feat: Support installing built-in AGENT files and skills during picoclaw onboard
This commit is contained in:
lxowalle
131
workspace/skills/hardware/references/board-pinout.md
Normal file
131
workspace/skills/hardware/references/board-pinout.md
Normal file
@@ -0,0 +1,131 @@
|
||||
# Board Pinout & Pinmux Reference
|
||||
|
||||
## LicheeRV Nano (SG2002)
|
||||
|
||||
### I2C Buses
|
||||
|
||||
| Bus | Pins | Notes |
|
||||
|-----|------|-------|
|
||||
| I2C-1 | P18 (SCL), P21 (SDA) | **Shared with WiFi SDIO** — must stop WiFi first |
|
||||
| I2C-3 | Available on header | Check device tree for pin assignment |
|
||||
| I2C-5 | Software (BitBang) | Slower but no pin conflicts |
|
||||
|
||||
### SPI Buses
|
||||
|
||||
| Bus | Pins | Notes |
|
||||
|-----|------|-------|
|
||||
| SPI-2 | P18 (CS), P21 (MISO), P22 (MOSI), P23 (SCK) | **Shared with WiFi** — must stop WiFi first |
|
||||
| SPI-4 | Software (BitBang) | Slower but no pin conflicts |
|
||||
|
||||
### Setup Steps for I2C-1
|
||||
|
||||
```bash
|
||||
# 1. Stop WiFi (shares pins with I2C-1)
|
||||
/etc/init.d/S30wifi stop
|
||||
|
||||
# 2. Configure pinmux for I2C-1
|
||||
devmem 0x030010D0 b 0x2 # P18 → I2C1_SCL
|
||||
devmem 0x030010DC b 0x2 # P21 → I2C1_SDA
|
||||
|
||||
# 3. Load i2c-dev module
|
||||
modprobe i2c-dev
|
||||
|
||||
# 4. Verify
|
||||
ls /dev/i2c-*
|
||||
```
|
||||
|
||||
### Setup Steps for SPI-2
|
||||
|
||||
```bash
|
||||
# 1. Stop WiFi (shares pins with SPI-2)
|
||||
/etc/init.d/S30wifi stop
|
||||
|
||||
# 2. Configure pinmux for SPI-2
|
||||
devmem 0x030010D0 b 0x1 # P18 → SPI2_CS
|
||||
devmem 0x030010DC b 0x1 # P21 → SPI2_MISO
|
||||
devmem 0x030010E0 b 0x1 # P22 → SPI2_MOSI
|
||||
devmem 0x030010E4 b 0x1 # P23 → SPI2_SCK
|
||||
|
||||
# 3. Verify
|
||||
ls /dev/spidev*
|
||||
```
|
||||
|
||||
### Max Tested SPI Speed
|
||||
- SPI-2 hardware: tested up to **93 MHz**
|
||||
- `spidev_test` is pre-installed on the official image for loopback testing
|
||||
|
||||
---
|
||||
|
||||
## MaixCAM
|
||||
|
||||
### I2C Buses
|
||||
|
||||
| Bus | Pins | Notes |
|
||||
|-----|------|-------|
|
||||
| I2C-1 | Overlaps with WiFi | Not recommended |
|
||||
| I2C-3 | Overlaps with WiFi | Not recommended |
|
||||
| I2C-5 | A15 (SCL), A27 (SDA) | **Recommended** — software I2C, no conflicts |
|
||||
|
||||
### Setup Steps for I2C-5
|
||||
|
||||
```bash
|
||||
# Configure pins using pinmap utility
|
||||
# (MaixCAM uses a pinmap tool instead of devmem)
|
||||
# Refer to: https://wiki.sipeed.com/hardware/en/maixcam/gpio.html
|
||||
|
||||
# Load i2c-dev
|
||||
modprobe i2c-dev
|
||||
|
||||
# Verify
|
||||
ls /dev/i2c-*
|
||||
```
|
||||
|
||||
---
|
||||
|
||||
## MaixCAM2
|
||||
|
||||
### I2C Buses
|
||||
|
||||
| Bus | Pins | Notes |
|
||||
|-----|------|-------|
|
||||
| I2C-6 | A1 (SCL), A0 (SDA) | Available on header |
|
||||
| I2C-7 | Available | Check device tree |
|
||||
|
||||
### Setup Steps
|
||||
|
||||
```bash
|
||||
# Configure pinmap for I2C-6
|
||||
# A1 → I2C6_SCL, A0 → I2C6_SDA
|
||||
# Refer to MaixCAM2 documentation for pinmap commands
|
||||
|
||||
modprobe i2c-dev
|
||||
ls /dev/i2c-*
|
||||
```
|
||||
|
||||
---
|
||||
|
||||
## NanoKVM
|
||||
|
||||
Uses the same SG2002 SoC as LicheeRV Nano. GPIO and I2C access follows the same pinmux procedure. Refer to the LicheeRV Nano section above.
