Merge pull request #165 from dlktdr/esp_support

Re-works the build system to use Zephyr's West tool

.gitignore

@@ -79,6 +79,5 @@ Release/
 !/gui/bin/bossac*
 /gui/build*
 
-#Zephyr
-/firmware/src/build*
+# Ignore Zephyr workspace
 /firmware/zephyr*

.gitmodules

@@ -4,3 +4,12 @@
 [submodule "firmware/src/src/LSM6DS3"]
 	path = firmware/src/src/LSM6DS3
 	url = https://github.com/STMicroelectronics/LSM6DS3TR-C-PID
+[submodule "firmware/src/src/third-party/ArduinoJson"]
+	path = firmware/src/src/third-party/ArduinoJson
+	url = https://github.com/bblanchon/ArduinoJson.git
+[submodule "firmware/src/third-party/ArduinoJson"]
+	path = firmware/src/third-party/ArduinoJson
+	url = https://github.com/bblanchon/ArduinoJson.git
+[submodule "firmware/src/third-party/BMI270_SensorAPI"]
+	path = firmware/src/third-party/BMI270_SensorAPI
+	url = https://github.com/boschsensortec/BMI270_SensorAPI

Dockerfile

@@ -0,0 +1,44 @@
+# syntax=docker/dockerfile:1
+FROM ubuntu:22.04
+
+ENV DEBIAN_FRONTEND noninteractive
+
+SHELL [ "/bin/bash", "-c" ]
+ENV SHELL=/bin/bash
+
+#Update repositories
+RUN apt-get update
+
+#Install build dependencies
+RUN apt-get install -y git cmake ninja-build gperf \
+  ccache dfu-util device-tree-compiler wget \
+  python3-dev python3-pip python3-setuptools python3-tk python3-wheel xz-utils file \
+  make gcc gcc-multilib g++-multilib libsdl2-dev libmagic1
+
+#Install zephyr-sdk. Don't include all tools
+RUN cd ~ && \
+    wget --progress=bar:force:noscroll https://github.com/zephyrproject-rtos/sdk-ng/releases/download/v0.16.5-1/zephyr-sdk-0.16.5-1_linux-x86_64_minimal.tar.xz && \
+    tar xvf zephyr-sdk-0.16.5-1_linux-x86_64_minimal.tar.xz && \
+    rm zephyr-sdk-0.16.5-1_linux-x86_64_minimal.tar.xz && \
+    cd zephyr-sdk-0.16.5-1 && \
+    ./setup.sh -t arm-zephyr-eabi -t xtensa-espressif_esp32_zephyr-elf -t riscv64-zephyr-elf -h && \
+    ln -s ~/zephyr-sdk-0.16.5-1/ ~/zephyr-sdk
+
+#Install west
+RUN pip3 install west
+
+#Install zephyr
+RUN west init ~/zephyr && \
+    cd ~/zephyr && \
+    west update && \
+    west -z ~/zephyr zephyr-export && \
+    pip3 install -r ~/zephyr/zephyr/scripts/requirements.txt && \
+	  west blobs fetch hal_espressif
+
+# Always use bash as the shell
+RUN echo "dash dash/sh boolean false" | debconf-set-selections
+RUN DEBIAN_FRONTEND=noninteractive dpkg-reconfigure dash
+RUN ln -sf /bin/bash /bin/sh
+
+# Set zephyr's Environment Variables
+RUN echo source /root/zephyr/zephyr/zephyr-env.sh >> ~/.bashrc

firmware/src/.devcontainer/devcontainer.json

@@ -0,0 +1,12 @@
+{
+	"name": "zephyr-dev",
+	"image": "docker.io/dlktdr/zephyr:latest",
+  "customizations": {
+    "vscode": {
+      "extensions": [
+        "ms-vscode.cpptools",
+        "trond-snekvik.devicetree"
+      ]
+    }
+  }
+}

firmware/src/.gitignore

@@ -1,3 +1,8 @@
 .pio
-.vscode
-
+.vscode/*.json
+!.vscode/c_cpp_properties.json
+.cortex-debug.*
+*.log
+build*
+!build_all*
+_deps*

firmware/src/.vscode/c_cpp_properties.json

@@ -0,0 +1,26 @@
+{
+    "configurations": [
+        {
+            "name": "Zephyr",
+            "includePath": [
+                "src/**",
+                "src/include/**",
+                "third-party/BMI270_SensorAPI/**",
+                "../zephyr/**"
+            ],
+            "browse": {
+                "limitSymbolsToIncludedHeaders": true,
+                "path": [
+                    "src/**",
+                    "src/include/**",
+                    "third-party/BMI270_SensorAPI/**",
+                    "../zephyr/**"
+                ]
+            },
+            "cStandard": "c99",
+            "cppStandard": "c++11",
+            "compilerPath": "../zephyr-sdk/arm-zephyr-eabi/bin/arm-zephyr-eabi-gcc.exe"
+        }
+      ],
+    "version": 4
+}

