add v3 build

.github/workflows/dronecan.yml

@@ -10,7 +10,13 @@ jobs:
   stm32f103:
     strategy:
       matrix:
-        os: [ubuntu-22.04, windows-latest]
+        include:
+          - os: ubuntu-22.04
+            platform: v2
+          - os: ubuntu-22.04
+            platform: v3
+          - os: windows-latest
+            platform: v2
     runs-on: ${{ matrix.os }}
     timeout-minutes: 10
     steps:
@@ -30,10 +36,10 @@ jobs:
         shell: bash
 
       - name: Build DroneCAN binary
-        run: make dronecan
+        run: make dronecan_${{ matrix.platform }}
 
       - name: Upload .bin file
-        if: matrix.os == 'ubuntu-22.04'
+        if: matrix.os == 'ubuntu-22.04' && matrix.platform == 'v2'
         uses: actions/upload-artifact@v3
         with:
           name: dronecan_firmware.bin

CMakeLists.txt

@@ -27,7 +27,7 @@ elseif(USE_PLATFORM_NODE_V2)
 elseif(USE_PLATFORM_NODE_V3)
     set(LIBPARAMS_PLATFORM stm32g0b1)
     set(CAN_PLATFORM fdcan)
-    set(APP_PLATFORM stm32f103)
+    set(APP_PLATFORM stm32g0b1)
     include(${CMAKE_DIR}/stm32g0b1.cmake)
 else()
     message(SEND_ERROR "Platform Error: Either v2 (stm32f103), v3 (stm32g0) or SITL (Linux) should be specified.")

Makefile

@@ -16,20 +16,30 @@ generate_dsdl:
 	else \
 		echo "[INFO] Cyphal DSDL: already generated. Skip."; \
 	fi
-cyphal: checks generate_dsdl clean
+cyphal: cyphal_v2
+cyphal_v2: checks generate_dsdl clean
 	mkdir -p ${BUILD_OBJ_DIR}
 	cd ${BUILD_OBJ_DIR} && cmake -DCAN_PROTOCOL=cyphal -DUSE_PLATFORM_NODE_V2=ON -G "Unix Makefiles" ../.. && make
 sitl_cyphal: checks generate_dsdl clean
 	mkdir -p ${BUILD_OBJ_DIR}
 	cd ${BUILD_OBJ_DIR} && cmake -DCAN_PROTOCOL=cyphal -DUSE_PLATFORM_UBUNTU=ON -G "Unix Makefiles" ../.. && make
+cyphal_v3: checks generate_dsdl clean
+	mkdir -p ${BUILD_OBJ_DIR}
+	cd ${BUILD_OBJ_DIR} && cmake -DCAN_PROTOCOL=cyphal -DUSE_PLATFORM_NODE_V3=ON -G "Unix Makefiles" ../.. && make
 
 # Dronecan:
-dronecan: checks clean
+dronecan: dronecan_v2
+dronecan_v2: checks clean
 	mkdir -p ${BUILD_OBJ_DIR}
 	cd ${BUILD_OBJ_DIR} && cmake -DCAN_PROTOCOL=dronecan -DUSE_PLATFORM_NODE_V2=ON -G "Unix Makefiles" ../.. && make
 sitl_dronecan: checks clean
 	mkdir -p ${BUILD_OBJ_DIR}
 	cd ${BUILD_OBJ_DIR} && cmake -DCAN_PROTOCOL=dronecan -DUSE_PLATFORM_UBUNTU=ON -G "Unix Makefiles" ../.. && make
+dronecan_v3: checks clean
+	#  --branch dc90159
+	if [ ! -d "build/ioc-v3" ]; then git clone --depth 1 https://github.com/RaccoonLabHardware/v3-software-template.git build/ioc-v3; fi
+	mkdir -p ${BUILD_OBJ_DIR}
+	cd ${BUILD_OBJ_DIR} && cmake -DCAN_PROTOCOL=dronecan -DUSE_PLATFORM_NODE_V3=ON -G "Unix Makefiles" ../.. && make
 
 # Common:
 checks:

README.md

@@ -2,39 +2,65 @@
 
 # Mini v2 Cyphal/DroneCAN application template
 
-This repo introduces a simple ready-to-use Cyphal/DroneCAN application template for [RL Mini v2](https://docs.raccoonlab.co/guide/can_pwm/can_pwm_mini_v2.html) node.
+This repo introduces a simple ready-to-use Cyphal/DroneCAN application template for [RL Mini v2](https://docs.raccoonlab.co/guide/can_pwm/can_pwm_mini_v2.html) and [RL Mini v3](https://docs.raccoonlab.co/guide/can_pwm/mini_v3.html) nodes.
 
