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a/3DV2/urdf/assets/coxa.part b/3DV2/urdf/assets/coxa.part new file mode 100644 index 0000000..af5bdf3 --- /dev/null +++ b/3DV2/urdf/assets/coxa.part @@ -0,0 +1,13 @@ +{ + "configuration": "default", + "documentId": "ed0a3b786fedc3f5a347f5b7", + "documentMicroversion": "f57a94a4fea42ed7556b7dba", + "elementId": "4d9ee55a87f6d7d9fad606e1", + "fullConfiguration": "default", + "id": "M1zS0Pjy1uGe7Kay+", + "isStandardContent": false, + "name": "coxa <4>", + "partId": "RADf", + "suppressed": false, + "type": "Part" +} \ No newline at end of file diff --git a/3DV2/urdf/assets/coxa.stl b/3DV2/urdf/assets/coxa.stl new file mode 100644 index 0000000..c36459a Binary files /dev/null and b/3DV2/urdf/assets/coxa.stl differ diff --git a/3DV2/urdf/assets/coxa__2.part b/3DV2/urdf/assets/coxa__2.part new file mode 100644 index 0000000..c0e948f --- /dev/null +++ b/3DV2/urdf/assets/coxa__2.part @@ -0,0 +1,13 @@ +{ + "configuration": "default", + "documentId": "ed0a3b786fedc3f5a347f5b7", + "documentMicroversion": "f57a94a4fea42ed7556b7dba", + "elementId": "3dd49b7ff17a5efa716a1a9c", + "fullConfiguration": "default", + "id": "MsYLJvNKZFtLmR5J2", + "isStandardContent": false, + "name": "coxa <6>", + "partId": "RYDL", + "suppressed": false, + "type": "Part" +} \ No newline at end of file diff --git a/3DV2/urdf/assets/coxa__2.stl b/3DV2/urdf/assets/coxa__2.stl new file mode 100644 index 0000000..e54aadb Binary files /dev/null and b/3DV2/urdf/assets/coxa__2.stl differ diff --git a/3DV2/urdf/assets/femur.part b/3DV2/urdf/assets/femur.part new file mode 100644 index 0000000..cd3b3bf --- /dev/null +++ b/3DV2/urdf/assets/femur.part @@ -0,0 +1,13 @@ +{ + "configuration": "default", + "documentId": "ed0a3b786fedc3f5a347f5b7", + "documentMicroversion": "f57a94a4fea42ed7556b7dba", + "elementId": "2d2e4344d46300191ba32ba6", + "fullConfiguration": "default", + "id": "M2P88JoDrZUkmwu09", + "isStandardContent": false, + "name": "femur <4>", + "partId": "RtDf", + "suppressed": false, + "type": "Part" +} \ No newline at end of file diff --git a/3DV2/urdf/assets/femur.stl b/3DV2/urdf/assets/femur.stl new file mode 100644 index 0000000..d72df68 Binary files /dev/null and b/3DV2/urdf/assets/femur.stl differ diff --git a/3DV2/urdf/assets/femur__2.part b/3DV2/urdf/assets/femur__2.part new file mode 100644 index 0000000..e255a45 --- /dev/null +++ b/3DV2/urdf/assets/femur__2.part @@ -0,0 +1,13 @@ +{ + "configuration": "default", + "documentId": "ed0a3b786fedc3f5a347f5b7", + "documentMicroversion": "f57a94a4fea42ed7556b7dba", + "elementId": "754e7fb04dd8060a86413d63", + "fullConfiguration": "default", + "id": "M7yPzAffUhgBrSPSU", + "isStandardContent": false, + "name": "femur <6>", + "partId": "R1DX", + "suppressed": false, + "type": "Part" +} \ No newline at end of file diff --git a/3DV2/urdf/assets/femur__2.stl b/3DV2/urdf/assets/femur__2.stl new file mode 100644 index 0000000..5b1caf5 Binary files /dev/null and b/3DV2/urdf/assets/femur__2.stl differ diff --git a/3DV2/urdf/assets/tibia.part b/3DV2/urdf/assets/tibia.part new file mode 100644 index 0000000..45efaa5 --- /dev/null +++ b/3DV2/urdf/assets/tibia.part @@ -0,0 +1,13 @@ +{ + "configuration": "default", + "documentId": "ed0a3b786fedc3f5a347f5b7", + "documentMicroversion": "f57a94a4fea42ed7556b7dba", + "elementId": "a4763a019883de81f1470c6f", + "fullConfiguration": "default", + "id": "M36cjh7Y+TWjney3H", + "isStandardContent": false, + "name": "tibia <4>", + "partId": "RmEP", + "suppressed": false, + "type": "Part" +} \ No newline at end of file diff --git a/3DV2/urdf/assets/tibia.stl b/3DV2/urdf/assets/tibia.stl new file mode 100644 index 0000000..edb6dd1 Binary files /dev/null and b/3DV2/urdf/assets/tibia.stl differ diff --git a/3DV2/urdf/assets/tibia__2.part b/3DV2/urdf/assets/tibia__2.part new file mode 100644 index 0000000..5a434ed --- /dev/null +++ b/3DV2/urdf/assets/tibia__2.part @@ -0,0 +1,13 @@ +{ + "configuration": "default", + "documentId": "ed0a3b786fedc3f5a347f5b7", + "documentMicroversion": "f57a94a4fea42ed7556b7dba", + "elementId": "a42760ede9763eea7ad60151", + "fullConfiguration": "default", + "id": "MHhLAY6k5vbrH0X3J", + "isStandardContent": false, + "name": "tibia <6>", + "partId": "RFFH", + "suppressed": false, + "type": "Part" +} \ No newline at end of file diff --git a/3DV2/urdf/assets/tibia__2.stl b/3DV2/urdf/assets/tibia__2.stl new file mode 100644 index 0000000..6c5ff8d Binary files /dev/null and b/3DV2/urdf/assets/tibia__2.stl differ diff --git a/3DV2/urdf/blender/body.mtl b/3DV2/urdf/blender/body.mtl new file mode 100644 index 0000000..9231521 --- /dev/null +++ b/3DV2/urdf/blender/body.mtl @@ -0,0 +1,12 @@ +# Blender 5.0.0 MTL File: 'urdf.blend' +# www.blender.org + +newmtl 0.301961_0.301961_0.301961_0.000000_0.006 +Ns 0.000000 +Ka 1.000000 1.000000 1.000000 +Kd 0.302000 0.302000 0.302000 +Ks 0.000000 0.000000 0.000000 +Ke 0.000000 0.000000 0.000000 +Ni 1.500000 +d 1.000000 +illum 1 diff --git a/3DV2/urdf/blender/body.obj 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"https://cad.onshape.com/documents/ed0a3b786fedc3f5a347f5b7/w/3def9d92618f589fa5e565cb/e/08b151d8d146e7283193b0e7", + // Output format + "output_format": "urdf" +} \ No newline at end of file diff --git a/3DV2/urdf/env b/3DV2/urdf/env new file mode 100755 index 0000000..6b9ef8b --- /dev/null +++ b/3DV2/urdf/env @@ -0,0 +1,3 @@ +export ONSHAPE_API=https://cad.onshape.com +export ONSHAPE_ACCESS_KEY=on_Tr2aRYrm9mPKBgfpDCpqT +export ONSHAPE_SECRET_KEY=w3BQKp02hfxlGnJWsLZzGGsdFBuMdfuefLkQsBSAOBAfySgr \ No newline at end of file diff --git a/3DV2/urdf/glb/base.glb b/3DV2/urdf/glb/base.glb new file mode 100644 index 0000000..f91c9a8 Binary files /dev/null and b/3DV2/urdf/glb/base.glb differ diff --git a/3DV2/urdf/glb/coxa.glb b/3DV2/urdf/glb/coxa.glb new file mode 100644 index 0000000..3256541 Binary files /dev/null and b/3DV2/urdf/glb/coxa.glb differ diff --git a/3DV2/urdf/glb/coxa__2.glb b/3DV2/urdf/glb/coxa__2.glb new file mode 100644 index 0000000..78865ff Binary files /dev/null and b/3DV2/urdf/glb/coxa__2.glb differ diff --git a/3DV2/urdf/glb/femur.glb b/3DV2/urdf/glb/femur.glb new file mode 100644 index 0000000..27300fe Binary files /dev/null and b/3DV2/urdf/glb/femur.glb differ diff --git a/3DV2/urdf/glb/femur__2.glb b/3DV2/urdf/glb/femur__2.glb new file mode 100644 index 0000000..e7a0a0c Binary files /dev/null and b/3DV2/urdf/glb/femur__2.glb differ diff --git a/3DV2/urdf/glb/tibia.glb b/3DV2/urdf/glb/tibia.glb new file mode 100644 index 0000000..d6420ff Binary files /dev/null and b/3DV2/urdf/glb/tibia.glb differ diff --git a/3DV2/urdf/glb/tibia__2.glb b/3DV2/urdf/glb/tibia__2.glb new file mode 100644 index 0000000..a2f5928 Binary files /dev/null and b/3DV2/urdf/glb/tibia__2.glb differ diff --git a/3DV2/urdf/obj/body.mtl b/3DV2/urdf/obj/body.mtl new file mode 100644 index 0000000..9231521 --- /dev/null +++ b/3DV2/urdf/obj/body.mtl @@ -0,0 +1,12 @@ +# Blender 5.0.0 MTL File: 'urdf.blend' +# www.blender.org + +newmtl 0.301961_0.301961_0.301961_0.000000_0.006 +Ns 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0.000000 +Ka 1.000000 1.000000 1.000000 +Kd 0.513700 0.737300 0.407800 +Ks 0.000000 0.000000 0.000000 +Ke 0.000000 0.000000 0.000000 +Ni 1.500000 +d 1.000000 +illum 1 diff --git a/3DV2/urdf_backup/assets/bearingholder.part b/3DV2/urdf_backup/assets/bearingholder.part new file mode 100755 index 0000000..a0fde22 --- /dev/null +++ b/3DV2/urdf_backup/assets/bearingholder.part @@ -0,0 +1,13 @@ +{ + "configuration": "default", + "documentId": "ed0a3b786fedc3f5a347f5b7", + "documentMicroversion": "e02f8fa924daafc9089a39bf", + "elementId": "4d9ee55a87f6d7d9fad606e1", + "fullConfiguration": "default", + "id": "M1zS0Pjy1uGe7Kay+", + "isStandardContent": false, + "name": "BearingHolder <4>", + "partId": "RBDf", + "suppressed": false, + "type": "Part" +} \ No newline at end of file diff --git a/3DV2/urdf_backup/assets/bearingholder.stl b/3DV2/urdf_backup/assets/bearingholder.stl new file mode 100755 index 0000000..4bd5617 Binary files /dev/null and b/3DV2/urdf_backup/assets/bearingholder.stl differ diff --git a/3DV2/urdf_backup/assets/bearingholder__2.part b/3DV2/urdf_backup/assets/bearingholder__2.part new file mode 100755 index 0000000..eb4266e --- /dev/null +++ b/3DV2/urdf_backup/assets/bearingholder__2.part @@ -0,0 +1,13 @@ +{ + "configuration": "default", + "documentId": "ed0a3b786fedc3f5a347f5b7", + "documentMicroversion": "e02f8fa924daafc9089a39bf", + "elementId": "3dd49b7ff17a5efa716a1a9c", + "fullConfiguration": "default", + "id": "MsYLJvNKZFtLmR5J2", + "isStandardContent": false, + "name": "BearingHolder <6>", + "partId": "RZDL", + "suppressed": false, + "type": "Part" +} \ No newline at end of file diff --git a/3DV2/urdf_backup/assets/bearingholder__2.stl b/3DV2/urdf_backup/assets/bearingholder__2.stl