Feature/sabo wip (#35)

- [x] Persistent Sabo GPS settings, protecting against boot loop
- [x] Improve emergency widget states for edge cases
- [x] Merge/implement HighLevelService
- [x] Add robot state to SaboScreenMain
- [x] Add ADC driver for precise DCDC-in current

Please take an extra look to changes in:
- robots/include/robot.hpp
- src/services/gps_service/gps_service.cpp

---------

Co-authored-by: Clemens Elflein <clemens1@familie-elflein.de>
Co-authored-by: Robert Vollmer <dev@robv.de>

Author: 3 people

CMakeLists.txt

@@ -75,6 +75,8 @@ target_sources(${CMAKE_PROJECT_NAME} PRIVATE
         src/json_stream.cpp
         src/services.cpp
         src/status_led.c
+        src/drivers/adc/adc1.cpp
+        src/drivers/adc/adc3.cpp
         # LittleFS helpers
         src/filesystem/file.cpp
         src/filesystem/filesystem.cpp
@@ -85,6 +87,7 @@ target_sources(${CMAKE_PROJECT_NAME} PRIVATE
         src/services/mower_service/mower_service.cpp
         src/services/gps_service/gps_service.cpp
         src/services/input_service/input_service.cpp
+        src/services/high_level_service/high_level_service.cpp
         # BQ2567 driver
         src/drivers/charger/bq_2576/bq_2576.cpp
         # BQ25679 driver
@@ -160,6 +163,7 @@ target_add_service(${CMAKE_PROJECT_NAME} DiffDriveService ${CMAKE_CURRENT_SOURCE
 target_add_service(${CMAKE_PROJECT_NAME} MowerService ${CMAKE_CURRENT_SOURCE_DIR}/services/mower_service.json)
 target_add_service(${CMAKE_PROJECT_NAME} GpsService ${CMAKE_CURRENT_SOURCE_DIR}/services/gps_service.json)
 target_add_service(${CMAKE_PROJECT_NAME} InputService ${CMAKE_CURRENT_SOURCE_DIR}/services/input_service.json)
+target_add_service(${CMAKE_PROJECT_NAME} HighLevelService ${CMAKE_CURRENT_SOURCE_DIR}/services/high_level_service.json)
 
 set_target_properties(${CMAKE_PROJECT_NAME}
         PROPERTIES SUFFIX ".elf")

boards/XCORE/mcuconf.h

@@ -291,7 +291,7 @@
 #define STM32_I2C_I2C2_DMA_PRIORITY         3
 #define STM32_I2C_I2C3_DMA_PRIORITY         3
 #define STM32_I2C_I2C4_DMA_PRIORITY         3
-#define STM32_I2C_USE_DMA                   TRUE
+#define STM32_I2C_USE_DMA                   FALSE
 #define STM32_I2C_DMA_ERROR_HOOK(i2cp)      osalSysHalt("DMA failure")
 
 /*

robots/include/robot.hpp

@@ -6,6 +6,10 @@
 #include <hal.h>
 
 #include <debug/debug_tcp_interface.hpp>
+#include <limits>
+
+// Forward declare ProtocolType from GpsServiceBase.hpp
+enum class ProtocolType : uint8_t;
 
 class Robot {
  public:
@@ -41,6 +45,29 @@ class Robot {
    * Return the minimum voltage before shutting down as much as possible
    */
   virtual float Power_GetAbsoluteMinVoltage() = 0;
+
+  /**
+   * Set the max. allowed system current in Amps.
+   * This is to limit e.g. the charger current for not overloading the power supply.
+   * Only usefull for systems that do have some kind of system current sense.
+   */
+  virtual void Power_SetSystemCurrent(float system_current) {
+    (void)system_current;
+  };
+
+  /**
+   * Save GPS settings to persistent storage (optional).
+   * Default implementation does nothing.
+   * @param protocol GPS protocol (0=UBX, 1=NMEA as per ProtocolType enum)
+   * @param uart UART index (0 = default robot port)
+   * @param baudrate Baudrate
+   */
+  virtual bool SaveGpsSettings(ProtocolType protocol, uint8_t uart, uint32_t baudrate) {
+    (void)protocol;
+    (void)uart;
+    (void)baudrate;
+    return true;
+  }
 };
 
 class MowerRobot : public Robot {

robots/include/sabo_common.hpp

@@ -24,13 +24,14 @@
 #include <globals.hpp>
 
 #include "../../src/filesystem/versioned_struct.hpp"
+#include "GpsServiceBase.hpp"
 
 namespace xbot::driver::sabo {
 
 // Main types and enums
 namespace types {
 // Hardware versions are "as of" versions
-enum class HardwareVersion : uint8_t { V0_1 = 0, V0_2, V0_3 };
+enum class HardwareVersion : uint8_t { V0_1 = 0, V0_2_0, V0_2_1, V0_3 };
 
 enum class SeriesType { Series1, Series2 };
 
