Unified firmware for rosbot-XL and core2 hardware

[Jakub-husarz]

Before merging

• Test on rosbot_XL to ensure nothing was broken!
• Finalize breaking issues in TO-DO section

Description

Use the same codebase for both rosbot-XL and core-2 hardware (ex. rosbot-ros2), depending on build flag defined.

Build with:
platformio run -e rosbot_xl_digital_board
or:
platformio run -e rosbot_2_digital_board

TO-DO:

1. Fix the motors (currently not running)
2. Try to port following tasks to core2 (currently disabled):

• SbcShutdownTask: handle the shutdown without PowerBoard in Core2?
• PowerBoardTask: read battery voltage from ADC_VBAT instead of sending the request
• PowerOffSignalLoopHandler: can we read the poweroff signal in Core2? “PG_6“ should be connected to RPI pull-up
• GetBoardVersion: implement runtime board discovery here?
• GetInsideTemperature: change temperature calculations to match Core2

3. Implement features available in core2 but missing in rosbot XL:

• buttons
• red LED
• distance sensors
• servo
• ...?

4. Switch hardware version in runtime instead of compile flags

Version

bump::minor