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[automotive] Update the legacy drivers to align with hardware #87

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3f6ef8c
[libraries] Fix include path in xmake
engdoreis Apr 11, 2026
4f7fd0f
[automotive] Update the legacy drivers to align with hardware
engdoreis Apr 10, 2026
68e8272
[automotive] Refactor build and create a legacy driver lib
engdoreis Apr 11, 2026
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12 changes: 8 additions & 4 deletions examples/automotive/cheri/send.cc
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Original file line number Diff line number Diff line change
Expand Up @@ -222,7 +222,8 @@ void update_cheri_error_handling()
* The remaining variable arguments are unsigned integers used to fill
* in the formatting specifiers in the format string.
*/
void lcd_draw_str(uint32_t x,
void lcd_draw_str(void *handle,
uint32_t x,
uint32_t y,
LcdFont font,
const char *format,
Expand Down Expand Up @@ -259,7 +260,7 @@ void lcd_draw_str(uint32_t x,
*
* `color` is the 32-bit colour to display.
*/
void lcd_clean(uint32_t color)
void lcd_clean(void *handle, uint32_t color)
{
lcd->clean(static_cast<Color>(color));
}
Expand All @@ -273,7 +274,8 @@ void lcd_clean(uint32_t color)
* `h` is the height of the rectangle.
* `color` is the 32-bit colour to fill the rectangle with.
*/
void lcd_fill_rect(uint32_t x,
void lcd_fill_rect(void *handle,
uint32_t x,
uint32_t y,
uint32_t w,
uint32_t h,
Expand All @@ -293,7 +295,8 @@ void lcd_fill_rect(uint32_t x,
* `data` is the byte array containing the image data, of size at least
* of `w` * `h`, where each value is a RGB565 colour value.
*/
void lcd_draw_img(uint32_t x,
void lcd_draw_img(void *handle,
uint32_t x,
uint32_t y,
uint32_t w,
uint32_t h,
Expand Down Expand Up @@ -571,6 +574,7 @@ void __cheri_compartment("automotive_send") entry()
.ethernet_transmit = send_ethernet_frame,
.lcd =
{
lcd = lcd,
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@AlexJones0 AlexJones0 May 22, 2026

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Suggested change
lcd = lcd,
.lcd = lcd,

.draw_str = lcd_draw_str,
.clean = lcd_clean,
.fill_rect = lcd_fill_rect,
Expand Down
73 changes: 0 additions & 73 deletions examples/automotive/legacy/lcd.c
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36 changes: 0 additions & 36 deletions examples/automotive/legacy/lcd.h
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141 changes: 26 additions & 115 deletions examples/automotive/legacy/send.c
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Original file line number Diff line number Diff line change
Expand Up @@ -8,24 +8,25 @@
#include <stdint.h>
#include <stdio.h>

#include "../../../third_party/display_drivers/src/core/lucida_console_10pt.h"
#include "../../../third_party/display_drivers/src/core/lucida_console_12pt.h"
#include "../../../third_party/display_drivers/src/core/m3x6_16pt.h"
#include "../../../third_party/display_drivers/src/st7735/lcd_st7735.h"
#include "../../../third_party/sonata-system/sw/legacy/common/gpio.h"
#include "../../../third_party/sonata-system/sw/legacy/common/rv_plic.h"
#include "../../../third_party/sonata-system/sw/legacy/common/sonata_system.h"
#include "../../../third_party/sonata-system/sw/legacy/common/spi.h"
#include "../../../third_party/sonata-system/sw/legacy/common/timer.h"
#include "../lib/analogue_pedal.h"
#include "../lib/automotive_common.h"
#include "../lib/automotive_menu.h"
#include "../lib/digital_pedal.h"
#include "../lib/joystick_pedal.h"
#include "../lib/no_pedal.h"
#include "adc.h"
#include "gpio.h"
#include "ksz8851.h"
#include "lcd.h"
#include "lcd_st7735.h"
#include "lucida_console_10pt.h"
#include "lucida_console_12pt.h"
#include "m3x6_16pt.h"
#include "pwm.h"
#include "rv_plic.h"
#include "sonata_system.h"
#include "spi.h"
#include "timer.h"

// When using our model pedal, these are the maximum and minimum values that
// are measured through the ADC from the pedal's full range of motion. We
Expand All @@ -34,8 +35,8 @@
#define PEDAL_MIN_ANALOGUE 310
#define PEDAL_MAX_ANALOGUE 1700

#define BACKGROUND_COLOUR ColorBlack
#define TEXT_COLOUR ColorWhite
#define BACKGROUND_COLOUR RGBColorBlack
#define TEXT_COLOUR RGBColorWhite

#define ADC_BASE 0x8000B000

Expand Down Expand Up @@ -85,104 +86,6 @@ uint64_t wait(const uint64_t EndTime)
return currentTime;
}

/**
* Formats and draws a string to the LCD display based upon the provided
* formatting and display information. The string can use formatting
* specifiers as defined by `vsnprintf(3)`.
*
* `x` is the X-coordinate on the LCD of the top left of the string.
* `y` is the Y-coordinate on the LCD of the top left of the string.
* `font` is the font to render the string with.
* `format` is the formatting string to write.
* `backgroundColour` is the colour to use for the string's background.
* `textColour` is the colour to render the text in.
* The remaining variable arguments are unsigned integers used to fill in the
* formatiting specifiers in the format string.
*/
void lcd_draw_str(uint32_t x,
uint32_t y,
LcdFont font,
const char *format,
uint32_t backgroundColour,
uint32_t textColour,
...)
{
// Format the provided string
char buffer[1024];
va_list args;
va_start(args, textColour);
vsnprintf(buffer, 1024, format, args);
va_end(args);

