Ehu shubham shaw contribution --> Hardware support (#306)
* feat: add ZeroClaw firmware for ESP32 and Nucleo * Introduced new firmware for ZeroClaw on ESP32 and Nucleo-F401RE, enabling JSON-over-serial communication for GPIO control. * Added `zeroclaw-esp32` with support for commands like `gpio_read` and `gpio_write`, along with capabilities reporting. * Implemented `zeroclaw-nucleo` firmware with similar functionality for STM32, ensuring compatibility with existing ZeroClaw protocols. * Updated `.gitignore` to include new firmware targets and added necessary dependencies in `Cargo.toml` for both platforms. * Created README files for both firmware projects detailing setup, build, and usage instructions. Co-authored-by: Claude Opus 4.6 <noreply@anthropic.com> * feat: enhance hardware peripheral support and documentation - Added `Peripheral` trait implementation in `src/peripherals/` to manage hardware boards (STM32, RPi GPIO). - Updated `AGENTS.md` to include new extension points for peripherals and their configuration. - Introduced comprehensive documentation for adding boards and tools, including a quick start guide and supported boards. - Enhanced `Cargo.toml` to include optional dependencies for PDF extraction and peripheral support. - Created new datasheets for Arduino Uno, ESP32, and Nucleo-F401RE, detailing pin aliases and GPIO usage. - Implemented new tools for hardware memory reading and board information retrieval in the agent loop. This update significantly improves the integration and usability of hardware peripherals within the ZeroClaw framework. * feat: add ZeroClaw firmware for ESP32 and Nucleo * Introduced new firmware for ZeroClaw on ESP32 and Nucleo-F401RE, enabling JSON-over-serial communication for GPIO control. * Added `zeroclaw-esp32` with support for commands like `gpio_read` and `gpio_write`, along with capabilities reporting. * Implemented `zeroclaw-nucleo` firmware with similar functionality for STM32, ensuring compatibility with existing ZeroClaw protocols. * Updated `.gitignore` to include new firmware targets and added necessary dependencies in `Cargo.toml` for both platforms. * Created README files for both firmware projects detailing setup, build, and usage instructions. Co-authored-by: Claude Opus 4.6 <noreply@anthropic.com> * feat: enhance hardware peripheral support and documentation - Added `Peripheral` trait implementation in `src/peripherals/` to manage hardware boards (STM32, RPi GPIO). - Updated `AGENTS.md` to include new extension points for peripherals and their configuration. - Introduced comprehensive documentation for adding boards and tools, including a quick start guide and supported boards. - Enhanced `Cargo.toml` to include optional dependencies for PDF extraction and peripheral support. - Created new datasheets for Arduino Uno, ESP32, and Nucleo-F401RE, detailing pin aliases and GPIO usage. - Implemented new tools for hardware memory reading and board information retrieval in the agent loop. This update significantly improves the integration and usability of hardware peripherals within the ZeroClaw framework. * feat: Introduce hardware auto-discovery and expanded configuration options for agents, hardware, and security. * chore: update dependencies and improve probe-rs integration - Updated `Cargo.lock` to remove specific version constraints for several dependencies, including `zerocopy`, `syn`, and `strsim`, allowing for more flexibility in version resolution. - Upgraded `bincode` and `bitfield` to their latest versions, enhancing serialization and memory management capabilities. - Updated `Cargo.toml` to reflect the new version of `probe-rs` from `0.24` to `0.30`, improving hardware probing functionality. - Refactored code in `src/hardware` and `src/tools` to utilize the new `SessionConfig` for session management in `probe-rs`, ensuring better compatibility and performance. - Cleaned up documentation in `docs/datasheets/nucleo-f401re.md` by removing unnecessary lines. * fix: apply cargo fmt * docs: add hardware architecture diagram. --------- Co-authored-by: Claude Opus 4.6 <noreply@anthropic.com>
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ehu shubham shaw
GitHub
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59 changed files with 9607 additions and 1885 deletions
5
firmware/zeroclaw-esp32/.cargo/config.toml
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firmware/zeroclaw-esp32/.cargo/config.toml
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[build]
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target = "riscv32imc-esp-espidf"
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[target.riscv32imc-esp-espidf]
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runner = "espflash flash --monitor"
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firmware/zeroclaw-esp32/Cargo.lock
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firmware/zeroclaw-esp32/Cargo.lock
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firmware/zeroclaw-esp32/Cargo.toml
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firmware/zeroclaw-esp32/Cargo.toml
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# ZeroClaw ESP32 firmware — JSON-over-serial peripheral for host-mediated control.
