL";
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zephyr,vref-mv = <8>;
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zephyr,acquisition-time = <ADC_ACQ_TIME_DEFAULT>;
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zephyr,resolution = <12>;
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};
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channel@2 {
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reg = <2>;
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zephyr,gain = "ADC_GAIN_1";
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zephyr,reference = "ADC_REF_INTERNAL";
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zephyr,vref-mv = <8>;
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zephyr,acquisition-time = <ADC_ACQ_TIME_DEFAULT>;
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zephyr,resolution = <12>;
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};
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channel@3 {
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reg = <3>;
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zephyr,gain = "ADC_GAIN_1";
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zephyr,reference = "ADC_REF_INTERNAL";
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zephyr,vref-mv = <8>;
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zephyr,acquisition-time = <ADC_ACQ_TIME_DEFAULT>;
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zephyr,resolution = <12>;
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};
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channel@4 {
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reg = <4>;
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zephyr,gain = "ADC_GAIN_1";
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zephyr,reference = "ADC_REF_INTERNAL";
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zephyr,vref-mv = <8>;
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zephyr,acquisition-time = <ADC_ACQ_TIME_DEFAULT>;
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zephyr,resolution = <12>;
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};
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channel@5 {
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reg = <5>;
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zephyr,gain = "ADC_GAIN_1";
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zephyr,reference = "ADC_REF_INTERNAL";
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zephyr,vref-mv = <8>;
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zephyr,acquisition-time = <ADC_ACQ_TIME_DEFAULT>;
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zephyr,resolution = <12>;
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};
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channel@6 {
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reg = <6>;
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zephyr,gain = "ADC_GAIN_1";
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zephyr,reference = "ADC_REF_INTERNAL";
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//zephyr,vref-mv = <8>;
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zephyr,acquisition-time = <ADC_ACQ_TIME_DEFAULT>;
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zephyr,resolution = <12>;
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};
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channel@7 {
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reg = <7>;
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zephyr,gain = "ADC_GAIN_1";
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zephyr,reference = "ADC_REF_INTERNAL";
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//zephyr,vref-mv = <8>;
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zephyr,acquisition-time = <ADC_ACQ_TIME_DEFAULT>;
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zephyr,resolution = <12>;
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};
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channel@8 {
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reg = <8>;
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zephyr,gain = "ADC_GAIN_1";
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zephyr,reference = "ADC_REF_INTERNAL";
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//zephyr,vref-mv = <8>;
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zephyr,acquisition-time = <ADC_ACQ_TIME_DEFAULT>;
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zephyr,resolution = <12>;
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};
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channel@9 {
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reg = <9>;
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zephyr,gain = "ADC_GAIN_1";
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zephyr,reference = "ADC_REF_INTERNAL";
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//zephyr,vref-mv = <8>;
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zephyr,acquisition-time = <ADC_ACQ_TIME_DEFAULT>;
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zephyr,resolution = <12>;
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};
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channel@10 {
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reg = <10>;
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zephyr,gain = "ADC_GAIN_1";
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zephyr,reference = "ADC_REF_INTERNAL";
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//zephyr,vref-mv = <8>;
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zephyr,acquisition-time = <ADC_ACQ_TIME_DEFAULT>;
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zephyr,resolution = <12>;
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};
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};
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&pinctrl {
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adc3_test: adc3_test {
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pinmux = <STM32_PINMUX('F', 0, ANALOG)>;
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};
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};
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&adc3 {
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status = "okay";
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st,adc-clock-source = "SYNC";
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st,adc-prescaler = < 0x4 >;
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resolutions = < 0x60630c 0x51630c 0x42630c 0x33630c >;
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sampling-times = < 0x3 0x7 0xd 0x19 0x30 0x5d 0xf8 0x281 >;
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st,adc-sequencer = "FULLY_CONFIGURABLE";
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st,adc-oversampler = "OVERSAMPLER_MINIMAL";
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pinctrl-names = "default";
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pinctrl-0 = < &adc3_test >;
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#address-cells = <1>;
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#size-cells = <0>;
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channel@0 {
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reg = <0>;
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zephyr,gain = "ADC_GAIN_1";
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zephyr,reference = "ADC_REF_INTERNAL";
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zephyr,vref-mv = <8>;
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zephyr,acquisition-time = <ADC_ACQ_TIME_DEFAULT>;
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zephyr,resolution = <12>;
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};
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channel@1 {
318+
reg = <1>;
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zephyr,gain = "ADC_GAIN_1";
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zephyr,reference = "ADC_REF_INTERNAL";
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zephyr,vref-mv = <8>;
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zephyr,acquisition-time = <ADC_ACQ_TIME_DEFAULT>;
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zephyr,resolution = <12>;
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};
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channel@2 {
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reg = <2>;
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zephyr,gain = "ADC_GAIN_1";
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zephyr,reference = "ADC_REF_INTERNAL";
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zephyr,vref-mv = <8>;
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zephyr,acquisition-time = <ADC_ACQ_TIME_DEFAULT>;
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zephyr,resolution = <12>;
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};
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channel@3 {
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reg = <3>;
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zephyr,gain = "ADC_GAIN_1";
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zephyr,reference = "ADC_REF_INTERNAL";
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zephyr,vref-mv = <8>;
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zephyr,acquisition-time = <ADC_ACQ_TIME_DEFAULT>;
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zephyr,resolution = <12>;
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};
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channel@4 {
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reg = <4>;
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zephyr,gain = "ADC_GAIN_1";
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zephyr,reference = "ADC_REF_INTERNAL";
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zephyr,vref-mv = <8>;
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zephyr,acquisition-time = <ADC_ACQ_TIME_DEFAULT>;
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zephyr,resolution = <12>;
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};
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channel@5 {
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reg = <5>;
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zephyr,gain = "ADC_GAIN_1";
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zephyr,reference = "ADC_REF_INTERNAL";
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zephyr,vref-mv = <8>;
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zephyr,acquisition-time = <ADC_ACQ_TIME_DEFAULT>;
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zephyr,resolution = <12>;
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};
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channel@6 {
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reg = <6>;
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zephyr,gain = "ADC_GAIN_1";
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zephyr,reference = "ADC_REF_INTERNAL";
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//zephyr,vref-mv = <8>;
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zephyr,acquisition-time = <ADC_ACQ_TIME_DEFAULT>;
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zephyr,resolution = <12>;
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};
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channel@7 {
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reg = <7>;
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zephyr,gain = "ADC_GAIN_1";
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zephyr,reference = "ADC_REF_INTERNAL";
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//zephyr,vref-mv = <8>;
376+
zephyr,acquisition-time = <ADC_ACQ_TIME_DEFAULT>;
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zephyr,resolution = <12>;
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};
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channel@8 {
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reg = <8>;
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zephyr,gain = "ADC_GAIN_1";
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zephyr,reference = "ADC_REF_INTERNAL";
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//zephyr,vref-mv = <8>;
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zephyr,acquisition-time = <ADC_ACQ_TIME_DEFAULT>;
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zephyr,resolution = <12>;
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};
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channel@9 {
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reg = <9>;
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zephyr,gain = "ADC_GAIN_1";
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zephyr,reference = "ADC_REF_INTERNAL";
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zephyr,acquisition-time = <ADC_ACQ_TIME_DEFAULT>;
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zephyr,resolution = <12>;
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};
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channel@10 {
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reg = <10>;
399+
zephyr,gain = "ADC_GAIN_1";
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zephyr,reference = "ADC_REF_INTERNAL";
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zephyr,acquisition-time = <ADC_ACQ_TIME_DEFAULT>;
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zephyr,resolution = <12>;
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};
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channel@11 {
406+
reg = <11>;
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zephyr,gain = "ADC_GAIN_1";
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zephyr,reference = "ADC_REF_INTERNAL";
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zephyr,acquisition-time = <ADC_ACQ_TIME_DEFAULT>;
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zephyr,resolution = <12>;
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};
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channel@12 {
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reg = <12>;
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zephyr,gain = "ADC_GAIN_1";
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zephyr,reference = "ADC_REF_INTERNAL";
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zephyr,acquisition-time = <ADC_ACQ_TIME_DEFAULT>;
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zephyr,resolution = <12>;
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};
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channel@13 {
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reg = <13>;
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zephyr,gain = "ADC_GAIN_1";
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zephyr,reference = "ADC_REF_INTERNAL";
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zephyr,acquisition-time = <ADC_ACQ_TIME_DEFAULT>;
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zephyr,resolution = <12>;
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};
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};

