v0.2.0

Makefile

@@ -32,20 +32,17 @@ PREFIX = $(MIX_APP_PATH)/priv
 FIRMWARE_SRC := $(wildcard firmware_src/src/*.cpp)
 FIRMWARE_SRC += $(wildcard firmware_src/include/*.h)
 
-.PHONY: all clean burn_encoder_tracker
+.PHONY: all clean
 
 all: $(PREFIX) $(PREFIX)/firmware.hex
 
 clean:
 	platformio run -d firmware_src -t clean
-	$(RM) $(PREFIX)/firmware.hex 
+	$(RM) $(PREFIX)/firmware.hex
 
 $(PREFIX):
 	mkdir -p $(PREFIX)
 
 $(PREFIX)/firmware.hex: $(FIRMWARE_SRC)
 	PLATFORMIO_BUILD_FLAGS="-DMIX_TARGET_$(MIX_TARGET) -DMIX_TARGET=\"$(MIX_TARGET)\"" platformio run -d firmware_src/
 	cp firmware_src/.pio/build/megaatmega2560/firmware.hex $(PREFIX)/firmware.hex
-
-burn_encoder_tracker:
-	st-flash write firmware_src/priv/EncoderTracker\(12352db\ mode0\).bin 0x8000000

README.md

@@ -1 +1,18 @@
-# POST
+# FarmBot factory test firmware
+
+Tests electronics box LEDs,
+Farmduino peripherals using load sensors (including rotary tool on Genesis),
+and motors using encoders.
+
+Press the red E-STOP button to proceed through tests.
+
+All LEDs flashing indicates error.
+
+```
+MIX_TARGET=rpi4 mix deps.get
+MIX_TARGET=rpi4 mix firmware.image factory_test_genesis_v1.6_pi4.img
+MIX_TARGET=rpi02w mix deps.get
+MIX_TARGET=rpi02w mix firmware.image factory_test_express_v1.1_pi02w.img
+```
+
+[Nerves docs](https://hexdocs.pm/nerves/getting-started.html)

config/config.exs

@@ -1,9 +1,9 @@
 # This file is responsible for configuring your application
-# and its dependencies with the aid of the Mix.Config module.
+# and its dependencies with the aid of the Config module.
 #
 # This configuration file is loaded before any dependency and
 # is restricted to this project.
-use Mix.Config
+import Config
 
 config :post, target: Mix.target()
 
@@ -17,7 +17,7 @@ config :nerves, :firmware, rootfs_overlay: "rootfs_overlay"
 # involved with firmware updates.
 
 config :shoehorn,
-  init: [:nerves_runtime, :vintage_net],
+  init: [:nerves_runtime],
   app: Mix.Project.config()[:app]
 
 # Use Ringlogger as the logger backend and remove :console.
@@ -32,10 +32,9 @@ config :post, POST.PlatformSupervisor, children: []
 if Mix.target() != :host do
   import_config "target.exs"
 else
-  import_config "profiles/FARMDUINO_K15.ex"
-  # import_config "profiles/EXPRESS_K10.ex"
+  import_config "profiles/FARMDUINO_K16.ex"
+  # import_config "profiles/EXPRESS_K11.ex"
   # config :post, POST.Comms, device: "ttyUSB0"
-  config :post, POST.Comms.FlashFirmware, reset: POST.Comms.FlashFirmware.NullReset
   config :post, POST.ButtonSupervisor, button: POST.NullButton
   config :post, POST.LEDSupervisor, led: POST.NullLED
 end

config/profiles/EXPRESS_K11.ex

@@ -0,0 +1,15 @@
+import Config
+IO.puts("using EXPRESS_K11 profile")
+
+config :post, POST.Comms, device: "ttyUSB0"
+
+config :post, POST.ButtonSupervisor, button: POST.GPIOButton
+
+config :post, POST.ButtonPopulator, buttons: [16, 22]
+
+config :post, POST.LEDSupervisor, led: POST.GPIOLED
+
+config :post, POST.LEDPopulator, leds: [17, 23, 24, 25]
+
+config :post, POST.TestSuite, peripherals: [0, 1, 2]
+config :post, POST.TestSuite, motors: [0, 1, 2, 3]

config/profiles/FARMDUINO_K15.ex → config/profiles/FARMDUINO_K16.ex

@@ -1,10 +1,8 @@
-use Mix.Config
-IO.puts("using FARMDUINO_K15 profile")
+import Config
+IO.puts("using FARMDUINO_K16 profile")
 
 config :post, POST.Comms, device: "ttyACM0"
 
