Update Zephyr board files

Working towards more supported boards
dlktdr · May 27, 2023 · d2f1dac · d2f1dac
1 parent cd78706
commit d2f1dac
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Showing 24 changed files with 300 additions and 301 deletions.
diff --git a/firmware/src/platformio.ini b/firmware/src/platformio.ini
@@ -36,7 +36,7 @@
     extra_scripts = pre:extra_script.py
     build_src_filter = +<*> -<.git/> -<.svn/> -<targets/*>
 
-# Zephyr OS + Arduino Nano33BLE (NRF52840)
+# Zephyr OS + Arduino Nano33BLE
 [env:Head_Tracker-Nano33_BLE]
     extends = nrf52common
     platform = nordicnrf52@9.4
@@ -46,21 +46,19 @@
     debug_tool = jlink
     build_flags =
       ${common.build_flags}
-      -DRTOS_ZEPHYR=y
       -DPCB_NANO33BLE=y
       -DFNAME=BLE
 
 # Zephyr OS + Arduino Nano33BLE Sense Rev2
 [env:Head_Tracker-Nano33_BLE_Sense2]
     extends = nrf52common
     platform = nordicnrf52@9.4
-    board = arduino_nano_33_ble_sense_r2
+    board = arduino_nano_33_ble
     framework = zephyr
     lib_deps = bblanchon/ArduinoJson@6.20
     debug_tool = jlink
     build_flags =
       ${common.build_flags}
-      -DRTOS_ZEPHYR=y
       -DPCB_NANO33BLE_SENSE2=y
       -DFNAME=BLE
 
@@ -74,7 +72,6 @@
     debug_tool = jlink
     build_flags =
       ${common.build_flags}
-      -DRTOS_ZEPHYR=y
       -DPCB_DTQSYS=y
       -DFNAME=DTQ
 

diff --git a/firmware/src/src/defines.h b/firmware/src/src/defines.h
@@ -122,7 +122,6 @@
 #define GYRO_FLASH_IF_OFFSET 0.5 // Save to flash if gyro is off more than 0.5 degrees/sec from flash value
 
 // RTOS Specifics
-#if defined(RTOS_ZEPHYR)
 #include "zephyr.h"
 #define millis() k_cyc_to_ms_floor32(k_cycle_get_32())
 #define millis64() k_uptime_get()
@@ -131,18 +130,6 @@
 #define rt_sleep_ms(x) k_msleep(x)
 #define rt_sleep_us(x) k_usleep(x)
 
-#elif defined(RTOS_FREERTOS)
-#error("FREE RTOS NOT IMPLEMENTED")
-#define micros()
-#define micros64()
-#define millis()
-#define rt_sleep_s(x)
-#define rt_sleep_ms(x)
-#define rt_sleep_us(x)
-#else
-#error("NO RTOS DECLARED")
-#endif
-
 #if defined(PCB_NANO33BLE)
 #include "boards/nano33board.h"
 #elif defined(PCB_DTQSYS)

diff --git a/firmware/src/src/main.cpp b/firmware/src/src/main.cpp
@@ -15,45 +15,7 @@
 #include "io.h"
 #include "nano33ble.h"
 
-#ifdef DISABLE_SLEEP_STATES
-
-static int disable_ds_1(const struct device *dev)
-{
-  ARG_UNUSED(dev);
-
-  // Disable all power states
-  pm_ctrl_disable_state(PM_STATE_SOFT_OFF);
-  pm_ctrl_disable_state(PM_STATE_SUSPEND_TO_RAM);
-  pm_ctrl_disable_state(PM_STATE_SUSPEND_TO_IDLE);
-  pm_ctrl_disable_state(PM_STATE_SUSPEND_TO_DISK);
-  pm_ctrl_disable_state(PM_STATE_RUNTIME_IDLE);
-  pm_ctrl_disable_state(PM_STATE_STANDBY);
-
-  return 0;
-}
-SYS_INIT(disable_ds_1, PRE_KERNEL_2, 0);
-
-#endif
-
 extern "C" void main(void)
 {
   start();  // Call Our C++ Main
 }
-
-static int board_internal_sensors_init(const struct device *dev)
-{
-  ARG_UNUSED(dev);
-
-  io_init();
-
-  NRF_PWM_Type *PWM[] = {NRF_PWM0, NRF_PWM1, NRF_PWM2, NRF_PWM3};
-
-  for (unsigned int i = 0; i < (ARRAY_SIZE(PWM)); i++) {
-    PWM[i]->ENABLE = 0;
-    PWM[i]->PSEL.OUT[0] = 0xFFFFFFFFUL;
-  }
-
-  return 0;
-}
-
-SYS_INIT(board_internal_sensors_init, PRE_KERNEL_1, 32);
diff --git a/firmware/src/src/nano33ble.cpp b/firmware/src/src/nano33ble.cpp
@@ -1,14 +1,11 @@
 
 #include "nano33ble.h"
 
-#include <drivers/clock_control.h>
-#include <drivers/clock_control/nrf_clock_control.h>
 #include <drivers/counter.h>
 #include <nrfx_clock.h>
 
 #include "PPMIn.h"
 #include "PPMOut.h"
-#include "uart_mode.h"
 #include "analog.h"
 #include "ble.h"
 #include "io.h"
@@ -19,25 +16,16 @@
 #include "serial.h"
 #include "soc_flash.h"
 #include "trackersettings.h"
-
-#define CLOCK_NODE DT_INST(0, nordic_nrf_clock)
-static const struct device *clock0;
-
-bool led_is_on = false;
+#include "uart_mode.h"
 