@@ -74,43 +75,49 @@ enum class TempCompensation : uint8_t {
 // Hardware configurations
 namespace config {
 struct Sensor {
-  ioline_t line;
-  bool invert = false;
+  const ioline_t line;
+  const bool invert = false;
 };
 
 struct Spi {
   SPIDriver* instance;
   struct {
-    ioline_t sck;
-    ioline_t miso;
-    ioline_t mosi;
-    ioline_t cs = PAL_NOLINE;
+    const ioline_t sck;
+    const ioline_t miso;
+    const ioline_t mosi;
+    const ioline_t cs = PAL_NOLINE;
   } pins;
 };
 
 struct CoverUi {
   Spi spi;
   struct {
-    ioline_t latch_load;
-    ioline_t oe = PAL_NOLINE;
-    ioline_t btn_cs = PAL_NOLINE;
-    ioline_t inp_cs = PAL_NOLINE;
+    const ioline_t latch_load;
+    const ioline_t oe = PAL_NOLINE;
+    const ioline_t btn_cs = PAL_NOLINE;
+    const ioline_t inp_cs = PAL_NOLINE;
   } pins;
 };
 
 struct Lcd {
-  Spi spi;
+  const Spi spi;
   struct {
-    ioline_t dc;
-    ioline_t rst;
-    ioline_t backlight;
+    const ioline_t dc;
+    const ioline_t rst;
+    const ioline_t backlight;
   } pins;
 };
 
 struct Bms {
   I2CDriver* i2c;
 };
 
+struct Adc {
+  const float charger_voltage_scale_factor;
+  const float battery_voltage_scale_factor;
+  const float dcdc_in_current_scale_factor;
+};
+
 // Individual hardware configurations
 inline const Sensor SENSORS_V0_1[] = {
     {LINE_GPIO13},  // LIFT_FL
@@ -143,12 +150,17 @@ inline const Lcd LCD_V0_2 = {.spi = {&SPID1, {LINE_SPI1_SCK, LINE_SPI1_MISO, LIN
 
 inline const Bms BMS_V0_2 = {.i2c = &I2CD2};
 
+inline const Adc ADC_V0_2_1 = {.charger_voltage_scale_factor = 16.3846f,  // (200k Rtop + 13k Rbot)/13k Rbot
+                               .battery_voltage_scale_factor = 16.3846f,  // (200k Rtop + 13k Rbot)/13k Rbot
+                               .dcdc_in_current_scale_factor = 1.0f};     // 1/(20gain * Rshunt 0.05)
+
 // Hardware configuration references
 struct HardwareConfig {
   etl::array_view<const Sensor> sensors;
   const CoverUi* cover_ui;
   const Lcd* lcd;
   const Bms* bms;
+  const Adc* adc;
 };
 
 // Hardware version to configuration array which need to be in sync with HardwareVersion enum
@@ -159,22 +171,26 @@ inline constexpr HardwareConfig HARDWARE_CONFIGS[] = {
         .cover_ui = &COVER_UI_V0_1,
         .lcd = nullptr,  // No LCD for V0_1
         .bms = nullptr,  // No BMS for V0_1
+        .adc = nullptr   // No ADC for V0_1
     },
-    // V0_2
-    {
-        .sensors = etl::array_view<const Sensor>(SENSORS_V0_1),
-        .cover_ui = &COVER_UI_V0_2,
-        .lcd = &LCD_V0_2,
-        .bms = &BMS_V0_2,
-    },
+    // V0_2_0
+    {.sensors = etl::array_view<const Sensor>(SENSORS_V0_1),
+     .cover_ui = &COVER_UI_V0_2,
+     .lcd = &LCD_V0_2,
+     .bms = &BMS_V0_2,
+     .adc = nullptr},
+    // V0_2_1
+    {.sensors = etl::array_view<const Sensor>(SENSORS_V0_1),
+     .cover_ui = &COVER_UI_V0_2,
+     .lcd = &LCD_V0_2,
+     .bms = &BMS_V0_2,
+     .adc = &ADC_V0_2_1},
     // V0_3
-    {
-        .sensors = etl::array_view<const Sensor>(SENSORS_V0_3),
-        .cover_ui = &COVER_UI_V0_2,
-        .lcd = &LCD_V0_2,
-        .bms = nullptr,  // No BMS for V0_3 yet
-    },
-};
+    {.sensors = etl::array_view<const Sensor>(SENSORS_V0_3),
+     .cover_ui = &COVER_UI_V0_2,
+     .lcd = &LCD_V0_2,
+     .bms = nullptr,  // No BMS for V0_3 yet
+     .adc = &ADC_V0_2_1}};
 }  // namespace config
 
