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Brendan Haines
2024-04-21 14:41:37 -06:00
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name: Build
on:
push:
pull_request:
schedule:
- cron: "0 0 * * *"
jobs:
build:
strategy:
fail-fast: false
matrix:
os: [ubuntu-22.04, macos-12, macos-14, windows-2022]
runs-on: ${{ matrix.os }}
steps:
- name: Checkout
uses: actions/checkout@v3
with:
path: example-application
- name: Set up Python
uses: actions/setup-python@v4
with:
python-version: 3.11
- name: Setup Zephyr project
uses: zephyrproject-rtos/action-zephyr-setup@v1
with:
app-path: example-application
toolchains: arm-zephyr-eabi
- name: Build firmware
working-directory: example-application
shell: bash
run: |
if [ "${{ runner.os }}" = "Windows" ]; then
EXTRA_TWISTER_FLAGS="--short-build-path -O/tmp/twister-out"
fi
west twister -T app -v --inline-logs --integration $EXTRA_TWISTER_FLAGS
- name: Twister Tests
working-directory: example-application
shell: bash
run: |
if [ "${{ runner.os }}" = "Windows" ]; then
EXTRA_TWISTER_FLAGS="--short-build-path -O/tmp/twister-out"
fi
west twister -T tests -v --inline-logs --integration $EXTRA_TWISTER_FLAGS

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# Copyright (c) 2024, Nordic Semiconductor ASA
# SPDX-License-Identifier: Apache-2.0
name: Documentation
on: [push, pull_request]
env:
DOXYGEN_VERSION: 1.9.6
jobs:
build:
runs-on: ubuntu-22.04
steps:
- name: Checkout
uses: actions/checkout@v4
- name: Install dependencies
run: |
wget --no-verbose "https://github.com/doxygen/doxygen/releases/download/Release_${DOXYGEN_VERSION//./_}/doxygen-${DOXYGEN_VERSION}.linux.bin.tar.gz"
tar xf doxygen-${DOXYGEN_VERSION}.linux.bin.tar.gz
echo "${PWD}/doxygen-${DOXYGEN_VERSION}/bin" >> $GITHUB_PATH
pip install -r doc/requirements.txt
- name: Build
run: |
cd doc
doxygen
SPHINXOPTS="-W" make html
mkdir deploy
mv _build_doxygen/html deploy/doxygen
mv _build_sphinx/html/* deploy
- name: Setup pages
if: github.event_name != 'pull_request'
uses: actions/configure-pages@v4
- name: Upload pages artifact
if: github.event_name != 'pull_request'
uses: actions/upload-pages-artifact@v3
with:
path: doc/deploy
- name: Upload artifacts
if: github.event_name == 'pull_request'
uses: actions/upload-artifact@v4
with:
path: doc/deploy
deploy:
runs-on: ubuntu-22.04
needs: build
if: github.event_name != 'pull_request'
permissions:
pages: write
id-token: write
steps:
- name: Deploy to GitHub Pages
uses: actions/deploy-pages@v4

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# editors
.vscode
*.swp
*~
# python
.venv
# build
/build*
/twister-out*
__pycache__/
# docs
/doc/_build*

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# Copyright (c) 2021 Nordic Semiconductor ASA
# SPDX-License-Identifier: Apache-2.0
#
# This CMake file is picked by the Zephyr build system because it is defined
# as the module CMake entry point (see zephyr/module.yml).
# This is needed so that custom driver classes using system calls are taken into
# account
zephyr_syscall_include_directories(include)
zephyr_include_directories(include)
add_subdirectory(drivers)
add_subdirectory(lib)

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# Copyright (c) 2021 Nordic Semiconductor ASA
# SPDX-License-Identifier: Apache-2.0
#
# This Kconfig file is picked by the Zephyr build system because it is defined
# as the module Kconfig entry point (see zephyr/module.yml). You can browse
# module options by going to Zephyr -> Modules in Kconfig.
rsource "drivers/Kconfig"
rsource "lib/Kconfig"