new file mode 100755 index 0000000..1281e5d Binary files /dev/null and b/3DV2/urdf_backup/assets/bearingholder__2.stl differ diff --git a/3DV2/urdf_backup/assets/bottom.part b/3DV2/urdf_backup/assets/bottom.part new file mode 100755 index 0000000..bc5c137 --- /dev/null +++ b/3DV2/urdf_backup/assets/bottom.part @@ -0,0 +1,13 @@ +{ + "configuration": "default", + "documentId": "ed0a3b786fedc3f5a347f5b7", + "documentMicroversion": "e02f8fa924daafc9089a39bf", + "elementId": "146bbab0692e9f239aec3d70", + "fullConfiguration": "default", + "id": "MtOrKNBIMUYTFVI92", + "isStandardContent": false, + "name": "Bottom <1>", + "partId": "S5BXk", + "suppressed": false, + "type": "Part" +} \ No newline at end of file diff --git a/3DV2/urdf_backup/assets/bottom.stl b/3DV2/urdf_backup/assets/bottom.stl new file mode 100755 index 0000000..be4d894 Binary files /dev/null and b/3DV2/urdf_backup/assets/bottom.stl differ diff --git a/3DV2/urdf_backup/assets/bottomtop.part b/3DV2/urdf_backup/assets/bottomtop.part new file mode 100755 index 0000000..e14a72e --- /dev/null +++ b/3DV2/urdf_backup/assets/bottomtop.part @@ -0,0 +1,13 @@ +{ + "configuration": "default", + "documentId": "ed0a3b786fedc3f5a347f5b7", + "documentMicroversion": "e02f8fa924daafc9089a39bf", + "elementId": "a4763a019883de81f1470c6f", + "fullConfiguration": "default", + "id": "M36cjh7Y+TWjney3H", + "isStandardContent": false, + "name": "BottomTop <4>", + "partId": "RnEP", + "suppressed": false, + "type": "Part" +} \ No newline at end of file diff --git a/3DV2/urdf_backup/assets/bottomtop.stl b/3DV2/urdf_backup/assets/bottomtop.stl new file mode 100755 index 0000000..edb6dd1 Binary files /dev/null and b/3DV2/urdf_backup/assets/bottomtop.stl differ diff --git a/3DV2/urdf_backup/assets/bottomtop__2.part b/3DV2/urdf_backup/assets/bottomtop__2.part new file mode 100755 index 0000000..2035eee --- /dev/null +++ b/3DV2/urdf_backup/assets/bottomtop__2.part @@ -0,0 +1,13 @@ +{ + "configuration": "default", + "documentId": "ed0a3b786fedc3f5a347f5b7", + "documentMicroversion": "e02f8fa924daafc9089a39bf", + "elementId": "a42760ede9763eea7ad60151", + "fullConfiguration": "default", + "id": "MHhLAY6k5vbrH0X3J", + "isStandardContent": false, + "name": "BottomTop <6>", + "partId": "RGFH", + "suppressed": false, + "type": "Part" +} \ No newline at end of file diff --git a/3DV2/urdf_backup/assets/bottomtop__2.stl b/3DV2/urdf_backup/assets/bottomtop__2.stl new file mode 100755 index 0000000..6c5ff8d Binary files /dev/null and b/3DV2/urdf_backup/assets/bottomtop__2.stl differ diff --git a/3DV2/urdf_backup/assets/top.part b/3DV2/urdf_backup/assets/top.part new file mode 100755 index 0000000..abc8a99 --- /dev/null +++ b/3DV2/urdf_backup/assets/top.part @@ -0,0 +1,13 @@ +{ + "configuration": "default", + "documentId": "ed0a3b786fedc3f5a347f5b7", + "documentMicroversion": "e02f8fa924daafc9089a39bf", + "elementId": "2d2e4344d46300191ba32ba6", + "fullConfiguration": "default", + "id": "M2P88JoDrZUkmwu09", + "isStandardContent": false, + "name": "Top <4>", + "partId": "RuDf", + "suppressed": false, + "type": "Part" +} \ No newline at end of file diff --git a/3DV2/urdf_backup/assets/top.stl b/3DV2/urdf_backup/assets/top.stl new file mode 100755 index 0000000..d72df68 Binary files /dev/null and b/3DV2/urdf_backup/assets/top.stl differ diff --git a/3DV2/urdf_backup/assets/top__2.part b/3DV2/urdf_backup/assets/top__2.part new file mode 100755 index 0000000..cd4accc --- /dev/null +++ b/3DV2/urdf_backup/assets/top__2.part @@ -0,0 +1,13 @@ +{ + "configuration": "default", + "documentId": "ed0a3b786fedc3f5a347f5b7", + "documentMicroversion": "e02f8fa924daafc9089a39bf", + "elementId": "754e7fb04dd8060a86413d63", + "fullConfiguration": "default", + "id": "M7yPzAffUhgBrSPSU", + "isStandardContent": false, + "name": "Top <6>", + "partId": "R2DX", + "suppressed": false, + "type": "Part" +} \ No newline at end of file diff --git a/3DV2/urdf_backup/assets/top__2.stl b/3DV2/urdf_backup/assets/top__2.stl new file mode 100755 index 0000000..5b1caf5 Binary files /dev/null and b/3DV2/urdf_backup/assets/top__2.stl differ diff --git a/3DV2/urdf_backup/config.json b/3DV2/urdf_backup/config.json new file mode 100755 index 0000000..dd7a41a --- /dev/null +++ b/3DV2/urdf_backup/config.json @@ -0,0 +1,6 @@ +{ + // Onshape URL of the assembly + "url": "https://cad.onshape.com/documents/ed0a3b786fedc3f5a347f5b7/w/3def9d92618f589fa5e565cb/e/08b151d8d146e7283193b0e7", + // Output format + "output_format": "urdf" +} \ No newline at end of file diff --git a/3DV2/urdf_backup/env b/3DV2/urdf_backup/env new file mode 100755 index 0000000..6b9ef8b --- /dev/null +++ b/3DV2/urdf_backup/env @@ -0,0 +1,3 @@ +export ONSHAPE_API=https://cad.onshape.com +export ONSHAPE_ACCESS_KEY=on_Tr2aRYrm9mPKBgfpDCpqT +export ONSHAPE_SECRET_KEY=w3BQKp02hfxlGnJWsLZzGGsdFBuMdfuefLkQsBSAOBAfySgr \ No newline at end of file diff --git a/3DV2/urdf_backup/robot.urdf b/3DV2/urdf_backup/robot.urdf new file mode 100755 index 0000000..ceacaea --- /dev/null +++ b/3DV2/urdf_backup/robot.urdf @@ -0,0 +1,605 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/3DV3/LEG/LEFT/BLACK/Coxa Left - BearingHolder.stl b/3DV3/LEG/LEFT/BLACK/Coxa Left - BearingHolder.stl new file mode 100644 index 0000000..db53598 Binary files /dev/null and b/3DV3/LEG/LEFT/BLACK/Coxa Left - BearingHolder.stl differ diff --git a/3DV3/LEG/LEFT/BLACK/Coxa Left - HornHolder.stl b/3DV3/LEG/LEFT/BLACK/Coxa Left - HornHolder.stl new file mode 100644 index 0000000..abf1c56 Binary files /dev/null and b/3DV3/LEG/LEFT/BLACK/Coxa Left - HornHolder.stl differ diff --git a/3DV3/LEG/LEFT/BLACK/Coxa Left - Middle.stl b/3DV3/LEG/LEFT/BLACK/Coxa Left - Middle.stl new file mode 100644 index 0000000..2cca2b9 Binary files /dev/null and b/3DV3/LEG/LEFT/BLACK/Coxa Left - Middle.stl differ diff --git a/3DV3/LEG/LEFT/BLACK/Tibia - LegTipHolder - tolerance/Tibia Left - LegTipHolder 0.02.stl b/3DV3/LEG/LEFT/BLACK/Tibia - LegTipHolder - tolerance/Tibia Left - LegTipHolder 0.02.stl new file mode 100644 index 0000000..6103cd2 Binary files /dev/null and b/3DV3/LEG/LEFT/BLACK/Tibia - LegTipHolder - tolerance/Tibia Left - LegTipHolder 0.02.stl differ diff --git a/3DV3/LEG/LEFT/BLACK/Tibia - LegTipHolder - tolerance/Tibia Left - LegTipHolder 0.04.stl b/3DV3/LEG/LEFT/BLACK/Tibia - LegTipHolder - tolerance/Tibia Left - LegTipHolder 0.04.stl new file mode 100644 index 0000000..9fc1c72 Binary files /dev/null and b/3DV3/LEG/LEFT/BLACK/Tibia - LegTipHolder - tolerance/Tibia Left - LegTipHolder 0.04.stl differ diff --git a/3DV3/LEG/LEFT/BLACK/Tibia - LegTipHolder - tolerance/Tibia Left - LegTipHolder 0.06.stl b/3DV3/LEG/LEFT/BLACK/Tibia - LegTipHolder - tolerance/Tibia Left - LegTipHolder 0.06.stl new file mode 100644 index 0000000..caf8077 Binary files /dev/null and b/3DV3/LEG/LEFT/BLACK/Tibia - LegTipHolder - tolerance/Tibia Left - LegTipHolder 0.06.stl differ diff --git a/3DV3/LEG/LEFT/BLACK/Tibia - LegTipHolder - tolerance/Tibia Left - LegTipHolder 0.1.stl b/3DV3/LEG/LEFT/BLACK/Tibia - LegTipHolder - tolerance/Tibia Left - LegTipHolder 0.1.stl new file mode 100644 index 0000000..cf51024 Binary files /dev/null and b/3DV3/LEG/LEFT/BLACK/Tibia - LegTipHolder - tolerance/Tibia Left - LegTipHolder 0.1.stl differ diff --git a/3DV3/LEG/LEFT/BLACK/Tibia - LegTipHolder - tolerance/Tibia Left - LegTipHolder 0.2.stl b/3DV3/LEG/LEFT/BLACK/Tibia - LegTipHolder - tolerance/Tibia Left - LegTipHolder 0.2.stl new file mode 100644 index 0000000..659608f Binary files /dev/null and b/3DV3/LEG/LEFT/BLACK/Tibia - LegTipHolder - tolerance/Tibia Left - LegTipHolder 0.2.stl differ diff --git a/3DV3/LEG/LEFT/BLACK/Tibia - LegTipHolder - tolerance/Tibia Left - LegTipHolder 0.3.stl b/3DV3/LEG/LEFT/BLACK/Tibia - LegTipHolder - tolerance/Tibia Left - LegTipHolder 0.3.stl new file mode 100644 index 0000000..9b0f22b Binary files /dev/null and b/3DV3/LEG/LEFT/BLACK/Tibia - LegTipHolder - tolerance/Tibia Left - LegTipHolder 0.3.stl differ diff --git a/3DV3/LEG/LEFT/BLACK/Tibia - LegTipHolder - tolerance/Tibia Left - LegTipHolder.stl b/3DV3/LEG/LEFT/BLACK/Tibia - LegTipHolder - tolerance/Tibia Left - LegTipHolder.stl new file mode 100644 index 0000000..6a5e329 Binary files /dev/null and b/3DV3/LEG/LEFT/BLACK/Tibia - LegTipHolder - tolerance/Tibia Left - LegTipHolder.stl differ diff --git a/3DV3/LEG/LEFT/BLACK/Tibia Left - EndStopHolder.stl b/3DV3/LEG/LEFT/BLACK/Tibia Left - EndStopHolder.stl new file mode 100644 index 0000000..ef242a5 Binary files /dev/null and b/3DV3/LEG/LEFT/BLACK/Tibia Left - EndStopHolder.stl differ diff --git a/3DV3/LEG/LEFT/BLACK/Tibia Left - LegTipHolder 0.08.stl b/3DV3/LEG/LEFT/BLACK/Tibia Left - LegTipHolder 0.08.stl new file mode 100644 index 0000000..b5a4147 Binary files /dev/null and b/3DV3/LEG/LEFT/BLACK/Tibia Left - LegTipHolder 0.08.stl differ diff --git a/3DV3/LEG/LEFT/BLACK/Tibia Left - MiddleMiddle.stl b/3DV3/LEG/LEFT/BLACK/Tibia Left - MiddleMiddle.stl new file mode 100644 index 0000000..c56ac3f Binary files /dev/null and b/3DV3/LEG/LEFT/BLACK/Tibia Left - MiddleMiddle.stl differ diff --git a/3DV3/LEG/LEFT/BLACK/Tibia Left - MiddleTop.stl b/3DV3/LEG/LEFT/BLACK/Tibia Left - MiddleTop.stl new file mode 100644 index 0000000..813c737 Binary files /dev/null and b/3DV3/LEG/LEFT/BLACK/Tibia Left - MiddleTop.stl differ diff --git a/3DV3/LEG/LEFT/BLACK/Tibia.3mf b/3DV3/LEG/LEFT/BLACK/Tibia.3mf new file mode 100644 index 0000000..9d7a6e1 Binary files /dev/null and b/3DV3/LEG/LEFT/BLACK/Tibia.3mf differ diff --git a/3DV3/LEG/LEFT/GREEN/Coxa Left - Bottom.stl b/3DV3/LEG/LEFT/GREEN/Coxa Left - Bottom.stl new file mode 100644 index 0000000..2e9454d Binary files /dev/null and b/3DV3/LEG/LEFT/GREEN/Coxa Left - Bottom.stl differ diff --git a/3DV3/LEG/LEFT/GREEN/Coxa Left - Top.stl b/3DV3/LEG/LEFT/GREEN/Coxa Left - Top.stl new file mode 100644 index 0000000..3fc94fa Binary files /dev/null and b/3DV3/LEG/LEFT/GREEN/Coxa Left - Top.stl differ diff --git a/3DV3/LEG/LEFT/GREEN/Tibia Left - Bottom.stl b/3DV3/LEG/LEFT/GREEN/Tibia Left - Bottom.stl new file mode 100644 index 0000000..b14cb18 Binary files /dev/null and b/3DV3/LEG/LEFT/GREEN/Tibia Left - Bottom.stl differ diff --git a/3DV3/LEG/LEFT/GREEN/Tibia Left - Top.stl b/3DV3/LEG/LEFT/GREEN/Tibia Left - Top.stl new file mode 100644 index 0000000..062f164 Binary files /dev/null and b/3DV3/LEG/LEFT/GREEN/Tibia Left - Top.stl differ diff --git a/3DV3/LEG/LEFT/GREEN/Tibia.3mf b/3DV3/LEG/LEFT/GREEN/Tibia.3mf new file mode 100644 index 0000000..9581418 Binary files /dev/null and b/3DV3/LEG/LEFT/GREEN/Tibia.3mf differ diff --git a/pins.drawio b/pins.drawio new file mode 100644 index 0000000..4793c0c --- /dev/null +++ b/pins.drawio @@ -0,0 +1,2092 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + 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+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/servo_controller/.gitignore b/servo_controller/.gitignore new file mode 100644 index 0000000..1a6d87a --- /dev/null +++ b/servo_controller/.gitignore @@ -0,0 +1,4 @@ +build +tmp +boards +.vscode \ No newline at end of file diff --git a/servo_controller/CMakeLists.txt b/servo_controller/CMakeLists.txt new file mode 100644 index 0000000..8bcca10 --- /dev/null +++ b/servo_controller/CMakeLists.txt @@ -0,0 +1,10 @@ +# SPDX-License-Identifier: Apache-2.0 + +cmake_minimum_required(VERSION 3.20.0) +set(BOARD_ROOT ${CMAKE_CURRENT_SOURCE_DIR}) + +find_package(Zephyr REQUIRED HINTS $ENV{ZEPHYR_BASE}) +project(servo_controller) + +FILE(GLOB app_sources src/*.c) +target_sources(app PRIVATE ${app_sources}) diff --git a/servo_controller/Kconfig b/servo_controller/Kconfig new file mode 100644 index 0000000..b4cd3a9 --- /dev/null +++ b/servo_controller/Kconfig @@ -0,0 +1,60 @@ +# Copyright (c) 2023 Nordic Semiconductor ASA +# SPDX-License-Identifier: Apache-2.0 + +source "Kconfig.zephyr" + +menu "USB options" + depends on USB_DEVICE_STACK_NEXT + +config USBD_MANUFACTURER + string "USB device manufacturer string" + default "Zephyr Project" + help + USB device manufacturer string. + +config USBD_PRODUCT + string "USB device product string" + default "USBD" + help + USB device product stringa. + +config USBD_VID + hex "USB device Vendor ID" + default 0x2fe3 + help + USB device Vendor ID. The default id (0x2fe3) is associated to + Zephyr Project, you must use your own VID and applications + outside of Zephyr Project. + +config USBD_PID + hex "USB device Product ID" + default 0x0001 + help + USB device Product ID. You must use your own PID + and applications outside of Zephyr Project. + +config USBD_SELF_POWERED + bool "USB device Self-powered attribute" + default y + help + Set the Self-powered attribute in the configuration. + +config USBD_REMOTE_WAKEUP + bool "USB device Remote Wakeup attribute" + help + Set the Remote Wakeup attribute in the configuration. + +config USBD_MAX_POWER + int "USB device bMaxPower value" + default 125 + range 0 250 + help + bMaxPower value in the configuration in 2 mA units. + +config USBD_20_EXTENSION_DESC + bool "Use default USB 2.0 Extension Descriptor" + depends on USBD_BOS_SUPPORT + help + Set bcdUSB value to 0201 and use default USB 2.0 Extension Descriptor. + +endmenu \ No newline at end of file diff --git a/servo_controller/README.md b/servo_controller/README.md new file mode 100644 index 0000000..3891cc0 --- /dev/null +++ b/servo_controller/README.md @@ -0,0 +1,56 @@ +# Zephyr USB Command Handler + +This repository contains the implementation of a USB command handler for the Zephyr RTOS. The system allows devices to communicate via USB using custom command messages. + +### Components + +1. **command_handler.c/h**: Handles incoming commands, processes them, and performs actions based on the command type. +2. **command_message.c/h**: Manages the creation, validation, and logging of command messages, including CRC calculation. +3. **usb.c/h**: Manages USB initialization, data reception via UART, and sending responses. Includes a USB thread. +4. **usb_conf.c/h**: Configures the USB device. + +### ACK + +Every command returns either an ACK or NACK. + +### Command Structure + +```c +struct command_message_t { + uint8_t prefix; // 0x69 + uint8_t length; + uint8_t id; + uint8_t command; + uint8_t crc; + uint8_t data[160]; +} __attribute__((packed)); +``` + +### CRC Calculation Function + +```c +uint8_t calculate_crc(struct command_message_t *msg) { + uint32_t sum = 0; + uint8_t crc = 0; + + uint8_t *byte_ptr = (uint8_t *)msg; + + for (int i = 0; i < (sizeof(struct command_message_t) - sizeof(msg->data) + msg->length) - 1; i++) { + sum += byte_ptr[i]; + } + + crc = 0x100 - (sum & 0xff); + + return crc; +} +``` + +### Python test script (AI generated) + +**Command Usage:** + +```bash +python3 scripts/led_blink.py +``` + +This script sends LED toggle commands to the device connected via USB. \ No newline at end of file diff --git a/servo_controller/app.overlay b/servo_controller/app.overlay new file mode 100644 index 0000000..e69de29 diff --git a/servo_controller/prj.conf b/servo_controller/prj.conf new file mode 100644 index 0000000..b438aa3 --- /dev/null +++ b/servo_controller/prj.conf @@ -0,0 +1,30 @@ +CONFIG_GPIO=y +CONFIG_PWM=y + +# Serial +CONFIG_SERIAL=y +CONFIG_CONSOLE=y +CONFIG_UART_CONSOLE=y +CONFIG_STDOUT_CONSOLE=y +CONFIG_UART_LINE_CTRL=y + +# USB +CONFIG_USB_DEVICE_STACK_NEXT=y +CONFIG_CDC_ACM_SERIAL_INITIALIZE_AT_BOOT=n +CONFIG_USBD_VID=0xffff +CONFIG_USBD_PID=0x0420 +CONFIG_USBD_MANUFACTURER="Some Dumbass" +CONFIG_USBD_PRODUCT="The Thing" +CONFIG_USBD_SELF_POWERED=y +CONFIG_USBD_MAX_POWER=125 + +# LOG +CONFIG_LOG=n +CONFIG_USBD_CDC_ACM_LOG_LEVEL_OFF=y # This removes a pointless warning +CONFIG_LOG_DEFAULT_LEVEL=3 +CONFIG_LOG_MODE_IMMEDIATE=y + +# DEBUG +CONFIG_DEBUG_THREAD_INFO=y +# CONFIG_DEBUG=y +# CONFIG_DEBUG_OPTIMIZATIONS=y \ No newline at end of file diff --git a/servo_controller/scripts/led_blink.py b/servo_controller/scripts/led_blink.py new file mode 100644 index 0000000..fd75b1f --- /dev/null +++ b/servo_controller/scripts/led_blink.py @@ -0,0 +1,123 @@ +#!/usr/bin/env python3 + +import serial +import struct +import threading +import time + +PORT = "/dev/ttyACM0" +BAUDRATE = 115200 + +COMMAND_PREFIX = 0x69 + +COMMAND_ACK = 0 +COMMAND_NACK = 1 +LED = 2 + +DEVICE_ID = 0 + + +def calculate_crc(msg: bytes) -> int: + s = sum(msg) & 0xFF + return (-s) & 0xFF + + +def make_packet(command: int, data: bytes = b"") -> bytes: + length = len(data) + + pkt = bytearray() + pkt.append(COMMAND_PREFIX) + pkt.append(length) + pkt.append(DEVICE_ID) + pkt.append(command) + pkt.append(0) # CRC placeholder + pkt.extend(data) + + pkt[4] = calculate_crc(pkt[:4] + pkt[5:]) + + return bytes(pkt) + + +def verify_crc(packet: bytes) -> bool: + crc = packet[4] + calc = calculate_crc(packet[:4] + packet[5:]) + return crc == calc + + +def packet_size(buf: bytes): + if len(buf) < 2: + return None + return 5 + buf[1] + + +def reader(ser): + rx = bytearray() + + while True: + data = ser.read(64) + if not data: + continue + + rx.extend(data) + + while rx: + # Binary packet? + if rx[0] == COMMAND_PREFIX: + size = packet_size(rx) + if size is None or len(rx) < size: + break + + pkt = bytes(rx[:size]) + del rx[:size] + + if not verify_crc(pkt): + print("RX: Bad CRC:", pkt.hex()) + continue + + length = pkt[1] + dev_id = pkt[2] + cmd = pkt[3] + + if cmd == COMMAND_ACK: + print(f"<-- ACK (device={dev_id})") + + elif cmd == COMMAND_NACK: + print(f"<-- NACK (device={dev_id})") + + elif cmd == COMMAND_ERROR: + print(f"<-- ERROR (device={dev_id})") + + else: + print(f"<-- Command {cmd} len={length}") + + else: + # ASCII log output + idx = rx.find(b'\n') + if idx == -1: + break + + line = rx[:idx + 1] + del rx[:idx + 1] + + try: + print("[LOG]", line.decode().rstrip()) + except UnicodeDecodeError: + print("[RAW]", line.hex()) + + +def main(): + ser = serial.Serial(PORT, BAUDRATE, timeout=0.05) + + threading.Thread(target=reader, args=(ser,), daemon=True).start() + + for i in range(10): + print(f"--> Sending LED command {i + 1}") + ser.write(make_packet(LED)) + time.sleep(0.5) + + print("Done.") + time.sleep(2) + + +if __name__ == "__main__": + main() diff --git a/servo_controller/scripts/speed_test.py b/servo_controller/scripts/speed_test.py new file mode 100644 index 0000000..ec448ad --- /dev/null +++ b/servo_controller/scripts/speed_test.py @@ -0,0 +1,263 @@ +#!