Update for MELM (#184)

Add MELM and VESC CAN.


Signed-off-by: James Goppert <[email protected]>
Signed-off-by: Benjamin Perseghetti <[email protected]>
Co-authored-by: James Goppert <[email protected]>

app/melm/CMakeLists.txt

@@ -0,0 +1,116 @@
+#-------------------------------------------------------------------------------
+# Zephyr Cerebri Application
+#
+# Copyright (c) 2023 CogniPilot Foundation
+# SPDX-License-Identifier: Apache-2.0
+
+cmake_minimum_required(VERSION 3.13.1)
+
+find_package(Zephyr REQUIRED HINTS $ENV{ZEPHYR_BASE})
+
+project(melm LANGUAGES C)
+
+set(CYECCA_PYTHON  ${CMAKE_CURRENT_SOURCE_DIR}/../../scripts/cyecca_python)
+
+set(flags
+  -std=c11
+  -Wall
+  -Wextra
+  -Werror
+  -Wstrict-prototypes
+  -Waggregate-return
+  -Wbad-function-cast
+  -Wcast-align
+  -Wcast-qual
+  -Wfloat-equal
+  -Wformat-security
+  -Wlogical-op
+  -Wmissing-declarations
+  # ubxlib includes geographiclib which dir doesn't exist
+  #-Wmissing-include-dirs
+  -Wmissing-prototypes
+  -Wnested-externs
+  -Wpointer-arith
+  -Wredundant-decls
+  -Wsequence-point
+  -Wshadow
+  -Wstrict-prototypes
+  -Wswitch
+  -Wundef
+  -Wunreachable-code
+  -Wunused-but-set-parameter
+  -Wwrite-strings
+  )
+string(JOIN " " flags ${flags})
+
+set(SOURCE_FILES
+  src/boot_banner.c
+  src/input_mapping.c
+  )
+
+if (CONFIG_CEREBRI_MELM_FSM)
+  list(APPEND SOURCE_FILES src/fsm.c)
+endif()
+
+if (CONFIG_CEREBRI_MELM_ESTIMATE)
+  list(APPEND SOURCE_FILES src/estimate.c)
+endif()
+
+if (CONFIG_CEREBRI_MELM_MIXING)
+  list(APPEND SOURCE_FILES src/mixing.c)
+endif()
+
+if (CONFIG_CEREBRI_MELM_LIGHTING)
+  list(APPEND SOURCE_FILES src/lighting.c)
+endif()
+
+if (CONFIG_CEREBRI_MELM_COMMAND)
+  list(APPEND SOURCE_FILES src/command.c)
+endif()
+
+if (CONFIG_CEREBRI_MELM_POSITION)
+  list(APPEND SOURCE_FILES
+    src/position.c)
+endif()
+
+if (CONFIG_CEREBRI_MELM_VELOCITY)
+  list(APPEND SOURCE_FILES
+    src/velocity.c)
+endif()
+
+set(CASADI_DEST_DIR ${CMAKE_BINARY_DIR}/app/melm/casadi)
+
+set(CASADI_FILES
+  ${CASADI_DEST_DIR}/melm.c
+  )
+
+if (CONFIG_CEREBRI_MELM_CASADI)
+  list(APPEND SOURCE_FILES
+    ${CASADI_DEST_DIR}/melm.c
+    )
+endif()
+
+add_custom_command(OUTPUT ${CASADI_DEST_DIR}/melm.c
+  COMMAND ${CYECCA_PYTHON} ${CMAKE_CURRENT_SOURCE_DIR}/src/casadi/melm.py ${CASADI_DEST_DIR}
+  DEPENDS ${CMAKE_CURRENT_SOURCE_DIR}/src/casadi/melm.py)
+
+set_source_files_properties(
+  ${SOURCE_FILES}
+  PROPERTIES COMPILE_FLAGS
+  "${flags}"
+  )
+
+set_source_files_properties(
+  ${CASADI_FILES}
+  PROPERTIES COMPILE_FLAGS
+  "${flags}\
+  -Wno-unused-parameter\
+  -Wno-missing-prototypes\
+  -Wno-missing-declarations\
+  -Wno-float-equal")
+
+target_sources(app PRIVATE ${SOURCE_FILES})
+
+target_include_directories(app SYSTEM BEFORE PRIVATE ${ZEPHYR_BASE}/include ${CMAKE_BINARY_DIR})
+
+# vi: ts=2 sw=2 et