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# Zephyr Example Application
<a href="https://zephyrproject-rtos.github.io/example-application">
<img alt="Documentation" src="https://img.shields.io/badge/documentation-3D578C?logo=sphinx&logoColor=white">
</a>
<a href="https://zephyrproject-rtos.github.io/example-application/doxygen">
<img alt="API Documentation" src="https://img.shields.io/badge/API-documentation-3D578C?logo=c&logoColor=white">
</a>
This repository contains a Zephyr example application. The main purpose of this
repository is to serve as a reference on how to structure Zephyr-based
applications. Some of the features demonstrated in this example are:
- Basic [Zephyr application][app_dev] skeleton
- [Zephyr workspace applications][workspace_app]
- [Zephyr modules][modules]
- [West T2 topology][west_t2]
- [Custom boards][board_porting]
- Custom [devicetree bindings][bindings]
- Out-of-tree [drivers][drivers]
- Out-of-tree libraries
- Example CI configuration (using Github Actions)
- Custom [west extension][west_ext]
- Doxygen and Sphinx documentation boilerplate
This repository is versioned together with the [Zephyr main tree][zephyr]. This
means that every time that Zephyr is tagged, this repository is tagged as well
with the same version number, and the [manifest](west.yml) entry for `zephyr`
will point to the corresponding Zephyr tag. For example, the `example-application`
v2.6.0 will point to Zephyr v2.6.0. Note that the `main` branch always
points to the development branch of Zephyr, also `main`.
[app_dev]: https://docs.zephyrproject.org/latest/develop/application/index.html
[workspace_app]: https://docs.zephyrproject.org/latest/develop/application/index.html#zephyr-workspace-app
[modules]: https://docs.zephyrproject.org/latest/develop/modules.html
[west_t2]: https://docs.zephyrproject.org/latest/develop/west/workspaces.html#west-t2
[board_porting]: https://docs.zephyrproject.org/latest/guides/porting/board_porting.html
[bindings]: https://docs.zephyrproject.org/latest/guides/dts/bindings.html
[drivers]: https://docs.zephyrproject.org/latest/reference/drivers/index.html
[zephyr]: https://github.com/zephyrproject-rtos/zephyr
[west_ext]: https://docs.zephyrproject.org/latest/develop/west/extensions.html
## Getting Started
Before getting started, make sure you have a proper Zephyr development
environment. Follow the official
[Zephyr Getting Started Guide](https://docs.zephyrproject.org/latest/getting_started/index.html).
### Initialization
The first step is to initialize the workspace folder (``my-workspace``) where
the ``example-application`` and all Zephyr modules will be cloned. Run the following
command:
```shell
# initialize my-workspace for the example-application (main branch)
west init -m https://github.com/zephyrproject-rtos/example-application --mr main my-workspace
# update Zephyr modules
cd my-workspace
west update
```
### Building and running
To build the application, run the following command:
```shell
cd example-application
west build -b $BOARD app
```
where `$BOARD` is the target board.
You can use the `custom_plank` board found in this
repository. Note that Zephyr sample boards may be used if an
appropriate overlay is provided (see `app/boards`).
A sample debug configuration is also provided. To apply it, run the following
command:
```shell
west build -b $BOARD app -- -DOVERLAY_CONFIG=debug.conf
```
Once you have built the application, run the following command to flash it:
```shell
west flash
```
### Testing
To execute Twister integration tests, run the following command:
```shell
west twister -T tests --integration
```
### Documentation
A minimal documentation setup is provided for Doxygen and Sphinx. To build the
documentation first change to the ``doc`` folder:
```shell
cd doc
```
Before continueing, check if you have Doxygen installed. It is recommended to
use the same Doxygen version used in [CI](.github/workflows/docs.yml). To
install Sphinx, make sure you have a Python installation in place and run:
```shell
pip install -r requirements.txt
```
API documentation (Doxygen) can be built using the following command:
```shell
doxygen
```
The output will be stored in the ``_build_doxygen`` folder. Similarly, the
Sphinx documentation (HTML) can be built using the following command:
```shell
make html
```
The output will be stored in the ``_build_sphinx`` folder. You may check for
other output formats other than HTML by running ``make help``.

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#-------------------------------------------------------------------------------
# Zephyr Example Application
#
# Copyright (c) 2021 Nordic Semiconductor ASA
# SPDX-License-Identifier: Apache-2.0
cmake_minimum_required(VERSION 3.13.1)
find_package(Zephyr REQUIRED HINTS $ENV{ZEPHYR_BASE})
project(app LANGUAGES C)
target_sources(app PRIVATE src/main.c)

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# Copyright (c) 2021 Nordic Semiconductor ASA
# SPDX-License-Identifier: Apache-2.0
#
# This file is the application Kconfig entry point. All application Kconfig
# options can be defined here or included via other application Kconfig files.
# You can browse these options using the west targets menuconfig (terminal) or
# guiconfig (GUI).
menu "Zephyr"
source "Kconfig.zephyr"
endmenu
module = APP
module-str = APP
source "subsys/logging/Kconfig.template.log_config"

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VERSION_MAJOR = 1
VERSION_MINOR = 0
PATCHLEVEL = 0
VERSION_TWEAK = 0
EXTRAVERSION =

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/*
* Copyright (c) 2021 Nordic Semiconductor ASA
* SPDX-License-Identifier: Apache-2.0
*/
/* This devicetree overlay file will be automatically picked by the Zephyr
* build system when building the sample for the nucleo_f302r8 board. It shows
* how the example-application can be built on sample boards already provided
* by Zephyr.
*/
/ {
example_sensor: example-sensor {
compatible = "zephyr,example-sensor";
input-gpios = <&gpioc 13 (GPIO_PULL_UP | GPIO_ACTIVE_LOW)>;
};
blink_led: blink-led {
compatible = "blink-gpio-led";
led-gpios = <&gpiob 13 GPIO_ACTIVE_HIGH>;
blink-period-ms = <1000>;
};
};
&gpioc {
status = "okay";
};

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# Copyright (c) 2021 Nordic Semiconductor ASA
# SPDX-License-Identifier: Apache-2.0
#
# This is a Kconfig fragment which can be used to enable debug-related options
# in the application. See the README for more details.
# compiler
CONFIG_DEBUG_OPTIMIZATIONS=y
# logging
CONFIG_LOG=y
CONFIG_APP_LOG_LEVEL_DBG=y

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# Copyright (c) 2021 Nordic Semiconductor ASA
# SPDX-License-Identifier: Apache-2.0
#
# This file contains selected Kconfig options for the application.
CONFIG_SENSOR=y
CONFIG_BLINK=y

