Merge pull request #338 from aabadie/swarmit_demo

swarmit: add sample application compatible with swarmit

Makefile

@@ -8,6 +8,7 @@ BUILD_CONFIG ?= Debug
 BUILD_TARGET ?= dotbot-v1
 PROJECT_FILE ?= $(BUILD_TARGET).emProject
 BOOTLOADER ?= bootloader
+SWARMIT_APPS ?=
 
 ifeq (nrf5340dk-app,$(BUILD_TARGET))
   PROJECTS ?= \
@@ -95,6 +96,7 @@ endif
 ifneq (,$(filter dotbot-v2,$(BUILD_TARGET)))
   PROJECTS := $(filter-out 03app_dotbot_gateway 03app_dotbot_gateway_lr 03app_sailbot 03app_xgo 03app_nrf5340_net 03app_freebot 03app_lh2_mini_mote%,$(PROJECTS))
   ARTIFACT_PROJECTS := 03app_dotbot
+  SWARMIT_APPS := $(addprefix swarmit_, motors move rgbled timer)
 endif
 
 # remove incompatible apps (nrf5340, sailbot, gateway, dotbot) for lh2-mini-mote builds
@@ -149,7 +151,7 @@ ARTIFACTS = $(ARTIFACT_ELF) $(ARTIFACT_HEX)
 
 .PHONY: $(PROJECTS) $(ARTIFACT_PROJECTS) artifacts docker docker-release format check-format
 
-all: $(PROJECTS) $(OTAP_APPS) $(BOOTLOADER)
+all: $(PROJECTS) $(OTAP_APPS) $(BOOTLOADER) $(SWARMIT_APPS)
 
 $(PROJECTS):
 	@echo "\e[1mBuilding project $@\e[0m"
@@ -166,6 +168,11 @@ $(BOOTLOADER):
 	"$(SEGGER_DIR)/bin/emBuild" otap/$(BUILD_TARGET)-bootloader.emProject -project $@ -config Release $(PACKAGES_DIR_OPT) -rebuild -verbose
 	@echo "\e[1mDone\e[0m\n"
 
+$(SWARMIT_APPS):
+	@echo "\e[1mBuilding $@ application\e[0m"
+	"$(SEGGER_DIR)/bin/emBuild" swarmit/swarmit.emProject -project $@ -config $(BUILD_CONFIG) $(PACKAGES_DIR_OPT) -rebuild -verbose
+	@echo "\e[1mDone\e[0m\n"
+
 list-projects:
 	@echo "\e[1mAvailable projects:\e[0m"
 	@echo $(PROJECTS) | tr ' ' '\n'

