Sensors

app/CMakeLists.txt

@@ -5,7 +5,7 @@ cmake_minimum_required(VERSION 3.22)
 find_package(Zephyr REQUIRED HINTS $ENV{ZEPHYR_BASE})
 project (growver_firmware)
 
-target_sources(app PRIVATE 
+target_sources(app PRIVATE
     src/main.c
     src/motor.c
     src/servo.c
@@ -17,6 +17,7 @@ target_sources(app PRIVATE
     src/led_controller.c
     src/buzzer.c
     src/uart_commands.c
+    src/fsr.c
     )
 
 target_include_directories(app PRIVATE include)

app/esp32s3_devkitc_procpu.overlay

@@ -16,6 +16,7 @@
  */
 
 #include <zephyr/dt-bindings/pinctrl/esp32s3-pinctrl.h>
+#include <zephyr/dt-bindings/adc/adc.h>
 
 /* -----------------------------------------------------------------------
  * Pin control — route LEDC channels to physical GPIO pins
@@ -42,16 +43,9 @@
             input-enable;
         };
     };
-    /* ← lsm6dso does NOT belong here */
-};
-
-/* lsm6dso goes here instead */
-&i2c0 {
-    status = "okay";
-    pinctrl-0 = <&i2c0_default>;
-    pinctrl-names = "default";
-    clock-frequency = <I2C_BITRATE_FAST>;
 
+    /* Board defines i2c0_default (GPIO1/2) and spim2_default — override them */
+    /delete-node/ i2c0_default;
     i2c0_default: i2c0_default {
         group1 {
             pinmux = <I2C0_SDA_GPIO36>,
@@ -62,6 +56,7 @@
     };
 
     // spi for led strip data pin control
+    /delete-node/ spim2_default;
     spim2_default: spim2_default {
         group1 {
             pinmux = <SPIM2_MOSI_GPIO5>;
@@ -156,4 +151,27 @@
  * ----------------------------------------------------------------------- */
 &gpio0 {
     status = "okay";
+};
+
+/* -----------------------------------------------------------------------
+ * ADC — FSR force sensor on GPIO15 (ADC2 channel 4, Zephyr: adc1 ch4)
+ * ----------------------------------------------------------------------- */
+/ {
+    zephyr,user {
+        io-channels = <&adc1 4>;
+    };
+};
+
+&adc1 {
+    status = "okay";
+    #address-cells = <1>;
+    #size-cells = <0>;
+
+    channel@4 {
+        reg = <4>;
+        zephyr,gain = "ADC_GAIN_1_4";       /* 12 dB atten, ~3.55V full scale */
+        zephyr,reference = "ADC_REF_INTERNAL";
+        zephyr,acquisition-time = <ADC_ACQ_TIME_DEFAULT>;
+        zephyr,resolution = <12>;
+    };
 };

app/include/fsr.h

@@ -0,0 +1,20 @@
+#ifndef FSR_H
+#define FSR_H
+
+#include <stdint.h>
+
+/**
+ * @brief Initialize the FSR ADC channel (GPIO15 / ADC2 CH4).
+ * @return 0 on success, negative errno on failure.
+ */
+int fsr_init(void);
+
+/**
+ * @brief Read raw ADC count and converted millivolt value in one shot.
+ * @param raw_out  12-bit raw ADC value (0–4095).
+ * @param mv_out   Voltage in millivolts.
+ * @return 0 on success, negative errno on failure.
+ */
+int fsr_read(uint16_t *raw_out, int32_t *mv_out);
+
+#endif /* FSR_H */