|
||||
|
||||
Check NanoKVM-specific pin headers for available I2C/SPI lines:
|
||||
- https://wiki.sipeed.com/hardware/en/kvm/NanoKVM/introduction.html
|
||||
|
||||
---
|
||||
|
||||
## Common Issues
|
||||
|
||||
### devmem not found
|
||||
The `devmem` utility may not be in the default image. Options:
|
||||
- Use `busybox devmem` if busybox is installed
|
||||
- Download devmem from the Sipeed package repository
|
||||
- Cross-compile from source (single C file)
|
||||
|
||||
### Dynamic bus numbering
|
||||
I2C adapter numbers can change between boots depending on driver load order. Always use `i2c detect` to find current bus assignments rather than hardcoding bus numbers.
|
||||
|
||||
### Permissions
|
||||
`/dev/i2c-*` and `/dev/spidev*` typically require root access. Options:
|
||||
- Run picoclaw as root
|
||||
- Add user to `i2c` and `spi` groups
|
||||
- Create udev rules: `SUBSYSTEM=="i2c-dev", MODE="0666"`
|
||||
78
workspace/skills/hardware/references/common-devices.md
Normal file
78
workspace/skills/hardware/references/common-devices.md
Normal file
@@ -0,0 +1,78 @@
|
||||
# Common I2C/SPI Device Reference
|
||||
|
||||
## I2C Devices
|
||||
|
||||
### AHT20 — Temperature & Humidity
|
||||
- **Address:** 0x38
|
||||
- **Init:** Write `[0xBE, 0x08, 0x00]` then wait 10ms
|
||||
- **Measure:** Write `[0xAC, 0x33, 0x00]`, wait 80ms, read 6 bytes
|
||||
- **Parse:** Status=byte[0], Humidity=(byte[1]<<12|byte[2]<<4|byte[3]>>4)/2^20*100, Temp=(byte[3]&0x0F<<16|byte[4]<<8|byte[5])/2^20*200-50
|
||||
- **Notes:** No register addressing — write command bytes directly (omit `register` param)
|
||||
|
||||
### BME280 / BMP280 — Temperature, Humidity, Pressure
|
||||
- **Address:** 0x76 or 0x77 (SDO pin selects)
|
||||
- **Chip ID register:** 0xD0 → BMP280=0x58, BME280=0x60
|
||||
- **Data registers:** 0xF7-0xFE (pressure, temperature, humidity)
|
||||
- **Config:** Write 0xF2 (humidity oversampling), 0xF4 (temp/press oversampling + mode), 0xF5 (standby, filter)
|
||||
- **Forced measurement:** Write `[0x25]` to register 0xF4, wait 40ms, read 8 bytes from 0xF7
|
||||
- **Calibration:** Read 26 bytes from 0x88 and 7 bytes from 0xE1 for compensation formulas
|
||||
- **Also available via SPI** (mode 0 or 3)
|
||||
|
||||
### SSD1306 — 128x64 OLED Display
|
||||
- **Address:** 0x3C (or 0x3D if SA0 high)
|
||||
- **Command prefix:** 0x00 (write to register 0x00)
|
||||
- **Data prefix:** 0x40 (write to register 0x40)
|
||||
- **Init sequence:** `[0xAE, 0xD5, 0x80, 0xA8, 0x3F, 0xD3, 0x00, 0x40, 0x8D, 0x14, 0x20, 0x00, 0xA1, 0xC8, 0xDA, 0x12, 0x81, 0xCF, 0xD9, 0xF1, 0xDB, 0x40, 0xA4, 0xA6, 0xAF]`
|
||||
- **Display on:** 0xAF, **Display off:** 0xAE
|
||||
- **Also available via SPI** (faster, recommended for animations)
|
||||
|
||||
### MPU6050 — 6-axis Accelerometer + Gyroscope
|
||||
