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Firmware Projects

This directory contains early Rust-based firmware experiments for the vacuum robot's Allwinner A33 processor.

Note: These experiments have evolved into a complete firmware implementation: VacuumTiger - an open-source firmware platform for autonomous vacuum robots featuring SangamIO daemon, Drishti diagnostic UI, and a generic TCP protocol for SLAM integration.

Prerequisites

Required Tools

  • Rust toolchain: Install from https://rustup.rs/
  • ARM cross-compilation target: rustup target add armv7-unknown-linux-musleabihf
  • ARM GNU toolchain (macOS): brew tap messense/macos-cross-toolchains && brew install armv7-unknown-linux-musleabihf

Target Platform

  • Architecture: ARM Cortex-A7 (ARMv7)
  • Processor: Allwinner A33 Quad-Core
  • OS: Tina Linux (custom OpenWrt-based)
  • Compilation Target: armv7-unknown-linux-musleabihf (hard-float, musl libc)

Projects

helloworld

Simple Hello World program demonstrating the build and deployment workflow.

Build:

cd helloworld
cargo build --release

Deploy and Run:

# Transfer binary and execute (device doesn't have scp)
cat target/armv7-unknown-linux-musleabihf/release/hello_vacuum | \
  sshpass -p "<your-password>" ssh root@vacuum \
  "cat > /tmp/hello_vacuum && chmod +x /tmp/hello_vacuum && /tmp/hello_vacuum"

lidar-reader

Rust library for interfacing with the 3iRobotix Delta-2D Lidar sensor. Implements the complete UART protocol for reading distance and angle measurements.

Features:

  • Full protocol implementation (health and measurement packets)
  • Power on/off control
  • Structured data types (Scan, Measurement)
  • Example scanner application
  • Designed for integration into larger robot applications

Build Library:

cd lidar-reader
cargo build --release

Build and Run Example:

cd lidar-reader
cargo build --release --example scan

# Transfer and run on device
cat target/armv7-unknown-linux-musleabihf/release/examples/scan | \
  sshpass -p "<your-password>" ssh root@vacuum \
  "cat > /tmp/scan && chmod +x /tmp/scan && /tmp/scan /dev/ttyS1 107"

Library Usage:

use lidar_reader::Lidar;

// GPIO 107 is a candidate for Lidar motor control (hardware-dependent)
let mut lidar = Lidar::new("/dev/ttyS1", 107)?;
lidar.power_on()?;

loop {
    if let Ok(Some(scan)) = lidar.read_scan() {
        for measurement in scan.measurements {
            println!("{:.2}° -> {:.2}mm", measurement.angle, measurement.distance);
        }
    }
}

See lidar-reader/README.md for detailed documentation.

Building Binaries

Each project contains a .cargo/config.toml that configures:

  • Default target architecture: armv7-unknown-linux-musleabihf
  • Custom linker: armv7-unknown-linux-musleabihf-gcc

All binaries are statically linked with musl libc, requiring no external dependencies on the target device.

Development Notes

  • Binary size: ~485KB for minimal Hello World (statically linked)
  • The device has limited storage, optimize binary size when possible
  • Use cargo build --release for optimized binaries
  • The device doesn't have Python or many standard Linux utilities