Merge branch 'main' into feature/out_of_tree_v2.7.5

.github/CODEOWNERS

@@ -0,0 +1 @@
+* @takurot @shujima @kokosabu @ksato9700

README.md

@@ -1,25 +1,25 @@
-# LexxPluss Main Board Software
+# LexxPluss Sensor Control Board Software
 
-[![CI](https://github.com/LexxPluss/LexxHard-MainBoard-Firmware/actions/workflows/main.yml/badge.svg)](https://github.com/LexxPluss/LexxHard-MainBoard-Firmware/actions/workflows/main.yml)
-[![release](https://github.com/LexxPluss/LexxHard-MainBoard-Firmware/actions/workflows/release.yml/badge.svg)](https://github.com/LexxPluss/LexxHard-MainBoard-Firmware/actions/workflows/release.yml)
+[![CI](https://github.com/LexxPluss/LexxHard-SensorControlBoard-Firmware/actions/workflows/main.yml/badge.svg)](https://github.com/LexxPluss/LexxHard-SensorControlBoard-Firmware/actions/workflows/main.yml)
+[![release](https://github.com/LexxPluss/LexxHard-SensorControlBoard-Firmware/actions/workflows/release.yml/badge.svg)](https://github.com/LexxPluss/LexxHard-SensorControlBoard-Firmware/actions/workflows/release.yml)
 
 ## For Docker (Ubuntu)
 
-## Install dependencies 
+## Install dependencies
 
 ```bash
 $ mkdir -p $HOME/zephyrproject/
 $ cd $HOME/zephyrproject/
-$ git clone https://github.com/LexxPluss/LexxHard-MainBoard-Firmware
+$ git clone https://github.com/LexxPluss/LexxHard-SensorControlBoard-Firmware
 $ docker pull zephyrprojectrtos/zephyr-build:v0.21.0
 $ docker run -it -v $HOME/zephyrproject:/workdir docker.io/zephyrprojectrtos/zephyr-build:v0.21.0
 
 ```
 ## Setup Zephyr
 
 ```bash
-$ export ZEPHYR_BASE=/workdir/LexxHard-MainBoard-Firmware/zephyr
-$ cd /workdir/LexxHard-MainBoard-Firmware
+$ export ZEPHYR_BASE=/workdir/LexxHard-SensorControlBoard-Firmware/zephyr
+$ cd /workdir/LexxHard-SensorControlBoard-Firmware
 $ west init -l lexxpluss_apps
 $ west update
 $ west config --global zephyr.base-prefer configfile
@@ -37,11 +37,11 @@ $ ZEPHYR_TOOLCHAIN_VARIANT=gnuarmemb west build -b lexxpluss_mb02 bootloader/mcu
 $ ZEPHYR_TOOLCHAIN_VARIANT=gnuarmemb west build -b lexxpluss_mb02 lexxpluss_apps -- -DBOARD_ROOT=$(pwd)/extra -DZEPHYR_EXTRA_MODULES=$(pwd)/extra
 ```
 ```bash
-$ cp ./build/zephyr/zephyr.signed.confirmed.bin LexxHard-MainBoard-Firmware-Update-?.?.?.bin
+$ cp ./build/zephyr/zephyr.signed.confirmed.bin LexxHard-SensorControlBoard-Firmware-Update-?.?.?.bin
 
 $ dd if=/dev/zero bs=1k count=256 | tr "\000" "\377" > bl_with_ff.bin
 $ dd if=build-mcuboot/zephyr/zephyr.bin of=bl_with_ff.bin conv=notrunc
-$ cat bl_with_ff.bin build/zephyr/zephyr.signed.bin >  LexxHard-MainBoard-Firmware-Initial-?.?.?.bin
+$ cat bl_with_ff.bin build/zephyr/zephyr.signed.bin >  LexxHard-SensorControlBoard-Firmware-Initial-?.?.?.bin
 ```
 