app/melm/Kconfig

@@ -0,0 +1,118 @@
+# Copyright (c) 2023, CogniPilot Foundation
+# SPDX-License-Identifier: Apache-2.0
+
+mainmenu "CogniPilot - Cerebri - MELM"
+menu "Zephyr"
+source "Kconfig.zephyr"
+endmenu
+
+menu "MELM"
+config CEREBRI_MELM_ESTIMATE
+  bool "enable estimate"
+  depends on CEREBRI_MELM_CASADI
+  help
+    Enable estimator
+
+config CEREBRI_MELM_FSM
+  bool "enable finite state machine"
+  help
+    Enable fintie state machine
+
+config CEREBRI_MELM_LIGHTING
+  bool "enable lighting"
+  help
+    Enable lighting
+
+config CEREBRI_MELM_COMMAND
+  bool "enable command"
+  depends on CEREBRI_MELM_MIXING
+  help
+    Enable command
+
+config CEREBRI_MELM_MIXING
+  bool "enable mixing"
+  help
+    Enable mixing
+
+config CEREBRI_MELM_POSITION
+  bool "enable position"
+  depends on CEREBRI_MELM_CASADI
+  help
+    Enable position
+
+config CEREBRI_MELM_VELOCITY
+  bool "enable velocity"
+  depends on CEREBRI_MELM_MIXING
+  depends on CEREBRI_MELM_CASADI
+  help
+    Enable velocity
+
+config CEREBRI_MELM_CASADI
+  bool "enable casadi code"
+  help
+    Enable Casadi generated code
+
+config CEREBRI_MELM_BATTERY_MIN_MILLIVOLT
+  int "min battery voltage in milli volts before shut off"
+  default 16500
+  help
+    Minimum battery voltage in mV before auto-disarm
+
+config CEREBRI_MELM_BATTERY_LOW_MILLIVOLT
+  int "low battery voltage in milli volts before warning"
+  default 17250
+  help
+    Low battery voltage in mV before warning
+
+config CEREBRI_MELM_BATTERY_MAX_MILLIVOLT
+  int "max battery voltage in milli volts"
+  default 21900
+  help
+    Maximum battery voltage
+
+config CEREBRI_MELM_GAIN_HEADING
+  int "heading gain"
+  default 100
+  help
+    Steering = Heading error * GAIN_/ 1000
+
+config CEREBRI_MELM_GAIN_CROSS_TRACK
+  int "cross track gain"
+  default 100
+  help
+    Steering = Cross track error * GAIN / 1000
+
+config CEREBRI_MELM_GAIN_ALONG_TRACK
+  int "along track gain"
+  default 100
+  help
+    Steering = Along track error * GAIN / 1000
+
+config CEREBRI_MELM_MAX_VELOCITY_MM_S
+  int "max velocity, mm/s"
+  default 2000
+  help
+    Max velocity in mm/s
+
+config CEREBRI_MELM_WHEEL_RADIUS_MM
+  int "wheel radius, mm"
+  default 108
+  help
+    Wheel radius in mm
+
+config CEREBRI_MELM_WHEEL_SEPARATION_MM
+  int "wheel separation, mm"
+  default 408
+  help
+    Wheel radius in mm
+
+config CEREBRI_MELM_WHEEL_BASE_MM
+  int "wheel base, mm"
+  default 280
+  help
+    Wheel radius in mm
+
+module = CEREBRI_MELM
+module-str = cerebri_melm
+source "subsys/logging/Kconfig.template.log_config"
+endmenu