/usr/bin/env python3 + +import serial +import threading +import time + +# ========================== +# Configuration +# ========================== + +PORT = "/dev/ttyACM0" +BAUDRATE = 115200 + +COMMAND_PREFIX = 0x69 + +COMMAND_ACK = 0 +COMMAND_NACK = 1 +LED = 2 + +DEVICE_ID = 0 + +# Test parameters +TEST_DURATION = 2.0 # seconds per stage +LOSS_THRESHOLD = 1.0 # percent + +# Rates to test (packets/second) +RATES = [ + 100, + 200, + 500, + 1000, + 2000, + 4000, + 8000, + 16000, +] + +# ========================== +# Statistics +# ========================== + +lock = threading.Lock() + +tx_packets = 0 +tx_bytes = 0 + +rx_packets = 0 +rx_ack = 0 +rx_nack = 0 +rx_error = 0 + + +# ========================== +# Packet helpers +# ========================== + +def calculate_crc(msg: bytes) -> int: + s = sum(msg) & 0xFF + return (-s) & 0xFF + + +def make_packet(command: int, data: bytes = b"") -> bytes: + pkt = bytearray() + + pkt.append(COMMAND_PREFIX) + pkt.append(len(data)) + pkt.append(DEVICE_ID) + pkt.append(command) + pkt.append(0) + + pkt.extend(data) + + pkt[4] = calculate_crc(pkt[:4] + pkt[5:]) + return bytes(pkt) + + +def verify_crc(packet: bytes) -> bool: + crc = packet[4] + calc = calculate_crc(packet[:4] + packet[5:]) + return crc == calc + + +def packet_size(buf: bytes): + if len(buf) < 2: + return None + return 5 + buf[1] + + +# ========================== +# Receiver +# ========================== + +def reader(ser): + global rx_packets, rx_ack, rx_nack, rx_error + + rx = bytearray() + + while True: + data = ser.read(4096) + if not data: + continue + + rx.extend(data) + + while True: + if not rx: + break + + # ASCII log output + if rx[0] != COMMAND_PREFIX: + nl = rx.find(b"\n") + if nl == -1: + rx.clear() + break + + line = rx[: nl + 1] + del rx[: nl + 1] + + try: + print("[LOG]", line.decode().rstrip()) + except UnicodeDecodeError: + pass + + continue + + size = packet_size(rx) + + if size is None or len(rx) < size: + break + + pkt = bytes(rx[:size]) + del rx[:size] + + if not verify_crc(pkt): + continue + + cmd = pkt[3] + + with lock: + rx_packets += 1 + + if cmd == COMMAND_ACK: + rx_ack += 1 + elif cmd == COMMAND_NACK: + rx_nack += 1 + elif cmd == COMMAND_ERROR: + rx_error += 1 + + +# ========================== +# Benchmark +# ========================== + +def run_stage(ser, packet, target_pps): + global tx_packets, tx_bytes + global rx_packets, rx_ack, rx_nack, rx_error + + with lock: + tx_packets = 0 + tx_bytes = 0 + rx_packets = 0 + rx_ack = 0 + rx_nack = 0 + rx_error = 0 + + interval = 1.0 / target_pps + + start = time.perf_counter() + end = start + TEST_DURATION + next_tx = start + + while True: + now = time.perf_counter() + + if now >= end: + break + + if now >= next_tx: + ser.write(packet) + + with lock: + tx_packets += 1 + tx_bytes += len(packet) + + next_tx += interval + else: + sleep = next_tx - now + if sleep > 0: + time.sleep(min(sleep, 0.0005)) + + # Allow final ACKs to arrive + time.sleep(0.25) + + elapsed = time.perf_counter() - start + + with lock: + tx = tx_packets + ack = rx_ack + nack = rx_nack + err = rx_error + bytes_sent = tx_bytes + + loss = 0.0 + if tx: + loss = (tx - ack) / tx * 100.0 + + print() + print("=" * 60) + print(f"Target Rate : {target_pps:>7} pkt/s") + print(f"Elapsed : {elapsed:.3f} s") + print(f"Sent : {tx}") + print(f"ACK : {ack}") + print(f"NACK : {nack}") + print(f"ERROR : {err}") + print(f"Loss : {loss:.2f}%") + print(f"Actual TX : {tx / elapsed:.0f} pkt/s") + print(f"Throughput : {bytes_sent / elapsed / 1024:.2f} KiB/s") + + return loss + + +# ========================== +# Main +# ========================== + +def main(): + packet = make_packet(LED) + + print(f"Opening {PORT} @ {BAUDRATE} baud...") + ser = serial.Serial(PORT, BAUDRATE, timeout=0.01) + + threading.Thread(target=reader, args=(ser,), daemon=True).start() + + print("\nStarting communication benchmark...\n") + + previous_rate = None + + for rate in RATES: + loss = run_stage(ser, packet, rate) + + if loss > LOSS_THRESHOLD: + print() + print( + f"Link became unreliable (> {LOSS_THRESHOLD:.1f}% loss)." + ) + + if previous_rate is not None: + print(f"Maximum reliable rate ≈ {previous_rate} pkt/s") + + break + + previous_rate = rate + + else: + print() + print("Completed all test stages.") + print(f"Reliable up to at least {RATES[-1]} pkt/s.") + + ser.close() + + +if __name__ == "__main__": + main() \ No newline at end of file diff --git a/servo_controller/scripts/speed_test2.py b/servo_controller/scripts/speed_test2.py new file mode 100644 index 0000000..dda2ba2 --- /dev/null +++ b/servo_controller/scripts/speed_test2.py @@ -0,0 +1,224 @@ +#!/usr/bin/env python3 + +import serial +import threading +import time + +# ========================================================== +# Configuration +# ========================================================== + +PORT = "/dev/ttyACM0" +BAUDRATE = 115200 + +COMMAND_PREFIX = 0x69 + +COMMAND_ACK = 0 +COMMAND_NACK = 1 +LED = 2 + +DEVICE_ID = 0 + +TEST_DURATION = 5.0 +ACK_TIMEOUT = 1.0 + +# ========================================================== +# Packet helpers +# ========================================================== + +def calculate_crc(msg: bytes) -> int: + return (-sum(msg)) & 0xFF + + +def make_packet(command: int, data: bytes = b"") -> bytes: + pkt = bytearray() + + pkt.append(COMMAND_PREFIX) + pkt.append(len(data)) + pkt.append(DEVICE_ID) + pkt.append(command) + pkt.append(0) + + pkt.extend(data) + + pkt[4] = calculate_crc(pkt[:4] + pkt[5:]) + return bytes(pkt) + + +def verify_crc(packet: bytes) -> bool: + return packet[4] == calculate_crc(packet[:4] + packet[5:]) + + +# ========================================================== +# ACK synchronization +# ========================================================== + +ack_event = threading.Event() + +ack_count = 0 +nack_count = 0 +error_count = 0 +timeout_count = 0 + +running = True + + +# ========================================================== +# Receiver +# ========================================================== + +def reader(ser): + global ack_count + global nack_count + global error_count + + rx = bytearray() + + while running: + + data = ser.read(4096) + + if not data: + continue + + rx.extend(data) + + while True: + + if len(rx) < 5: + break + + if rx[0] != COMMAND_PREFIX: + + nl = rx.find(b"\n") + + if nl == -1: + rx.clear() + break + + try: + print("[LOG]", rx[:nl].decode().rstrip()) + except UnicodeDecodeError: + pass + + del rx[: nl + 1] + continue + + length = rx[1] + size = 5 + length + + if len(rx) < size: + break + + pkt = bytes(rx[:size]) + del rx[:size] + + if not verify_crc(pkt): + continue + + cmd = pkt[3] + + if cmd == COMMAND_ACK: + ack_count += 1 + ack_event.set() + + elif cmd == COMMAND_NACK: + nack_count += 1 + ack_event.set() + + elif cmd == COMMAND_ERROR: + error_count += 1 + ack_event.set() + + +# ========================================================== +# Benchmark +# ========================================================== + +def benchmark(ser): + + global timeout_count + + packet = make_packet(LED) + + sent = 0 + + rtt_sum = 0.0 + rtt_min = float("inf") + rtt_max = 0.0 + + start = time.perf_counter() + end = start + TEST_DURATION + + while time.perf_counter() < end: + + ack_event.clear() + + t0 = time.perf_counter() + + ser.write(packet) + + if not ack_event.wait(ACK_TIMEOUT): + timeout_count += 1 + continue + + t1 = time.perf_counter() + + rtt = t1 - t0 + + sent += 1 + rtt_sum += rtt + rtt_min = min(rtt_min, rtt) + rtt_max = max(rtt_max, rtt) + + elapsed = time.perf_counter() - start + + print() + print("=" * 60) + print(f"Elapsed : {elapsed:.3f} s") + print(f"Sent : {sent}") + print(f"ACK : {ack_count}") + print(f"NACK : {nack_count}") + print(f"ERROR : {error_count}") + print(f"Timeouts : {timeout_count}") + print(f"Packet Rate : {sent / elapsed:.1f} pkt/s") + + if sent: + print(f"Mean RTT : {1000*rtt_sum/sent:.3f} ms") + print(f"Min RTT : {1000*rtt_min:.3f} ms") + print(f"Max RTT : {1000*rtt_max:.3f} ms") + + +# ========================================================== +# Main +# ========================================================== + +def main(): + + global running + + print(f"Opening {PORT}") + + ser = serial.Serial( + PORT, + BAUDRATE, + timeout=0.01, + ) + + threading.Thread( + target=reader, + args=(ser,), + daemon=True, + ).start() + + print("Running benchmark...") + + benchmark(ser) + + running = False + + ser.close() + + +if __name__ == "__main__": + main() \ No newline at end of file diff --git a/servo_controller/scripts/speed_test3.py b/servo_controller/scripts/speed_test3.py new file mode 100644 index 0000000..6f33c99 --- /dev/null +++ b/servo_controller/scripts/speed_test3.py @@ -0,0 +1,384 @@ +#!