Omar SobhandClaude Opus 4.8
d2135a1938
Vendors the comprehensive UNO Q skill (SKILL.md + 7 references/*.md) and installs it into EVERY agent's workspace on each board, so agents know this board's specifics (dual-brain arch, Bridge/RPC, pin tables, LED matrix + the ArduinoGraphics-not-installed gotcha) instead of guessing generic Arduino. Why per-agent workspace: ZeroClaw's read_skill returns only SKILL.md; the agent reads references/*.md via the workspace-sandboxed file_read tool, so references are only reachable under ~/.zeroclaw/agents/<alias>/workspace/skills/. A shared/skills bundle surfaces the skill but its references get sandbox-blocked. - push-skill.sh installs a SKILL.md+references skill into every agent workspace (discovers aliases from the board); provision-fleet runs it per board. - config.template risk profile now allows + auto-approves read_skill + file_read so agents load skills without a human approver (webhook path is non-interactive). - Flattened the folded 'description: >-' to single-line (ZeroClaw's frontmatter parser is a flat scanner, not full YAML). Verified on board 65301572 with cloud/Sonnet-5: discovered arduino-uno-q → read_skill(SKILL.md) → file_read references/04-bridge-rpc.md → correct board-specific answer citing the file. Co-Authored-By: Claude Opus 4.8 <[email protected]>
144 lines
5.4 KiB
Markdown
144 lines
5.4 KiB
Markdown
# UNO Q — Pins, Buses & Controlling Attached Components
|
||
|
||
**All physical I/O belongs to the MCU (STM32).** You control attached components by writing an Arduino sketch that owns the pin/bus. If Linux/Python needs to be involved, expose the control as a Bridge function and call it from Python (see the Bridge reference). MCU I/O is **3.3 V logic**.
|
||
|
||
## Digital pins
|
||
47 digital pins total (22 on the UNO-style header, 25 on the JMISC connector). UNO-style header mapping:
|
||
|
||
| MCU pin | Arduino | Function |
|
||
|---|---|---|
|
||
| PB7 | D0 / RX | GPIO / UART RX |
|
||
| PB6 | D1 / TX | GPIO / UART TX |
|
||
| PB3 | D2 | GPIO |
|
||
| PB0 | D3 | GPIO / OPAMP OUT / **PWM** |
|
||
| PA12 | D4 / FDCAN1_TX | GPIO / CAN TX |
|
||
| PA11 | D5 / FDCAN1_RX | GPIO / CAN RX / **PWM** |
|
||
| PB1 | D6 | GPIO / **PWM** |
|
||
| PB2 | D7 | GPIO |
|
||
| PB4 | D8 | GPIO |
|
||
| PB8 | D9 | GPIO / **PWM** |
|
||
| PB9 | D10 / SS | GPIO / SPI SS / **PWM** |
|
||
| PB15 | D11 / MOSI | GPIO / SPI MOSI / **PWM** |
|
||
| PB14 | D12 / MISO | GPIO / SPI MISO |
|
||
| PB13 | D13 / SCK | GPIO / SPI SCK |
|
||
| PA4 | D14 / DAC0 | GPIO / ADC / DAC |
|
||
| PA5 | D15 / DAC1 | GPIO / ADC / DAC |
|
||
| PA6 | D16 | GPIO / ADC / OPAMP IN+ |
|
||
| PA7 | D17 | GPIO / ADC / OPAMP IN- |
|
||
| PC1 | D18 / SDA2 | GPIO / ADC / I2C SDA |
|
||
| PC0 | D19 / SCL2 | GPIO / ADC / I2C SCL |
|
||
| PB11 | D20 / SDA | GPIO / I2C SDA |
|
||
| PB10 | D21 / SCL | GPIO / I2C SCL |
|
||
|
||
Usage:
|
||
```cpp
|
||
pinMode(pin, INPUT | OUTPUT | INPUT_PULLUP);
|
||
state = digitalRead(pin);
|
||
digitalWrite(pin, HIGH | LOW);
|
||
```
|
||
Button-reads-input, LED-follows example: `pinMode(btn, INPUT_PULLUP); if (digitalRead(btn)==LOW) digitalWrite(led,HIGH);`
|
||
|
||
## Analog input (ADC) — JANALOG connector
|
||
6 channels, **14-bit** ADC.
|
||
|
||
| MCU pin | Arduino | Function |
|
||
|---|---|---|
|
||
| PA4 | A0 | ADC / DAC |
|
||
| PA5 | A1 | ADC / DAC |
|
||
| PA6 | A2 | ADC / OPAMP IN+ |
|
||
| PA7 | A3 | ADC / OPAMP IN- |
|
||
| PC1 | A4 | ADC / I2C SDA |
|
||
| PC0 | A5 | ADC / I2C SCL |
|
||
|
||
```cpp
|
||
analogReadResolution(14); // 0–16383
|
||
analogReference(AR_INTERNAL2V5); // set V_REF+ (see table)
|
||
int v = analogRead(A0);
|
||
```
|
||
Voltage-reference options: `AR_INTERNAL1V5` (1.5 V), `AR_INTERNAL1V8` (1.8 V), `AR_INTERNAL2V05` (2.048 V), `AR_INTERNAL2V5` (2.5 V), `AR_EXTERNAL` (2 V…VDD, external).