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# This file is provided so that the application can be compiled using Twister,
# the Zephyr testing tool. In this file, multiple combinations can be specified,
# so that you can easily test all of them locally or in CI.
sample:
description: Example application
name: example-application
common:
build_only: true
integration_platforms:
- custom_plank
- nucleo_f302r8
tests:
app.default: {}
app.debug:
extra_overlay_confs:
- debug.conf

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/*
* Copyright (c) 2021 Nordic Semiconductor ASA
* SPDX-License-Identifier: Apache-2.0
*/
#include <zephyr/kernel.h>
#include <zephyr/drivers/sensor.h>
#include <zephyr/logging/log.h>
#include <app/drivers/blink.h>
#include <app_version.h>
LOG_MODULE_REGISTER(main, CONFIG_APP_LOG_LEVEL);
#define BLINK_PERIOD_MS_STEP 100U
#define BLINK_PERIOD_MS_MAX 1000U
int main(void)
{
int ret;
unsigned int period_ms = BLINK_PERIOD_MS_MAX;
const struct device *sensor, *blink;
struct sensor_value last_val = { 0 }, val;
printk("Zephyr Example Application %s\n", APP_VERSION_STRING);
sensor = DEVICE_DT_GET(DT_NODELABEL(example_sensor));
if (!device_is_ready(sensor)) {
LOG_ERR("Sensor not ready");
return 0;
}
blink = DEVICE_DT_GET(DT_NODELABEL(blink_led));
if (!device_is_ready(blink)) {
LOG_ERR("Blink LED not ready");
return 0;
}
ret = blink_off(blink);
if (ret < 0) {
LOG_ERR("Could not turn off LED (%d)", ret);
return 0;
}
printk("Use the sensor to change LED blinking period\n");
while (1) {
ret = sensor_sample_fetch(sensor);
if (ret < 0) {
LOG_ERR("Could not fetch sample (%d)", ret);
return 0;
}
ret = sensor_channel_get(sensor, SENSOR_CHAN_PROX, &val);
if (ret < 0) {
LOG_ERR("Could not get sample (%d)", ret);
return 0;
}
if ((last_val.val1 == 0) && (val.val1 == 1)) {
if (period_ms == 0U) {
period_ms = BLINK_PERIOD_MS_MAX;
} else {
period_ms -= BLINK_PERIOD_MS_STEP;
}
printk("Proximity detected, setting LED period to %u ms\n",
period_ms);
blink_set_period_ms(blink, period_ms);
}
last_val = val;
k_sleep(K_MSEC(100));
}
return 0;
}

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# Copyright (c) 2021 Nordic Semiconductor ASA
# SPDX-License-Identifier: Apache-2.0
config BOARD_ENABLE_DCDC
bool "Enable DCDC mode"
select SOC_DCDC_NRF52X
default y
depends on BOARD_CUSTOM_PLANK

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# Copyright (c) 2021 Nordic Semiconductor ASA
# SPDX-License-Identifier: Apache-2.0
config BOARD_CUSTOM_PLANK
select SOC_NRF52840_QIAA

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# Custom Plank Board
`custom_plank` board is used to demonstrate how to create custom boards. It is
in fact a simplified version of the nRF52840-DK board, so the
`example-application` can be run on that development kit when using
`custom_plank`.

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# Copyright (c) 2021 Nordic Semiconductor ASA
# SPDX-License-Identifier: Apache-2.0
board_runner_args(jlink "--device=nrf52" "--speed=4000")
board_runner_args(pyocd "--target=nrf52840" "--frequency=4000000")
set(OPENOCD_NRF5_SUBFAMILY "nrf52")
include(${ZEPHYR_BASE}/boards/common/nrfjprog.board.cmake)
include(${ZEPHYR_BASE}/boards/common/jlink.board.cmake)
include(${ZEPHYR_BASE}/boards/common/pyocd.board.cmake)
include(${ZEPHYR_BASE}/boards/common/openocd-nrf5.board.cmake)

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# Copyright (c) 2024 Nordic Semiconductor ASA
# SPDX-License-Identifier: Apache-2.0
board:
name: custom_plank
vendor: vendor
socs:
- name: nrf52840

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/*
* Copyright (c) 2022 Nordic Semiconductor ASA
* SPDX-License-Identifier: Apache-2.0
*/
&pinctrl {
uart0_default: uart0_default {
group1 {
psels = <NRF_PSEL(UART_TX, 0, 6)>,
<NRF_PSEL(UART_RX, 0, 8)>,
<NRF_PSEL(UART_RTS, 0, 5)>,
<NRF_PSEL(UART_CTS, 0, 7)>;
};
};
uart0_sleep: uart0_sleep {
group1 {
psels = <NRF_PSEL(UART_TX, 0, 6)>,
<NRF_PSEL(UART_RX, 0, 8)>,
<NRF_PSEL(UART_RTS, 0, 5)>,
<NRF_PSEL(UART_CTS, 0, 7)>;
low-power-enable;
};
};
};