-config :post, POST.Comms.FlashFirmware, reset: POST.Comms.FlashFirmware.NullReset
-
 config :post, POST.ButtonSupervisor, button: POST.GPIOButton
 
 config :post, POST.ButtonPopulator, buttons: [16, 22, 26, 5, 20]
@@ -14,5 +12,5 @@ config :post, POST.LEDSupervisor, led: POST.GPIOLED
 config :post, POST.LEDPopulator, leds: [17, 23, 27, 06, 21, 24, 25, 12, 13]
 
 config :post, POST.TestSuite,
-  peripherals: [0, 1, 2, 3, 4],
+  peripherals: [0, 1, 2, 3, 4, 5, 6],
   motors: [0, 1, 2, 3, 4]

config/profiles/NULL.ex

@@ -1,10 +1,8 @@
-use Mix.Config
+import Config
 IO.puts("using NULL profile")
 
 config :post, POST.Comms, device: nil
 
-config :post, POST.Comms.FlashFirmware, reset: POST.Comms.FlashFirmware.NullReset
-
 config :post, POST.ButtonSupervisor, button: POST.NullButton
 config :post, POST.ButtonPopulator, buttons: [16]
 

config/rpi02w.exs

@@ -0,0 +1,4 @@
+import Config
+
+config :post, POST.PlatformSupervisor, children: []
+import_config "profiles/EXPRESS_K11.ex"

config/rpi4.exs

@@ -0,0 +1,4 @@
+import Config
+
+config :post, POST.PlatformSupervisor, children: []
+import_config "profiles/FARMDUINO_K16.ex"

config/target.exs

@@ -1,93 +1,7 @@
-use Mix.Config
+import Config
 
-# Authorize the device to receive firmware using your public key.
-# See https://hexdocs.pm/nerves_firmware_ssh/readme.html for more information
-# on configuring nerves_firmware_ssh.
 config :logger, backends: [RingLogger]
 
-keys =
-  [
-    Path.join([System.user_home!(), ".ssh", "id_rsa.pub"]),
-    Path.join([System.user_home!(), ".ssh", "id_ecdsa.pub"]),
-    Path.join([System.user_home!(), ".ssh", "id_ed25519.pub"])
-  ]
-  |> Enum.filter(&File.exists?/1)
-
-if keys == [],
-  do:
-    Mix.raise("""
-    No SSH public keys found in ~/.ssh. An ssh authorized key is needed to
-    log into the Nerves device and update firmware on it using ssh.
-    See your project's config.exs for this error message.
-    """)
-
-config :nerves_firmware_ssh,
-  authorized_keys: Enum.map(keys, &File.read!/1)
-
-config :mdns_lite,
-  # The `host` key specifies what hostnames mdns_lite advertises.  `:hostname`
-  # advertises the device's hostname.local. For the official Nerves systems, this
-  # is "nerves-<4 digit serial#>.local".  mdns_lite also advertises
-  # "nerves.local" for convenience. If more than one Nerves device is on the
-  # network, delete "nerves" from the list.
-
-  host: [:hostname],
-  ttl: 120,
-
-  # Advertise the following services over mDNS.
-  services: [
-    %{
-      name: "SSH Remote Login Protocol",
-      protocol: "ssh",
-      transport: "tcp",
-      port: 22
-    },
-    %{
-      name: "Secure File Transfer Protocol over SSH",
-      protocol: "sftp-ssh",
-      transport: "tcp",
-      port: 22
-    },
-    %{
-      name: "Erlang Port Mapper Daemon",
-      protocol: "epmd",
-      transport: "tcp",
-      port: 4369
-    }
-  ]
-
-wifi =
-  if System.get_env("SSID") do
-    %{
-      ssid: System.get_env("SSID"),
-      psk: System.get_env("PSK"),
-      key_mgmt: :wpa_psk
-    }
-  else
-    %{}
-  end
-
-config :vintage_net,
-  regulatory_domain: "US",
-  config: [
-    {"usb0", %{type: VintageNet.Technology.Gadget}},
-    {"eth0",
-     %{
-       type: VintageNet.Technology.Ethernet,
-       ipv4: %{
-         method: :dhcp
-       }
-     }},
-    {"wlan0",
-     %{
-       type: VintageNet.Technology.WiFi,
-       ipv4: %{
-         method: :dhcp
-       },
-       wifi: wifi
-     }}
-  ]
-
 # Import target specific config. This must remain at the bottom
 # of this file so it overrides the configuration defined above.
 # Uncomment to use target specific configurations