 Please, refer Wiki for details:
 - [Cyphal template application](https://github.com/RaccoonlabDev/mini_v2_node/wiki/Cyphal-application),
 - [DroneCAN template application](https://github.com/RaccoonlabDev/mini_v2_node/wiki/DroneCAN-application).
 
 ### 1. Key features
 
-- Minimal recommended Cyphal features are supported out of the box (bootloader and DNA are coming next),
+- Minimal recommended Cyphal features are supported out of the box,
 - You can run the software in SITL mode (don't need to have any hardware),
 - Cyphal firmware binary is only 35.2 KB.
 
-### 2. Brief hardware info
+Not suported yet / In Roadmap:
+- Both Cyphal/CAN and DroneCAN protocols in a single firmware
+- Bootloader
+- Dynamics Node Allocation (DNA)
+- MPU-9250 IMU (node v3)
+- Redundant CAN interface (node v3)
+- CAN terminator resistors control (node v3)
 
-| Top view | Bottom view | Pinout | STM32CubeMX |
-| --- | ------ |-|-|
-| <img src="https://docs.raccoonlab.co/assets/img/view_top.6b0ef99e.png" alt="drawing" width="200"> | <img src="https://docs.raccoonlab.co/assets/img/view_bottom.ee41f6d5.png" alt="drawing" width="200"> | <img src="https://docs.raccoonlab.co/assets/img/pinout.c14a3021.png" alt="drawing" width="200"> | <img src="https://raw.githubusercontent.com/RaccoonLabHardware/mini_v2_stm32cubemx_project/main/Assets/stm32cubemx.png" alt="drawing" width="200"> |
+### 2. Supported boards
 
-### 3. Brief Cyphal capabilities
+The software supports RL v2 nodes (stm32f103, 128 KBytes flash) and v3 nodes (stm32g0b1, 512 KBytes flash).
 
-By default the application is as simple as possible. It just blinks the RGB LED, subscribes to the setpoint topic to control a single PWM (PWM1) and publishes a feedback with the latest applied setpoint. It doesn't have any safety features like TTL, but you are free to extend it as you want.
+| Name | View | Pinout | STM32CubeMX |
+| ---- | ---- | ------ | ----------- |
+| Mini v2 | <img src="https://docs.raccoonlab.co/assets/img/view_top.6b0ef99e.png" alt="drawing" width="150"> | <img src="https://docs.raccoonlab.co/assets/img/pinout.c14a3021.png" alt="drawing" width="150"> | <img src="https://raw.githubusercontent.com/RaccoonLabHardware/mini_v2_stm32cubemx_project/main/Assets/stm32cubemx.png" alt="drawing" width="200"> |
+| Mini v3 | <img src="https://docs.raccoonlab.co/assets/img/t-view-bottom.7eadba26.png" alt="drawing" width="150"> | <img src="https://docs.raccoonlab.co/assets/img/pinout.e7b1d6b7.png" alt="drawing" width="150"> | <img src="https://github.com/RaccoonLabHardware/v3-software-template/blob/main/Assets/stm32cubemx.png" alt="drawing" width="200"> |
 
-The default capabilities of the node are shown on the picture below:
+### 3. Brief Cyphal/DroneCAN capabilities
 
-<img src="https://raw.githubusercontent.com/wiki/RaccoonlabDev/mini_v2_node/assets/yukon.png" alt="drawing">
+You can build the software either for Cyphal/CAN or DroneCAN. By default both applications are as simple as possible. They:
+- subscribe on setpoint topics and control PWM1-4 channels,
+- measure 5v and Vin voltage, temperature, current (if supported) and publish as circuit status and actuator feedback,
+- blink the RGB LED to indicate the current state.
 
-### 4. Brief DroneCAN capabilities
+In the table below you can see interfaces of the applications.
 
