Merge pull request #69 from xrobot-org/dev

更新哨兵AI

hw/bsp/esp32-s3-arduino/board.cmake

@@ -0,0 +1,57 @@
+cmake_minimum_required(VERSION 3.16)
+
+# Include for ESP-IDF build system functions
+include($ENV{IDF_PATH}/tools/cmake/idf.cmake)
+
+add_compile_options(-Wno-missing-field-initializers -Wno-write-strings)
+add_compile_definitions(ARDUINO_USB_CDC_ON_BOOT=1 ARDUINO_USB_MODE=1)
+
+# Create idf::{target} and idf::freertos static libraries
+idf_build_process("esp32s3"
+                # try and trim the build; additional components
+                # will be included as needed based on dependency tree
+                #
+                # although esptool_py does not generate static library,
+                # processing the component is needed for flashing related
+                # targets and file generation
+                COMPONENTS freertos esptool_py driver nvs_flash bt esp_http_client esp_https_ota arduino-esp32
+                SDKCONFIG ${BOARD_DIR}/sdkconfig
+                BUILD_DIR ${CMAKE_BINARY_DIR})
+
+set(CMAKE_EXPORT_COMPILE_COMMANDS ON)
+
+set(elf_file ${CMAKE_PROJECT_NAME}.elf)
+add_executable(${elf_file} ${BOARD_DIR}/main.cpp)
+
+# Link the static libraries to the executable
+target_link_libraries(
+  ${elf_file}
+  idf::bt
+  idf::freertos
+  idf::spi_flash
+  idf::driver
+  idf::nvs_flash
+  idf::esp_wifi
+  idf::esp_http_client
+  idf::esp_https_ota
+  idf::arduino-esp32
+  bsp
+  system
+  robot
+)
+# Attach additional targets to the executable file for flashing,
+# linker script generation, partition_table generation, etc.
+idf_build_executable(${elf_file})
+
+add_subdirectory(${BOARD_DIR}/drivers)
+
+# add_compile_options(-Wno-missing-field-initializers)
+
+target_include_directories(
+  ${PROJECT_NAME}.elf
+  PUBLIC ${CMAKE_CURRENT_SOURCE_DIR}
+  PRIVATE $ENV{IDF_PATH}/components/esp_http_client/include
+  PRIVATE $<TARGET_PROPERTY:bsp,INTERFACE_INCLUDE_DIRECTORIES>
+  PRIVATE $<TARGET_PROPERTY:system,INTERFACE_INCLUDE_DIRECTORIES>
+  PRIVATE $<TARGET_PROPERTY:robot,INTERFACE_INCLUDE_DIRECTORIES>
+)