app/prj.conf

@@ -29,4 +29,5 @@ CONFIG_SHELL_ARGC_MAX=12
 CONFIG_SHELL_CMD_BUFF_SIZE=256
 CONFIG_KERNEL_SHELL=y
 
-CONFIG_I2C=y
+CONFIG_I2C=y
+CONFIG_ADC=y

app/src/fsr.c

@@ -0,0 +1,54 @@
+#include <zephyr/kernel.h>
+#include <zephyr/device.h>
+#include <zephyr/drivers/adc.h>
+#include <zephyr/logging/log.h>
+#include "fsr.h"
+
+LOG_MODULE_REGISTER(fsr, LOG_LEVEL_DBG);
+
+/* GPIO15 → ESP32-S3 ADC2 channel 4 → Zephyr node adc1, channel 4 */
+static const struct adc_dt_spec fsr_chan =
+    ADC_DT_SPEC_GET(DT_PATH(zephyr_user));
+
+int fsr_init(void)
+{
+    if (!adc_is_ready_dt(&fsr_chan)) {
+        LOG_ERR("FSR ADC device not ready");
+        return -ENODEV;
+    }
+    int ret = adc_channel_setup_dt(&fsr_chan);
+    if (ret < 0) {
+        LOG_ERR("FSR ADC channel setup failed: %d", ret);
+    }
+    return ret;
+}
+
+int fsr_read(uint16_t *raw_out, int32_t *mv_out)
+{
+    int16_t buf;
+    struct adc_sequence seq = {
+        .buffer      = &buf,
+        .buffer_size = sizeof(buf),
+    };
+
+    int ret = adc_sequence_init_dt(&fsr_chan, &seq);
+    if (ret < 0) {
+        return ret;
+    }
+
+    ret = adc_read(fsr_chan.dev, &seq);
+    if (ret < 0) {
+        return ret;
+    }
+
+    *raw_out = (uint16_t)buf;
+
+    int32_t val = buf;
+    ret = adc_raw_to_millivolts_dt(&fsr_chan, &val);
+    if (ret < 0) {
+        return ret;
+    }
+
+    *mv_out = val;
+    return 0;
+}

app/src/main.c

@@ -1,13 +1,15 @@
 #include <zephyr/kernel.h>
 #include <zephyr/device.h>
 #include <zephyr/drivers/gpio.h>
+#include <zephyr/drivers/i2c.h>
 #include <zephyr/logging/log.h>
 #include <zephyr/drivers/sensor.h>
 
 #include "main.h"
 #include "motor.h"
 #include "drive.h"
 #include "crsf.h"
+#include "fsr.h"
 
 /* Shared MCU handle — accessible by all threads */
 static mcu_t mcu;
@@ -28,6 +30,55 @@ void rc_callback(const crsf_channels_t *ch)
 }
 
 
+static void i2c_scan(void)
+{
+    const struct device *i2c_dev = DEVICE_DT_GET(DT_NODELABEL(i2c0));
+
+    if (!device_is_ready(i2c_dev)) {
+        printk("I2C0 not ready\n");
+        return;
+    }
+
+    printk("I2C scan:\n");
+    int found = 0;
+    for (uint8_t addr = 0x08; addr <= 0x77; addr++) {
+        uint8_t dummy;
+        if (i2c_read(i2c_dev, &dummy, 0, addr) == 0) {
+            printk("  0x%02x\n", addr);
+            found++;
+        }
+    }
+    printk(found ? "%d device(s) found.\n\n" : "No devices found.\n\n", found);
+}
+
+/* -----------------------------------------------------------------------
+ * FSR demo thread: logs raw count + millivolts every 500 ms
+ * ----------------------------------------------------------------------- */
+#define FSR_THREAD_STACK_SIZE 1024
+#define FSR_THREAD_PRIORITY   6
+
+K_THREAD_STACK_DEFINE(fsr_stack, FSR_THREAD_STACK_SIZE);
+static struct k_thread fsr_thread_data;
+
+static void fsr_thread_entry(void *p1, void *p2, void *p3)
+{
+    ARG_UNUSED(p1);
+    ARG_UNUSED(p2);
+    ARG_UNUSED(p3);
+
+    while (1) {
+        uint16_t raw;
+        int32_t mv;
+
+        if (fsr_read(&raw, &mv) == 0) {
+            printk("FSR: raw=%-5u  %4d mV\n", raw, mv);
+        } else {
+            printk("FSR: read error\n");
+        }
+        k_msleep(500);
+    }
+}
+
 /* -----------------------------------------------------------------------
  * Motor thread: runs move_motor's infinite sweep loop
  * ----------------------------------------------------------------------- */
@@ -79,6 +130,21 @@ int main(void)
 
     printk("Motor thread spawned\n");
 
+    /* FSR demo */
+    ret = fsr_init();
+    if (ret < 0) {
+        printk("FSR init failed: %d\n", ret);
+    } else {
+        k_thread_create(&fsr_thread_data, fsr_stack,
+                        K_THREAD_STACK_SIZEOF(fsr_stack),
+                        fsr_thread_entry, NULL, NULL, NULL,
+                        FSR_THREAD_PRIORITY, 0, K_NO_WAIT);
+        k_thread_name_set(&fsr_thread_data, "fsr_demo");
+        printk("FSR demo thread spawned\n");
+    }
+
+    i2c_scan();
+
     /*
      * main() must not return — the Zephyr kernel keeps running threads,
      * but returning from main() on some configs halts the scheduler.