app/melm/boards/mr_canhubk3_s32k344.conf

@@ -0,0 +1,85 @@
+CONFIG_ENTROPY_GENERATOR=y
+CONFIG_TEST_RANDOM_GENERATOR=y
+CONFIG_SPEED_OPTIMIZATIONS=y
+CONFIG_SIZE_OPTIMIZATIONS=n
+
+CONFIG_DISK_ACCESS=n
+CONFIG_FS_FATFS_EXFAT=n
+CONFIG_DISK_DRIVER_SDMMC=n
+CONFIG_FS_FATFS_MOUNT_MKFS=n
+CONFIG_CEREBRI_SYNAPSE_LOG_SDCARD=n
+
+CONFIG_TEST=y
+CONFIG_UBSAN=n
+CONFIG_ASSERT=y
+CONFIG_ASSERT_LEVEL=2
+CONFIG_ASSERT_VERBOSE=y
+
+CONFIG_SYSTEM_WORKQUEUE_STACK_SIZE=4096
+
+CONFIG_STACK_CANARIES=y
+
+CONFIG_ISR_STACK_SIZE=2048
+
+CONFIG_LOG_MODE_DEFERRED=y
+CONFIG_LOG_MODE_IMMEDIATE=n
+
+CONFIG_FPU=y
+
+# config
+CONFIG_INPUT=y
+CONFIG_INPUT_GPIO_KEYS=y
+CONFIG_INPUT_SBUS=y
+CONFIG_INPUT_SBUS_THREAD_STACK_SIZE=8192
+CONFIG_INPUT_SBUS_REPORT_FILTER=0
+CONFIG_INPUT_EVENT_DUMP=n
+CONFIG_INPUT_SHELL=n
+CONFIG_INPUT_MODE_SYNCHRONOUS=y
+CONFIG_INPUT_THREAD_STACK_SIZE=2048
+
+
+CONFIG_CEREBRI_SENSE_SBUS=y
+CONFIG_CEREBRI_SENSE_IMU=y
+CONFIG_CEREBRI_SENSE_MAG=y
+CONFIG_CEREBRI_SENSE_SAFETY=n
+CONFIG_CEREBRI_SENSE_UBX_GNSS=y
+
+CONFIG_CEREBRI_SYNAPSE_ETH_RX=y
+CONFIG_CEREBRI_SYNAPSE_ETH_TX=y
+
+CONFIG_CAN=y
+CONFIG_CEREBRI_ACTUATE_VESC_CAN=y
+
+CONFIG_LED_STRIP=y
+CONFIG_APA102_STRIP=y
+CONFIG_CEREBRI_ACTUATE_LED_ARRAY=y
+CONFIG_CEREBRI_SENSE_MAG_COUNT=2
+CONFIG_CEREBRI_SENSE_POWER=n
+CONFIG_CEREBRI_ACTUATE_SOUND=y
+
+CONFIG_ETH_NXP_S32_RX_RING_LEN=16
+
+CONFIG_CAN=y
+CONFIG_CAN_MAX_FILTER=5
+CONFIG_CAN_SHELL=y
+
+CONFIG_NET_DRIVERS=y
+CONFIG_NET_CANBUS=y
+
+CONFIG_NET_SOCKETS_CAN=y
+CONFIG_NET_DEFAULT_IF_CANBUS_RAW=y
+
+CONFIG_CAN_LOG_LEVEL_DBG=n
+CONFIG_CAN_FD_MODE=y
+CONFIG_SHELL_ARGC_MAX=72
+CONFIG_I2C=y
+CONFIG_SENSOR=y
+CONFIG_SENSOR_SHELL=y
+CONFIG_HEAP_MEM_POOL_SIZE=16384
+
+# Debugging
+CONFIG_DEBUG_THREAD_INFO=y
+
+# Logging
+#CONFIG_LOG_BACKEND_NET=n
+#CONFIG_LOG_BACKEND_NET_SERVER="192.0.2.2"