Support Hardware V2

config/hardwareversion.ini

@@ -0,0 +1,76 @@
+; *************************************************************************************************
+; Target Hardware Version configurations
+;   * V1: ESP32 with 4MB flash. External USB Host controller.
+;   * V2: ESP32-S3 with 16MB flash. Integrated USB Host controller. Buttons and LEDs A, B and C.
+; *************************************************************************************************
+
+; *****************************************************************************
+; Target environment for ZumoComSystem.
+; *****************************************************************************
+[version:V1]
+extends = mode:selected_esp32
+platform = espressif32 @ ~6.11.0
+board = esp32doit-devkit-v1
+board_build.filesystem = littlefs
+framework = arduino
+build_flags =
+    ${mode:selected_esp32.build_flags}
+    -Wl,-Map,firmware.map
+    -D CONFIG_FILE_PATH="\"/config/config.json\""
+lib_deps =
+    HALInterfaces
+    HALTargetV1
+    HALTargetCommon
+    https://github.com/NewTec-GmbH/USB_Host_Shield_2.0.git#3_Endpoints_ACM
+    knolleary/PubSubClient @ ~2.8
+    SPI
+    FS
+    LittleFS
+lib_ignore =
+    ArduinoNative
+    HALSim
+    HALTargetV2
+    HALTest
+    MainNative
+    MainTestNative
+    UDPNative
+    WiFiNative
+    WifiClientNative
+extra_scripts = 
+monitor_speed = 115200
+monitor_filters = esp32_exception_decoder
+
+; *****************************************************************************
+; Target environment for ZumoComSystemV2.
+; *****************************************************************************
+[version:V2]
+extends = mode:selected_esp32
+platform = espressif32 @ ~6.11.0
+board = esp32-s3-devkitc-1
+board_build.filesystem = littlefs
+framework = arduino
+build_flags =
+    ${mode:selected_esp32.build_flags}
+    -Wl,-Map,firmware.map
+    -D CONFIG_FILE_PATH="\"/config/config.json\""
+lib_deps =
+    HALInterfaces
+    HALTargetV2
+    HALTargetCommon
+    knolleary/PubSubClient @ ~2.8
+    SPI
+    FS
+    LittleFS
+lib_ignore =
+    ArduinoNative
+    HALSim
+    HALTargetV1
+    HALTest
+    MainNative
+    MainTestNative
+    UDPNative
+    WiFiNative
+    WifiClientNative
+extra_scripts = 
+monitor_speed = 115200
+monitor_filters = esp32_exception_decoder

doc/doxygen/ConvoyFollowerTargetDoxyfile

@@ -995,6 +995,7 @@ INPUT                  = mainpage.dox \
                          ../../src \
                          ../../lib/HALTargetCommon \
                          ../../lib/HALTargetV1 \
+                         ../../lib/HALTargetV2 \
                          ../../lib/HALInterfaces \
                          ../../lib/APPConvoyFollower \
                          ../../lib/Service \

doc/doxygen/ConvoyLeaderTargetDoxyfile

@@ -997,6 +997,7 @@ INPUT                  = mainpage.dox \
                          ../../lib/HALInterfaces \
                          ../../lib/HALTargetCommon \
                          ../../lib/HALTargetV1 \
+                         ../../lib/HALTargetV2 \
                          ../../lib/PlatoonService \
                          ../../lib/Service \
                          ../../lib/Utilities

doc/doxygen/LineFollowerTargetDoxyfile

@@ -995,6 +995,7 @@ INPUT                  = mainpage.dox \
                          ../../src \
                          ../../lib/HALTargetCommon \
                          ../../lib/HALTargetV1 \
+                         ../../lib/HALTargetV2 \
                          ../../lib/HALInterfaces \
                          ../../lib/APPLineFollower \
                          ../../lib/Service \

doc/doxygen/RemoteControlTargetDoxyfile

@@ -995,6 +995,7 @@ INPUT                  = mainpage.dox \
                          ../../src \
                          ../../lib/HALTargetCommon \
                          ../../lib/HALTargetV1 \
+                         ../../lib/HALTargetV2 \
                          ../../lib/HALInterfaces \
                          ../../lib/APPRemoteControl \
                          ../../lib/Service \

doc/doxygen/SensorFusionTargetDoxyfile

@@ -995,6 +995,7 @@ INPUT                  = mainpage.dox \
                          ../../src \
                          ../../lib/HALTargetCommon \
                          ../../lib/HALTargetV1 \
+                         ../../lib/HALTargetV2 \
                          ../../lib/HALInterfaces \
                          ../../lib/APPSensorFusion \
                          ../../lib/Service \

doc/doxygen/TurtleTargetDoxyfile

@@ -997,6 +997,7 @@ INPUT                  = mainpage.dox \
                          ../../lib/HALInterfaces \
                          ../../lib/HALTargetCommon \
                          ../../lib/HALTargetV1 \
+                         ../../lib/HALTargetV2 \
                          ../../lib/Service \
                          ../../lib/Utilities
 

doc/doxygen/mainpage.dox

@@ -15,8 +15,18 @@ The HAL interface abstraction, which every kind of HAL needs to provide.
 @{
 @}
 
