Merge pull request #4 from LexxPluss/feature/out_of_tree_v2.7.5

Feature/out of tree v2.7.5
LexxPluss · Feb 20, 2024 · f2ee758 · f2ee758
2 parents 1267b0d + eb95738
commit f2ee758
Show file tree

Hide file tree

Showing 5 changed files with 14 additions and 17 deletions.
diff --git a/README.md b/README.md
@@ -29,12 +29,12 @@ $ west zephyr-export
 ### Build bootloader (MCUboot)
 
 ```bash
-$ ZEPHYR_TOOLCHAIN_VARIANT=gnuarmemb west build -b lexxpluss_mb02 bootloader/mcuboot/boot/zephyr -d build-mcuboot
+$ ZEPHYR_TOOLCHAIN_VARIANT=gnuarmemb west build -b lexxpluss_mb02 bootloader/mcuboot/boot/zephyr -d build-mcuboot -- -DBOARD_ROOT=$(pwd)/extra
 ```
 ### Build firmware
 
 ```bash
-$ ZEPHYR_TOOLCHAIN_VARIANT=gnuarmemb west build -b lexxpluss_mb02 lexxpluss_apps
+$ 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-SensorControlBoard-Firmware-Update-?.?.?.bin
@@ -47,7 +47,7 @@ $ cat bl_with_ff.bin build/zephyr/zephyr.signed.bin >  LexxHard-SensorControlBoa
 ### Build firmware ( enable interlock )
 
 ```bash
-$ ZEPHYR_TOOLCHAIN_VARIANT=gnuarmemb west build -b lexxpluss_mb02 lexxpluss_apps -- -DENABLE_INTERLOCK=1
+$ ZEPHYR_TOOLCHAIN_VARIANT=gnuarmemb west build -b lexxpluss_mb02 lexxpluss_apps -- -DENABLE_INTERLOCK=1 -DBOARD_ROOT=$(pwd)/extra -DZEPHYR_EXTRA_MODULES=$(pwd)/extra
 ```
 
 ---
@@ -95,19 +95,19 @@ export GNUARMEMB_TOOLCHAIN_PATH=/Applications/ARM
 ### Build bootloader (MCUboot)
 
 ```bash
-$ west build -b lexxpluss_mb02 bootloader/mcuboot/boot/zephyr -d build-mcuboot
+$ west build -b lexxpluss_mb02 bootloader/mcuboot/boot/zephyr -d build-mcuboot -- -DBOARD_ROOT=$(pwd)/extra
 ```
 
 ### Build firmware
 
 ```bash
-$ west build -p auto -b lexxpluss_mb02 lexxpluss_apps
+$ west build -p auto -b lexxpluss_mb02 lexxpluss_apps -- -DBOARD_ROOT=$(pwd)/extra -DZEPHYR_EXTRA_MODULES=$(pwd)/extra
 ```
 
 ### Build firmware ( enable interlock )
 
 ```bash
-$ west build -p auto -b lexxpluss_mb02 lexxpluss_apps -- -DENABLE_INTERLOCK=1
+$ west build -p auto -b lexxpluss_mb02 lexxpluss_apps -- -DENABLE_INTERLOCK=1 -DBOARD_ROOT=$(pwd)/extra -DZEPHYR_EXTRA_MODULES=$(pwd)/extra
 ```
 ---
 ## Program of the built firmware

diff --git a/extra/boards/arm/lexxpluss_mb02/lexxpluss_mb02.dts b/extra/boards/arm/lexxpluss_mb02/lexxpluss_mb02.dts
@@ -40,7 +40,6 @@
 		zephyr,sram = &sram0;
 		zephyr,flash = &flash0;
 		zephyr,dtcm = &dtcm;
-		/* zephyr,can-primary = &can2; */
 		zephyr,can-primary = &can1;
 		zephyr,can-secondary = &can2;
 	};

diff --git a/lexxpluss_apps/prj.conf b/lexxpluss_apps/prj.conf
@@ -46,3 +46,5 @@ CONFIG_MCUBOOT_GENERATE_CONFIRMED_IMAGE=y
 CONFIG_FLASH=y
 CONFIG_FLASH_MAP=y
 CONFIG_REBOOT=y
+CONFIG_MAXBOTIX=y
+CONFIG_ADIS16470=y
diff --git a/lexxpluss_apps/src/rosserial_bmu.hpp b/lexxpluss_apps/src/rosserial_bmu.hpp
@@ -57,7 +57,7 @@ class ros_bmu {
             if (message.mod_status1 & 0b00100000 ||
                 message.bmu_status == 0x07 ||
                 message.bmu_status == 0x09 ||
-                message.bmu_alarm1 == 0b10000010)
+                message.bmu_alarm1 & 0b10000010)
                 msg.state.power_supply_health = sensor_msgs::BatteryState::POWER_SUPPLY_HEALTH_OVERHEAT;
             else if (message.mod_status1 & 0b00011000)
                 msg.state.power_supply_health = sensor_msgs::BatteryState::POWER_SUPPLY_HEALTH_OVERVOLTAGE;
@@ -67,8 +67,8 @@ class ros_bmu {
                      message.mod_status2 & 0b00000001 ||
                      message.bmu_status == 0xf0 ||
                      message.bmu_status == 0xf1 ||
-                     message.bmu_alarm1 == 0b01111101 ||
-                     message.bmu_alarm2 == 0b00000001)
+                     message.bmu_alarm1 & 0b01111101 ||
+                     message.bmu_alarm2 & 0b00000001)
                 msg.state.power_supply_health = sensor_msgs::BatteryState::POWER_SUPPLY_HEALTH_UNSPEC_FAILURE;
             else
                 msg.state.power_supply_health = sensor_msgs::BatteryState::POWER_SUPPLY_HEALTH_GOOD;

diff --git a/lexxpluss_apps/west.yml b/lexxpluss_apps/west.yml
@@ -22,17 +22,13 @@
 # SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 
 manifest:
-  remotes:
-    - name: lexxpluss
-      url-base: https://github.com/LexxPluss
   projects:
     - name: zephyr
-      remote: lexxpluss
-      revision: lexxpluss/main
+      url: https://github.com/zephyrproject-rtos/zephyr.git
+      revision: refs/tags/v2.7.5
       import: true
     - name: ros_msgs
-      remote: lexxpluss
+      url: https://github.com/LexxPluss/ros_msgs.git
       revision: main
-      path: ros_msgs
   self:
     path: lexxpluss_apps