/usr/bin/env python3 +""" +max_command_speed_test.py + +Finds the maximum stable command rate for the UART command protocol described +by `struct command_message_t`, using the LED command (sent with length=0, +i.e. no data bytes -- only the 5-byte header) as the test payload. + +Wire format (matches the firmware's ring-buffer parser): + + [prefix:1][length:1][id:1][command:1][crc:1][data:length] + +Note the firmware only ever reads `length` bytes of data off the wire (see +`usb_thread`), NOT the full 160-byte `data[]` array from the struct -- the +160 bytes only exist in RAM. So we must only transmit `length` bytes. + +CRC: sum of prefix+length+id+command+0(crc placeholder)+data[0..length-1], +mod 256, then crc = (0x100 - sum) & 0xff. This matches +`command_calculate_crc()`, which runs while msg->crc is still 0 (it's set +by the caller only *after* this function returns). + +Two test modes: + + roundtrip - send one command, wait for ACK/NACK, repeat. Measures the + sustainable rate when the host waits for each reply + (safest / simplest way to drive the device). + + flood - send a whole burst of commands back-to-back at a fixed + inter-command delay, then collect all the ACK/NACK replies + afterwards. This stresses the UART IRQ handler + ring buffer + directly and finds the max raw throughput the firmware can + absorb without dropping/desyncing bytes. + +The script sweeps delays (roundtrip) or a binary search on delay (flood) to +find the smallest stable delay (i.e. highest command rate) that still gets +a correct ACK for every command sent. + +Requires: pip install pyserial +""" + +import argparse +import struct +import sys +import time + +import serial + +# ---- Protocol constants (from firmware) ----------------------------------- +COMMAND_PREFIX = 0x69 +COMMAND_ID = 0x00 +COMMAND_DATA_SIZE = 160 + +COMMAND_ACK = 0 +COMMAND_NACK = 1 +LED = 2 + +HEADER_FMT = " int: + """Replicates command_calculate_crc(): sum over + [prefix, length, id, command, crc(=0 at calc time), data[:length]]""" + s = COMMAND_PREFIX + length + COMMAND_ID + command + 0 + s += sum(data[:length]) + return (0x100 - (s & 0xFF)) & 0xFF + + +def build_packet(command: int, data: bytes = b"") -> bytes: + length = len(data) + if length > COMMAND_DATA_SIZE - 1: + raise ValueError(f"data too long: {length} > {COMMAND_DATA_SIZE - 1}") + crc = calc_crc(length, command, data) + return struct.pack(HEADER_FMT, COMMAND_PREFIX, length, COMMAND_ID, command, crc) + data + + +def build_led_packet() -> bytes: + """LED command with no payload (length=0). Only the 5-byte header + [prefix][length=0][id][command][crc] is sent -- no data bytes at all.""" + return build_packet(LED, b"") + + +class ResponseError(Exception): + pass + + +def read_response(ser: serial.Serial, timeout: float): + """Read one full response packet (ACK/NACK) from the wire, honoring + `timeout` seconds total. Returns dict with command/length/data/crc_ok, + or None on timeout.""" + ser.timeout = timeout + deadline = time.monotonic() + timeout + + # Scan for prefix byte + while True: + remaining = deadline - time.monotonic() + if remaining <= 0: + return None + ser.timeout = remaining + b = ser.read(1) + if not b: + return None + if b[0] == COMMAND_PREFIX: + break + + remaining = deadline - time.monotonic() + if remaining <= 0: + return None + ser.timeout = remaining + hdr = ser.read(4) # length, id, command, crc + if len(hdr) < 4: + return None + length, resp_id, command, crc = hdr + + data = b"" + if length: + remaining = deadline - time.monotonic() + if remaining <= 0: + return None + ser.timeout = remaining + data = ser.read(length) + if len(data) < length: + return None + + expected_crc = calc_crc(length, command, data) + return { + "id": resp_id, + "command": command, + "length": length, + "data": data, + "crc": crc, + "crc_ok": crc == expected_crc, + } + + +def send_led(ser: serial.Serial): + ser.write(build_led_packet()) + + +# ---- Test modes ------------------------------------------------------------- + +def test_roundtrip(ser, delay, n, timeout): + """Send n commands, waiting for a valid ACK after each before sending + the next (with an *additional* `delay` seconds between send and next + send, on top of whatever the round-trip itself costs). Returns + (success_count, n, elapsed_seconds), where elapsed_seconds is the + *measured* wall-clock time for the whole trial -- not derived from + `delay`. This is what "rate" should be computed from, since at + delay=0 the round-trip latency (write + firmware processing + read) + is the real limiter, not some divide-by-zero fiction.""" + ser.reset_input_buffer() + ok = 0 + t_start = time.monotonic() + for i in range(n): + send_led(ser) + resp = read_response(ser, timeout) + if resp and resp["crc_ok"] and resp["command"] == COMMAND_ACK: + ok += 1 + if delay: + time.sleep(delay) + elapsed = time.monotonic() - t_start + return ok, n, elapsed + + +def test_flood(ser, delay, n, timeout): + """Send n commands back-to-back with only `delay` seconds between + sends (no waiting for replies in between), then collect n replies + afterward. Returns (success_count, n, elapsed_seconds). + + elapsed_seconds covers the whole trial (send phase + collecting all + replies) as actually measured -- at delay=0 this still takes real, + nonzero time (write() syscalls, USB bulk transfer framing, the + firmware's IRQ handler + ring buffer + usb_thread all take time), so + this is the number that should be used to compute cmd/s, never + `1/delay`.""" + ser.reset_input_buffer() + t_start = time.monotonic() + for i in range(n): + send_led(ser) + if delay: + time.sleep(delay) + send_duration = time.monotonic() - t_start + + ok = 0 + # give it time proportional to what we sent, plus per-reply timeout + end_deadline = time.monotonic() + timeout + send_duration + for i in range(n): + remaining = end_deadline - time.monotonic() + if remaining <= 0: + break + resp = read_response(ser, remaining) + if resp and resp["crc_ok"] and resp["command"] == COMMAND_ACK: + ok += 1 + elif resp is None: + break + elapsed = time.monotonic() - t_start + return ok, n, elapsed + + +def achieved_rate(ok, elapsed): + """cmd/s actually measured, based on successful commands over real + wall-clock time. Never derived from the requested delay.""" + if elapsed <= 0: + return 0.0 + return ok / elapsed + + +# ---- Sweep / search logic ---------------------------------------------------- + +def find_max_rate(ser, mode, n, timeout, success_threshold, start_delay, min_delay, verbose): + """Binary search the smallest stable inter-command delay that still + achieves >= success_threshold success ratio. Returns + (best_delay, measured_rate_at_best_delay). + + Rate is always the *measured* cmd/s from the trial, never 1/delay -- + at delay=0 the requested delay tells you nothing about the actual + ceiling, which is set by write()/USB overhead and firmware processing + time, not by our sleep() calls.""" + test_fn = test_roundtrip if mode == "roundtrip" else test_flood + last_rate = 0.0 + + def trial(delay): + nonlocal last_rate + ok, total, elapsed = test_fn(ser, delay, n, timeout) + ratio = ok / total if total else 0.0 + rate = achieved_rate(ok, elapsed) + last_rate = rate + if verbose: + print(f" delay={delay*1000:8.3f} ms measured_rate={rate:9.1f} cmd/s " + f"success={ok}/{total} ({ratio*100:5.1f}%) elapsed={elapsed*1000:.1f} ms") + return ratio >= success_threshold + + lo, hi = min_delay, start_delay + if not trial(hi): + print(f"WARNING: even the slow starting delay ({hi*1000:.3f} ms) failed " + f"the success threshold. Try increasing --start-delay.") + return hi, last_rate + hi_rate = last_rate + + if trial(lo): + # Even the fastest requested delay was stable. That does NOT mean + # the rate is infinite -- it means we've hit the real ceiling + # (write()/USB/firmware), and last_rate is the measured number + # for it. Report that instead of pretending it's unbounded. + print(f"NOTE: even the fastest delay ({lo*1000:.3f} ms) passed, at a " + f"measured {last_rate:.1f} cmd/s. That's likely the true ceiling " + f"(write()/USB overhead + firmware processing), not an artifact " + f"of --min-delay. Run --soak to confirm it holds over a