doc/sphinx/index.md

@@ -6,6 +6,7 @@ applications
 examples
 otap
 upgate
+swarmit
 api
 ```
 

doc/sphinx/swarmit.md

@@ -0,0 +1,4 @@
+```{include} ../../swarmit/README.md
+:relative-images:
+:relative-docs: ../
+```

nRF/System/cpu.c

@@ -147,7 +147,7 @@ void reset_handler(void) {
     _zero(&__bss_start__, &__bss_end__);
     _zero(&__tbss_start__, &__tbss_end__);
 
-#if defined(NRF5340_XXAA) && defined(NRF_APPLICATION)
+#if defined(NRF5340_XXAA) && defined(NRF_APPLICATION) && !defined(USE_SWARMIT)
     extern uint32_t __shared_data_start__;
     extern uint32_t __shared_data_end__;
     _zero(&__shared_data_start__, &__shared_data_end__);

swarmit/README.md

@@ -0,0 +1,9 @@
+# SwarmIT samples
+
+[SwarmIT](https://github.com/dotbots/swarmit) provides a lightweight
+infrastructure to turn a swarm of robots in a testbed.
+
+3 sample applications, compatible with SwarmIT, are provided to show how to
+adapt DotBot-firmware code.
+The sample applications are only compatible with the DotBot-v2 target, the only
+robot powered by an nRF53 microcontroller, which is a requirement of SwarmIT.

swarmit/motors/README.md

@@ -0,0 +1 @@
+# Motors board support package usage example

swarmit/motors/main.c

@@ -0,0 +1,64 @@
+/**
+ * @file
+ * @defgroup swarmit_motors Motors application on top of SwarmIT
+ * @ingroup swarmit
+ * @brief   This application controls the motors of the robot
+ *
+ * @author Alexandre Abadie <[email protected]>
+ * @copyright Inria, 2024
+ */
+
+#include <nrf.h>
+#include <stdio.h>
+#include <stdlib.h>
+
+#include "board.h"
+#include "motors.h"
+#include "timer.h"
+
+//=========================== swarmit ==========================================
+
+void reload_wdt0(void);
+
+//=========================== defines ==========================================
+
+#define TIMER_DEV (0)
+
+//=========================== main =============================================
+
+int main(void) {
+
+    // Turn ON the DotBot board regulator
+    db_board_init();
+
+    // Initialize the timer
+    db_timer_init(TIMER_DEV);
+
+    db_timer_init(1);
+    db_timer_set_periodic_ms(1, 0, 500, &reload_wdt0);
+
+    // Configure Motors
+    db_motors_init();
+
+    while (1) {
+        // Move forward
+        for (uint8_t speed = 50; speed < 80; speed++) {
+            db_motors_set_speed(speed, speed);
+            db_timer_delay_ms(TIMER_DEV, 30);
+        }
+
+        // Move backward
+        for (uint8_t speed = 50; speed < 80; speed++) {
+            db_motors_set_speed(speed * -1, speed * -1);
+            db_timer_delay_ms(TIMER_DEV, 30);
+        }
+
+        // Spin
+        db_motors_set_speed(-70, 70);
+        db_timer_delay_ms(TIMER_DEV, 500);
+
+        // Spin back
+        db_motors_set_speed(70, -70);
+        db_timer_delay_ms(TIMER_DEV, 500);
+    }
+}

swarmit/move/README.md

@@ -0,0 +1 @@
+# High-level move controls for the DotBot

swarmit/move/main.c

@@ -0,0 +1,46 @@
+/**
+ * @file
+ * @defgroup swarmit_move    Move application on top of SwarmIT
+ * @ingroup swarmit
+ * @brief   This application uses the move API to make the robot move
+ *
+ * @author Alexandre Abadie <[email protected]>
+ * @copyright Inria, 2024
+ */
+
+#include <stdio.h>
+#include <stdlib.h>
+#include <stdint.h>
+#include <nrf.h>
+#include "move.h"
+#include "timer.h"
+#include "gpio.h"
+#include "board_config.h"
+
+//=========================== swarmit ==========================================
+
+void reload_wdt0(void);
+
+//=========================== main =============================================
+
+int main(void) {
+    db_timer_init(1);
+    db_timer_set_periodic_ms(1, 0, 500, &reload_wdt0);
+
+    db_gpio_init(&db_led1, DB_GPIO_OUT);
+
+    db_move_init();
+    db_move_straight(200, 60);
+    db_move_rotate(90, 60);
+    db_move_straight(200, 60);
+    db_move_rotate(90, 60);
+    db_move_straight(200, 60);
+    db_move_rotate(90, 60);
+    db_move_straight(200, 60);
+    db_move_rotate(90, 60);
+
+    while (1) {
+        db_gpio_toggle(&db_led1);
+        db_timer_delay_ms(1, 250);
+    }
+}

swarmit/nRF5340_xxAA_Application_MemoryMap.xml

@@ -0,0 +1,8 @@
+<!DOCTYPE Board_Memory_Definition_File>
+<root name="nRF5340_xxAA_Application">
+  <MemorySegment name="FLASH1"        start="0x00004000"          size="0x00100000 - 0x4000"  access="ReadOnly"   />
+  <MemorySegment name="NSC_FLASH"     start="0x00004000 - 0x100"  size="0x00000100"           access="ReadOnly" />
+  <MemorySegment name="EXT_FLASH1"    start="0x10000000"          size="0x08000000"           access="ReadOnly"   />
+  <MemorySegment name="RAM1"          start="0x20020000"          size="0x00020000"           access="Read/Write" />
+  <MemorySegment name="RAM2"          start="0x20040000"          size="0x0003F000"           access="Read/Write" />