hw/bsp/esp32-s3-arduino/config/ble_net_config.config

@@ -0,0 +1,94 @@
+# CONFIG_auto_generated_config_prefix_board-esp32-c3-idf is not set
+# CONFIG_auto_generated_config_prefix_board-c-mini is not set
+# CONFIG_auto_generated_config_prefix_board-raspi_4b_with_ch348 is not set
+# CONFIG_auto_generated_config_prefix_board-node_imu is not set
+CONFIG_auto_generated_config_prefix_board-esp32-s3-arduino=y
+# CONFIG_auto_generated_config_prefix_board-f103_can is not set
+# CONFIG_auto_generated_config_prefix_board-MiniPC is not set
+# CONFIG_auto_generated_config_prefix_board-rm-c is not set
+# CONFIG_auto_generated_config_prefix_board-microswitch is not set
+# CONFIG_auto_generated_config_prefix_board-Webots is not set
+# CONFIG_auto_generated_config_prefix_board-wl_f103_can is not set
+# CONFIG_auto_generated_config_prefix_board-demo-board is not set
+# CONFIG_auto_generated_config_prefix_system-Linux_Webots is not set
+CONFIG_auto_generated_config_prefix_system-FreeRTOS=y
+# CONFIG_auto_generated_config_prefix_system-None is not set
+# CONFIG_auto_generated_config_prefix_system-Linux is not set
+CONFIG_INIT_TASK_STACK_DEPTH=4096
+
+#
+# FreeRTOS
+#
+CONFIG_FREERTOS_TIMER_TASK_STACK_DEPTH=2048
+CONFIG_FREERTOS_USB_TASK_STACK_DEPTH=1024
+CONFIG_FREERTOS_TERM_TASK_STACK_DEPTH=1024
+# end of FreeRTOS
+
+# CONFIG_auto_generated_config_prefix_robot-udp_to_uart is not set
+# CONFIG_auto_generated_config_prefix_robot-hero is not set
+# CONFIG_auto_generated_config_prefix_robot-balance_infantry is not set
+# CONFIG_auto_generated_config_prefix_robot-sentry is not set
+# CONFIG_auto_generated_config_prefix_robot-dart is not set
+CONFIG_auto_generated_config_prefix_robot-ble_net_config=y
+# CONFIG_auto_generated_config_prefix_robot-can_to_uart is not set
+# CONFIG_auto_generated_config_prefix_robot-infantry is not set
+# CONFIG_auto_generated_config_prefix_robot-sim_mecanum is not set
+# CONFIG_auto_generated_config_prefix_robot-blink is not set
+# CONFIG_auto_generated_config_prefix_robot-microswitch is not set
+# CONFIG_auto_generated_config_prefix_robot-sim_balance is not set
+# CONFIG_auto_generated_config_prefix_robot-engineer is not set
+# CONFIG_auto_generated_config_prefix_robot-wearlab_imu is not set
+# CONFIG_auto_generated_config_prefix_robot-demo-robot is not set
+
+#
+# 组件
+#
+# CONFIG_auto_generated_config_prefix_component-demo-component is not set
+# end of 组件
+
+#
+# 设备
+#
+# CONFIG_auto_generated_config_prefix_device-servo is not set
+# CONFIG_auto_generated_config_prefix_device-simulator is not set
+# CONFIG_auto_generated_config_prefix_device-cap is not set
+# CONFIG_auto_generated_config_prefix_device-led_rgb is not set
+# CONFIG_auto_generated_config_prefix_device-referee is not set
+# CONFIG_auto_generated_config_prefix_device-laser is not set
+# CONFIG_auto_generated_config_prefix_device-can is not set
+# CONFIG_auto_generated_config_prefix_device-motor is not set
+# CONFIG_auto_generated_config_prefix_device-bmi088 is not set
+# CONFIG_auto_generated_config_prefix_device-mech is not set
+# CONFIG_auto_generated_config_prefix_device-buzzer is not set
+# CONFIG_auto_generated_config_prefix_device-tof is not set
+CONFIG_auto_generated_config_prefix_device-blink_led=y
+# CONFIG_auto_generated_config_prefix_device-dr16 is not set
+# CONFIG_auto_generated_config_prefix_device-ahrs is not set
+# CONFIG_auto_generated_config_prefix_device-ai is not set
+CONFIG_auto_generated_config_prefix_device-net_config=y
+# CONFIG_auto_generated_config_prefix_device-wearlab is not set
+# CONFIG_auto_generated_config_prefix_device-imu is not set
+# CONFIG_auto_generated_config_prefix_device-microswitch is not set
+# CONFIG_auto_generated_config_prefix_device-demo-device is not set
+# end of 设备
+
+#
+# 模块
+#
+# CONFIG_auto_generated_config_prefix_module-gimbal is not set
+# CONFIG_auto_generated_config_prefix_module-balance is not set
+# CONFIG_auto_generated_config_prefix_module-chassis is not set
+# CONFIG_auto_generated_config_prefix_module-dart_launcher is not set
+CONFIG_auto_generated_config_prefix_module-ble_net_config=y
+# CONFIG_auto_generated_config_prefix_module-launcher is not set
+# CONFIG_auto_generated_config_prefix_module-ore_collect is not set
+# CONFIG_auto_generated_config_prefix_module-can_usart is not set
+# CONFIG_auto_generated_config_prefix_module-uart_udp is not set
+CONFIG_auto_generated_config_prefix_module-topic_share_uart=y
+# CONFIG_auto_generated_config_prefix_module-microswitch is not set
+# CONFIG_auto_generated_config_prefix_module-can_imu is not set
+# CONFIG_auto_generated_config_prefix_module-wheel_leg is not set
+# CONFIG_auto_generated_config_prefix_module-dart_gimbal is not set
+# CONFIG_auto_generated_config_prefix_module-wl_can_usart is not set
+# CONFIG_auto_generated_config_prefix_module-demo-module is not set
+# end of 模块