longer run.") + return lo, last_rate + + # Binary search between lo (fails) and hi (passes) for smallest passing delay + best_rate = hi_rate + for _ in range(20): + mid = (lo + hi) / 2.0 + if trial(mid): + hi = mid + best_rate = last_rate + else: + lo = mid + if hi - lo < 1e-5: # 0.01 ms resolution + break + + return hi, best_rate + + +def soak_test(ser, mode, delay, duration_s, timeout): + """Run continuously at a fixed delay for `duration_s` seconds and + report the measured sustained cmd/s and success ratio. Use this to + confirm a delay=0 (or any) result actually holds up over time, since + a short burst can pass while a longer run reveals ring-buffer + overflow or drift.""" + test_fn = test_roundtrip if mode == "roundtrip" else test_flood + t_start = time.monotonic() + total_ok = 0 + total_n = 0 + # run in chunks so we can report progress and stop at duration_s + chunk = 200 + while time.monotonic() - t_start < duration_s: + ok, n, elapsed = test_fn(ser, delay, chunk, timeout) + total_ok += ok + total_n += n + rate = achieved_rate(total_ok, time.monotonic() - t_start) + print(f" soak: {total_ok}/{total_n} ok so far, " + f"sustained rate={rate:.1f} cmd/s, " + f"t={time.monotonic() - t_start:5.1f}s / {duration_s}s") + elapsed = time.monotonic() - t_start + ratio = total_ok / total_n if total_n else 0.0 + rate = achieved_rate(total_ok, elapsed) + return total_ok, total_n, ratio, rate + + +def sweep(ser, mode, n, timeout, delays, verbose=True): + test_fn = test_roundtrip if mode == "roundtrip" else test_flood + results = [] + print(f"\n{'delay (ms)':>12} {'measured cmd/s':>16} {'success':>10} {'ratio':>8}") + print("-" * 52) + for delay in delays: + ok, total, elapsed = test_fn(ser, delay, n, timeout) + ratio = ok / total if total else 0.0 + rate = achieved_rate(ok, elapsed) # measured, never 1/delay + print(f"{delay*1000:12.3f} {rate:16.1f} {ok:>4}/{total:<5} {ratio*100:7.1f}%") + results.append((delay, ok, total, ratio, rate)) + return results + + +def main(): + ap = argparse.ArgumentParser(description=__doc__, + formatter_class=argparse.RawDescriptionHelpFormatter) + ap.add_argument("--port", default="/dev/ttyACM0") + ap.add_argument("--baud", type=int, default=115200, + help="Baud rate (often ignored by USB CDC-ACM, but set for compatibility)") + ap.add_argument("--mode", choices=["roundtrip", "flood"], default="roundtrip", + help="roundtrip: wait for ACK after each send. " + "flood: send a burst, then collect replies (tests raw UART/ring-buffer throughput)") + ap.add_argument("-n", type=int, default=200, help="Commands per trial") + ap.add_argument("--timeout", type=float, default=0.5, help="Per-response read timeout (s)") + ap.add_argument("--success-threshold", type=float, default=1.0, + help="Required success ratio to call a rate 'stable' (0-1)") + ap.add_argument("--start-delay", type=float, default=0.02, + help="Slow starting inter-command delay in seconds for the search (known-good)") + ap.add_argument("--min-delay", type=float, default=0.0, + help="Fastest inter-command delay to try, in seconds (0 = back-to-back)") + ap.add_argument("--sweep", action="store_true", + help="Also print a full table sweeping delays geometrically " + "from --start-delay down to --min-delay-floor") + ap.add_argument("--min-delay-floor", type=float, default=0.0005, + help="Smallest delay used for --sweep table (s)") + ap.add_argument("--sweep-steps", type=int, default=12) + ap.add_argument("--soak", type=float, default=0.0, + help="After the search, run this many seconds at the best " + "delay found to confirm the rate holds up over time " + "(recommended, especially when the best delay is 0)") + args = ap.parse_args() + + print(f"Opening {args.port} @ {args.baud} baud, mode={args.mode}, n={args.n}/trial") + ser = serial.Serial(args.port, args.baud, timeout=args.timeout) + time.sleep(0.2) # let the port settle + ser.reset_input_buffer() + ser.reset_output_buffer() + + try: + if args.sweep: + delays = [] + hi, lo = args.start_delay, args.min_delay_floor + steps = max(args.sweep_steps, 1) + for i in range(steps): + frac = i / (steps - 1) if steps > 1 else 0 + # geometric interpolation from hi -> lo + d = hi * ((lo / hi) ** frac) if hi > 0 else 0 + delays.append(d) + sweep(ser, args.mode, args.n, args.timeout, delays) + print() + + print("Binary-searching for max stable command rate...") + best_delay, best_rate = find_max_rate( + ser, args.mode, args.n, args.timeout, + args.success_threshold, args.start_delay, args.min_delay, + verbose=True, + ) + + print("\n=== Result ===") + print(f"Max stable inter-command delay: {best_delay*1000:.3f} ms") + print(f"Measured rate at that delay: {best_rate:.1f} commands/sec " + f"(measured from actual elapsed time over {args.n} commands, " + f"not derived from the delay)") + print(f"(mode={args.mode}, n={args.n}, success_threshold={args.success_threshold*100:.0f}%)") + + if args.soak > 0: + print(f"\nRunning {args.soak:.0f}s soak test at delay={best_delay*1000:.3f} ms " + f"to confirm this holds up over time...") + ok, total, ratio, rate = soak_test(ser, args.mode, best_delay, args.soak, args.timeout) + print(f"\nSoak result: {ok}/{total} ok ({ratio*100:.1f}%), " + f"sustained rate={rate:.1f} cmd/s over {args.soak:.0f}s") + if ratio < args.success_threshold: + print("WARNING: the short trial passed but the soak test did NOT hold up -- " + "the real stable rate is lower than reported above. Try a slower " + "--start-delay / larger --min-delay and re-run.") + + finally: + ser.close() + + +if __name__ == "__main__": + main() \ No newline at end of file diff --git a/servo_controller/src/command_handler.c b/servo_controller/src/command_handler.c new file mode 100644 index 0000000..ffb688c --- /dev/null +++ b/servo_controller/src/command_handler.c @@ -0,0 +1,47 @@ +#include "command_handler.h" +#include "led.h" + +#include + +LOG_MODULE_REGISTER(command_handler, LOG_LEVEL_INF); + +int command_handler(struct command_message_t *msg) { + if (msg == NULL) { + LOG_ERR("Received NULL message pointer"); + return -EINVAL; + } + + LOG_DBG("Processing command: %d, length: %d", msg->command, msg->length); + + switch (msg->command) { + case LED_TOGGLE: { + // Toggle LED + int led = msg->data[0]; + + if (!led) { + led0_toggle(); + } + else { + led1_toggle(); + } + break; + } + + case LED_SET: { + // Set LED + int led = msg->data[0]; + int state = msg->data[1]; + + led_set(led, state); + + break; + } + + default: { + LOG_WRN("Unknown command received: %d", msg->command); + return -EINVAL; + } + } + + return 0; +} \ No newline at end of file diff --git a/servo_controller/src/command_handler.h b/servo_controller/src/command_handler.h new file mode 100644 index 0000000..9e0f904 --- /dev/null +++ b/servo_controller/src/command_handler.h @@ -0,0 +1,16 @@ +#ifndef COMMAND_HANDLER_H +#define COMMAND_HANDLER_H + + +#include "command_message.h" + +/** + * @brief Process received command message + * + * @param msg Command message to process + * @return 0 on success, negative errno on failure + */ +int command_handler(struct command_message_t *msg); + + +#endif // COMMAND_HANDLER_H \ No newline at end of file diff --git a/servo_controller/src/command_message.c b/servo_controller/src/command_message.c new file mode 100644 index 0000000..2e175cc --- /dev/null +++ b/servo_controller/src/command_message.c @@ -0,0 +1,75 @@ +#include "command_message.h" + +#include +#include + +LOG_MODULE_REGISTER(command_message, LOG_LEVEL_INF); + +void command_message_init(struct command_message_t *msg) { + memset(msg, 0, sizeof(struct command_message_t)); + msg->prefix = COMMAND_PREFIX; + msg->id = COMMAND_ID; +} + +void command_create_message(struct command_message_t *msg, uint8_t length, commands_e command, uint8_t data[160]) { + // Ensure length doesn't exceed available space + if (length > sizeof(msg->data) - 1) { + return; + } + + command_message_init(msg); + msg->length = length; + msg->command = command; + + // Copy the data + if (data != NULL) { + for (int i = 0; i < msg->length; i++) { + msg->data[i] = data[i]; + } + } + msg->crc = command_calculate_crc(msg); +} + +uint8_t command_calculate_crc(struct command_message_t *msg) { + uint32_t sum = 0; + uint8_t crc = 0; + + uint8_t *byte_ptr = (uint8_t *)msg; + int loop_length = (sizeof(struct command_message_t) - sizeof(msg->data) + msg->length); + + for (int i = 0; i < loop_length; i++) { + if (i == 4) { continue; } + sum += byte_ptr[i]; + } + + crc = 0x100 - (sum & 0xff); + + return crc; +} + +void command_create_ack(struct command_message_t *msg) { + command_create_message(msg, 0, COMMAND_ACK, NULL); +} + +void command_create_nack(struct command_message_t *msg) { + command_create_message(msg, 0, COMMAND_NACK, NULL); +} + +void command_log(struct command_message_t *msg) { + if (msg->length > sizeof(msg->data) - 