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/*
* Copyright (c) 2021 Nordic Semiconductor ASA
* SPDX-License-Identifier: Apache-2.0
*/
/dts-v1/;
#include <nordic/nrf52840_qiaa.dtsi>
#include "custom_plank-pinctrl.dtsi"
/ {
model = "Custom Plank Board";
compatible = "vendor,custom-plank";
chosen {
zephyr,console = &uart0;
zephyr,sram = &sram0;
zephyr,flash = &flash0;
};
example_sensor: example-sensor {
compatible = "zephyr,example-sensor";
input-gpios = <&gpio0 11 (GPIO_PULL_UP | GPIO_ACTIVE_LOW)>;
};
blink_led: blink-led {
compatible = "blink-gpio-led";
led-gpios = <&gpio0 13 GPIO_ACTIVE_LOW>;
blink-period-ms = <1000>;
};
};
&uicr {
gpio-as-nreset;
};
&gpiote {
status = "okay";
};
&gpio0 {
status = "okay";
};
&uart0 {
compatible = "nordic,nrf-uarte";
status = "okay";
current-speed = <115200>;
pinctrl-0 = <&uart0_default>;
pinctrl-1 = <&uart0_sleep>;
pinctrl-names = "default", "sleep";
};

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# Copyright (c) 2021 Nordic Semiconductor ASA
# SPDX-License-Identifier: Apache-2.0
identifier: custom_plank
name: Custom-Plank
vendor: vendor
type: mcu
arch: arm
ram: 256
flash: 1024
toolchain:
- zephyr
- gnuarmemb
- xtools
supported:
- gpio

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# Copyright (c) 2021 Nordic Semiconductor ASA
# SPDX-License-Identifier: Apache-2.0
CONFIG_ARM_MPU=y
CONFIG_HW_STACK_PROTECTION=y
# Enable UART console on all configurations for convenience. This is usually
# done at board level upstream so that all samples output printed messages to
# the configured #zephyr,console. In production boards, this may be enabled at
# application level or in a debug configuration overlay.
CONFIG_SERIAL=y
CONFIG_CONSOLE=y
CONFIG_UART_CONSOLE=y
CONFIG_PINCTRL=y

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# Minimal makefile for Sphinx documentation
#
# You can set these variables from the command line, and also
# from the environment for the first two.
SPHINXOPTS ?=
SPHINXBUILD ?= sphinx-build
SOURCEDIR = .
BUILDDIR = _build_sphinx
# Put it first so that "make" without argument is like "make help".
help:
@$(SPHINXBUILD) -M help "$(SOURCEDIR)" "$(BUILDDIR)" $(SPHINXOPTS) $(O)
.PHONY: help Makefile
# Catch-all target: route all unknown targets to Sphinx using the new
# "make mode" option. $(O) is meant as a shortcut for $(SPHINXOPTS).
%: Makefile
@$(SPHINXBUILD) -M $@ "$(SOURCEDIR)" "$(BUILDDIR)" $(SPHINXOPTS) $(O)

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/**
* @defgroup drivers Custom driver classes
* @{
*
* @brief Custom driver classes
*
* @}
*/
/**
* @defgroup lib Custom libraries
* @{
*
* @brief Custom libraries
*
* @}
*/

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# Introduction
This is the Doxygen documentation for [example-application].
[example-application]: https://github.com/zephyrproject-rtos/example-application

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# Configuration file for the Sphinx documentation builder.
#
# For the full list of built-in configuration values, see the documentation:
# https://www.sphinx-doc.org/en/master/usage/configuration.html
# -- Project information -----------------------------------------------------
# https://www.sphinx-doc.org/en/master/usage/configuration.html#project-information
project = 'Example Application'
copyright = '2024, The Zephyr Community'
author = 'The Zephyr Community'
release = '1.0.0'
# -- General configuration ---------------------------------------------------
# https://www.sphinx-doc.org/en/master/usage/configuration.html#general-configuration
extensions = ['sphinx.ext.intersphinx', 'breathe']
templates_path = ['_templates']
exclude_patterns = ['_build_sphinx', 'Thumbs.db', '.DS_Store']
# -- Options for HTML output -------------------------------------------------
# https://www.sphinx-doc.org/en/master/usage/configuration.html#options-for-html-output
html_theme = 'alabaster'
# -- Options for Intersphinx -------------------------------------------------
# https://www.sphinx-doc.org/en/master/usage/extensions/intersphinx.html
intersphinx_mapping = {'zephyr': ('https://docs.zephyrproject.org/latest/', None)}
## -- Options for Breathe ----------------------------------------------------
# https://breathe.readthedocs.io/en/latest/index.html
#
# WARNING: please, check breathe maintainership status before using this
# extension in production!
breathe_projects = {'example-application': '_build_doxygen/xml'}
breathe_default_project = 'example-application'
breathe_default_members = ('members', )

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Blink
=====
.. doxygengroup:: drivers_blink
Driver operations
-----------------
.. doxygengroup:: drivers_blink_ops
Public API
----------
.. doxygengroup:: drivers_blink_api

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Drivers
=======
.. doxygengroup:: drivers
.. toctree::
:maxdepth: 1
blink

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Welcome to Example Application's documentation!
===============================================
This is a simple Sphinx documentation setup for ``example-application``.
.. toctree::
:maxdepth: 2
:caption: Contents
drivers/index
lib/index
zephyr
Indices and tables
==================
* :ref:`genindex`
* :ref:`search`

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Custom
======
.. doxygengroup:: lib_custom
:desc-only:
Public API
----------
.. doxygengroup:: lib_custom
:content-only:

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Libraries
=========
.. doxygengroup:: lib
.. toctree::
:maxdepth: 1
custom