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#
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# Flash to ESP32 and connect via serial. The host ZeroClaw sends gpio_read/gpio_write
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# commands; this firmware executes them and responds.
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#
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# Prerequisites: espup (cargo install espup; espup install; source ~/export-esp.sh)
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# Build: cargo build --release
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# Flash: cargo espflash flash --monitor
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[package]
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name = "zeroclaw-esp32"
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version = "0.1.0"
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edition = "2021"
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license = "MIT"
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description = "ZeroClaw ESP32 peripheral firmware — GPIO over JSON serial"
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[dependencies]
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esp-idf-svc = "0.48"
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log = "0.4"
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anyhow = "1.0"
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serde = { version = "1.0", features = ["derive"] }
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serde_json = "1.0"
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[build-dependencies]
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embuild = { version = "0.31", features = ["elf"] }
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[profile.release]
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opt-level = "s"
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lto = true
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codegen-units = 1
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strip = true
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panic = "abort"
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[profile.dev]
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opt-level = "s"
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firmware/zeroclaw-esp32/README.md
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firmware/zeroclaw-esp32/README.md
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# ZeroClaw ESP32 Firmware
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Peripheral firmware for ESP32 — speaks the same JSON-over-serial protocol as the STM32 firmware. Flash this to your ESP32, then configure ZeroClaw on the host to connect via serial.
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## Protocol
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- **Request** (host → ESP32): `{"id":"1","cmd":"gpio_write","args":{"pin":13,"value":1}}\n`
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- **Response** (ESP32 → host): `{"id":"1","ok":true,"result":"done"}\n`
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Commands: `gpio_read`, `gpio_write`.
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## Prerequisites
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1. **ESP toolchain** (espup):
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```sh
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cargo install espup espflash
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espup install
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source ~/export-esp.sh # or ~/export-esp.fish for Fish
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```
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2. **Target**: ESP32-C3 (RISC-V) by default. Edit `.cargo/config.toml` for other targets (e.g. `xtensa-esp32-espidf` for original ESP32).
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## Build & Flash
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```sh
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cd firmware/zeroclaw-esp32
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cargo build --release
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espflash flash target/riscv32imc-esp-espidf/release/zeroclaw-esp32 --monitor
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```
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## Host Config
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Add to `config.toml`:
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```toml
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[peripherals]
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enabled = true
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[[peripherals.boards]]
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board = "esp32"
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transport = "serial"
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path = "/dev/ttyUSB0" # or /dev/ttyACM0, COM3, etc.
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baud = 115200
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```
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## Pin Mapping
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Default GPIO 2 and 13 are configured for output. Edit `src/main.rs` to add more pins or change for your board. ESP32-C3 has different pin layout — adjust UART pins (gpio21/gpio20) if needed.
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## Edge-Native (Future)
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Phase 6 also envisions ZeroClaw running *on* the ESP32 (WiFi + LLM). This firmware is the host-mediated serial peripheral; edge-native will be a separate crate.
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firmware/zeroclaw-esp32/build.rs
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firmware/zeroclaw-esp32/build.rs
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fn main() {
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embuild::espidf::sysenv::output();
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}
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firmware/zeroclaw-esp32/src/main.rs
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firmware/zeroclaw-esp32/src/main.rs
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//! ZeroClaw ESP32 firmware — JSON-over-serial peripheral.
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//!
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//! Listens for newline-delimited JSON commands on UART0, executes gpio_read/gpio_write,
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//! responds with JSON. Compatible with host ZeroClaw SerialPeripheral protocol.
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//!
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//! Protocol: same as STM32 — see docs/hardware-peripherals-design.md
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use esp_idf_svc::hal::gpio::PinDriver;
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use esp_idf_svc::hal::prelude::*;
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use esp_idf_svc::hal::uart::*;
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use log::info;
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use serde::{Deserialize, Serialize};
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/// Incoming command from host.
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#[derive(Debug, Deserialize)]
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struct Request {
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id: String,
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cmd: String,
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args: serde_json::Value,
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}
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/// Outgoing response to host.