|
||
|
||
## Analog output (DAC)
|
||
Two true DAC outputs.
|
||
|
||
| MCU pin | Arduino |
|
||
|---|---|
|
||
| PA4 | DAC0 |
|
||
| PA5 | DAC1 |
|
||
|
||
```cpp
|
||
analogWriteResolution(12); // 0–4095
|
||
analogWrite(DAC0, value);
|
||
```
|
||
(Good for generating waveforms — the docs include a 60 Hz sine via a 256-point LUT clocked with `micros()`.)
|
||
|
||
## PWM
|
||
6 PWM-capable pins: **D3, D5, D6, D9, D10, D11**. Default resolution **8-bit (0–255)**; change with `analogWriteResolution(bits)`. **PWM frequency is fixed at 500 Hz.**
|
||
```cpp
|
||
analogWriteResolution(10); // 0–1023
|
||
analogWrite(D3, dutyValue);
|
||
```
|
||
|
||
## SPI
|
||
| MCU pin | Arduino |
|
||
|---|---|
|
||
| PB9 | SS / D10 |
|
||
| PB15 | MOSI / D11 |
|
||
| PB14 | MISO / D12 |
|
||
| PB13 | SCK / D13 |
|
||
|
||
```cpp
|
||
#include <SPI.h>
|
||
#define SS D10
|
||
void setup(){ pinMode(SS,OUTPUT); digitalWrite(SS,HIGH); SPI.begin(); }
|
||
void loop(){
|
||
SPI.beginTransaction(SPISettings(1000000, MSBFIRST, SPI_MODE0));
|
||
digitalWrite(SS, LOW);
|
||
SPI.transfer(0x35); SPI.transfer(0xFA);
|
||
digitalWrite(SS, HIGH);
|
||
SPI.endTransaction();
|
||
}
|
||
```
|
||
|
||
## I2C — two buses
|
||
| Bus / object | SCL | SDA | Where |
|
||
|---|---|---|---|
|
||
| `Wire` | D21 (PB10) | D20 (PB11) | UNO-style headers |
|
||
| `Wire1` | I2C4_SCL (PD12) | I2C4_SDA (PD13) | **Qwiic** connector |
|
||
|
||
```cpp
|
||
#include <Wire.h>
|
||
void setup(){ Wire.begin(); } // or Wire1.begin() for Qwiic
|
||
// Wire.beginTransmission(addr); Wire.write(...); Wire.endTransmission();
|
||
```
|
||
|
||
### Qwiic connector
|
||
Plug-and-play I²C: polarized connector, daisy-chainable, built-in pull-ups, **3.3 V only** — no breadboard/soldering. Use `Wire1`. Works directly with Arduino's **Modulino** sensor/actuator family for solder-free prototyping.
|
||
|
||
## UART (hardware serial on the header)
|
||
| MCU pin | Arduino |
|
||
|---|---|
|
||
| PB6 | USART1_TX / D1 |
|
||
| PB7 | USART1_RX / D0 |
|
||
|
||
Use the **`Serial1`** object for the physical D0/D1 pins on the JDIGITAL connector:
|
||
```cpp
|
||
Serial1.begin(115200);
|
||
Serial1.println("Hello UNO Q");
|
||
while (Serial1.available()) { char c = Serial1.read(); /* ... */ }
|
||
```
|
||
> Note: `Serial1` here is the *header UART*. It is **not** the reserved router link — that reserved `Serial1` warning in the Bridge doc refers to the internal MPU↔MCU port; on the exposed headers `Serial1` drives D0/D1. Don't confuse the two: use `Serial1` for external UART devices, and never touch the internal router transport.
|
||
|
||
## `Serial` for debugging → App Lab console
|
||
Since platform **0.55.0**, plain `Serial` prints stream to the **Arduino App Lab Console** — use it like normal:
|
||
```cpp
|
||
void setup(){ Serial.begin(9600); }
|
||
void loop(){ Serial.println("Hello UNO Q"); delay(1000); }
|
||
```
|
||
The legacy `Monitor` object (`#include <Arduino_RouterBridge.h>` → `Monitor.begin()/println()`) still works for backward compatibility, but **use `Serial` for new projects.**
|
||
|
||
## How to actually control "our node's" attached hardware — recipe
|
||
1. Identify the interface the component uses (GPIO / ADC / PWM / SPI / I2C / UART) and the matching pins above. Mind **3.3 V** levels.
|
||
2. Write the **sketch** that drives it (the standard Arduino libraries work: `Servo`, `Wire`-based sensor libs, etc.).
|
||
3. If Python/AI/networking must control or read it, wrap each action in a `Bridge.provide_safe("name", fn)` on the MCU and `Bridge.call("name", ...)` from Python (see Bridge reference).
|
||
4. For quick prototyping of sensors/actuators, reach for **Qwiic + Modulino** modules to skip wiring.
|