 ### Build firmware ( enable interlock )
@@ -135,17 +135,12 @@ $ st-flash --reset --connect-under-reset write build/zephyr/zephyr.signed.confir
 
 ```bash
 $ st-flash --reset --connect-under-reset erase
-$ st-flash --reset --connect-under-reset write LexxHard-MainBoard-Firmware-Initial-v?.?.? 0x8000000
+$ st-flash --reset --connect-under-reset write LexxHard-SensorControlBoard-Firmware-Initial-v?.?.? 0x8000000
 ```
 
 ## Update via ROS
 
-Use [LexxPluss/LexxHard-MainBoard-Updator](https://github.com/LexxPluss/LexxHard-MainBoard-Updator.git).
-
-The firmware is automatically updated when the robot is turned on again after executing the following command.
-```bash
-$ rosrun mainboard_updator mainboard_updator LexxHard-MainBoard-Firmware-Update-v?.?.?.bin
-```
+(There is no updater for SensorControlBoard yet)
 
 ## License
 

extra/boards/arm/lexxpluss_mb02/lexxpluss_mb02.dts

@@ -40,7 +40,8 @@
 		zephyr,sram = &sram0;
 		zephyr,flash = &flash0;
 		zephyr,dtcm = &dtcm;
-		zephyr,can-primary = &can2;
+		zephyr,can-primary = &can1;
+		zephyr,can-secondary = &can2;
 	};
 
 	soc {
@@ -294,6 +295,16 @@
 	status = "okay";
 };
 
+&can1 {
+	pinctrl-0 = <&can1_rx_ph14 &can1_tx_ph13>;
+	bus-speed = <1000000>;
+	sjw = <1>;
+	prop-seg = <0>;
+	phase-seg1 = <5>;
+	phase-seg2 = <6>;
+	status = "okay";
+};
+
 &i2c2 {
 	pinctrl-0 = <&i2c2_sda_pf0 &i2c2_scl_pf1>;
 	status = "okay";

lexxpluss_apps/src/can_controller.cpp

@@ -382,7 +382,7 @@ class can_controller_impl {
     const device *dev{nullptr};
     char version_powerboard[32]{""};
     bool heartbeat_timeout{true}, enable_lockdown{true};
-    static constexpr char version[]{"2.7.0"};
+    static constexpr char version[]{"2.7.1"};
 } impl;
 
 int bmu_info(const shell *shell, size_t argc, char **argv)

lexxpluss_apps/src/rosserial_board.hpp

@@ -53,6 +53,7 @@ class ros_board {
         nh.subscribe(sub_emergency);
         nh.subscribe(sub_poweroff);
         nh.subscribe(sub_lexxhard);
+        nh.subscribe(sub_messenger);
         msg_fan.data = msg_fan_data;
         msg_fan.data_length = sizeof msg_fan_data / sizeof msg_fan_data[0];
         msg_bumper.data = msg_bumper_data;
@@ -134,6 +135,10 @@ class ros_board {
         while (k_msgq_put(&can_controller::msgq_control, &ros2board, K_NO_WAIT) != 0)
             k_msgq_purge(&can_controller::msgq_control);
     }
+    void callback_messenger(const std_msgs::Bool &req) {
+        while (k_msgq_put(&can_controller::msgq_control, &ros2board, K_NO_WAIT) != 0)
+            k_msgq_purge(&can_controller::msgq_control);
+    }
     std_msgs::UInt8MultiArray msg_fan;
     std_msgs::ByteMultiArray msg_bumper;
     std_msgs::Bool msg_emergency;
@@ -161,6 +166,9 @@ class ros_board {
     ros::Subscriber<std_msgs::String, ros_board> sub_lexxhard{
         "/lexxhard/setup", &ros_board::callback_lexxhard, this
     };
+    ros::Subscriber<std_msgs::Bool, ros_board> sub_messenger{
+        "/lexxhard/mainboard_messenger_heartbeat", &ros_board::callback_messenger, this
+    };
 };
 
 }