firmware/src/CMakeLists.txt

@@ -0,0 +1,125 @@
+cmake_minimum_required(VERSION 3.20.0)
+
+# Get the Git Revision and Most recent version tag
+execute_process(
+  COMMAND git rev-parse --short HEAD
+  OUTPUT_VARIABLE GIT_REV
+  OUTPUT_STRIP_TRAILING_WHITESPACE)
+if(ret EQUAL "1")
+  no_git()
+endif()
+execute_process(
+  COMMAND git describe --tags --abbrev=0
+  OUTPUT_VARIABLE GIT_TAG_RAW
+  OUTPUT_STRIP_TRAILING_WHITESPACE)
+if(ret EQUAL "1")
+  no_git()
+endif()
+string(REPLACE "v" "" GIT_TAG "${GIT_TAG_RAW}")
+function(no_git)
+  message( FATAL_ERROR "Unable to fetch the project GIT status, be sure GIT is installed and in your path")
+endfunction()
+message(STATUS "Git Revision ${GIT_REV}")
+message(STATUS "Git Tag ${GIT_TAG}")
+
+# Rebuild all the the settings for the project
+message(STATUS "Building the settings files (buildsettings.py) from ../settings.csv")
+execute_process(
+  COMMAND ../settings/python buildsettings.py
+)
+
+message(STATUS "Board=${BOARD}")
+
+# NRF52 Boards
+if((${BOARD} STREQUAL "arduino_nano_33_ble") OR
+   (${BOARD} STREQUAL "xiao_ble/nrf52840/sense") OR
+   (${BOARD} STREQUAL "dtqsys_ht"))
+  message(STATUS "  Board is a NRF52 based board")
+
+  # Pick the correct project file for this architecture
+  set (CONF_FILE zephyr/nrf_prj.conf)
+
+  # The sense revision 2 uses the same board file as the original
+  # but a few different defines in the code.
+  if(DEFINED BOARD_REV_SR2)
+    message(STATUS "  Board is a Revision 2 Nano 33 BLE Sense")
+    set (BOARD "arduino_nano_33_ble")
+    # SEE BELOW for defined passed to compiler
+  endif()
+
+  #DTQ Board, use local board file from /zephyr/boards
+  if((${BOARD} STREQUAL "dtqsys_ht"))
+    set (BOARD_ROOT "${CMAKE_SOURCE_DIR}/zephyr")
+  endif()
+
+#ESP32C3 Boards
+elseif(${BOARD} STREQUAL "esp32c3_devkitm")
+  message(STATUS "  Board is a ESP32C3 based board")
+  set (CONF_FILE zephyr/esp32c3_prj.conf)
+
+# M5Stick CPLUS1
+elseif((${BOARD} STREQUAL "m5stickc_plus/esp32/procpu") OR
+      (${BOARD} STREQUAL "m5stickc_plus"))
+  message(STATUS "  Board is a ESP32 PICO based board")
+  set(CONF_FILE zephyr/m5stickc_plus_prj.conf)
+
+# Raspberry Pi Pico
+elseif((${BOARD} STREQUAL "rpi_pico/rp2040/w") OR
+      (${BOARD} STREQUAL "rpi_pico"))
+  message(STATUS "  Board is a Raspberry Pi 2040 Pico")
+  set(CONF_FILE zephyr/rpi_pico.conf)
+
+else()
+  message(FATAL_ERROR "ERROR: Board is not supported")
+endif()
+
+# Set the output filename in release mode
+string(TOLOWER "${CMAKE_BUILD_TYPE}" build_type)
+if(NOT build_type STREQUAL "debug")
+  message(STATUS "Building in Release mode")
+  string(REPLACE "." "_" output_name "${BOARD}_${GIT_TAG}_${GIT_REV}")
+  string(REPLACE "/" "_" output_name "${output_name}")
+  if(DEFINED BOARD_REV_SR2)
+    set(output_name "${output_name}_SR2")
+  endif()
+  set(CONFIG_KERNEL_BIN_NAME "\"${output_name}\"" CACHE INTERNAL "")
+  message(STATUS "Output File Name=${output_name}")
+# Set KConfig Option to disable some optimizations in debug mode
+# do this here so it's easy in VScode with a task to set the build type
+else()
+  message(STATUS "Building in Debug mode")
+  set(CONFIG_DEBUG_OPTIMIZATIONS "y" CACHE INTERNAL "")
+  set(NO_BUILD_TYPE_WARNING "y")
+endif()
+
+
+
+find_package(Zephyr REQUIRED HINTS $ENV{ZEPHYR_BASE})
+project(HeadTracker DESCRIPTION "HeadTracker")
+
+# Set optimization level to -O1 for debug builds -o0 casuses stack issues
+set(CMAKE_C_FLAGS_DEBUG "${CMAKE_C_FLAGS_DEBUG} -O1")
+set(CMAKE_CXX_FLAGS_DEBUG "${CMAKE_CXX_FLAGS_DEBUG} -O1")
+
+# -DOPENOCD=/openocd-esp32/bin -DOPENOCD_DEFAULT_PATH=/openocd-esp32/share/openocd/scripts
+if(${BOARD} MATCHES "esp32c3")
+  target_compile_definitions(app PUBLIC "OPENOCD=\"c:\\openocd-esp32\\bin\"")
+  target_compile_definitions(app PUBLIC "OPENOCD_DEFAULT_PATH=\"c:\\openocd-esp32\\share\\openocd\\scripts\"")
+endif()
+
+# Arduino Nano Sense Rev 2
+if(DEFINED BOARD_REV_SR2)
+  target_compile_definitions(app PUBLIC BOARD_REV_SR2=1)
+endif()
+
+target_compile_definitions(app PUBLIC FW_GIT_REV=${GIT_REV})
+target_compile_definitions(app PUBLIC FW_VER_TAG=${GIT_TAG})
+target_include_directories(app PRIVATE src/include)
+target_include_directories(app PRIVATE src)
+target_include_directories(app PRIVATE third-party/ArduinoJson/src)
+target_include_directories(app PRIVATE third-party/BMI270_SensorAPI)
+
+FILE(GLOB_RECURSE app_sources src/*.c*)
+set(app_sources ${app_sources} third-party/BMI270_SensorAPI/bmi2.c)
+set(app_sources ${app_sources} third-party/BMI270_SensorAPI/bmi270.c)
+target_sources(app PRIVATE ${app_sources})