-The application subscribes on a message configured in `pwm.cmd_type`. It supports: [esc.RawCommand](https://dronecan.github.io/Specification/7._List_of_standard_data_types/#rawcommand), [actuator.ArrayCommand](https://dronecan.github.io/Specification/7._List_of_standard_data_types/#arraycommand), [hardpoint.Command](https://dronecan.github.io/Specification/7._List_of_standard_data_types/#command-1). It controls the PWM and sends back [esc.Status](https://dronecan.github.io/Specification/7._List_of_standard_data_types/#status-2), [actuator.Status](https://dronecan.github.io/Specification/7._List_of_standard_data_types/#status), [hardpoint.Status](https://dronecan.github.io/Specification/7._List_of_standard_data_types/#status-3) as feedback. It also sends [power.CircuitStatus](https://dronecan.github.io/Specification/7._List_of_standard_data_types/#circuitstatus) with the circuit state (5v voltage, vin voltage, current) and [device.Temperature](https://dronecan.github.io/Specification/7._List_of_standard_data_types/#temperature) with stm32 internal measured temperature.
+| Cyphal/CAN | DroneCAN |
+| ---------- | -------- |
+| Subscribe on: </br> - setpoint ([reg.udral.service.actuator.common.sp.Vector31](https://github.com/OpenCyphal/public_regulated_data_types/blob/master/reg/udral/service/actuator/common/sp/Vector31.0.1.dsdl)) </br> </br> </br> Publish: </br> - feedback ([reg.udral.service.actuator.common.Feedback](https://github.com/OpenCyphal/public_regulated_data_types/blob/master/reg/udral/service/actuator/common/Feedback.0.1.dsdl)) </br> - crct.5v ([uavcan.si.unit.voltage.Scalar](https://github.com/OpenCyphal/public_regulated_data_types/blob/master/uavcan/si/unit/voltage/Scalar.1.0.dsdl)) </br> - crct.vin ([uavcan.si.unit.voltage.Scalar](https://github.com/OpenCyphal/public_regulated_data_types/blob/master/uavcan/si/unit/voltage/Scalar.1.0.dsdl)) </br> - crct.temp ([uavcan.si.unit.temperature.Scalar](https://github.com/OpenCyphal/public_regulated_data_types/blob/master/uavcan/si/unit/temperature/Scalar.1.0.dsdl)) </br> . | Subscribe on: </br> - [uavcan.equipment.esc.RawCommand](https://dronecan.github.io/Specification/7._List_of_standard_data_types/#rawcommand) </br> - [uavcan.equipment.actuator.ArrayComman](https://dronecan.github.io/Specification/7._List_of_standard_data_types/#arraycommand) </br> - [uavcan.equipment.hardpoint.Command](https://dronecan.github.io/Specification/7._List_of_standard_data_types/#command-1) </br> Publish: </br > - [uavcan.equipment.esc.Status](https://dronecan.github.io/Specification/7._List_of_standard_data_types/#status-2) </br > - [uavcan.equipment.actuator.Status](https://dronecan.github.io/Specification/7._List_of_standard_data_types/#status) </br > - [uavcan.equipment.hardpoint.Status](https://dronecan.github.io/Specification/7._List_of_standard_data_types/#status-3) </br > - [uavcan.equipment.power.CircuitStatus](https://dronecan.github.io/Specification/7._List_of_standard_data_types/#circuitstatus) </br> - [uavcan.equipment.device.Temperature](https://dronecan.github.io/Specification/7._List_of_standard_data_types/#temperature) |
+| <img src="https://raw.githubusercontent.com/wiki/RaccoonlabDev/mini_v2_node/assets/yukon.png" alt="drawing" width=450> | <img src="https://raw.githubusercontent.com/wiki/RaccoonlabDev/mini_v2_node/assets/dronecan_interface.png" alt="drawing" width=152> <img src="https://raw.githubusercontent.com/wiki/RaccoonlabDev/mini_v2_node/assets/dronecan_params.png" alt="drawing" width=147> |
 
-|||
-|-|-|
-| <img src="https://raw.githubusercontent.com/wiki/RaccoonlabDev/mini_v2_node/assets/dronecan_interface.png" alt="drawing" width=305> | <img src="https://raw.githubusercontent.com/wiki/RaccoonlabDev/mini_v2_node/assets/dronecan_params.png" alt="drawing" width=295> |
+### 4. Use cases
+
+1. Control 1-4 motors without feedback or servos with current feedback (if hardware supports)
+
+    <img src="https://docs.raccoonlab.co/assets/img/mini_v2_with_servo.4761fdf2.png" alt="drawing" width="400">
+
+2. Control 1-2 motors with UART/ADC feedback
+
+    <img src="https://docs.raccoonlab.co/assets/img/mini_v2_with_esc_flame.0ffb552f.png" alt="drawing" width="400">
+
+3. Cyphal/DroneCAN adapter for I2C/UART sensor
+
+    <img src="https://docs.raccoonlab.co/assets/img/lw20_i2c.82bad2a4.png" alt="drawing" width="400">
+
+4. Control a servo with current feedback (if hardware supports) and angular position feedback (from [AS5600 I2C sensor](https://docs.raccoonlab.co/guide/as5600/))
+5. Control a PWM cargo gripper
 
