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Merged
merged 10 commits into from
Oct 6, 2025
Merged

Open Bot Brain touch sensor support. #321

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bdf6402
Initial work on getting analog read working
MaartenS11 Aug 13, 2025
a7b1e62
work in progress adc3 configuration for input 1
MaartenS11 Sep 30, 2025
25b281b
Switch between adcs for the different ports
MaartenS11 Sep 30, 2025
569826d
Add pin 6 channels for ev3 touch sensors
MaartenS11 Oct 1, 2025
a539c3c
EV3 Touch sensor support
MaartenS11 Oct 1, 2025
a7d0693
Rename analog_read to nxt_touch_sensor
MaartenS11 Oct 1, 2025
99038ab
Rename analog_read to nxt_touch_sensor
MaartenS11 Oct 1, 2025
39ec5fa
clang-format
MaartenS11 Oct 1, 2025
7bb496b
Minor changes + add print_string to zephyr
MaartenS11 Oct 6, 2025
13d7895
Added nxt and ev3 touch sensor primitives to the emulator
MaartenS11 Oct 6, 2025
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246 changes: 246 additions & 0 deletions platforms/Zephyr/boards/stm32l496g_disco.overlay
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Original file line number Diff line number Diff line change
Expand Up @@ -180,3 +180,249 @@
status = "okay";
pinctrl-names = "default";
};

&adc1 {
pinctrl-0 = < &adc1_in5_pa0 >;
#address-cells = <1>;
#size-cells = <0>;

channel@0 {
reg = <0>;
zephyr,gain = "ADC_GAIN_1";
zephyr,reference = "ADC_REF_INTERNAL";
zephyr,vref-mv = <8>;
zephyr,acquisition-time = <ADC_ACQ_TIME_DEFAULT>;
zephyr,resolution = <12>;
};

channel@1 {
reg = <1>;
zephyr,gain = "ADC_GAIN_1";
zephyr,reference = "ADC_REF_INTERNAL";
zephyr,vref-mv = <8>;
zephyr,acquisition-time = <ADC_ACQ_TIME_DEFAULT>;
zephyr,resolution = <12>;
};

channel@2 {
reg = <2>;
zephyr,gain = "ADC_GAIN_1";
zephyr,reference = "ADC_REF_INTERNAL";
zephyr,vref-mv = <8>;
zephyr,acquisition-time = <ADC_ACQ_TIME_DEFAULT>;
zephyr,resolution = <12>;
};

channel@3 {
reg = <3>;
zephyr,gain = "ADC_GAIN_1";
zephyr,reference = "ADC_REF_INTERNAL";
zephyr,vref-mv = <8>;
zephyr,acquisition-time = <ADC_ACQ_TIME_DEFAULT>;
zephyr,resolution = <12>;
};

channel@4 {
reg = <4>;
zephyr,gain = "ADC_GAIN_1";
zephyr,reference = "ADC_REF_INTERNAL";
zephyr,vref-mv = <8>;
zephyr,acquisition-time = <ADC_ACQ_TIME_DEFAULT>;
zephyr,resolution = <12>;
};

channel@5 {
reg = <5>;
zephyr,gain = "ADC_GAIN_1";
zephyr,reference = "ADC_REF_INTERNAL";
zephyr,vref-mv = <8>;
zephyr,acquisition-time = <ADC_ACQ_TIME_DEFAULT>;
zephyr,resolution = <12>;
};

channel@6 {
reg = <6>;
zephyr,gain = "ADC_GAIN_1";
zephyr,reference = "ADC_REF_INTERNAL";
//zephyr,vref-mv = <8>;
zephyr,acquisition-time = <ADC_ACQ_TIME_DEFAULT>;
zephyr,resolution = <12>;
};

channel@7 {
reg = <7>;
zephyr,gain = "ADC_GAIN_1";
zephyr,reference = "ADC_REF_INTERNAL";
//zephyr,vref-mv = <8>;
zephyr,acquisition-time = <ADC_ACQ_TIME_DEFAULT>;
zephyr,resolution = <12>;
};