+</root>

swarmit/nRF5340_xxAA_Application_flash_placement.xml

@@ -0,0 +1,36 @@
+<!DOCTYPE Linker_Placement_File>
+<Root name="Flash Section Placement">
+  <MemorySegment name="$(FLASH_NAME:FLASH);FLASH1">
+    <ProgramSection alignment="0x100" load="Yes" name=".vectors" start="$(FLASH_START:)" />
+    <ProgramSection alignment="4" load="Yes" name=".init" />
+    <ProgramSection alignment="4" load="Yes" name=".init_rodata" />
+    <ProgramSection alignment="4" load="Yes" name=".text" />
+    <ProgramSection alignment="4" load="Yes" name=".dtors" />
+    <ProgramSection alignment="4" load="Yes" name=".ctors" />
+    <ProgramSection alignment="4" load="Yes" name=".rodata" />
+    <ProgramSection alignment="4" load="Yes" name=".ARM.exidx" address_symbol="__exidx_start" end_symbol="__exidx_end" />
+    <ProgramSection alignment="4" load="Yes" runin=".fast_run" name=".fast" />
+    <ProgramSection alignment="4" load="Yes" runin=".data_run" name=".data" />
+    <ProgramSection alignment="4" load="Yes" runin=".tdata_run" name=".tdata" />
+  </MemorySegment>
+  <MemorySegment name="$(RAM_NAME:RAM);SRAM;RAM1">
+    <ProgramSection alignment="4" load="No" name=".fast_run" />
+    <ProgramSection alignment="4" load="No" name=".data_run" />
+    <ProgramSection alignment="4" load="No" name=".bss" />
+    <ProgramSection alignment="4" load="No" name=".tbss" />
+    <ProgramSection alignment="4" load="No" name=".tdata_run" />
+    <ProgramSection alignment="4" load="No" name=".non_init" />
+    <ProgramSection alignment="8" size="__HEAPSIZE__" load="No" name=".heap" />
+    <ProgramSection alignment="8" size="__STACKSIZE__" load="No" place_from_segment_end="Yes" name=".stack" />
+    <ProgramSection alignment="8" size="__STACKSIZE_PROCESS__" load="No" name=".stack_process" />
+  </MemorySegment>
+  <MemorySegment name="$(FLASH2_NAME:FLASH2)">
+    <ProgramSection alignment="4" load="Yes" name=".text2" />
+    <ProgramSection alignment="4" load="Yes" name=".rodata2" />
+    <ProgramSection alignment="4" load="Yes" runin=".data2_run" name=".data2" />
+  </MemorySegment>
+  <MemorySegment name="$(RAM2_NAME:RAM2)">
+    <ProgramSection alignment="4" load="No" name=".data2_run" />
+    <ProgramSection alignment="4" load="No" name=".bss2" />
+  </MemorySegment>
+</Root>

swarmit/projects.dox

@@ -0,0 +1,4 @@
+/**
+ * @defgroup     swarmit SwarmIT sample applications
+ * @brief        Sample applications showcasing SwarmIT usage with DotBot-firmware
+ */

swarmit/rgbled/README.md

@@ -0,0 +1,4 @@
+# RGB LED sample
+
+Loading this app onto the DotBot board will change the RGB LED color every 2
+seconds in a loop.

swarmit/rgbled/main.c

@@ -0,0 +1,64 @@
+/**
+ * @file
+ * @defgroup swarmit_rgbled    RGBLed application on top of SwarmIT
+ * @ingroup swarmit
+ * @brief   This application uses the RGB LED API
+ *
+ * @author Alexandre Abadie <[email protected]>
+ * @copyright Inria, 2024
+ */
+
+#include <nrf.h>
+#include <stdio.h>
+#include <stdlib.h>
+#include "board.h"
+#include "rgbled_pwm.h"
+#include "timer.h"
+#include "board_config.h"
+
+//=========================== swarmit ==========================================
+
+void reload_wdt0(void);
+
+//=========================== defines ==========================================
+
+#define TIMER_DEV        (0)
+#define RGB_LED_DELAY_MS (200U)
+
+//=========================== variables ========================================
+
+static const db_rgbled_pwm_conf_t rgbled_pwm_conf = {
+    .pwm  = 1,
+    .pins = {
+        { .port = DB_RGB_LED_PWM_RED_PORT, .pin = DB_RGB_LED_PWM_RED_PIN },
+        { .port = DB_RGB_LED_PWM_GREEN_PORT, .pin = DB_RGB_LED_PWM_GREEN_PIN },
+        { .port = DB_RGB_LED_PWM_BLUE_PORT, .pin = DB_RGB_LED_PWM_BLUE_PIN },
+    }
+};
+
+//=========================== main =============================================
+
+int main(void) {
+    db_board_init();
+
+    db_timer_init(TIMER_DEV);
+    db_timer_set_periodic_ms(TIMER_DEV, 0, 500, &reload_wdt0);
+
+    db_rgbled_pwm_init(&rgbled_pwm_conf);
+
+    /* Change RGB colors in a loop */
+    while (1) {
+        db_rgbled_pwm_set_color(255, 0, 0);
+        db_timer_delay_ms(TIMER_DEV, RGB_LED_DELAY_MS);
+        db_rgbled_pwm_set_color(0, 255, 0);
+        db_timer_delay_ms(TIMER_DEV, RGB_LED_DELAY_MS);
+        db_rgbled_pwm_set_color(0, 0, 255);
+        db_timer_delay_ms(TIMER_DEV, RGB_LED_DELAY_MS);
+        db_rgbled_pwm_set_color(255, 255, 0);
+        db_timer_delay_ms(TIMER_DEV, RGB_LED_DELAY_MS);
+        db_rgbled_pwm_set_color(0, 255, 255);
+        db_timer_delay_ms(TIMER_DEV, RGB_LED_DELAY_MS);
+        db_rgbled_pwm_set_color(255, 0, 255);
+        db_timer_delay_ms(TIMER_DEV, RGB_LED_DELAY_MS);
+    }
+}