firmware_src/encoder_test.cpp

@@ -45,7 +45,7 @@
 #define   ADC5  A2
 
 //////////////// STM32 ////////////////
-#define NSS_PIN 22 
+#define NSS_PIN 22
 #define STM_RST_PIN 49
 
 static const int spi_encoder_offset = 4;
@@ -118,7 +118,7 @@ void setup() {
   delay(5);
   digitalWrite(STM_RST_PIN, HIGH);
   delay(20);
-  
+
   //reset all encoder
   ResetEncoder();
   delay(20);
@@ -127,8 +127,8 @@ void setup() {
 
   RunTest();
 }
- 
-void loop() 
+
+void loop()
 {
 }
 
@@ -140,7 +140,7 @@ void RunTest()
   bool encoder2Error = false;
   bool encoder3Error = false;
   bool encoder4Error = false;
-  
+
   bool adc1Error = false;
   bool adc2Error = false;
   bool adc3Error = false;
@@ -163,7 +163,7 @@ void RunTest()
   encoder2 = ReadEncoder(_X2);
   encoder3 = ReadEncoder(_Y);
   encoder4 = ReadEncoder(_Z);
-  
+
   Serial.print("X1 reading: ");
   Serial.println(encoder1);
   Serial.print("X2 reading: ");
@@ -172,7 +172,7 @@ void RunTest()
   Serial.println(encoder3);
   Serial.print("Z reading: ");
   Serial.println(encoder4);
-  
+
   encoder1Error = encoder1 < encoderThreshold;
   encoder2Error = encoder2 < encoderThreshold;
   encoder3Error = encoder3 < encoderThreshold;
@@ -186,7 +186,7 @@ void RunTest()
   digitalWrite(FET3,1);
   digitalWrite(FET4,1);
   digitalWrite(FET5,1);
-  
+
   //move motors backwards
   SendPulse(num_pulse, reverse_val);
 
@@ -196,7 +196,7 @@ void RunTest()
   adc3Error = analogRead(ADC3) > adcThreshold;
   adc4Error = analogRead(ADC4) > adcThreshold;
   adc5Error = analogRead(ADC5) > adcThreshold;
-  
+
   //turn off mosfets with OK readings
   digitalWrite(FET1, !adc1Error);
   digitalWrite(FET2, !adc2Error);
@@ -234,7 +234,7 @@ void ResetEncoder()
 {
   const byte reset_cmd = 0xF0;
 
-  SPI.beginTransaction(SPISettings(4000000, MSBFIRST, SPI_MODE0));
+  SPI.beginTransaction(SPISettings(4000000, MSBFIRST, SPI_MODE3));
   digitalWrite(NSS_PIN,LOW);
   delayMicroseconds(2);
   SPI.transfer(reset_cmd);
@@ -251,7 +251,7 @@ long ReadEncoder(SpiEncoders encoder)
   const int readSize = 4;
   long encoderVal = 0;
 
-  SPI.beginTransaction(SPISettings(4000000, MSBFIRST, SPI_MODE0));
+  SPI.beginTransaction(SPISettings(4000000, MSBFIRST, SPI_MODE3));
   digitalWrite(NSS_PIN,LOW);
   delayMicroseconds(2);
   SPI.transfer(read_cmd | (encoder << spi_encoder_offset) );
@@ -262,7 +262,7 @@ long ReadEncoder(SpiEncoders encoder)
     encoderVal <<= 8;
     encoderVal |= SPI.transfer(0x01);
   }
-  
+
   digitalWrite(NSS_PIN,HIGH);
   SPI.endTransaction();
   delay(10);