- **Address:** 0x68 (or 0x69 if AD0 high)
|
||||
- **WHO_AM_I:** Register 0x75 → should return 0x68
|
||||
- **Wake up:** Write `[0x00]` to register 0x6B (clear sleep bit)
|
||||
- **Read accel:** 6 bytes from register 0x3B (XH,XL,YH,YL,ZH,ZL) — signed 16-bit, default ±2g
|
||||
- **Read gyro:** 6 bytes from register 0x43 — signed 16-bit, default ±250°/s
|
||||
- **Read temp:** 2 bytes from register 0x41 — Temp°C = value/340 + 36.53
|
||||
|
||||
### DS3231 — Real-Time Clock
|
||||
- **Address:** 0x68
|
||||
- **Read time:** 7 bytes from register 0x00 (seconds, minutes, hours, day, date, month, year) — BCD encoded
|
||||
- **Set time:** Write 7 BCD bytes to register 0x00
|
||||
- **Temperature:** 2 bytes from register 0x11 (signed, 0.25°C resolution)
|
||||
- **Status:** Register 0x0F — bit 2 = busy, bit 0 = alarm 1 flag
|
||||
|
||||
### INA219 — Current & Power Monitor
|
||||
- **Address:** 0x40-0x4F (A0,A1 pin selectable)
|
||||
- **Config:** Register 0x00 — set voltage range, gain, ADC resolution
|
||||
- **Shunt voltage:** Register 0x01 (signed 16-bit, LSB=10µV)
|
||||
- **Bus voltage:** Register 0x02 (bits 15:3, LSB=4mV)
|
||||
- **Power:** Register 0x03 (after calibration)
|
||||
- **Current:** Register 0x04 (after calibration)
|
||||
- **Calibration:** Register 0x05 — set based on shunt resistor value
|
||||
|
||||
### PCA9685 — 16-Channel PWM / Servo Controller
|
||||
- **Address:** 0x40-0x7F (A0-A5 selectable, default 0x40)
|
||||
- **Mode 1:** Register 0x00 — bit 4=sleep, bit 5=auto-increment
|
||||
- **Set PWM freq:** Sleep → write prescale to 0xFE → wake. Prescale = round(25MHz / (4096 × freq)) - 1
|
||||
- **Channel N on/off:** Registers 0x06+4*N to 0x09+4*N (ON_L, ON_H, OFF_L, OFF_H)
|
||||
- **Servo 0°-180°:** ON=0, OFF=150-600 (at 50Hz). Typical: 0°=150, 90°=375, 180°=600
|
||||
|
||||
### AT24C256 — 256Kbit EEPROM
|
||||
- **Address:** 0x50-0x57 (A0-A2 selectable)
|
||||
- **Read:** Write 2-byte address (high, low), then read N bytes
|
||||
- **Write:** Write 2-byte address + up to 64 bytes (page write), wait 5ms for write cycle
|
||||
- **Page size:** 64 bytes. Writes that cross page boundary wrap around.
|
||||
|
||||
## SPI Devices
|
||||
|
||||
### MCP3008 — 8-Channel 10-bit ADC
|
||||
- **Interface:** SPI mode 0, max 3.6 MHz @ 5V
|
||||
- **Read channel N:** Send `[0x01, (0x80 | N<<4), 0x00]`, result in last 10 bits of bytes 1-2
|
||||
- **Formula:** value = ((byte[1] & 0x03) << 8) | byte[2]
|
||||
- **Voltage:** value × Vref / 1024
|
||||
|
||||
### W25Q128 — 128Mbit SPI Flash
|
||||
- **Interface:** SPI mode 0 or 3, up to 104 MHz
|
||||
- **Read ID:** Send `[0x9F, 0, 0, 0]` → manufacturer + device ID
|
||||
- **Read data:** Send `[0x03, addr_high, addr_mid, addr_low]` + N zero bytes
|
||||
- **Status:** Send `[0x05, 0]` → bit 0 = BUSY
|
||||
Reference in New Issue
Block a user