Font stringFont;
switch (font)
{
case LucidaConsole_10pt:
stringFont = lucidaConsole_10ptFont;
break;
case LucidaConsole_12pt:
stringFont = lucidaConsole_12ptFont;
break;
default:
stringFont = m3x6_16ptFont;
}
lcd_st7735_set_font(&lcd, &stringFont);
lcd_st7735_set_font_colors(&lcd, backgroundColour, textColour);
lcd_st7735_puts(&lcd, (LCD_Point){x, y}, buffer);
}

/**
* A callback function used to clean the LCD display with a given colour.
*
* `color` is the 32-bit colour to display.
*/
void lcd_clean(uint32_t color)
{
size_t w, h;
lcd_st7735_get_resolution(&lcd, &h, &w);
LCD_rectangle rect = {(LCD_Point){0, 0}, w, h};
lcd_st7735_fill_rectangle(&lcd, rect, color);
}

/**
* A callback function used to draw a rectangle on the LCD.
*
* `x` is the X-position of the top-left corner of the rectangle on the LCD.
* `y` is the Y-position of the top-left corner of the rectangle on the LCD.
* `w` is the width of the rectangle.
* `h` is the height of the rectangle.
* `color` is the 32-bit colour to fill the rectangle with.
*/
void lcd_fill_rect(uint32_t x,
uint32_t y,
uint32_t w,
uint32_t h,
uint32_t color)
{
LCD_rectangle rect = {(LCD_Point){x, y}, w, h};
lcd_st7735_fill_rectangle(&lcd, rect, color);
}

/**
* A callback function used to draw an image to the LCD.
*
* `x` is the X-position of the top-left corner of the image on the LCD.
* `y` is the Y-position of the top-left corner of the image on the LCD.
* `w` is the width of the image.
* `h` is the height of the image.
* `data` is the byte array containing the image data, of size at least
* of `w` * `h`, where each value is a RGB565 colour value.
*/
void lcd_draw_img(uint32_t x,
uint32_t y,
uint32_t w,
uint32_t h,
const uint8_t *data)
{
LCD_rectangle rect = {(LCD_Point){x, y}, w, h};
lcd_st7735_draw_rgb565(&lcd, rect, data);
}

/**
* A callback function used to read the GPIO joystick state.
*
Expand All @@ -191,7 +94,7 @@ void lcd_draw_img(uint32_t x,
*/
uint8_t read_joystick()
{
return ((uint8_t)read_gpio(GPIO_IN_DBNC_AM)) & 0x1f;
return ((uint8_t)(read_gpio(GPIO_IN_DBNC_AM) >> 8u) & 0x1f);
}

/**
Expand Down Expand Up @@ -361,37 +264,44 @@ int main()
timer_init();
timer_enable(SYSCLK_FREQ / 1000);

pwm_t lcd_bl = PWM_FROM_ADDR_AND_INDEX(PWM_BASE, PWM_LCD);

// Initialise LCD display driver
LCD_Interface lcdInterface;
spi_t lcdSpi;
spi_init(&lcdSpi, LCD_SPI, LcdSpiSpeedHz);
lcd_init(&lcdSpi, &lcd, &lcdInterface);
lcd_clean(BACKGROUND_COLOUR);
lcd_init(&lcdSpi, lcd_bl, &lcd, &lcdInterface);
lcd_clean(&lcd, BACKGROUND_COLOUR);
const LCD_Point Centre = {lcd.parent.width / 2, lcd.parent.height / 2};
write_to_uart("%s:%d\n", __func__, __LINE__);

// Initialise Ethernet support for use via callback
rv_plic_init();
spi_t ethernetSpi;
spi_init(&ethernetSpi, ETH_SPI, /*speed=*/0);
spi_init(&ethernetSpi, ETH_SPI, 1 * 1000 * 1000);
ethernetInterface.spi = &ethernetSpi;
uint8_t macSource[6];
for (uint8_t i = 0; i < 6; i++)
{
macSource[i] = FixedDemoHeader.macSource[i];
}
write_to_uart("%s:%d\n", __func__, __LINE__);
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@AlexJones0 AlexJones0 May 22, 2026 •
edited
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Remove debug logs? (several times in this file)

ksz8851_init(&ethernetInterface, macSource);
write_to_uart("%s:%d\n", __func__, __LINE__);

// Wait until a good physical ethernet link to start the demo
if (!ksz8851_get_phy_status(&ethernetInterface))
{
write_to_uart("Waiting for a good physical ethernet link...\n");
lcd_draw_str(Centre.x - 55,
lcd_draw_str(&lcd,
Centre.x - 55,
Centre.y - 5,
M3x6_16pt,
"Waiting for a good physical",
BACKGROUND_COLOUR,
TEXT_COLOUR);
lcd_draw_str(Centre.x - 30,
lcd_draw_str(&lcd,
Centre.x - 30,
Centre.y + 5,
M3x6_16pt,
"ethernet link...",
Expand Down Expand Up @@ -425,6 +335,7 @@ int main()
.ethernet_transmit = send_ethernet_frame,
.lcd =
{
.lcd = &lcd,
.draw_str = lcd_draw_str,
.clean = lcd_clean,
.fill_rect = lcd_fill_rect,
Expand Down
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