Merge pull request #255 from aabadie/xgo

projects/03app_xgo: add application to control XGO
DotBots · May 2, 2024 · b0172dc · b0172dc
2 parents e8d74e2 + 435e39a
commit b0172dc
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Showing 11 changed files with 509 additions and 19 deletions.
diff --git a/.github/workflows/build.yml b/.github/workflows/build.yml
@@ -14,7 +14,7 @@ jobs:
  strategy:
  fail-fast: false
  matrix:
- target: ["dotbot-v1", "dotbot-v2", "nrf52833dk", "nrf52840dk", "nrf5340dk-app", "nrf5340dk-net", "sailbot-v1"]
+ target: ["dotbot-v1", "dotbot-v2", "nrf52833dk", "nrf52840dk", "nrf5340dk-app", "nrf5340dk-net", "sailbot-v1", "xgo-v1", "xgo-v2"]
  config: ["Debug", "Release"]
  steps:
  - name: Checkout repo

diff --git a/Makefile b/Makefile
@@ -64,33 +64,41 @@ else ifeq (nrf5340dk-net,$(BUILD_TARGET))
 else ifeq (freebot,$(BUILD_TARGET))
  PROJECTS ?= 03app_freebot
  ARTIFACT_PROJECTS := 03app_dotbot
+else ifneq (,$(filter xgo%,$(BUILD_TARGET)))
+ PROJECTS ?= \
+ 03app_xgo \
+ #
+ ARTIFACT_PROJECTS := 03app_xgo
+ # Bootloader not supported on xgo
+ BOOTLOADER :=
 else
  PROJECTS ?= $(shell find projects/ -maxdepth 1 -mindepth 1 -type d | tr -d "/" | sed -e s/projects// | sort)
 endif
 
-OTAP_APPS ?= $(shell find otap/ -maxdepth 1 -mindepth 1 -type d | tr -d "/" | sed -e s/otap// | sort)
-OTAP_APPS := $(filter-out bootloader,$(OTAP_APPS))
-
 # remove incompatible apps (nrf5340, sailbot gateway) for dotbot (v1, v2) builds
 ifneq (,$(filter dotbot-v1,$(BUILD_TARGET)))
- PROJECTS := $(filter-out 01bsp_qdec 01drv_lis3mdl 01drv_move 03app_dotbot_gateway 03app_dotbot_gateway_lr 03app_sailbot 03app_nrf5340_% 03app_freebot,$(PROJECTS))
+ PROJECTS := $(filter-out 01bsp_qdec 01drv_lis3mdl 01drv_move 03app_dotbot_gateway 03app_dotbot_gateway_lr 03app_sailbot 03app_nrf5340_% 03app_freebot 03app_xgo,$(PROJECTS))
  ARTIFACT_PROJECTS := 03app_dotbot
 endif
 
 ifneq (,$(filter dotbot-v2,$(BUILD_TARGET)))
- PROJECTS := $(filter-out 03app_dotbot_gateway 03app_dotbot_gateway_lr 03app_sailbot 03app_nrf5340_net 03app_freebot,$(PROJECTS))
+ PROJECTS := $(filter-out 03app_dotbot_gateway 03app_dotbot_gateway_lr 03app_sailbot 03app_xgo 03app_nrf5340_net 03app_freebot,$(PROJECTS))
  ARTIFACT_PROJECTS := 03app_dotbot
 endif
 
 # remove incompatible apps (nrf5340, dotbot, gateway) for sailbot-v1 build
 ifeq (sailbot-v1,$(BUILD_TARGET))
- PROJECTS := $(filter-out 01bsp_qdec 01drv_lis3mdl 01drv_move 03app_dotbot_gateway 03app_dotbot_gateway_lr 03app_dotbot 03app_nrf5340_% 03app_freebot,$(PROJECTS))
+ PROJECTS := $(filter-out 01bsp_qdec 01drv_lis3mdl 01drv_move 03app_dotbot_gateway 03app_dotbot_gateway_lr 03app_dotbot 03app_nrf5340_% 03app_freebot 03app_xgo,$(PROJECTS))
  ARTIFACT_PROJECTS := 03app_sailbot
 endif
 
+ifneq (,$(filter nrf52833dk,$(BUILD_TARGET)))
+ PROJECTS := $(filter-out 01crypto_%,$(PROJECTS))
+endif
+
 # remove incompatible apps (nrf5340) for nrf52833dk/nrf52840dk build
 ifneq (,$(filter nrf52833dk nrf52840dk,$(BUILD_TARGET)))
- PROJECTS := $(filter-out 01bsp_qdec 01drv_move 03app_nrf5340_% 03app_freebot,$(PROJECTS))
+ PROJECTS := $(filter-out 01bsp_qdec 01drv_move 03app_nrf5340_% 03app_freebot 03app_xgo,$(PROJECTS))
  ARTIFACT_PROJECTS := 03app_dotbot_gateway 03app_dotbot_gateway_lr
 endif
 