 // Constants and definitions
@@ -190,6 +206,7 @@ inline constexpr size_t NUM_BUTTONS = sizeof(ALL_BUTTONS) / sizeof(ALL_BUTTONS[0
 inline constexpr uint16_t LCD_WIDTH = 240;  // ATTENTION: LVGL I1 mode requires a multiple of 8 width
 inline constexpr uint16_t LCD_HEIGHT = 160;
 inline constexpr uint8_t BUFFER_FRACTION = 10;  // 1/10 screen size for buffers
+
 }  // namespace defs
 
 // Settings namespace for persistent configuration
@@ -210,7 +227,7 @@ namespace settings {
  * Migration is handled automatically by VersionedStruct base class.
  */
 #pragma pack(push, 1)
-struct LCDSettings : public xbot::driver::filesystem::VersionedStruct<xbot::driver::sabo::settings::LCDSettings> {
+struct LCDSettings : public xbot::driver::filesystem::VersionedStruct<LCDSettings> {
   VERSIONED_STRUCT_FIELDS(1);  // Version 1 - automatically defines VERSION constant and version field
   static constexpr const char* PATH = "/cfg/sabo/lcd.bin";
 
@@ -220,8 +237,36 @@ struct LCDSettings : public xbot::driver::filesystem::VersionedStruct<xbot::driv
 };
 #pragma pack(pop)
 
-static_assert(sizeof(LCDSettings) == 5,
-              "LCDSettings must be 5 bytes (2 version + 3 data)");  // Protect against thoughtless changes
+// Protect against thoughtless changes
+static_assert(sizeof(LCDSettings) == 5, "LCDSettings must be 5 bytes (2 version + 3 data)");
+
+/**
+ * @brief GPS persistent settings stored in LittleFS
+ *
+ * This struct is serialized directly to flash as binary data.
+ * Evolution strategy: version field + append-only new fields.
+ *
+ * Rules for evolution:
+ * - NEVER change existing field types or order
+ * - ALWAYS increment VERSION when adding fields
+ * - ONLY append new fields at the end
+ * - Use padding to maintain alignment if needed
+ *
+ * Migration is handled automatically by VersionedStruct base class.
+ */
+#pragma pack(push, 1)
+struct GPSSettings : public xbot::driver::filesystem::VersionedStruct<GPSSettings> {
+  VERSIONED_STRUCT_FIELDS(1);  // Version 1 - automatically defines VERSION constant and version field
+  static constexpr const char* PATH = "/cfg/sabo/gps.bin";
+
+  ProtocolType protocol = ProtocolType::NMEA;  // GPS protocol (UBX or NMEA)
+  uint8_t uart = 0;                            // UART index (0 = default robot port)
+  uint32_t baudrate = 921600;                  // Baudrate
+};
+#pragma pack(pop)
+
+// Protect against thoughtless changes
+static_assert(sizeof(GPSSettings) == 8, "GPSSettings must be 8 bytes (2 version + 1 protocol + 1 uart + 4 baudrate)");
 
 }  // namespace settings
 
@@ -236,7 +281,12 @@ inline types::HardwareVersion GetHardwareVersion(const struct carrier_board_info
   if (board_info.version_major == 0) {
     switch (board_info.version_minor) {
       case 1: version = types::HardwareVersion::V0_1; break;
-      case 2: version = types::HardwareVersion::V0_2; break;
+      case 2:
+        switch (board_info.version_patch) {
+          case 0: version = types::HardwareVersion::V0_2_0; break;
+          case 1: version = types::HardwareVersion::V0_2_1; break;
+        }
+        break;
       case 3: version = types::HardwareVersion::V0_3; break;
     }
   }

robots/include/sabo_robot.hpp

@@ -2,6 +2,7 @@
 #define SABO_ROBOT_HPP
 
 #include <cstdint>
+#include <drivers/adc/adc1.hpp>
 #include <drivers/bms/sabo_bms_driver.hpp>
 #include <drivers/charger/bq_2576/bq_2576.hpp>
 #include <drivers/input/sabo_input_driver.hpp>
@@ -15,6 +16,7 @@ using namespace xbot::driver::ui;
 using namespace xbot::driver::motor;
 using namespace xbot::driver::sabo;
 using namespace xbot::driver::bms;
+using namespace xbot::driver::adc1;
 
 class SaboRobot : public MowerRobot {
  public:
@@ -54,6 +56,8 @@ class SaboRobot : public MowerRobot {
     return 1.95f;  // Lets stay save and conservative for now
   }
 
+  bool SaveGpsSettings(ProtocolType protocol, uint8_t uart, uint32_t baudrate) override;
+
   // ----- Some driver Test* functions used by Boot-Screen -----
 
   bool TestCharger() {
@@ -126,6 +130,11 @@ class SaboRobot : public MowerRobot {
   SaboCoverUIController cover_ui_{hardware_config};
   SaboInputDriver sabo_input_driver_{hardware_config};
   SaboBmsDriver bms_{hardware_config.bms};
+
+  /**
+   * @brief Register all ADC1 sensors
+   */
+  void RegisterAdc1Sensors();
 };
 
 #endif  // SABO_ROBOT_HPP