35
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@ECHO OFF
pushd %~dp0
REM Command file for Sphinx documentation
if "%SPHINXBUILD%" == "" (
set SPHINXBUILD=sphinx-build
)
set SOURCEDIR=.
set BUILDDIR=_build_sphinx
%SPHINXBUILD% >NUL 2>NUL
if errorlevel 9009 (
echo.
echo.The 'sphinx-build' command was not found. Make sure you have Sphinx
echo.installed, then set the SPHINXBUILD environment variable to point
echo.to the full path of the 'sphinx-build' executable. Alternatively you
echo.may add the Sphinx directory to PATH.
echo.
echo.If you don't have Sphinx installed, grab it from
echo.https://www.sphinx-doc.org/
exit /b 1
)
if "%1" == "" goto help
%SPHINXBUILD% -M %1 %SOURCEDIR% %BUILDDIR% %SPHINXOPTS% %O%
goto end
:help
%SPHINXBUILD% -M help %SOURCEDIR% %BUILDDIR% %SPHINXOPTS% %O%
:end
popd

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Sphinx
breathe

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Zephyr
======
You can reference Zephyr documentation items, like
:external+zephyr:ref:`getting_started` or :external+zephyr:c:func:`k_sleep`.

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# Copyright (c) 2021 Nordic Semiconductor ASA
# SPDX-License-Identifier: Apache-2.0
# Out-of-tree drivers for custom classes
add_subdirectory_ifdef(CONFIG_BLINK blink)
# Out-of-tree drivers for existing driver classes
add_subdirectory_ifdef(CONFIG_SENSOR sensor)

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# Copyright (c) 2021 Nordic Semiconductor ASA
# SPDX-License-Identifier: Apache-2.0
menu "Drivers"
rsource "blink/Kconfig"
rsource "sensor/Kconfig"
endmenu

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# Copyright (c) 2024 Nordic Semiconductor ASA
# SPDX-License-Identifier: Apache-2.0
zephyr_library()
zephyr_library_sources_ifdef(CONFIG_BLINK_GPIO_LED gpio_led.c)

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# Copyright (c) 2024 Nordic Semiconductor ASA
# SPDX-License-Identifier: Apache-2.0
menuconfig BLINK
bool "Blink device drivers"
help
This option enables the blink custom driver class.
if BLINK
config BLINK_INIT_PRIORITY
int "Blink device drivers init priority"
default KERNEL_INIT_PRIORITY_DEVICE
help
Blink device drivers init priority.
module = BLINK
module-str = blink
source "subsys/logging/Kconfig.template.log_config"
rsource "Kconfig.gpio_led"
endif # BLINK

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# Copyright (c) 2024 Nordic Semiconductor ASA
# SPDX-License-Identifier: Apache-2.0
config BLINK_GPIO_LED
bool "GPIO-controlled LED blink driver"
default y
depends on DT_HAS_BLINK_GPIO_LED_ENABLED
select GPIO
help
Enable this option to use the GPIO-controlled LED blink driver. This
demonstrates how to implement a driver for a custom driver class.

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/*
* Copyright (c) 2024 Nordic Semiconductor ASA
* SPDX-License-Identifier: Apache-2.0
*/
#define DT_DRV_COMPAT blink_gpio_led
#include <zephyr/device.h>
#include <zephyr/devicetree.h>
#include <zephyr/drivers/gpio.h>
#include <zephyr/kernel.h>
#include <zephyr/logging/log.h>
#include <app/drivers/blink.h>
LOG_MODULE_REGISTER(blink_gpio_led, CONFIG_BLINK_LOG_LEVEL);
struct blink_gpio_led_data {
struct k_timer timer;
};
struct blink_gpio_led_config {
struct gpio_dt_spec led;
unsigned int period_ms;
};
static void blink_gpio_led_on_timer_expire(struct k_timer *timer)
{
const struct device *dev = k_timer_user_data_get(timer);
const struct blink_gpio_led_config *config = dev->config;
int ret;
ret = gpio_pin_toggle_dt(&config->led);
if (ret < 0) {
LOG_ERR("Could not toggle LED GPIO (%d)", ret);
}
}
static int blink_gpio_led_set_period_ms(const struct device *dev,
unsigned int period_ms)
{
const struct blink_gpio_led_config *config = dev->config;
struct blink_gpio_led_data *data = dev->data;
if (period_ms == 0) {
k_timer_stop(&data->timer);
return gpio_pin_set_dt(&config->led, 0);
}
k_timer_start(&data->timer, K_MSEC(period_ms), K_MSEC(period_ms));
return 0;
}
static const struct blink_driver_api blink_gpio_led_api = {
.set_period_ms = &blink_gpio_led_set_period_ms,
};
static int blink_gpio_led_init(const struct device *dev)
{
const struct blink_gpio_led_config *config = dev->config;
struct blink_gpio_led_data *data = dev->data;
int ret;
if (!gpio_is_ready_dt(&config->led)) {
LOG_ERR("LED GPIO not ready");
return -ENODEV;
}
ret = gpio_pin_configure_dt(&config->led, GPIO_OUTPUT_INACTIVE);
if (ret < 0) {
LOG_ERR("Could not configure LED GPIO (%d)", ret);
return ret;
}
k_timer_init(&data->timer, blink_gpio_led_on_timer_expire, NULL);
k_timer_user_data_set(&data->timer, (void *)dev);
if (config->period_ms > 0) {
k_timer_start(&data->timer, K_MSEC(config->period_ms),
K_MSEC(config->period_ms));
}
return 0;
}
#define BLINK_GPIO_LED_DEFINE(inst) \
static struct blink_gpio_led_data data##inst; \
\
static const struct blink_gpio_led_config config##inst = { \
.led = GPIO_DT_SPEC_INST_GET(inst, led_gpios), \
.period_ms = DT_INST_PROP_OR(inst, blink_period_ms, 0U), \
}; \
\
DEVICE_DT_INST_DEFINE(inst, blink_gpio_led_init, NULL, &data##inst, \
&config##inst, POST_KERNEL, \
CONFIG_BLINK_INIT_PRIORITY, \
&blink_gpio_led_api);
DT_INST_FOREACH_STATUS_OKAY(BLINK_GPIO_LED_DEFINE)