hw/bsp/esp32-s3-arduino/config/blink.config

@@ -0,0 +1,58 @@
+CONFIG_auto_generated_config_prefix_board-esp32-s3-arduino=y
+# CONFIG_auto_generated_config_prefix_board-node_imu is not set
+# CONFIG_auto_generated_config_prefix_board-MiniPC is not set
+# CONFIG_auto_generated_config_prefix_board-rm-c is not set
+# CONFIG_auto_generated_config_prefix_board-Webots is not set
+# CONFIG_auto_generated_config_prefix_system-Linux_Webots is not set
+CONFIG_auto_generated_config_prefix_system-FreeRTOS=y
+# CONFIG_auto_generated_config_prefix_system-Linux is not set
+CONFIG_INIT_TASK_STACK_DEPTH=2048
+
+#
+# FreeRTOS
+#
+CONFIG_FREERTOS_TIMER_TASK_STACK_DEPTH=1024
+CONFIG_FREERTOS_USB_TASK_STACK_DEPTH=1024
+CONFIG_FREERTOS_TERM_TASK_STACK_DEPTH=1024
+# end of FreeRTOS
+
+# CONFIG_auto_generated_config_prefix_robot-balance_infantry is not set
+# CONFIG_auto_generated_config_prefix_robot-infantry is not set
+# CONFIG_auto_generated_config_prefix_robot-sim_mecanum is not set
+CONFIG_auto_generated_config_prefix_robot-blink=y
+CONFIG_auto_generated_config_prefix_module-performance=y
+# CONFIG_auto_generated_config_prefix_robot-sim_balance is not set
+# CONFIG_auto_generated_config_prefix_robot-wearlab_imu is not set
+
+#
+# 设备
+#
+# CONFIG_auto_generated_config_prefix_device-servo is not set
+# CONFIG_auto_generated_config_prefix_device-simulator is not set
+# CONFIG_auto_generated_config_prefix_device-cap is not set
+# CONFIG_auto_generated_config_prefix_device-led_rgb is not set
+# CONFIG_auto_generated_config_prefix_device-referee is not set
+# CONFIG_auto_generated_config_prefix_device-laser is not set
+# CONFIG_auto_generated_config_prefix_device-can is not set
+# CONFIG_auto_generated_config_prefix_device-motor is not set
+# CONFIG_auto_generated_config_prefix_device-bmi088 is not set
+# CONFIG_auto_generated_config_prefix_device-buzzer is not set
+# CONFIG_auto_generated_config_prefix_device-tof is not set
+CONFIG_auto_generated_config_prefix_device-blink_led=y
+# CONFIG_auto_generated_config_prefix_device-dr16 is not set
+# CONFIG_auto_generated_config_prefix_device-ahrs is not set
+# CONFIG_auto_generated_config_prefix_device-ai is not set
+# CONFIG_auto_generated_config_prefix_device-wearlab is not set
+# CONFIG_auto_generated_config_prefix_device-imu is not set
+# end of 设备
+
+#
+# 模块
+#
+# CONFIG_auto_generated_config_prefix_module-gimbal is not set
+# CONFIG_auto_generated_config_prefix_module-balance is not set
+# CONFIG_auto_generated_config_prefix_module-chassis is not set
+# CONFIG_auto_generated_config_prefix_module-launcher is not set
+# CONFIG_auto_generated_config_prefix_module-can_imu is not set
+# CONFIG_auto_generated_config_prefix_module-wheel_leg is not set
+# end of 模块