firmware/src/arduino_nano_33_ble.overlay

@@ -0,0 +1,98 @@
+/ {
+	model = "Arduino Nano 33 BLE (Sense)";
+	compatible = "arduino,arduino_nano_33_ble";
+
+	chosen {
+		/delete-property/ zephyr,console;
+    /delete-property/ zephyr,shell-uart;
+		/delete-property/ zephyr,uart-mcumgr;
+		/delete-property/ zephyr,bt-mon-uart;
+		/delete-property/ zephyr,bt-c2h-uart;
+		zephyr,sram = &sram0;
+		zephyr,flash = &flash0;
+		zephyr,code-partition = &code_partition;
+
+		// Uncomment the below line for kernel logging to a second USB CDC port
+		// Also uncomment the extra cdc at the bottom of the file
+		//   zephyr,console = &cdc_acm_uart1;
+	};
+
+  aliases {
+    adcctrl = &adc;
+    i2csensor = &i2c1;
+		guiuart = &cdc_acm_uart0;
+  };
+};
+
+/* Flash Layout
+ *    Bootloader    0x00000 - 0x10000 (Size 0x10000 65536 Bytes)
+ *    Code          0x10000 - 0xFC000 (Size 0xEC000 966656 Bytes)
+ *    NVM Data      0xFC000 - 0x100000 (Size 0x4000 16384 Bytes)
+ */
+
+/delete-node/ &storage_partition;
+
+&flash0 {
+	partitions {
+		compatible = "fixed-partitions";
+		#address-cells = <1>;
+		#size-cells = <1>;
+
+		code_partition: partition@10000 {
+			label = "code";
+			reg = <0x10000 0xEC000>;
+			read-only;
+		};
+
+    storage_partition: partition@FC000 {
+        label = "storagept";
+        reg = <0xFC000 0x4000>;
+    };
+	};
+};
+
+&adc {
+	status = "okay";
+};
+
+&uart0 {
+	status = "disabled";
+};
+
+&i2c0 {
+	status = "disabled";
+};
+
+&i2c1 {
+	status = "okay";
+	clock-frequency = <I2C_BITRATE_FAST>;
+	zephyr,flash-buf-max-size = <128>;
+	zephyr,concat-buf-size = <128>;
+};
+
+/* Disable Timer3, used by PPM output
+ */
+&timer3 {
+    status = "disabled";
+};
+
+/* Disable Timer4, used by PPM input
+ */
+&timer4 {
+    status = "disabled";
+};
+
+zephyr_udc0: &usbd {
+	compatible = "nordic,nrf-usbd";
+	status = "okay";
+  cdc_acm_uart0: cdc_acm_uart0 {
+		compatible = "zephyr,cdc-acm-uart";
+	};
+
+  // Uncomment the below lines for kernel logging to a second USB CDC port
+	/*
+	cdc_acm_uart1: cdc_acm_uart1 {
+		compatible = "zephyr,cdc-acm-uart";
+	}; */
+};
+