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>
This commit is contained in:
ehu shubham shaw
GitHub
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commit
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59 changed files with 9607 additions and 1885 deletions
187
firmware/zeroclaw-nucleo/src/main.rs
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187
firmware/zeroclaw-nucleo/src/main.rs
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//! ZeroClaw Nucleo-F401RE firmware — JSON-over-serial peripheral.
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//!
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//! Listens for newline-delimited JSON on USART2 (PA2=TX, PA3=RX).
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//! USART2 is connected to ST-Link VCP — host sees /dev/ttyACM0 (Linux) or /dev/cu.usbmodem* (macOS).
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//!
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//! Protocol: same as Arduino/ESP32 — see docs/hardware-peripherals-design.md
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#![no_std]
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#![no_main]
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use core::fmt::Write;
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use core::str;
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use defmt::info;
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use embassy_executor::Spawner;
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use embassy_stm32::gpio::{Level, Output, Speed};
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use embassy_stm32::usart::{Config, Uart};
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use heapless::String;
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use {defmt_rtt as _, panic_probe as _};
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/// Arduino-style pin 13 = PA5 (User LED LD2 on Nucleo-F401RE)
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const LED_PIN: u8 = 13;
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/// Parse integer from JSON: "pin":13 or "value":1
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fn parse_arg(line: &[u8], key: &[u8]) -> Option<i32> {
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// key like b"pin" -> search for b"\"pin\":"
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let mut suffix: [u8; 32] = [0; 32];
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suffix[0] = b'"';
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let mut len = 1;
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for (i, &k) in key.iter().enumerate() {
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if i >= 30 {
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break;
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}
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suffix[len] = k;
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len += 1;
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}
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suffix[len] = b'"';
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suffix[len + 1] = b':';
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len += 2;
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let suffix = &suffix[..len];
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let line_len = line.len();
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if line_len < len {
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return None;
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}
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for i in 0..=line_len - len {
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if line[i..].starts_with(suffix) {
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let rest = &line[i + len..];
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let mut num: i32 = 0;
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let mut neg = false;
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let mut j = 0;
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if j < rest.len() && rest[j] == b'-' {
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neg = true;
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j += 1;
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}
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while j < rest.len() && rest[j].is_ascii_digit() {
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num = num * 10 + (rest[j] - b'0') as i32;
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j += 1;
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}
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return Some(if neg { -num } else { num });
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}
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}
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None
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}
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fn has_cmd(line: &[u8], cmd: &[u8]) -> bool {
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let mut pat: [u8; 64] = [0; 64];
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pat[0..7].copy_from_slice(b"\"cmd\":\"");
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let clen = cmd.len().min(50);
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pat[7..7 + clen].copy_from_slice(&cmd[..clen]);
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pat[7 + clen] = b'"';
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let pat = &pat[..8 + clen];
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let line_len = line.len();
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if line_len < pat.len() {
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return false;
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}
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for i in 0..=line_len - pat.len() {
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if line[i..].starts_with(pat) {
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return true;
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}
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}
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false
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}
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/// Extract "id" for response
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fn copy_id(line: &[u8], out: &mut [u8]) -> usize {
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let prefix = b"\"id\":\"";
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if line.len() < prefix.len() + 1 {
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out[0] = b'0';
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return 1;
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}
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for i in 0..=line.len() - prefix.len() {
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if line[i..].starts_with(prefix) {
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let start = i + prefix.len();
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let mut j = 0;
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while start + j < line.len() && j < out.len() - 1 && line[start + j] != b'"' {
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out[j] = line[start + j];
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j += 1;
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}
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return j;
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}
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}
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out[0] = b'0';
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1
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}
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#[embassy_executor::main]
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async fn main(_spawner: Spawner) {
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let p = embassy_stm32::init(Default::default());
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let mut config = Config::default();
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config.baudrate = 115_200;
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let mut usart = Uart::new_blocking(p.USART2, p.PA3, p.PA2, config).unwrap();
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let mut led = Output::new(p.PA5, Level::Low, Speed::Low);
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info!("ZeroClaw Nucleo firmware ready on USART2 (115200)");
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let mut line_buf: heapless::Vec<u8, 256> = heapless::Vec::new();
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let mut id_buf = [0u8; 16];
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let mut resp_buf: String<128> = String::new();
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loop {
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let mut byte = [0u8; 1];
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if usart.blocking_read(&mut byte).is_ok() {
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let b = byte[0];
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if b == b'\n' || b == b'\r' {
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if !line_buf.is_empty() {
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let id_len = copy_id(&line_buf, &mut id_buf);
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let id_str = str::from_utf8(&id_buf[..id_len]).unwrap_or("0");
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resp_buf.clear();
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if has_cmd(&line_buf, b"ping") {
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let _ = write!(resp_buf, "{{\"id\":\"{}\",\"ok\":true,\"result\":\"pong\"}}", id_str);
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} else if has_cmd(&line_buf, b"capabilities") {
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let _ = write!(
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resp_buf,
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"{{\"id\":\"{}\",\"ok\":true,\"result\":\"{{\\\"gpio\\\":[0,1,2,3,4,5,6,7,8,9,10,11,12,13],\\\"led_pin\\\":13}}\"}}",
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id_str
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);
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} else if has_cmd(&line_buf, b"gpio_read") {
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let pin = parse_arg(&line_buf, b"pin").unwrap_or(-1);
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if pin == LED_PIN as i32 {
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// Output doesn't support read; return 0 (LED state not readable)
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let _ = write!(resp_buf, "{{\"id\":\"{}\",\"ok\":true,\"result\":\"0\"}}", id_str);
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} else if pin >= 0 && pin <= 13 {
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let _ = write!(resp_buf, "{{\"id\":\"{}\",\"ok\":true,\"result\":\"0\"}}", id_str);
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} else {
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let _ = write!(
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resp_buf,
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"{{\"id\":\"{}\",\"ok\":false,\"result\":\"\",\"error\":\"Invalid pin {}\"}}",
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id_str, pin
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);
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}
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} else if has_cmd(&line_buf, b"gpio_write") {
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let pin = parse_arg(&line_buf, b"pin").unwrap_or(-1);
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let value = parse_arg(&line_buf, b"value").unwrap_or(0);
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if pin == LED_PIN as i32 {
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led.set_level(if value != 0 { Level::High } else { Level::Low });
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let _ = write!(resp_buf, "{{\"id\":\"{}\",\"ok\":true,\"result\":\"done\"}}", id_str);
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} else if pin >= 0 && pin <= 13 {
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let _ = write!(resp_buf, "{{\"id\":\"{}\",\"ok\":true,\"result\":\"done\"}}", id_str);
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} else {
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let _ = write!(
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resp_buf,
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"{{\"id\":\"{}\",\"ok\":false,\"result\":\"\",\"error\":\"Invalid pin {}\"}}",
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id_str, pin
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);
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}
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} else {
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let _ = write!(
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resp_buf,
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"{{\"id\":\"{}\",\"ok\":false,\"result\":\"\",\"error\":\"Unknown command\"}}",
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id_str
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);
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}
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let _ = usart.blocking_write(resp_buf.as_bytes());
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let _ = usart.blocking_write(b"\n");
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line_buf.clear();
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}
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} else if line_buf.push(b).is_err() {
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line_buf.clear();
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}
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}
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}
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}
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