channel@8 {
reg = <8>;
zephyr,gain = "ADC_GAIN_1";
zephyr,reference = "ADC_REF_INTERNAL";
//zephyr,vref-mv = <8>;
zephyr,acquisition-time = <ADC_ACQ_TIME_DEFAULT>;
zephyr,resolution = <12>;
};

channel@9 {
reg = <9>;
zephyr,gain = "ADC_GAIN_1";
zephyr,reference = "ADC_REF_INTERNAL";
//zephyr,vref-mv = <8>;
zephyr,acquisition-time = <ADC_ACQ_TIME_DEFAULT>;
zephyr,resolution = <12>;
};

channel@10 {
reg = <10>;
zephyr,gain = "ADC_GAIN_1";
zephyr,reference = "ADC_REF_INTERNAL";
//zephyr,vref-mv = <8>;
zephyr,acquisition-time = <ADC_ACQ_TIME_DEFAULT>;
zephyr,resolution = <12>;
};
};

&pinctrl {
adc3_test: adc3_test {
pinmux = <STM32_PINMUX('F', 0, ANALOG)>;
};
};

&adc3 {
status = "okay";
st,adc-clock-source = "SYNC";
st,adc-prescaler = < 0x4 >;
resolutions = < 0x60630c 0x51630c 0x42630c 0x33630c >;
sampling-times = < 0x3 0x7 0xd 0x19 0x30 0x5d 0xf8 0x281 >;
st,adc-sequencer = "FULLY_CONFIGURABLE";
st,adc-oversampler = "OVERSAMPLER_MINIMAL";
pinctrl-names = "default";
pinctrl-0 = < &adc3_test >;
#address-cells = <1>;
#size-cells = <0>;

channel@0 {
reg = <0>;
zephyr,gain = "ADC_GAIN_1";
zephyr,reference = "ADC_REF_INTERNAL";
zephyr,vref-mv = <8>;
zephyr,acquisition-time = <ADC_ACQ_TIME_DEFAULT>;
zephyr,resolution = <12>;
};

channel@1 {
reg = <1>;
zephyr,gain = "ADC_GAIN_1";
zephyr,reference = "ADC_REF_INTERNAL";
zephyr,vref-mv = <8>;
zephyr,acquisition-time = <ADC_ACQ_TIME_DEFAULT>;
zephyr,resolution = <12>;
};

channel@2 {
reg = <2>;
zephyr,gain = "ADC_GAIN_1";
zephyr,reference = "ADC_REF_INTERNAL";
zephyr,vref-mv = <8>;
zephyr,acquisition-time = <ADC_ACQ_TIME_DEFAULT>;
zephyr,resolution = <12>;
};

channel@3 {
reg = <3>;
zephyr,gain = "ADC_GAIN_1";
zephyr,reference = "ADC_REF_INTERNAL";
zephyr,vref-mv = <8>;
zephyr,acquisition-time = <ADC_ACQ_TIME_DEFAULT>;
zephyr,resolution = <12>;
};

channel@4 {
reg = <4>;
zephyr,gain = "ADC_GAIN_1";
zephyr,reference = "ADC_REF_INTERNAL";
zephyr,vref-mv = <8>;
zephyr,acquisition-time = <ADC_ACQ_TIME_DEFAULT>;
zephyr,resolution = <12>;
};

channel@5 {
reg = <5>;
zephyr,gain = "ADC_GAIN_1";
zephyr,reference = "ADC_REF_INTERNAL";
zephyr,vref-mv = <8>;
zephyr,acquisition-time = <ADC_ACQ_TIME_DEFAULT>;
zephyr,resolution = <12>;
};

channel@6 {
reg = <6>;
zephyr,gain = "ADC_GAIN_1";
zephyr,reference = "ADC_REF_INTERNAL";
//zephyr,vref-mv = <8>;
zephyr,acquisition-time = <ADC_ACQ_TIME_DEFAULT>;
zephyr,resolution = <12>;
};

channel@7 {
reg = <7>;
zephyr,gain = "ADC_GAIN_1";
zephyr,reference = "ADC_REF_INTERNAL";
//zephyr,vref-mv = <8>;
zephyr,acquisition-time = <ADC_ACQ_TIME_DEFAULT>;
zephyr,resolution = <12>;
};