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# Copyright (c) 2021 Nordic Semiconductor ASA
# SPDX-License-Identifier: Apache-2.0
add_subdirectory_ifdef(CONFIG_EXAMPLE_SENSOR example_sensor)

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# Copyright (c) 2021 Nordic Semiconductor ASA
# SPDX-License-Identifier: Apache-2.0
if SENSOR
rsource "example_sensor/Kconfig"
endif # SENSOR

5
drivers/sensor/example_sensor/CMakeLists.txt Normal file
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# Copyright (c) 2021 Nordic Semiconductor ASA
# SPDX-License-Identifier: Apache-2.0
zephyr_library()
zephyr_library_sources(example_sensor.c)

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# Copyright (c) 2021 Nordic Semiconductor ASA
# SPDX-License-Identifier: Apache-2.0
config EXAMPLE_SENSOR
bool "Example sensor"
default y
depends on DT_HAS_ZEPHYR_EXAMPLE_SENSOR_ENABLED
select GPIO
help
Enable example sensor

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/*
* Copyright (c) 2021 Nordic Semiconductor ASA
* SPDX-License-Identifier: Apache-2.0
*/
#define DT_DRV_COMPAT zephyr_example_sensor
#include <zephyr/device.h>
#include <zephyr/drivers/gpio.h>
#include <zephyr/drivers/sensor.h>
#include <zephyr/logging/log.h>
LOG_MODULE_REGISTER(example_sensor, CONFIG_SENSOR_LOG_LEVEL);
struct example_sensor_data {
int state;
};
struct example_sensor_config {
struct gpio_dt_spec input;
};
static int example_sensor_sample_fetch(const struct device *dev,
enum sensor_channel chan)
{
const struct example_sensor_config *config = dev->config;
struct example_sensor_data *data = dev->data;
data->state = gpio_pin_get_dt(&config->input);
return 0;
}
static int example_sensor_channel_get(const struct device *dev,
enum sensor_channel chan,
struct sensor_value *val)
{
struct example_sensor_data *data = dev->data;
if (chan != SENSOR_CHAN_PROX) {
return -ENOTSUP;
}
val->val1 = data->state;
return 0;
}
static const struct sensor_driver_api example_sensor_api = {
.sample_fetch = &example_sensor_sample_fetch,
.channel_get = &example_sensor_channel_get,
};
static int example_sensor_init(const struct device *dev)
{
const struct example_sensor_config *config = dev->config;
int ret;
if (!device_is_ready(config->input.port)) {
LOG_ERR("Input GPIO not ready");
return -ENODEV;
}
ret = gpio_pin_configure_dt(&config->input, GPIO_INPUT);
if (ret < 0) {
LOG_ERR("Could not configure input GPIO (%d)", ret);
return ret;
}
return 0;
}
#define EXAMPLE_SENSOR_INIT(i) \
static struct example_sensor_data example_sensor_data_##i; \
\
static const struct example_sensor_config example_sensor_config_##i = {\
.input = GPIO_DT_SPEC_INST_GET(i, input_gpios), \
}; \
\
DEVICE_DT_INST_DEFINE(i, example_sensor_init, NULL, \
&example_sensor_data_##i, \
&example_sensor_config_##i, POST_KERNEL, \
CONFIG_SENSOR_INIT_PRIORITY, &example_sensor_api);
DT_INST_FOREACH_STATUS_OKAY(EXAMPLE_SENSOR_INIT)

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# Copyright (c) 2024 Nordic Semiconductor ASA
# SPDX-License-Identifier: Apache-2.0
description: |
A generic binding for a GPIO-controlled blinking LED. Note that this binding
has no vendor prefix, as it does not target a specific device or vendor.
Example definition in devicetree:
blink-gpio-led {
compatible = "blink-gpio-led";
led-gpios = <&gpio0 0 GPIO_ACTIVE_HIGH>;
blink-period-ms = <1000>;
};
compatible: "blink-gpio-led"
include: base.yaml
properties:
led-gpios:
type: phandle-array
required: true
description: GPIO-controlled LED.
blink-period-ms:
type: int
description: Initial blinking period in milliseconds.

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# Copyright (c) 2021 Nordic Semiconductor ASA
# SPDX-License-Identifier: Apache-2.0
description: |
An example sensor that reads the GPIO level defined in input-gpios. The
purpose of this sensor is to demonstrate how to create out-of-tree drivers.
Example definition in devicetree:
example-sensor {
compatible = "zephyr,example-sensor";
input-gpios = <&gpio0 0 (GPIO_PULL_UP | GPIO_ACTIVE_LOW)>;
};
compatible: "zephyr,example-sensor"
include: base.yaml
properties:
input-gpios:
type: phandle-array
required: true
description: Input GPIO to be sensed.