hw/bsp/esp32-s3-arduino/debug/launch.json

@@ -0,0 +1,36 @@
+{
+    // 使用 IntelliSense 了解相关属性。
+    // 悬停以查看现有属性的描述。
+    // 欲了解更多信息，请访问: https://go.microsoft.com/fwlink/?linkid=830387
+    "version": "0.2.0",
+    "liveWatch": {
+        "enabled": true,
+        "samplesPerSecond": 4
+    },
+    "configurations": [
+        {
+            "cwd": "${workspaceRoot}",
+            "executable": "${workspaceRoot}/build/xrobot.elf",
+            "name": "Debug with OpenOCD",
+            "request": "launch",
+            "type": "cortex-debug",
+            "servertype": "openocd",
+            "configFiles": [
+                "board/esp32c3-builtin.cfg"
+            ],
+            "gdbPath": "riscv32-esp-elf-gdb",
+            "searchDir": [],
+            "runToEntryPoint": "app_main",
+            "postLaunchCommands": [
+                "mon reset halt",
+                "flushregs",
+                "mon program_esp build/bootloader/bootloader.bin 0x0 verify",
+                "mon program_esp build/partition_table/partition-table.bin 0x8000 verify",
+                "mon program_esp build/xrobot.bin 0x10000 verify",
+                "set remote hardware-watchpoint-limit 2",
+                "mon reset halt",
+                "flushregs"
+            ]
+        }
+    ]
+}

hw/bsp/esp32-s3-arduino/drivers/CMakeLists.txt

@@ -0,0 +1,35 @@
+project(bsp)
+
+file(GLOB ${PROJECT_NAME}_SOURCES "${CMAKE_CURRENT_SOURCE_DIR}/*.c")
+
+file(GLOB ${PROJECT_NAME}_SOURCES_CPP "${CMAKE_CURRENT_SOURCE_DIR}/*.cpp")
+
+add_library(${PROJECT_NAME} STATIC)
+
+target_sources(${PROJECT_NAME}
+  PRIVATE ${${PROJECT_NAME}_SOURCES}
+  PRIVATE ${${PROJECT_NAME}_SOURCES_CPP}
+)
+
+include(${MCU_DIR}/default/CMakeLists.txt)
+
+target_link_libraries(${PROJECT_NAME}
+  PUBLIC idf::arduino-esp32
+  PUBLIC idf::bt
+)
+
+target_include_directories(
+  ${PROJECT_NAME}
+  PUBLIC ${CMAKE_CURRENT_SOURCE_DIR}
+  PUBLIC $<TARGET_PROPERTY:OneMessage,INTERFACE_INCLUDE_DIRECTORIES>
+  PUBLIC $<TARGET_PROPERTY:idf::freertos,INTERFACE_INCLUDE_DIRECTORIES>
+  PUBLIC $<TARGET_PROPERTY:idf::driver,INTERFACE_INCLUDE_DIRECTORIES>
+  PUBLIC $<TARGET_PROPERTY:idf::nvs_flash,INTERFACE_INCLUDE_DIRECTORIES>
+  PUBLIC $<TARGET_PROPERTY:idf::esp_timer,INTERFACE_INCLUDE_DIRECTORIES>
+  PUBLIC $<TARGET_PROPERTY:idf::bt,INTERFACE_INCLUDE_DIRECTORIES>
+  PUBLIC $<TARGET_PROPERTY:idf::arduino-esp32,INTERFACE_INCLUDE_DIRECTORIES>
+  PUBLIC $ENV{IDF_PATH}/components/freertos/include/freertos
+  PUBLIC $ENV{IDF_PATH}/components/freertos/FreeRTOS-Kernel/include/freertos
+)
+
+# add_dependencies(${PROJECT_NAME})