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#[derive(Debug, Serialize)]
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struct Response {
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id: String,
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ok: bool,
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result: String,
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#[serde(skip_serializing_if = "Option::is_none")]
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error: Option<String>,
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}
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fn main() -> anyhow::Result<()> {
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esp_idf_svc::sys::link_patches();
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esp_idf_svc::log::EspLogger::initialize_default();
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let peripherals = Peripherals::take()?;
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let pins = peripherals.pins;
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// UART0: TX=21, RX=20 (ESP32) — ESP32-C3 may use different pins; adjust for your board
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let config = UartConfig::new().baudrate(Hertz(115_200));
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let mut uart = UartDriver::new(
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peripherals.uart0,
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pins.gpio21,
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pins.gpio20,
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Option::<esp_idf_svc::hal::gpio::Gpio0>::None,
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Option::<esp_idf_svc::hal::gpio::Gpio1>::None,
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&config,
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)?;
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info!("ZeroClaw ESP32 firmware ready on UART0 (115200)");
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let mut buf = [0u8; 512];
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let mut line = Vec::new();
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loop {
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match uart.read(&mut buf, 100) {
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Ok(0) => continue,
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Ok(n) => {
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for &b in &buf[..n] {
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if b == b'\n' {
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if !line.is_empty() {
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if let Ok(line_str) = std::str::from_utf8(&line) {
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if let Ok(resp) = handle_request(line_str, &peripherals) {
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let out = serde_json::to_string(&resp).unwrap_or_default();
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let _ = uart.write(format!("{}\n", out).as_bytes());
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}
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}
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line.clear();
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}
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} else {
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line.push(b);
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if line.len() > 400 {
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line.clear();
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}
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}
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}
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}
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Err(_) => {}
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}
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}
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}
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fn handle_request(
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line: &str,
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peripherals: &esp_idf_svc::hal::peripherals::Peripherals,
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) -> anyhow::Result<Response> {
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let req: Request = serde_json::from_str(line.trim())?;
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let id = req.id.clone();
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let result = match req.cmd.as_str() {
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"capabilities" => {
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// Phase C: report GPIO pins and LED pin (matches Arduino protocol)
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let caps = serde_json::json!({
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"gpio": [0, 1, 2, 3, 4, 5, 12, 13, 14, 15, 16, 17, 18, 19],
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"led_pin": 2
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});
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Ok(caps.to_string())
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}
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"gpio_read" => {
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let pin_num = req.args.get("pin").and_then(|v| v.as_u64()).unwrap_or(0) as i32;
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let value = gpio_read(peripherals, pin_num)?;
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Ok(value.to_string())
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}
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"gpio_write" => {
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let pin_num = req.args.get("pin").and_then(|v| v.as_u64()).unwrap_or(0) as i32;
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let value = req.args.get("value").and_then(|v| v.as_u64()).unwrap_or(0);
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gpio_write(peripherals, pin_num, value)?;
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Ok("done".into())
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}
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_ => Err(anyhow::anyhow!("Unknown command: {}", req.cmd)),
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};
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match result {
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Ok(r) => Ok(Response {
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id,
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ok: true,
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result: r,
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error: None,
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}),
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Err(e) => Ok(Response {
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id,
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ok: false,
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result: String::new(),
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error: Some(e.to_string()),
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}),
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}
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}
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fn gpio_read(_peripherals: &esp_idf_svc::hal::peripherals::Peripherals, _pin: i32) -> anyhow::Result<u8> {
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// TODO: implement input pin read — requires storing InputPin drivers per pin
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Ok(0)
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}
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fn gpio_write(
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peripherals: &esp_idf_svc::hal::peripherals::Peripherals,
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pin: i32,
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value: u64,
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) -> anyhow::Result<()> {
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let pins = peripherals.pins;
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let level = value != 0;
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match pin {
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2 => {
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let mut out = PinDriver::output(pins.gpio2)?;
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out.set_level(esp_idf_svc::hal::gpio::Level::from(level))?;
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}
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13 => {
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let mut out = PinDriver::output(pins.gpio13)?;
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out.set_level(esp_idf_svc::hal::gpio::Level::from(level))?;
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}
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_ => anyhow::bail!("Pin {} not configured (add to gpio_write)", pin),
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}
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Ok(())
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}
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