 ### 5. Q&A
 

Src/platform/stm32g0b1/CMakeLists.txt

@@ -0,0 +1,52 @@
+# Copyright (C) 2023-2024 Dmitry Ponomarev <[email protected]>
+# Distributed under the terms of the GPL v3 license, available in the file LICENSE.
+
+# Pathes
+cmake_path(GET CMAKE_CURRENT_LIST_DIR PARENT_PATH PLATFORM_DIR)
+cmake_path(GET PLATFORM_DIR PARENT_PATH SRC_DIR)
+cmake_path(GET SRC_DIR PARENT_PATH ROOT_DIR)
+
+set(EXECUTABLE ${PROJECT_NAME}.out)
+add_executable(${EXECUTABLE}
+    ${APPLICATION_SOURCES}
+    ${BUILD_SRC_DIR}/params.cpp
+    ${ROOT_DIR}/Src/common/algorithms.cpp
+    ${ROOT_DIR}/Src/common/module.cpp
+
+    ${PLATFORM_DIR}/stm32f103/adc.cpp
+    ${PLATFORM_DIR}/ubuntu/pwm.cpp
+    ${PLATFORM_DIR}/stm32f103/iwdg.cpp
+    ${PLATFORM_DIR}/stm32f103/led.cpp
+    ${PLATFORM_DIR}/stm32f103/temperature_sensor.cpp
+    ${PLATFORM_DIR}/stm32f103/platform_specific.cpp
+
+    ${coreSources}
+    ${driversSources}
+    ${startupFile}
+)
+
+target_include_directories(${EXECUTABLE} PRIVATE
+    ${BUILD_SRC_DIR}
+    ${APPLICATION_HEADERS}
+    ${ROOT_DIR}/Src/common
+
+    ${stm32cubeMxProjectPath}/Core/Inc
+    ${stm32cubeMxProjectPath}/Drivers/CMSIS/Include
+
+    ${stm32cubeMxProjectPath}/Drivers/CMSIS/Device/ST/STM32F1xx/Include
+    ${stm32cubeMxProjectPath}/Drivers/STM32F1xx_HAL_Driver/Inc
+    ${stm32cubeMxProjectPath}/Drivers/STM32F1xx_HAL_Driver/Inc/Legacy
+
+    ${stm32cubeMxProjectPath}/Drivers/CMSIS/Device/ST/STM32G0xx/Include
+    ${stm32cubeMxProjectPath}/Drivers/STM32G0xx_HAL_Driver/Inc
+    ${stm32cubeMxProjectPath}/Drivers/STM32G0xx_HAL_Driver/Inc/Legacy
+)
+
+# Post-build
+add_custom_command(TARGET ${EXECUTABLE}
+    POST_BUILD
+    COMMAND ${CMAKE_SIZE} ${EXECUTABLE}
+    COMMAND ${CMAKE_OBJCOPY} -O ihex ${EXECUTABLE} ${BUILD_OBJ_DIR}/${PROJECT_NAME}.hex
+    COMMAND ${CMAKE_OBJCOPY} -O binary ${EXECUTABLE} ${BUILD_OBJ_DIR}/${PROJECT_NAME}.bin
+    COMMAND ${CMAKE_OBJCOPY} -I binary -O elf32-little ${EXECUTABLE} ${BUILD_OBJ_DIR}/${PROJECT_NAME}.elf
+)

cmake/stm32g0b1.cmake

@@ -3,4 +3,11 @@
 
 set(TARGET_ARCHITECTURE cortex-m0plus)
 set(CPU STM32G0B1xx)
+set(stm32cubeMxProjectPath ${ROOT_DIR}/build/ioc-v3)
+FILE(GLOB ldFile ${stm32cubeMxProjectPath}/*_FLASH.ld)
+FILE(GLOB coreSources       ${stm32cubeMxProjectPath}/Core/Src/*)
+FILE(GLOB driversSources    ${stm32cubeMxProjectPath}/Drivers/*/*/*.c)
+FILE(GLOB startupFile       ${stm32cubeMxProjectPath}/*.s
+                            ${stm32cubeMxProjectPath}/Core/Startup/*.s
+)
 include(${CMAKE_CURRENT_LIST_DIR}/Toolchain-arm-none-eabi.cmake)