hw/bsp/esp32-s3-arduino/drivers/bsp.cpp

@@ -0,0 +1,12 @@
+#include "bsp.h"
+
+#include "bsp_time.h"
+#include "bsp_uart.h"
+#include "driver/gpio.h"
+
+void bsp_init() {
+  bsp_time_init();
+  gpio_reset_pin(GPIO_NUM_8);
+  gpio_set_direction(GPIO_NUM_8, GPIO_MODE_OUTPUT);
+  bsp_uart_init();
+}

hw/bsp/esp32-s3-arduino/drivers/bsp.h

@@ -0,0 +1,18 @@
+#pragma once
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+#include "bsp_def.h"
+
+typedef struct {
+  void (*fn)(void *);
+  void *arg;
+} bsp_callback_t;
+
+void bsp_init(void);
+
+#ifdef __cplusplus
+}
+#endif

hw/bsp/esp32-s3-arduino/drivers/bsp_ble_server.cpp

@@ -0,0 +1,57 @@
+#include "bsp_ble_server.h"
+
+#include <stdint.h>
+
+#include "Arduino.h"
+#include "BLEDevice.h"
+#include "om.h"
+#include "om_fifo.h"
+
+#define SERVICE_UUID "4fafc201-1fb5-459e-8fcc-c5c9c331914b"
+#define WIFI_CONFIG_UUID "5fafc202-2fb5-469e-8fcc-c5c9c332914b"
+
+static om_fifo_t rx_fifo;
+static uint8_t buff[100];
+static BLECharacteristic *p_wifi_config_characteristic;
+
+class WifiConfigCallback : public BLECharacteristicCallbacks {
+  void onWrite(BLECharacteristic *pCharacteristic) {
+    om_fifo_writes(&rx_fifo, pCharacteristic->getData(),
+                   pCharacteristic->getLength());
+  }
+};
+
+void bsp_ble_server_init(const char *name) {
+  om_fifo_create(&rx_fifo, buff, sizeof(buff), sizeof(uint8_t));
+  BLEDevice::init(name);
+  BLEServer *p_server = BLEDevice::createServer();
+  BLEService *p_service = p_server->createService(SERVICE_UUID);
+  p_wifi_config_characteristic = p_service->createCharacteristic(
+      WIFI_CONFIG_UUID,
+      BLECharacteristic::PROPERTY_READ | BLECharacteristic::PROPERTY_WRITE);
+
+  p_wifi_config_characteristic->setCallbacks(new WifiConfigCallback());
+
+  p_service->start();
+  BLEAdvertising *p_advertising = BLEDevice::getAdvertising();
+  p_advertising->addServiceUUID(SERVICE_UUID);
+  p_advertising->setScanResponse(true);
+  p_advertising->setMinPreferred(0x06);
+  p_advertising->setMinPreferred(0x12);
+
+  BLEDevice::startAdvertising();
+}
+
+uint32_t bsp_ble_server_avaliable() {
+  return om_fifo_readable_item_count(&rx_fifo);
+}
+
+bsp_status_t bsp_ble_server_transmit(const uint8_t *data, size_t size) {
+  memcpy(buff, data, size);
+  p_wifi_config_characteristic->setValue(buff, size);
+  return BSP_OK;
+}
+
+uint32_t bsp_ble_server_receive(uint8_t *data, size_t size) {
+  return om_fifo_reads(&rx_fifo, data, size) == OM_OK ? 0 : size;
+}

hw/bsp/esp32-s3-arduino/drivers/bsp_ble_server.h

@@ -0,0 +1,11 @@
+#pragma once
+
+#include "bsp.h"
+
+void bsp_ble_server_init(const char *name);
+
+uint32_t bsp_ble_server_avaliable();
+
+bsp_status_t bsp_ble_server_transmit(const uint8_t *data, size_t size);
+
+uint32_t bsp_ble_server_receive(uint8_t *data, size_t size);