‎platforms/Zephyr/prj.conf‎

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Original file line numberDiff line numberDiff line change
@@ -1,5 +1,6 @@
11
CONFIG_GPIO=y
22
CONFIG_PWM=y
3+
CONFIG_ADC=y
34
CONFIG_CPP=y
45
CONFIG_STD_CPP17=y
56
CONFIG_REQUIRES_FULL_LIBCPP=y

‎src/Primitives/emulated.cpp‎

Lines changed: 26 additions & 1 deletion
Original file line numberDiff line numberDiff line change
@@ -18,6 +18,7 @@
1818
#include <cmath>
1919
#include <cstdio>
2020
#include <cstring>
21+
#include <random>
2122
#include <thread>
2223

2324
#include "../Memory/mem.h"
@@ -27,7 +28,7 @@
2728
#include "primitives.h"
2829

2930
#define NUM_PRIMITIVES 0
30-
#define NUM_PRIMITIVES_ARDUINO 35
31+
#define NUM_PRIMITIVES_ARDUINO 37
3132

3233
#define ALL_PRIMITIVES (NUM_PRIMITIVES + NUM_PRIMITIVES_ARDUINO)
3334

@@ -558,6 +559,28 @@ def_prim(read_uart_sensor, oneToOneI32) {
558559
return true;
559560
}
560561

562+
std::random_device r;
563+
std::default_random_engine e(r());
564+
std::uniform_int_distribution<int16_t> adc_dist(0, 1 << 12); // 12 bit adc
565+
566+
def_prim(nxt_touch_sensor, oneToOneU32) {
567+
const uint32_t port = arg0.uint32;
568+
const int16_t v = adc_dist(e);
569+
pop_args(1);
570+
printf("nxt_touch_sensor(%u) = %d\n", port, v < 2000);
571+
pushUInt32(v < 2000);
572+
return true;
573+
}
574+
575+
def_prim(ev3_touch_sensor, oneToOneU32) {
576+
const uint32_t port = arg0.uint32;
577+
const int16_t v = adc_dist(e);
578+
pop_args(1);
579+
printf("ev3_touch_sensor(%u) = %d\n", port, v > 3000);
580+
pushUInt32(v > 3000);
581+
return true;
582+
}
583+
561584
def_prim(subscribe_interrupt, threeToNoneU32) {
562585
uint8_t pin = arg2.uint32; // GPIOPin
563586
uint8_t tidx = arg1.uint32; // Table Idx pointing to Callback function
@@ -661,6 +684,8 @@ void install_primitives() {
661684
install_primitive(stop_motor);
662685
install_primitive(setup_uart_sensor);
663686
install_primitive(read_uart_sensor);
687+
install_primitive(nxt_touch_sensor);
688+
install_primitive(ev3_touch_sensor);
664689
}
665690

666691
//------------------------------------------------------

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