Feature: Add support for load-native-lib on the VESC Express

[Relys]

Support for load-native-lib on the VESC Express.

[IndianBoy42]

I would like to help test this as I plan to implement some heavy things in a vesc express, would it be enough to compile and flash the vesc express firmware or do I need a custom vesc firmware and vesc_tool too?

[Tomblarom]

hey @Relys, thanks for your PR! I'm working on some example lbm code for the ESP32-C3-DevKit and pulled your branch. However, when running the following snippet, I get an eval-error..

(import "pkg::ws2812@://vesc_packages/lib_ws2812/ws2812.vescpkg" 'ws2812)
(load-native-lib ws2812)

Preparing new image...
Parsing 98 characters
   Error: eval_error
   CTX: 408 "main-u"
   Current: ws2812
      bound to: [0 0 0 0 56 181 16 75 14 76 16 73 5 70 123 68 15 72 27 104 35 104 121 68 120 68 152 71 13 73 14 72 35 104 121 68 120 68 152 71 12 73 13 72 35 104 121 68 120 68 152 71 0 35 107 96 10 75 123 68 43 96 1 32 56 189 0 191 0 248 0 16 238 255 255 255 167 1 0 0 148�ý�j)�ßÂs_%��Ì¿u˾�ÒÂeDÑ�IÀ´[1�a
q-r½Ùª�(é�x�pÓ�>?�v$���ÄL=-�~Ú*%$��âíÜr-ñ:s?üd�kúçúk�Áâ(�U�GE<�Êd��§¥�tÇ:j�Ëô�´�Ókl,.L4��~«�
   In: load-native-lib

   Between row 2 and 2

eval_cps.c line number: 3454

I also tried compiling the ws2812.bin using cd /vesc_pkg/lib_ws2812/ && make and loading it, as you are showing here:

(import "ws2812.bin" 'ws2812-lib)
(load-native-lib ws2812-lib)

---

EDIT: Ok using the rgbled-* functions instead solved it.. :) Yet I can't explain, why it was not possible to use the ws2812-library.

[Relys]

hey @Relys, thanks for your PR! I'm working on some example lbm code for the ESP32-C3-DevKit and pulled your branch. However, when running the following snippet, I get an eval-error..

(import "pkg::ws2812@://vesc_packages/lib_ws2812/ws2812.vescpkg" 'ws2812)
(load-native-lib ws2812)

Preparing new image...
Parsing 98 characters
   Error: eval_error
   CTX: 408 "main-u"
   Current: ws2812
      bound to: [0 0 0 0 56 181 16 75 14 76 16 73 5 70 123 68 15 72 27 104 35 104 121 68 120 68 152 71 13 73 14 72 35 104 121 68 120 68 152 71 12 73 13 72 35 104 121 68 120 68 152 71 0 35 107 96 10 75 123 68 43 96 1 32 56 189 0 191 0 248 0 16 238 255 255 255 167 1 0 0 148�ý�j)�ßÂs_%��Ì¿u˾�ÒÂeDÑ�IÀ´[1�a
q-r½Ùª�(é�x�pÓ�>?�v$���ÄL=-�~Ú*%$��âíÜr-ñ:s?üd�kúçúk�Áâ(�U�GE<�Êd��§¥�tÇ:j�Ëô�´�Ókl,.L4��~«�
   In: load-native-lib

   Between row 2 and 2

eval_cps.c line number: 3454

I also tried compiling the ws2812.bin using cd /vesc_pkg/lib_ws2812/ && make and loading it, as you are showing here:

(import "ws2812.bin" 'ws2812-lib)
(load-native-lib ws2812-lib)

EDIT: Ok using the rgbled-* functions instead solved it.. :) Yet I can't explain, why it was not possible to use the ws2812-library.

You're trying to load shellcode compiled for an STM32 ARM Cortex on an ESP32 RISK V is why it won't work. The ws2812-lib is for STM32 only. Not only is ISA different but all the memory mappings, how DMA works, etc.