Husqvarna Automower(R) Doom

This is the official Husqvarna Automower(R) port of Doom initially released Spring 2024 as part of the "One Hell of an update" campaign.
The port is based on a heavily stripped stm32Doom, in turn based on Chocolate Doom.

Compiling DOOM

Toolchain(s) and Tools

Make

A makefile is supplied with the source code. In order to compile with this, make is required.

ARMGCC

GNU Arm Embedded Toolchain Downloads

The distributed binary has been compiled on Windows with GNU Arm Embedded Toolchain version 7-2017-q4-major, however GNU Arm Embedded Toolchain version 10.3-2021.10 has been tested on Linux and found to be working as well.

Download GNU Arm Embedded Toolchain and extract/install it, then add the bin directory to your system path (either globally or temporarily in your current shell).

CubeMX 5.6.0 (optional)

STM32CubeMX Downloads

CubeMX 5.6.0 has been used to configure most of the hardware/drivers. Other versions of CubeMX is not guaranteed to work. The CubeMX project file is Port/stm32f469/CubeMX/app.ioc.

Relevant source- and header files have been copied from the generated directories to the CUBEMX folder.

The generated configuration files from CubeMX have been modified and adapted after generation, so if you generate and copy the files anew, make sure to diff the files before/after and restore relevant modifications.

If you are not planning on using a different hardware, there is no need to modify the CubeMX project or the generated files.

Compiling the DOOM binary

To compile the DOOM binary, see to that both make, arm-eabi-none-gcc, arm-eabi-none-size and arm-eabi-none-objcopy is accessible via command line.

The supplied Makefile has been tested in BASH and ZSH on Linux (ubuntu) as well as MSYS2/MinGW32 on windows.
Some modification may be required to run in Windows PowerShell or with other toolchains.

To temporarily add the GNU Arm Embedded Toolchain to your system path, instead of permanently adding it to your path, you can run the following:

BASH:

PATH=$PATH:/path/to/gcc-arm-none-eabi-{version}/bin

modify the path to match your extracted directory location.

POWERSHELL:

$Env:PATH = "$($Env:PATH)C:\Path\To\gcc-arm-none-eabi-{version}\bin;"

modify the path to match your extracted directory location.

Then simply run make:

> make

Compiling main.c

.
.
.

Compiling w_wad.c

Compiling z_zone.c
Linking doom.elf
   text	   data	    bss	    dec	    hex	filename
 234272	  59608	5482632	5776512	 582480	out/doom.elf
Creating binary doom.bin

All files are built to ./out and the doom.bin file is what shall be uploaded to the Automower(R).

GZIP

For a faster transfer, you can GZIP the doom.bin file before uploading.

gzip -k ./out/doom.bin

and transfer the doom.bin.gz file instead.

There's also the make gzip target if you have gzip in your path/shell.

Transferring the doom binary the Automower(R)

In order to transfer the compiled binary to the Automower(R), the Husqvarna command-line doomloader tool is required as well as a USB-C cable. The tool is supplied as different packages in the release(s) available in this repository, for both Windows and Linux/Unix for x86 and x86_64. Extract the one you need and follow the instructions in the help text by running doomloader --help (see example below).

The USB-C port is located in the front of the Automower(R), labelled Accessory Port, and can be accessed by lifting the glossy panel from the front of the Automower(R).

After the binary has been transferred successfully, simply launch DOOM via the menu / interface on the Automower(R) itself.

> ./doomloader.exe --help

DoomLoader utility 0.0.1
Copyright (c) 2023 Husqvarna AB, All rights reserved.
(See LICENSE.txt for license details.)

This utility is used for loading a custom DOOM binary onto Husqvarna Automower(R).

Options:

 --help   Print this help text.
 --file   Binary file to load onto Husqvarna Automower(R).
 --port   Serial port connection to Husqvarna Automower(R) (ex. COM4 or /dev/tty3).
 --pin    Pin code of the connected Husqvarna Automower(R).

Example:

    doomloader.exe --file doom.bin --port /dev/tty3 --pin 1234


(Automower(R) is a registered trademark of Husqvarna AB.)

Linux specific issues

Unable to execute file

Make sure the file has the execute-flag set. If not, add it with chmod +x ./doomloader.

Unable to access existing COM-port

In linux, the user executing the binary needs to have access to the serial ports in order for the program to access the serial port interface. Make sure your user is part of the relevant group for your distro. Ex:

• In ubuntu, the group is called dialout.
• In arch linux, the group is called uucp.

After adding your user to the relevant group for your distro, you may need to restart the computer for the change to apply.

doom1.wad

The WAD-file used in the Automower(R) is the shareware version of doom (doom1.wad, version 1.9, SHA-1 5b2e249b9c5133ec987b3ea77596381dc0d6bc1d).

The WAD file is not distributed as part of the source code, but is highly available from various sources if needed.

For updating the software on the Automower(R), the WAD file is not required, as it is already on the Automower(R).