Wifi on Zephyr + TCP socket primitives

.github/workflows/compile.yml

@@ -147,6 +147,7 @@ jobs:
 
               cd zephyr
               west sdk install
+              west blobs fetch hal_espressif
 
           - name: Checkout repository
             uses: actions/checkout@v6

platforms/Zephyr/Kconfig

@@ -1,3 +1,40 @@
-source "samples/subsys/usb/common/Kconfig.sample_usbd"
-
 source "Kconfig.zephyr"
+
+menu "WARDuino"
+
+config WARDUINO_NETWORKING
+	bool "Enable WARDuino networking primitives"
+	default y
+	select NETWORKING
+	select NET_MGMT
+	select NET_MGMT_EVENT
+	select NET_MGMT_EVENT_INFO
+	select WIFI
+	select NET_L2_WIFI_MGMT
+	select NET_IPV4
+	select NET_DHCPV4
+	select NET_SOCKETS
+	select NET_TCP
+	help
+	  Enables all networking primitives supported by WARDuino.
+
+if WARDUINO_NETWORKING
+
+config NET_PKT_RX_COUNT
+	default 10
+
+config NET_PKT_TX_COUNT
+	default 10
+
+config NET_BUF_RX_COUNT
+	default 20
+
+config NET_BUF_TX_COUNT
+	default 20
+
+config NET_MAX_CONTEXTS
+	default 10
+
+endif # WARDUINO_NETWORKING
+
+endmenu

platforms/Zephyr/boards/rpi_pico_rp2040_w.conf

@@ -0,0 +1,2 @@
+CONFIG_ENTROPY_GENERATOR=n
+CONFIG_TEST_RANDOM_GENERATOR=y

platforms/Zephyr/boards/rpi_pico_rp2040_w.overlay

@@ -0,0 +1,94 @@
+#include <zephyr/dt-bindings/display/panel.h>
+
+#include "../app.overlay"
+
+/ {
+    chosen {
+        zephyr,console = &cdc_acm_uart0;
+    };
+};
+
+&zephyr_udc0 {
+    cdc_acm_uart0: cdc_acm_uart0 {
+        compatible = "zephyr,cdc-acm-uart";
+    };
+};
+
+/ {
+    zephyr,user {
+        warduino-gpios =
+                <&gpio0 0 0>,
+                <&gpio0 1 0>,
+                <&gpio0 2 0>,
+                <&gpio0 3 0>,
+                <&gpio0 4 0>,
+                <&gpio0 5 0>,
+                <&gpio0 6 0>,
+                <&gpio0 7 0>,
+                <&gpio0 8 0>,
+                <&gpio0 9 0>,
+                <&gpio0 10 0>,
+                <&gpio0 11 0>,
+                <&gpio0 12 0>,
+                <&gpio0 13 0>,
+                <&gpio0 14 0>,
+                <&gpio0 15 0>,
+                <&gpio0 16 0>,
+                <&gpio0 17 0>,
+                <&gpio0 18 0>,
+                <&gpio0 19 0>,
+                <&gpio0 20 0>,
+                <&gpio0 21 0>,
+                <&gpio0 22 0>,
+                <&gpio0 23 0>,
+                <&gpio0 24 0>,
+                <&gpio0 25 0>,
+                <&gpio0 26 0>,
+                <&gpio0 27 0>,
+                <&gpio0 28 0>,
+                <&gpio0 29 0>;
+
+        pwms = < &pwm 2 PWM_USEC(1500) PWM_POLARITY_NORMAL >;
+        pwm-names = "builtin-buzzer";
+    };
+};
+
+/ {
+    chosen {
+        zephyr,display = &ili9341;
+    };
+    mipi_dbi {
+        compatible = "zephyr,mipi-dbi-spi";
+        spi-dev = <&spi0>;
+        dc-gpios = <&gpio0 15 GPIO_ACTIVE_HIGH>;
+        reset-gpios = <&gpio0 14 GPIO_ACTIVE_LOW>;
+        #address-cells = <1>;
+        #size-cells = <0>;
+        ili9341: ili9341@0 {
+            compatible = "ilitek,ili9341";
+            reg = <0>;
+            mipi-max-frequency = <20000000>;
+            mipi-mode = "MIPI_DBI_MODE_SPI_4WIRE";
+            width = <240>;
+            height = <320>;
+            pixel-format = <PANEL_PIXEL_FORMAT_RGB_565>;
+            rotation = <0>;
+            status = "okay";
+            h-mirror;
+        };
+    };
+};
+
+&pinctrl {
+    pwm_ch1a_default: pwm_ch1a_default {
+        group1 {
+            pinmux = <PWM_1A_P2>; // Channel 1 A, 1 * 1 + 1 = 2, &pwm 2 in pwms
+        };
+    };
+};
+
+&pwm {
+    status="okay";
+    divider-int-4 = <255>;
+    pinctrl-0 = < &pwm_ch1a_default >;
+};

platforms/Zephyr/boards/stm32l496g_disco.overlay

@@ -296,7 +296,6 @@
 	status = "okay";
 	st,adc-clock-source = "SYNC";
 	st,adc-prescaler = < 0x4 >;
-	resolutions = < 0x60630c 0x51630c 0x42630c 0x33630c >;
 	sampling-times = < 0x3 0x7 0xd 0x19 0x30 0x5d 0xf8 0x281 >;
 	st,adc-sequencer = "programmable";
 	st,adc-oversampler = "minimal";

platforms/Zephyr/main.cpp

@@ -119,4 +119,4 @@ int main(void) {
     loaded_modules.clear();
 
     return 0;
-}
+}

platforms/Zephyr/prj.conf

@@ -49,3 +49,11 @@ CONFIG_SYS_HEAP_RUNTIME_STATS=y
 
 CONFIG_USB_DEVICE_PRODUCT="WARDuino Microcontroller"
 CONFIG_USB_DEVICE_MANUFACTURER="TOPLLab"
+
+CONFIG_WARDUINO_NETWORKING=y
+
+# Disable these options, they will stay disabled even when networking is enabled
+CONFIG_NET_SHELL=n
+CONFIG_NET_IPV6=n
+CONFIG_WIFI_CREDENTIALS=n
+CONFIG_LOG=n

src/Primitives/Networking/sockets.h

@@ -0,0 +1,88 @@
+#pragma once
+
+#include <arpa/inet.h>
+#include <unistd.h>
+
+#include <cerrno>
+#include <cstdio>
+#include <cstring>
+#include <ctime>
+
+#include "../../Utils/sockets.h"
+
+namespace sockets {
+inline int socket_create(const char *ip, const int32_t port) {
+    printf("Create socket %s:%d\n", ip, port);
+    const int sock = createSocketFileDescriptor();
+    if (sock < 0) {
+        return -1;
+    }
+
+    sockaddr_in server_addr = {};
+    server_addr.sin_family = AF_INET;
+    server_addr.sin_port = htons(port);
+    server_addr.sin_addr.s_addr = inet_addr(ip);
+
+    if (connect(sock, reinterpret_cast<sockaddr *>(&server_addr),
+                sizeof(server_addr)) < 0) {
+        printf("Failed to connect %s\n", strerror(errno));
+        close(sock);
+        return -1;
+    }
+    printf("Connected to %s:%d\n", ip, port);
+    printf("sock = %d\n", sock);
+    return sock;
+}
+
+inline int socket_create_server(const int32_t port) {
+    const int sock = createSocketFileDescriptor();
+    if (sock < 0) {
+        return -1;
+    }
+    const sockaddr_in addr = createServerAddress(port);
+    if (bindSocketToAddress(sock, addr) < 0) {
+        return -1;
+    }
+    if (startListening(sock) < 0) {
+        return -1;
+    }
+
+    printf("Server listening on port %d (sock=%d)\n", port, sock);
+    return sock;
+}
+
+inline int socket_accept(const int socket) {
+    sockaddr_in client_addr = {};
+    socklen_t client_addr_len = sizeof(client_addr);
+    printf("Waiting for connection on sock=%d\n", socket);
+    const int client_sock = accept(
+        socket, reinterpret_cast<sockaddr *>(&client_addr), &client_addr_len);
+    if (client_sock < 0) {
+        printf("error: accept failed: %s\n", strerror(errno));
+        return -1;
+    }
+    printf("Client connected (client_sock=%d)\n", client_sock);
+    return client_sock;
+}
+
+inline int socket_send(const int socket, const char *message) {
+    printf("socket_send(%d, \"%s\" (len = %lu))\n", socket, message,
+           strlen(message));
+    return send(socket, message, strlen(message), 0);
+}
+
+inline int socket_receive(const int socket, char *buffer, const size_t size) {
+    printf("socket_receive(%d, 0x%p, %lu)\n", socket, buffer, size);
+    return recv(socket, buffer, size, 0);
+}
+
+inline int socket_close(int socket) {
+    printf("socket_close(%d)\n", socket);
+    // Wait a bit to make sure any sent messages in the buffer are still sent.
+    timespec ts = {};
+    ts.tv_sec = 0;
+    ts.tv_nsec = 500 * 1000000L;
+    nanosleep(&ts, nullptr);
+    return close(socket);
+}
+}  // namespace sockets