1) { + LOG_ERR("Message length too long: %d", msg->length); + return; + } + + LOG_INF("Prefix: %d\n\r", msg->prefix); + LOG_INF("Length: %d\n\r", msg->length); + LOG_INF("COMMAND_ID: %d\n\r", msg->id); + LOG_INF("Command: %d\n\r", msg->command); + LOG_INF("Data:\n\r"); + + for (int i = 0; i < msg->length; i++) { + LOG_INF("%d", msg->data[i]); + } + + LOG_INF("CRC: %d\n\r", msg->crc); +} \ No newline at end of file diff --git a/servo_controller/src/command_message.h b/servo_controller/src/command_message.h new file mode 100644 index 0000000..4d6a6ac --- /dev/null +++ b/servo_controller/src/command_message.h @@ -0,0 +1,75 @@ +#ifndef COMMAND_MESSAGE_H +#define COMMAND_MESSAGE_H + + +#include + + +#define COMMAND_PREFIX 0x69 +#define COMMAND_ID 0x00 +#define COMMAND_DATA_SIZE 160 + +typedef enum { + COMMAND_ACK, + COMMAND_NACK, + LED_TOGGLE, + LED_SET, +} commands_e; + +struct command_message_t { + uint8_t prefix; + uint8_t length; + uint8_t id; + uint8_t command; + uint8_t crc; + uint8_t data[COMMAND_DATA_SIZE]; +} __attribute__((packed)); + +/** + * @brief Initialize command message to default state + * + * @param msg Message to initialize + */ +void command_message_init(struct command_message_t *msg); + +/** + * @brief Create command message with data and CRC + * + * @param msg Message to populate + * @param length Data length in bytes + * @param command Command type + * @param data Data payload + */ +void command_create_message(struct command_message_t *msg, uint8_t length, commands_e command, uint8_t data[160]); + +/** + * @brief Calculate CRC for command message + * + * @param msg Message to calculate CRC for + * @return CRC value + */ +uint8_t command_calculate_crc(struct command_message_t *msg); + +/** + * @brief Create ACK command message + * + * @param msg Message to populate + */ +void command_create_ack(struct command_message_t *msg); + +/** + * @brief Create NACK command message + * + * @param msg Message to populate + */ +void command_create_nack(struct command_message_t *msg); + +/** + * @brief Print the command with LOG + * + * @param msg Message to calculate CRC for + */ +void command_log(struct command_message_t *msg); + + +#endif // COMMAND_MESSAGE_H \ No newline at end of file diff --git a/servo_controller/src/led.c b/servo_controller/src/led.c new file mode 100644 index 0000000..1be3d31 --- /dev/null +++ b/servo_controller/src/led.c @@ -0,0 +1,81 @@ +#include "led.h" + +#include +#include + +LOG_MODULE_REGISTER(led, LOG_LEVEL_INF); + +static const struct gpio_dt_spec led0_gpio = GPIO_DT_SPEC_GET(DT_ALIAS(led0), gpios); +static const struct gpio_dt_spec led1_gpio = GPIO_DT_SPEC_GET(DT_ALIAS(led1), gpios); +static int led_states[2] = {0, 0}; + +static int pin_init(const struct gpio_dt_spec *dt) { + int ret; + + if (!device_is_ready(dt->port)) { + LOG_ERR("LED0 GPIO device not ready"); + return -ENODEV; + } + + ret = gpio_pin_configure_dt(dt, GPIO_OUTPUT_INACTIVE); + if (ret != 0) { + LOG_ERR("Failed to configure LED0 GPIO: %d", ret); + return ret; + } + + // Turn it off + ret = gpio_pin_set_dt(dt, 0); + if (ret != 0) { + LOG_ERR("Failed to initialize LED"); + return ret; + } + + LOG_INF("LED driver initialized (GPIO %d)", dt->pin); + + return 0; +} + +int led_init() { + int ret; + + ret = pin_init(&led0_gpio); + if (ret != 0) { + return ret; + } + + ret = pin_init(&led1_gpio); + if (ret != 0) { + return ret; + } + + return 0; +} + +int led_set(int led, int state) { + int ret; + int set_led = led ? 1 : 0; + led_states[set_led] = state ? 1 : 0; + + if (!set_led) { + ret = gpio_pin_set_dt(&led0_gpio, led_states[set_led]); + if (ret != 0) { + LOG_ERR("Failed to set LED0: %d", ret); + } + } + else { + ret = gpio_pin_set_dt(&led1_gpio, led_states[set_led]); + if (ret != 0) { + LOG_ERR("Failed to set LED1: %d", ret); + } + } + + return ret; +} + +int led0_toggle() { + return led_set(0, !led_states[0]); +} + +int led1_toggle() { + return led_set(1, !led_states[1]); +} \ No newline at end of file diff --git a/servo_controller/src/led.h b/servo_controller/src/led.h new file mode 100644 index 0000000..ff09132 --- /dev/null +++ b/servo_controller/src/led.h @@ -0,0 +1,11 @@ +#ifndef LED_H +#define LED_H + + +int led_init(); +int led_set(int led, int state); +int led0_toggle(); +int led1_toggle(); + + +#endif // LED_H \ No newline at end of file diff --git a/servo_controller/src/main.c b/servo_controller/src/main.c new file mode 100644 index 0000000..0f6fd28 --- /dev/null +++ b/servo_controller/src/main.c @@ -0,0 +1,24 @@ +#include "led.h" +#include "usb.h" + +#include +LOG_MODULE_REGISTER(main, LOG_LEVEL_INF); + + +int main(void) { + int ret; + + ret = usb_init(); + if (ret != 0) { + LOG_ERR("Failed to enable USB"); + return 0; + } + + ret = led_init(); + if (ret != 0) { + LOG_ERR("Failed to enable LED"); + return 0; + } + + return 0; +} \ No newline at end of file diff --git a/servo_controller/src/servo.c b/servo_controller/src/servo.c new file mode 100644 index 0000000..b807ba6 --- /dev/null +++ b/servo_controller/src/servo.c @@ -0,0 +1,37 @@ +#include "servo.h" + +#include +#include + +LOG_MODULE_REGISTER(servo, LOG_LEVEL_INF); + +// ----------- SERVOS ----------- +static const struct pwm_dt_spec servo_pwm_specs[NUM_SERVO_CHANNELS] = { + PWM_DT_SPEC_GET(DT_ALIAS(servo1)), + PWM_DT_SPEC_GET(DT_ALIAS(servo2)), + PWM_DT_SPEC_GET(DT_ALIAS(servo3)), + PWM_DT_SPEC_GET(DT_ALIAS(servo4)), + PWM_DT_SPEC_GET(DT_ALIAS(servo5)), + PWM_DT_SPEC_GET(DT_ALIAS(servo6)), + PWM_DT_SPEC_GET(DT_ALIAS(servo7)), + PWM_DT_SPEC_GET(DT_ALIAS(servo8)), + PWM_DT_SPEC_GET(DT_ALIAS(servo9)), + PWM_DT_SPEC_GET(DT_ALIAS(servo10)), + PWM_DT_SPEC_GET(DT_ALIAS(servo11)), + PWM_DT_SPEC_GET(DT_ALIAS(servo12)), + PWM_DT_SPEC_GET(DT_ALIAS(servo13)), + PWM_DT_SPEC_GET(DT_ALIAS(servo14)), + PWM_DT_SPEC_GET(DT_ALIAS(servo15)), + PWM_DT_SPEC_GET(DT_ALIAS(servo16)), + PWM_DT_SPEC_GET(DT_ALIAS(servo17)), + PWM_DT_SPEC_GET(DT_ALIAS(servo18)), +}; + + +static int pin_init(const ) { + +} + +int servo_init() { + +} \ No newline at end of file diff --git a/servo_controller/src/servo.h b/servo_controller/src/servo.h new file mode 100644 index 0000000..da6a805 --- /dev/null +++ b/servo_controller/src/servo.h @@ -0,0 +1,13 @@ +#ifndef SERVO_H +#define SERVO_H + + + +#define NUM_SERVO_CHANNELS 18 + + + +int servo_init(); + + +#endif // SERVO_H \ No newline at end of file diff --git a/servo_controller/src/usb.c b/servo_controller/src/usb.c new file mode 100644 index 0000000..f16bba2 --- /dev/null +++ b/servo_controller/src/usb.c @@ -0,0 +1,231 @@ +#include "usb.h" +#include "usb_conf.h" +#include "command_handler.h" + +#include +#include +#include +#include +#include + +// PICO-SDK +#include "pico/bootrom.h" + +LOG_MODULE_REGISTER(usb, LOG_LEVEL_INF); + +// DEVICE +const struct device *const uart_dev = DEVICE_DT_GET_ONE(zephyr_cdc_acm_uart); +static struct usbd_context *usb_context; + +// THREAD +static struct k_thread usb_thread_data; +static k_tid_t usb_thread_id = NULL; +#define USB_THREAD_STACK_SIZE 2048 +K_THREAD_STACK_DEFINE(usb_thread_stack, USB_THREAD_STACK_SIZE); + +// RX BUFFER +#define RING_BUF_SIZE 255 +static uint8_t ring_buffer[RING_BUF_SIZE]; +static struct ring_buf ringbuf; +struct k_sem rx_semaphore; + +// ACK / NACK messages +#define RETURN_ACK true +struct command_message_t ack_msg; +struct command_message_t nack_msg; + + +static void interrupt_handler(const struct device *dev, void *user_data) { + ARG_UNUSED(user_data); + + while (true) { + uart_irq_update(dev); + + if (uart_irq_is_pending(dev) <= 0) { + break; + } + + if (uart_irq_rx_ready(dev)) { + int recv_len, rb_len; + uint8_t buffer[64]; + size_t len = MIN(ring_buf_space_get(&ringbuf), sizeof(buffer)); + + if (len == 0) { + // ring buffer full, drops package(s) + uart_irq_rx_disable(dev); + k_sem_give(&rx_semaphore); + break; + } + + recv_len = uart_fifo_read(dev, buffer, len); + if (recv_len < 0) { + LOG_ERR("Failed to read UART FIFO"); + recv_len = 0; + }; + + rb_len = ring_buf_put(&ringbuf, buffer, recv_len); + if (rb_len < recv_len) { + LOG_ERR("Drop %u bytes", recv_len - rb_len); + } + + k_sem_give(&rx_semaphore); + } + } +} + +static void usb_thread(void *p1, void *p2, void *p3) { + ARG_UNUSED(p1); + ARG_UNUSED(p2); + ARG_UNUSED(p3); + struct command_message_t msg; + command_message_init(&msg); + + LOG_INF("USB command processing thread started"); + + while (1) { + k_sem_take(&rx_semaphore, K_FOREVER); + + int len; + + // While ring buffer has data + do { + uint8_t buf_prefix; + len = ring_buf_get(&ringbuf, &buf_prefix, 1); + + if (len && (buf_prefix == COMMAND_PREFIX)) { + uint8_t buf_header[4]; + len = ring_buf_get(&ringbuf, buf_header, 4); + + if ((len == 4) && (buf_header[1] == COMMAND_ID) && (buf_header[0] <= COMMAND_DATA_SIZE)) { + msg.length = buf_header[0]; + msg.command = buf_header[2]; + msg.crc = buf_header[3]; + + if (msg.length) { + len = ring_buf_get(&ringbuf, msg.data, msg.length); + } + + uint8_t calculated_crc = command_calculate_crc(&msg); + if (calculated_crc != msg.crc) { + if (RETURN_ACK) { + // Send NACK + usb_send_command(&nack_msg); + } + continue; + } + + int ret = command_handler(&msg); + if (ret == 0) { + if (RETURN_ACK) { + // Send ACK + usb_send_command(&ack_msg); + } + } + else { + if (RETURN_ACK) { + // Send NACK + usb_send_command(&nack_msg); + } + } + + } + else { + // Command_id did not match, ignore + continue; + } + } + else { + // Prefix did not match, ignore + continue; + } + } while (len > 0); + + uart_irq_rx_enable(uart_dev); + } + + LOG_INF("USB command processing thread exiting"); +} + +static void usb_msg_cb(struct usbd_context *const ctx, const struct usbd_msg *msg) { + if (msg->type == USBD_MSG_CDC_ACM_LINE_CODING) { + // Jump to BOOTSEL when baudrate changes to 1200 + uint32_t baudrate; + + if (uart_line_ctrl_get(msg->dev, UART_LINE_CTRL_BAUD_RATE, &baudrate) == 0) { + LOG_INF("Baudrate %u", baudrate); + + if (baudrate == 1200) { + LOG_INF("Entering BOOTSEL..."); + reset_usb_boot(0, 0); + } + } + } +} + +int usb_init() { + ring_buf_init(&ringbuf, sizeof(ring_buffer), ring_buffer); + k_sem_init(&rx_semaphore, 0, 1); + + command_create_ack(&ack_msg); + command_create_nack(&nack_msg); + + int ret; + + if (!device_is_ready(uart_dev)) { + LOG_ERR("CDC ACM device not ready"); + return -ENODEV; + } + + usb_context = usb_device_init(usb_msg_cb); + if (usb_context == NULL) { + LOG_ERR("Failed to initialize USB device"); + return -ENODEV; + } + + if (!usbd_can_detect_vbus(usb_context)) { + ret = usbd_enable(usb_context); + if (ret) { + LOG_ERR("Failed to enable device support"); + return ret; + } + } + k_msleep(100); + + uart_irq_callback_set(uart_dev, interrupt_handler); + uart_irq_rx_enable(uart_dev); + + usb_thread_id = k_thread_create( + &usb_thread_data, + usb_thread_stack, + K_THREAD_STACK_SIZEOF(usb_thread_stack), + usb_thread, + NULL, NULL, NULL, + 5, + 0, + K_NO_WAIT + ); + + if (usb_thread_id == NULL) { + LOG_ERR("Failed to create USB thread"); + return -ENOMEM; + } + + return ret; +} + +int usb_send_command(struct command_message_t *msg) { + if (!device_is_ready(uart_dev)) { + return -ENODEV; + } + + // Message size: prefix + length + id + command + crc + data + size_t msg_size = 5 + msg->length; + uint8_t *msg_bytes = (uint8_t *)msg; + + /* uart_poll_out blocks until sent, ensuring data integrity */ + for (size_t i = 0; i < msg_size; i++) { + uart_poll_out(uart_dev, msg_bytes[i]); + } + + return 0; +} \ No newline at end of file diff --git a/servo_controller/src/usb.h b/servo_controller/src/usb.h new file mode 100644 index 0000000..6ca1e6d --- /dev/null +++ b/servo_controller/src/usb.h @@ -0,0 +1,12 @@ +#ifndef USB_H +#define USB_H + + +#include "command_message.h" + + +int usb_init(); +int usb_send_command(struct command_message_t *msg); + + +#endif // USB_H \ No newline at end of file diff --git a/servo_controller/src/usb_conf.c b/servo_controller/src/usb_conf.c new file mode 100644 index 0000000..91cc5b4 --- /dev/null +++ b/servo_controller/src/usb_conf.c @@ -0,0 +1,184 @@ +#include "usb_conf.h" + +#include +#include +#include +#include +#include + +LOG_MODULE_REGISTER(usb_conf, LOG_LEVEL_DBG); + +/* By default, do not register the USB DFU class DFU mode instance. */ +static const char *const blocklist[] = { + "dfu_dfu", + NULL, +}; + +/* + * Instantiate a context named my_usb_context using the default USB device + * controller, the Zephyr project vendor ID, and the sample product ID. + * Zephyr project vendor ID must not be used outside of Zephyr samples. + */ +USBD_DEVICE_DEFINE(my_usb_context, + DEVICE_DT_GET(DT_NODELABEL(zephyr_udc0)), + CONFIG_USBD_VID, CONFIG_USBD_PID); + +USBD_DESC_LANG_DEFINE(my_usb_lang); +USBD_DESC_MANUFACTURER_DEFINE(my_usb_mfr, CONFIG_USBD_MANUFACTURER); +USBD_DESC_PRODUCT_DEFINE(my_usb_product, CONFIG_USBD_PRODUCT); +IF_ENABLED(CONFIG_HWINFO, (USBD_DESC_SERIAL_NUMBER_DEFINE(my_usb_serial))); + +USBD_DESC_CONFIG_DEFINE(fs_cfg_desc, "FS Configuration"); +USBD_DESC_CONFIG_DEFINE(hs_cfg_desc, "HS Configuration"); + +static const uint8_t attributes = (IS_ENABLED(CONFIG_USBD_SELF_POWERED) ? + USB_SCD_SELF_POWERED : 0) | + (IS_ENABLED(CONFIG_USBD_REMOTE_WAKEUP) ? + USB_SCD_REMOTE_WAKEUP : 0); + +/* Full speed configuration */ +USBD_CONFIGURATION_DEFINE(sample_fs_config, + attributes, + CONFIG_USBD_MAX_POWER, &fs_cfg_desc); + +/* High speed configuration */ +USBD_CONFIGURATION_DEFINE(sample_hs_config, + attributes, + CONFIG_USBD_MAX_POWER, &hs_cfg_desc); + +#if CONFIG_SAMPLE_USBD_20_EXTENSION_DESC +/* + * This does not yet provide valuable information, but rather serves as an + * example, and will be improved in the future. + */ +static const struct usb_bos_capability_lpm bos_cap_lpm = { + .bLength = sizeof(struct usb_bos_capability_lpm), + .bDescriptorType = USB_DESC_DEVICE_CAPABILITY, + .bDevCapabilityType = USB_BOS_CAPABILITY_EXTENSION, + .bmAttributes = 0UL, +}; + +USBD_DESC_BOS_DEFINE(my_usb_usbext, sizeof(bos_cap_lpm), &bos_cap_lpm); +#endif + +static void usb_fix_code_triple(struct usbd_context *uds_ctx, const enum usbd_speed speed) { + /* Always use class code information from Interface Descriptors */ + if (IS_ENABLED(CONFIG_USBD_CDC_ACM_CLASS) || + IS_ENABLED(CONFIG_USBD_CDC_ECM_CLASS) || + IS_ENABLED(CONFIG_USBD_CDC_NCM_CLASS) || + IS_ENABLED(CONFIG_USBD_MIDI2_CLASS) || + IS_ENABLED(CONFIG_USBD_AUDIO2_CLASS) || + IS_ENABLED(CONFIG_USBD_VIDEO_CLASS)) { + /* + * Class with multiple interfaces have an Interface + * Association Descriptor available, use an appropriate triple + * to indicate it. + */ + usbd_device_set_code_triple(uds_ctx, speed, + USB_BCC_MISCELLANEOUS, 0x02, 0x01); + } else { + usbd_device_set_code_triple(uds_ctx, speed, 0, 0, 0); + } +} + +struct usbd_context *usb_device_setup(usbd_msg_cb_t msg_cb) { + int err; + + err = usbd_add_descriptor(&my_usb_context, &my_usb_lang); + if (err) { + LOG_ERR("Failed to initialize language descriptor (%d)", err); + return NULL; + } + + err = usbd_add_descriptor(&my_usb_context, &my_usb_mfr); + if (err) { + LOG_ERR("Failed to initialize manufacturer descriptor (%d)", err); + return NULL; + } + + err = usbd_add_descriptor(&my_usb_context, &my_usb_product); + if (err) { + LOG_ERR("Failed to initialize product descriptor (%d)", err); + return NULL; + } + + IF_ENABLED(CONFIG_HWINFO, ( + err = usbd_add_descriptor(&my_usb_context, &my_usb_serial); + )) + if (err) { + LOG_ERR("Failed to initialize SN descriptor (%d)", err); + return NULL; + } + + if (USBD_SUPPORTS_HIGH_SPEED && + usbd_caps_speed(&my_usb_context) == USBD_SPEED_HS) { + err = usbd_add_configuration(&my_usb_context, USBD_SPEED_HS, + &sample_hs_config); + if (err) { + LOG_ERR("Failed to add High-Speed configuration"); + return NULL; + } + + err = usbd_register_all_classes(&my_usb_context, USBD_SPEED_HS, 1, + blocklist); + if (err) { + LOG_ERR("Failed to add register classes"); + return NULL; + } + + usb_fix_code_triple(&my_usb_context, USBD_SPEED_HS); + } + + err = usbd_add_configuration(&my_usb_context, USBD_SPEED_FS, + &sample_fs_config); + if (err) { + LOG_ERR("Failed to add Full-Speed configuration"); + return NULL; + } + + err = usbd_register_all_classes(&my_usb_context, USBD_SPEED_FS, 1, blocklist); + if (err) { + LOG_ERR("Failed to add register classes"); + return NULL; + } + + usb_fix_code_triple(&my_usb_context, USBD_SPEED_FS); + usbd_self_powered(&my_usb_context, attributes & USB_SCD_SELF_POWERED); + + if (msg_cb != NULL) { + err = usbd_msg_register_cb(&my_usb_context, msg_cb); + if (err) { + LOG_ERR("Failed to register message callback"); + return NULL; + } + } + +#if CONFIG_SAMPLE_USBD_20_EXTENSION_DESC + (void)usbd_device_set_bcd_usb(&my_usb_context, USBD_SPEED_FS, 0x0201); + (void)usbd_device_set_bcd_usb(&my_usb_context, USBD_SPEED_HS, 0x0201); + + err = usbd_add_descriptor(&my_usb_context, &my_usb_usbext); + if (err) { + LOG_ERR("Failed to add USB 2.0 Extension Descriptor"); + return NULL; + } +#endif + + return &my_usb_context; +} + +struct usbd_context *usb_device_init(usbd_msg_cb_t msg_cb) { + int err; + + if (usb_device_setup(msg_cb) == NULL) { + return NULL; + } + + err = usbd_init(&my_usb_context); + if (err) { + LOG_ERR("Failed to initialize device support"); + return NULL; + } + + return &my_usb_context; +} \ No newline at end of file diff --git a/servo_controller/src/usb_conf.h b/servo_controller/src/usb_conf.h new file mode 100644 index 0000000..66ab591 --- /dev/null +++ b/servo_controller/src/usb_conf.h @@ -0,0 +1,11 @@ +#ifndef USB_CONF_H +#define USB_CONF_H + + +#include + +struct usbd_context *usb_device_setup(usbd_msg_cb_t msg_cb); +struct usbd_context *usb_device_init(usbd_msg_cb_t msg_cb); + + +#endif // USB_CONF_H \ No newline at end of file