@@ -102,6 +110,13 @@ ifneq (,$(filter nrf5340dk-net,$(BUILD_TARGET)))
  ARTIFACT_PROJECTS := 03app_nrf5340_net
 endif
 
+ifneq (,$(filter xgo%,$(BUILD_TARGET)))
+ OTAP_APPS :=
+endif
+
+OTAP_APPS ?= $(shell find otap/ -maxdepth 1 -mindepth 1 -type d | tr -d "/" | sed -e s/otap// | sort)
+OTAP_APPS := $(filter-out bootloader,$(OTAP_APPS))
+
 SRCS ?= $(shell find bsp/ -name "*.[c|h]") $(shell find crypto/ -name "*.[c|h]") $(shell find drv/ -name "*.[c|h]") $(shell find projects/ -name "*.[c|h]") $(shell find otap/ -name "*.[c|h]")
 CLANG_FORMAT ?= clang-format
 CLANG_FORMAT_TYPE ?= file

diff --git a/doc/sphinx/applications.md b/doc/sphinx/applications.md
@@ -16,4 +16,5 @@ _projects/03app_sailbot
 _projects/03app_log_dump
 _projects/03app_nrf5340_app
 _projects/03app_nrf5340_net
+_projects/03app_xgo
 ```
diff --git a/drv/protocol.h b/drv/protocol.h
@@ -25,24 +25,26 @@
 
 /// Command type
 typedef enum {
- DB_PROTOCOL_CMD_MOVE_RAW = 0, ///< Move raw command type
- DB_PROTOCOL_CMD_RGB_LED = 1, ///< RGB LED command type
- DB_PROTOCOL_LH2_RAW_DATA = 2, ///< Lighthouse 2 raw data
- DB_PROTOCOL_LH2_LOCATION = 3, ///< Lighthouse processed locations
- DB_PROTOCOL_ADVERTISEMENT = 4, ///< DotBot advertisements
- DB_PROTOCOL_GPS_LOCATION = 5, ///< GPS data from SailBot
- DB_PROTOCOL_DOTBOT_DATA = 6, ///< DotBot specific data (for now location and direction)
- DB_PROTOCOL_CONTROL_MODE = 7, ///< Robot remote control mode (automatic or manual)
- DB_PROTOCOL_LH2_WAYPOINTS = 8, ///< List of LH2 waypoints to follow
- DB_PROTOCOL_GPS_WAYPOINTS = 9, ///< List of GPS waypoints to follow
- DB_PROTOCOL_SAILBOT_DATA = 10, ///< SailBot specific data (for now GPS and direction)
+ DB_PROTOCOL_CMD_MOVE_RAW = 0, ///< Move raw command type
+ DB_PROTOCOL_CMD_RGB_LED = 1, ///< RGB LED command type
+ DB_PROTOCOL_LH2_RAW_DATA = 2, ///< Lighthouse 2 raw data
+ DB_PROTOCOL_LH2_LOCATION = 3, ///< Lighthouse processed locations
+ DB_PROTOCOL_ADVERTISEMENT = 4, ///< DotBot advertisements
+ DB_PROTOCOL_GPS_LOCATION = 5, ///< GPS data from SailBot
+ DB_PROTOCOL_DOTBOT_DATA = 6, ///< DotBot specific data (for now location and direction)
+ DB_PROTOCOL_CONTROL_MODE = 7, ///< Robot remote control mode (automatic or manual)
+ DB_PROTOCOL_LH2_WAYPOINTS = 8, ///< List of LH2 waypoints to follow
+ DB_PROTOCOL_GPS_WAYPOINTS = 9, ///< List of GPS waypoints to follow
+ DB_PROTOCOL_SAILBOT_DATA = 10, ///< SailBot specific data (for now GPS and direction)
+ DB_PROTOCOL_CMD_XGO_ACTION = 11, ///< XGO action command
 } command_type_t;
 
 /// Application type
 typedef enum {
  DotBot = 0, ///< DotBot application
  SailBot = 1, ///< SailBot application
  FreeBot = 2, ///< FreeBot application
+ XGO = 3, ///< XGO application
 } application_type_t;
 
 /// Control mode

diff --git a/nrf52833dk.emProject b/nrf52833dk.emProject
@@ -66,4 +66,5 @@
  <import file_name="projects/projects-log-dump.emProject" />
  <import file_name="projects/projects-sailbot.emProject" />
  <import file_name="otap/otap.emProject" />
+ <import file_name="projects/projects-xgo.emProject" />
 </solution>
diff --git a/nrf52840dk.emProject b/nrf52840dk.emProject
@@ -66,4 +66,5 @@
  <import file_name="projects/projects-log-dump.emProject" />
  <import file_name="projects/projects-sailbot.emProject" />
  <import file_name="otap/otap.emProject" />
+ <import file_name="projects/projects-xgo.emProject" />
 </solution>
diff --git a/projects/03app_xgo/README.md b/projects/03app_xgo/README.md
@@ -0,0 +1 @@
+# XGO control application