 TrackerSettings trkset;
 
 K_SEM_DEFINE(saveToFlash_sem, 0, 1);
 
 void start(void)
 {
-  // Force High Accuracy Clock
-  const char *clock_label = DT_LABEL(CLOCK_NODE);
-  clock0 = DEVICE_DT_GET(DT_NODELABEL(clock));
-  if (clock0 == NULL) {
-    printk("Failed to fetch clock %s\n", clock_label);
-  }
-  clock_control_on(clock0, CLOCK_CONTROL_NRF_SUBSYS_HF);
+  // Initalize IO
+  io_init();
 
   // USB Joystick
   joystick_init();
@@ -61,7 +49,7 @@ void start(void)
   trkset.loadFromEEPROM();
 
   // Check if center button is held down, force BT Configuration mode
-  if(readCenterButton()) {
+  if (readCenterButton()) {
     trkset.setBtMode(BTPARAHEAD);
     setLEDFlag(LED_BTCONFIGURATOR);
   }
@@ -70,14 +58,13 @@ void start(void)
   bt_init();
 
   // Monitor if saving to EEPROM is required
-  while(1) {
+  while (1) {
     if (!k_sem_take(&saveToFlash_sem, K_FOREVER)) {
       trkset.saveToEEPROM();
     }
   }
 }
 
-#if defined(RTOS_ZEPHYR)
 // Threads
 K_THREAD_DEFINE(io_Thread_id, 512, io_Thread, NULL, NULL, NULL, IO_THREAD_PRIO, 0, 0);
 K_THREAD_DEFINE(serial_Thread_id, 4096, serial_Thread, NULL, NULL, NULL, SERIAL_THREAD_PRIO,
@@ -87,11 +74,7 @@ K_THREAD_DEFINE(sensor_Thread_id, 1024, sensor_Thread, NULL, NULL, NULL, SENSOR_
                 K_FP_REGS, 500);
 K_THREAD_DEFINE(calculate_Thread_id, 1024, calculate_Thread, NULL, NULL, NULL,
                 CALCULATE_THREAD_PRIO, K_FP_REGS, 1000);
-K_THREAD_DEFINE(uartTx_Thread_ID, 1024, uartTx_Thread, NULL, NULL, NULL, UARTTX_THREAD_PRIO, 0, 1000);
-K_THREAD_DEFINE(uartRx_Thread_ID, 512, uartRx_Thread, NULL, NULL, NULL, UARTRX_THREAD_PRIO, 0, 1000);
-
-#elif defined(RTOS_FREERTOS)
-#error "TODO... Add tasks for FreeRTOS"
-#else
-#error "RTOS NOT SPECIFIED"
-#endif
+K_THREAD_DEFINE(uartTx_Thread_ID, 1024, uartTx_Thread, NULL, NULL, NULL, UARTTX_THREAD_PRIO, 0,
+                1000);
+K_THREAD_DEFINE(uartRx_Thread_ID, 512, uartRx_Thread, NULL, NULL, NULL, UARTRX_THREAD_PRIO, 0,
+                1000);
diff --git a/firmware/src/zephyr/arduino_nano_33_ble.overlay b/firmware/src/zephyr/arduino_nano_33_ble.overlay
diff --git a/firmware/src/zephyr/boards/arm/arduino_nano_33_ble/CMakeLists.txt b/firmware/src/zephyr/boards/arm/arduino_nano_33_ble/CMakeLists.txt
@@ -0,0 +1,7 @@
+# Copyright (c) 2020 Jefferson Lee.
+# SPDX-License-Identifier: Apache-2.0
+
+if(CONFIG_BOARD_ARDUINO_NANO_33_BLE_INIT)
+  zephyr_library()
+  zephyr_library_sources("${CMAKE_CURRENT_SOURCE_DIR}/src/init.c")
+endif()
diff --git a/firmware/src/zephyr/boards/arm/arduino_nano_33_ble/Kconfig.board b/firmware/src/zephyr/boards/arm/arduino_nano_33_ble/Kconfig.board
@@ -0,0 +1,10 @@
+# Copyright (c) 2020 Jefferson Lee.
+# SPDX-License-Identifier: Apache-2.0
+
+config BOARD_ARDUINO_NANO_33_BLE
+	bool "Arduino Nano 33 BLE board"
+	depends on SOC_NRF52840_QIAA
+
+config BOARD_ARDUINO_NANO_33_BLE_INIT
+	bool "Initialize the board"
+	depends on BOARD_ARDUINO_NANO_33_BLE
diff --git a/...no_nano_33_ble_sense_r2/Kconfig.defconfig → ...arm/arduino_nano_33_ble/Kconfig.defconfig b/...no_nano_33_ble_sense_r2/Kconfig.defconfig → ...arm/arduino_nano_33_ble/Kconfig.defconfig
@@ -8,6 +8,9 @@ config BOARD
 config BT_CTLR
 	default BT
 
+config BOARD_ARDUINO_NANO_33_BLE_INIT
+	default y
+
 if I2C
 config I2C_NRFX
 	default y
@@ -17,8 +20,6 @@ config I2C_0
 	default y
 config I2C_1
 	default y
-config BOARD_ARDUINO_NANO_33_BLE_INIT_SENSORS
-	default y
 endif #I2C
 
 if SPI