-@defgroup HALTarget Hardware abstraction on the Zumo32U4
-Abstracts the the physical hardware of the Zumo32U4.
+@defgroup HALTargetCommon Hardware abstraction of the common components of the ZumoComSystem.
+Abstracts the physical hardware of the common components of the ZumoComSystem.
+@{
+@}
+
+@defgroup HALTargetV1 Hardware abstraction of the ZumoComSystemV1
+Abstracts the physical hardware of the ZumoComSystemV1.
+@{
+@}
+
+@defgroup HALTargetV2 Hardware abstraction of the ZumoComSystemV2
+Abstracts the physical hardware of the ZumoComSystemV2.
 @{
 @}
 

lib/HALTargetV2/library.json

@@ -0,0 +1,17 @@
+{
+    "name": "HALTargetV2",
+    "version": "0.1.0",
+    "description": "Hardware abstraction layer for the ZumoComSystemV2.",
+    "authors": [{
+        "name": "Andreas Merkle",
+        "email": "web@blue-andi.de",
+        "url": "https://github.com/BlueAndi",
+        "maintainer": true
+    }],
+    "license": "MIT",
+    "dependencies": [{
+        "name": "Os"
+    }],
+    "frameworks": "arduino",
+    "platforms": "*"
+}

lib/HALTargetV2/src/Pin.h

@@ -0,0 +1,104 @@
+/* MIT License
+ *
+ * Copyright (c) 2023 - 2026 Andreas Merkle <web@blue-andi.de>
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy
+ * of this software and associated documentation files (the "Software"), to deal
+ * in the Software without restriction, including without limitation the rights
+ * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+ * copies of the Software, and to permit persons to whom the Software is
+ * furnished to do so, subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in all
+ * copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+ * SOFTWARE.
+ */
+
+/*******************************************************************************
+    DESCRIPTION
+*******************************************************************************/
+/**
+ * @file
+ * @brief  Pin definition for the target board.
+ * @author Gabryel Reyes <gabryelrdiaz@gmail.com>
+ *
+ * @addtogroup HALTargetV2
+ *
+ * @{
+ */
+#ifndef PIN_H
+#define PIN_H
+
+/******************************************************************************
+ * Compile Switches
+ *****************************************************************************/
+
+/******************************************************************************
+ * Includes
+ *****************************************************************************/
+
+#include <stdint.h>
+#include <Io.hpp>
+
+/******************************************************************************
+ * Macros
+ *****************************************************************************/
+
+/******************************************************************************
+ * Types and Classes
+ *****************************************************************************/
+
+/** Pin number of all used pins. */
+namespace Pin
+{
+    /** Pin for push button for system reset/AP mode start (ACTIVE LOW) */
+    constexpr uint8_t PIN_WIFI_AND_RESET_KEY = 48U;
+
+    /** Pin for resetting the attached Zumo robot (ACTIVE LOW) */
+    constexpr uint8_t PIN_DEVICE_RESET = 5U;
+
+    /** Pin for info LED RGB channel RED (ACTIVE LOW) */
+    constexpr uint8_t INFO_LED_R = 38U;
+
+    /** Pin for info LED RGB channel GREEN (ACTIVE LOW) */
+    constexpr uint8_t INFO_LED_G = 1U;
+
+    /** Pin for info LED RGB channel BLUE (ACTIVE LOW) */
+    constexpr uint8_t INFO_LED_B = 2U;
+
+    /** Pin for analog measurement of battery voltage */
+    constexpr uint8_t PIN_BATT_MEASUREMENT = 10U;
+
+    /** Pin for push button A */
+    constexpr uint8_t PIN_BUTTON_A = 7U;
+
+    /** Pin for push button B */
+    constexpr uint8_t PIN_BUTTON_B = 15U;
+
+    /** Pin for push button C */
+    constexpr uint8_t PIN_BUTTON_C = 17U;
+
+    /** Pin for LED A */
+    constexpr uint8_t PIN_LED_A = 6U;
+
+    /** Pin for LED B */
+    constexpr uint8_t PIN_LED_B = 16U;
+
+    /** Pin for LED C */
+    constexpr uint8_t PIN_LED_C = 18U;
+
+}; /* namespace Pin */
+
+/******************************************************************************
+ * Functions
+ *****************************************************************************/
+
+#endif /* PIN_H */
+/** @} */