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/*
* Copyright (c) 2024 Nordic Semiconductor ASA
* SPDX-License-Identifier: Apache-2.0
*/
#ifndef APP_DRIVERS_BLINK_H_
#define APP_DRIVERS_BLINK_H_
#include <zephyr/device.h>
#include <zephyr/toolchain.h>
/**
* @defgroup drivers_blink Blink drivers
* @ingroup drivers
* @{
*
* @brief A custom driver class to blink LEDs
*
* This driver class is provided as an example of how to create custom driver
* classes. It provides an interface to blink an LED at a configurable rate.
* Implementations could include simple GPIO-controlled LEDs, addressable LEDs,
* etc.
*/
/**
* @defgroup drivers_blink_ops Blink driver operations
* @{
*
* @brief Operations of the blink driver class.
*
* Each driver class tipically provides a set of operations that need to be
* implemented by each driver. These are used to implement the public API. If
* support for system calls is needed, the operations structure must be tagged
* with `__subsystem` and follow the `${class}_driver_api` naming scheme.
*/
/** @brief Blink driver class operations */
__subsystem struct blink_driver_api {
/**
* @brief Configure the LED blink period.
*
* @param dev Blink device instance.
* @param period_ms Period of the LED blink in milliseconds, 0 to
* disable blinking.
*
* @retval 0 if successful.
* @retval -EINVAL if @p period_ms can not be set.
* @retval -errno Other negative errno code on failure.
*/
int (*set_period_ms)(const struct device *dev, unsigned int period_ms);
};
/** @} */
/**
* @defgroup drivers_blink_api Blink driver API
* @{
*
* @brief Public API provided by the blink driver class.
*
* The public API is the interface that is used by applications to interact with
* devices that implement the blink driver class. If support for system calls is
* needed, functions accessing device fields need to be tagged with `__syscall`
* and provide an implementation that follows the `z_impl_${function_name}`
* naming scheme.
*/
/**
* @brief Configure the LED blink period.
*
*
* @param dev Blink device instance.
* @param period_ms Period of the LED blink in milliseconds.
*
* @retval 0 if successful.
* @retval -EINVAL if @p period_ms can not be set.
* @retval -errno Other negative errno code on failure.
*/
__syscall int blink_set_period_ms(const struct device *dev,
unsigned int period_ms);
static inline int z_impl_blink_set_period_ms(const struct device *dev,
unsigned int period_ms)
{
const struct blink_driver_api *api =
(const struct blink_driver_api *)dev->api;
return api->set_period_ms(dev, period_ms);
}
/**
* @brief Turn LED blinking off.
*
* This is a convenience function to turn off the LED blinking. It also shows
* how to create convenience functions that re-use other driver functions, or
* driver operations, to provide a higher-level API.
*
* @param dev Blink device instance.
*
* @return See blink_set_period_ms().
*/
static inline int blink_off(const struct device *dev)
{
return blink_set_period_ms(dev, 0);
}
#include <syscalls/blink.h>
/** @} */
/** @} */
#endif /* APP_DRIVERS_BLINK_H_ */

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/*
* Copyright (c) 2021, Legrand North America, LLC.
*
* SPDX-License-Identifier: Apache-2.0
*/
#ifndef APP_LIB_CUSTOM_H_
#define APP_LIB_CUSTOM_H_
/**
* @defgroup lib_custom Custom library
* @ingroup lib
* @{
*
* @brief An example of a custom out-of-tree library.
*
* This library illustrates how create custom out-of-tree libraries. Splitting
* code in libraries enables code reuse and modularity, also easing testing.
*/
/**
* @brief Return @p val if non-zero, or Kconfig-controlled default.
*
* Function returns the provided value if non-zero, or a Kconfig-controlled
* default value if the parameter is zero. This trivial function is provided in
* order to have a library interface example that is trivial to test.
*
* @param val Value to return if non-zero
*
* @retval val if @p val is non-zero
* @retval CONFIG_CUSTOM_GET_VALUE_DEFAULT if @p val is zero
*/
int custom_get_value(int val);
/** @} */
#endif /* APP_LIB_CUSTOM_H_ */

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# SPDX-License-Identifier: Apache-2.0
add_subdirectory_ifdef(CONFIG_CUSTOM custom)

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# Copyright (c) 2021 Legrand North America, LLC.
# SPDX-License-Identifier: Apache-2.0
menu "Custom libraries"
rsource "custom/Kconfig"
endmenu

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# Copyright (c) 2021, Legrand North America, LLC.
# SPDX-License-Identifier: Apache-2.0
zephyr_library()
zephyr_library_sources(custom.c)

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# Copyright (c) 2021, Legrand North America, LLC.
# SPDX-License-Identifier: Apache-2.0
config CUSTOM
bool "Support for custom library"
help
This option enables the 'custom' library
config CUSTOM_GET_VALUE_DEFAULT
int "custom_get_value() default return value"
depends on CUSTOM
default 0
help
This option primarily exists as an example of a library Kconfig
setting.
This option specifies the value for custom_get_value() to return
when the input parameter is zero. (Otherwise the function returns the
input parameter value.)