channel@8 {
reg = <8>;
zephyr,gain = "ADC_GAIN_1";
zephyr,reference = "ADC_REF_INTERNAL";
//zephyr,vref-mv = <8>;
zephyr,acquisition-time = <ADC_ACQ_TIME_DEFAULT>;
zephyr,resolution = <12>;
};

channel@9 {
reg = <9>;
zephyr,gain = "ADC_GAIN_1";
zephyr,reference = "ADC_REF_INTERNAL";
zephyr,acquisition-time = <ADC_ACQ_TIME_DEFAULT>;
zephyr,resolution = <12>;
};

channel@10 {
reg = <10>;
zephyr,gain = "ADC_GAIN_1";
zephyr,reference = "ADC_REF_INTERNAL";
zephyr,acquisition-time = <ADC_ACQ_TIME_DEFAULT>;
zephyr,resolution = <12>;
};

channel@11 {
reg = <11>;
zephyr,gain = "ADC_GAIN_1";
zephyr,reference = "ADC_REF_INTERNAL";
zephyr,acquisition-time = <ADC_ACQ_TIME_DEFAULT>;
zephyr,resolution = <12>;
};

channel@12 {
reg = <12>;
zephyr,gain = "ADC_GAIN_1";
zephyr,reference = "ADC_REF_INTERNAL";
zephyr,acquisition-time = <ADC_ACQ_TIME_DEFAULT>;
zephyr,resolution = <12>;
};

channel@13 {
reg = <13>;
zephyr,gain = "ADC_GAIN_1";
zephyr,reference = "ADC_REF_INTERNAL";
zephyr,acquisition-time = <ADC_ACQ_TIME_DEFAULT>;
zephyr,resolution = <12>;
};
};
1 change: 1 addition & 0 deletions platforms/Zephyr/prj.conf
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Original file line number Diff line number Diff line change
@@ -1,5 +1,6 @@
CONFIG_GPIO=y
CONFIG_PWM=y
CONFIG_ADC=y
CONFIG_CPP=y
CONFIG_STD_CPP17=y
CONFIG_REQUIRES_FULL_LIBCPP=y
Expand Down
27 changes: 26 additions & 1 deletion src/Primitives/emulated.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -18,6 +18,7 @@
#include <cmath>
#include <cstdio>
#include <cstring>
#include <random>
#include <thread>

#include "../Memory/mem.h"
Expand All @@ -27,7 +28,7 @@
#include "primitives.h"

#define NUM_PRIMITIVES 0
#define NUM_PRIMITIVES_ARDUINO 35
#define NUM_PRIMITIVES_ARDUINO 37

#define ALL_PRIMITIVES (NUM_PRIMITIVES + NUM_PRIMITIVES_ARDUINO)

Expand Down Expand Up @@ -558,6 +559,28 @@ def_prim(read_uart_sensor, oneToOneI32) {
return true;
}

std::random_device r;
std::default_random_engine e(r());
std::uniform_int_distribution<int16_t> adc_dist(0, 1 << 12); // 12 bit adc

def_prim(nxt_touch_sensor, oneToOneU32) {
const uint32_t port = arg0.uint32;
const int16_t v = adc_dist(e);
pop_args(1);
printf("nxt_touch_sensor(%u) = %d\n", port, v < 2000);
pushUInt32(v < 2000);
return true;
}

def_prim(ev3_touch_sensor, oneToOneU32) {
const uint32_t port = arg0.uint32;
const int16_t v = adc_dist(e);
pop_args(1);
printf("ev3_touch_sensor(%u) = %d\n", port, v > 3000);
pushUInt32(v > 3000);
return true;
}

def_prim(subscribe_interrupt, threeToNoneU32) {
uint8_t pin = arg2.uint32; // GPIOPin
uint8_t tidx = arg1.uint32; // Table Idx pointing to Callback function
Expand Down Expand Up @@ -661,6 +684,8 @@ void install_primitives() {
install_primitive(stop_motor);
install_primitive(setup_uart_sensor);
install_primitive(read_uart_sensor);
install_primitive(nxt_touch_sensor);
install_primitive(ev3_touch_sensor);
}

//------------------------------------------------------
Expand Down
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