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/*
* Copyright (c) 2021, Legrand North America, LLC.
*
* SPDX-License-Identifier: Apache-2.0
*/
#include <app/lib/custom.h>
int custom_get_value(int val)
{
return (val != 0) ? val : CONFIG_CUSTOM_GET_VALUE_DEFAULT;
}

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# Copyright (c) 2019 Foundries.io
# Copyright (c) 2022 Nordic Semiconductor ASA
# SPDX-License-Identifier: Apache-2.0
'''example_west_command.py
Example of a west extension in the example-application repository.'''
from west.commands import WestCommand # your extension must subclass this
from west import log # use this for user output
class ExampleWestCommand(WestCommand):
def __init__(self):
super().__init__(
'example-west-command', # gets stored as self.name
'an example west extension command', # self.help
# self.description:
'''\
A multi-line description of example-west-command.
You can split this up into multiple paragraphs and they'll get
reflowed for you. You can also pass
formatter_class=argparse.RawDescriptionHelpFormatter when calling
parser_adder.add_parser() below if you want to keep your line
endings.''')
def do_add_parser(self, parser_adder):
# This is a bit of boilerplate, which allows you full control over the
# type of argparse handling you want. The "parser_adder" argument is
# the return value of an argparse.ArgumentParser.add_subparsers() call.
parser = parser_adder.add_parser(self.name,
help=self.help,
description=self.description)
# Add some example options using the standard argparse module API.
parser.add_argument('-o', '--optional', help='an optional argument')
parser.add_argument('required', help='a required argument')
return parser # gets stored as self.parser
def do_run(self, args, unknown_args):
# This gets called when the user runs the command, e.g.:
#
# $ west my-command-name -o FOO BAR
# --optional is FOO
# required is BAR
log.inf('--optional is', args.optional)
log.inf('required is', args.required)

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scripts/west-commands.yml Normal file
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west-commands:
- file: scripts/example_west_command.py
commands:
- name: example-west-command
class: ExampleWestCommand
help: an example west extension command

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# Copyright (c) 2021, Legrand North America, LLC.
# SPDX-License-Identifier: Apache-2.0
cmake_minimum_required(VERSION 3.20.0)
find_package(Zephyr REQUIRED HINTS $ENV{ZEPHYR_BASE})
project(app_lib_custom_test)
target_sources(app PRIVATE src/main.c)

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CONFIG_ZTEST=y
CONFIG_CUSTOM=y

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/*
* Copyright (c) 2021 Legrand North America, LLC.
*
* SPDX-License-Identifier: Apache-2.0
*/
/*
* @file test custom_lib library
*
* This suite verifies that the methods provided with the custom_lib
* library works correctly.
*/
#include <limits.h>
#include <zephyr/ztest.h>
#include <app/lib/custom.h>
ZTEST(custom_lib, test_get_value)
{
/* Verify standard behavior */
zassert_equal(custom_get_value(INT_MIN), INT_MIN,
"get_value failed input of INT_MIN");
zassert_equal(custom_get_value(INT_MIN + 1), INT_MIN + 1,
"get_value failed input of INT_MIN + 1");
zassert_equal(custom_get_value(-1), -1,
"get_value failed input of -1");
zassert_equal(custom_get_value(1), 1,
"get_value failed input of 1");
zassert_equal(custom_get_value(INT_MAX - 1), INT_MAX - 1,
"get_value failed input of INT_MAX - 1");
zassert_equal(custom_get_value(INT_MAX), INT_MAX,
"get_value failed input of INT_MAX");
/* Verify override behavior */
zassert_equal(custom_get_value(0),
CONFIG_CUSTOM_GET_VALUE_DEFAULT,
"get_value failed input of 0");
}
ZTEST_SUITE(custom_lib, NULL, NULL, NULL, NULL, NULL);

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common:
tags: extensibility
integration_platforms:
- custom_plank
- qemu_cortex_m0
tests:
lib.custom: {}
lib.custom.non_default:
extra_args: CONFIG_CUSTOM_GET_VALUE_DEFAULT=6

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# Copyright (c) 2021 Nordic Semiconductor ASA
# SPDX-License-Identifier: Apache-2.0
manifest:
self:
west-commands: scripts/west-commands.yml
remotes:
- name: zephyrproject-rtos
url-base: https://github.com/zephyrproject-rtos
projects:
- name: zephyr
remote: zephyrproject-rtos
revision: main
import:
# By using name-allowlist we can clone only the modules that are
# strictly needed by the application.
name-allowlist:
- cmsis # required by the ARM port
- hal_nordic # required by the custom_plank board (Nordic based)
- hal_stm32 # required by the nucleo_f302r8 board (STM32 based)

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# Copyright (c) 2021 Nordic Semiconductor ASA
# SPDX-License-Identifier: Apache-2.0
build:
# Path to the Kconfig file that will be sourced into Zephyr Kconfig tree under
# Zephyr > Modules > example-application. Path is relative from root of this
# repository.
kconfig: Kconfig
# Path to the folder that contains the CMakeLists.txt file to be included by
# Zephyr build system. The `.` is the root of this repository.
cmake: .
settings:
# Additional roots for boards and DTS files. Zephyr will use the
# `<board_root>/boards` for additional boards. The `.` is the root of this
# repository.
board_root: .
# Zephyr will use the `<dts_root>/dts` for additional dts files and
# `<dts_root>/dts/bindings` for additional dts binding files. The `.` is
# the root of this repository.
dts_root: .