Added the zig_main project to software for zig based implementation of code for robot

software/zig_main/patches/led_strip/led_color_component_format_t.zig

@@ -0,0 +1,4 @@
+pub const led_color_component_format_t = extern union {
+    format: struct_format_layout_15,
+    format_id: u32,
+};

software/zig_main/patches/led_strip/led_strip_config_t.zig

@@ -0,0 +1,10 @@
+pub const led_strip_config_t = extern struct {
+    strip_gpio_num: c_int = 0,
+    max_leds: u32 = 0,
+    led_model: led_model_t = @import("std").mem.zeroes(led_model_t),
+    color_component_format: led_color_component_format_t = @import("std").mem.zeroes(led_color_component_format_t),
+    flags: led_strip_flags = @import("std").mem.zeroes(led_strip_flags),
+    pub const led_strip_new_rmt_device = __root.led_strip_new_rmt_device;
+    pub const led_strip_new_spi_device = __root.led_strip_new_spi_device;
+    pub const device = __root.led_strip_new_rmt_device;
+};

software/zig_main/patches/led_strip/led_strip_rmt_config_t.zig

@@ -0,0 +1,10 @@
+pub const led_strip_rmt_config_t = extern struct {
+    clk_src: rmt_clock_source_t = @import("std").mem.zeroes(rmt_clock_source_t),
+    resolution_hz: u32 = 0,
+    mem_block_symbols: usize = 0,
+    flags: led_strip_flags = @import("std").mem.zeroes(led_strip_flags),
+};
+
+const led_strip_flags = extern struct {
+    invert_out: u32,
+};

software/zig_main/patches/led_strip/led_strip_rmt_extra_config_20.zig

@@ -0,0 +1,3 @@
+pub const struct_led_strip_rmt_extra_config_20 = extern struct {
+    with_dma: u32 = 0,
+};

software/zig_main/patches/led_strip/led_strip_struct_format_layout_15.zig

@@ -0,0 +1,9 @@
+pub const struct_format_layout_15 = extern struct {
+    r_pos: u32 = 0,
+    g_pos: u32 = 0,
+    b_pos: u32 = 0,
+    w_pos: u32 = 0,
+    reserved: u32 = 0,
+    bytes_per_color: u32 = 0,
+    num_components: u32 = 0,
+};

software/zig_main/patches/porttick_period_ms.zig

@@ -0,0 +1 @@
+pub const portTICK_PERIOD_MS: TickType_t = @as(TickType_t, @divExact(@as(c_int, 1000), configTICK_RATE_HZ));

software/zig_main/patches/wifi/wifi_ap_config_t.zig

@@ -0,0 +1,22 @@
+pub const wifi_ap_config_t = extern struct {
+    ssid: [32]u8 = @import("std").mem.zeroes([32]u8),
+    password: [64]u8 = @import("std").mem.zeroes([64]u8),
+    ssid_len: u8 = 0,
+    channel: u8 = 0,
+    authmode: wifi_auth_mode_t = @import("std").mem.zeroes(wifi_auth_mode_t),
+    ssid_hidden: u8 = 0,
+    max_connection: u8 = 0,
+    beacon_interval: u16 = 0,
+    csa_count: u8 = 0,
+    dtim_period: u8 = 0,
+    pairwise_cipher: wifi_cipher_type_t = @import("std").mem.zeroes(wifi_cipher_type_t),
+    ftm_responder: bool = false,
+    pmf_cfg: wifi_pmf_config_t = @import("std").mem.zeroes(wifi_pmf_config_t),
+    sae_pwe_h2e: wifi_sae_pwe_method_t = @import("std").mem.zeroes(wifi_sae_pwe_method_t),
+    transition_disable: u8 = 0,
+    sae_ext: u8 = 0,
+    wpa3_compatible_mode: u8 = 0,
+    reserved: u8 = 0,
+    bss_max_idle_cfg: wifi_bss_max_idle_config_t = @import("std").mem.zeroes(wifi_bss_max_idle_config_t),
+    gtk_rekey_interval: u16 = 0,
+};

software/zig_main/patches/wifi/wifi_sta_config_t.zig

@@ -0,0 +1,40 @@
+pub const wifi_sta_config_t = extern struct {
+    ssid: [32]u8 = @import("std").mem.zeroes([32]u8),
+    password: [64]u8 = @import("std").mem.zeroes([64]u8),
+    scan_method: wifi_scan_method_t = @import("std").mem.zeroes(wifi_scan_method_t),
+    bssid_set: bool = false,
+    bssid: [6]u8 = @import("std").mem.zeroes([6]u8),
+    channel: u8 = 0,
+    listen_interval: u16 = 3,
+    sort_method: wifi_sort_method_t = @import("std").mem.zeroes(wifi_sort_method_t),
+    threshold: wifi_scan_threshold_t = @import("std").mem.zeroes(wifi_scan_threshold_t),
+    pmf_cfg: wifi_pmf_config_t = @import("std").mem.zeroes(wifi_pmf_config_t),
+
+    // Connection Feature
+    // 0     rm_enabled
+    // 1     btm_enabled
+    // 2     mbo_enabled
+    // 3     ft_enabled
+    // 4     owe_enabled
+    // 5     transition_disable
+    // 6-31  reserved
+    connection_features: u32 = 0, // Stores BTM, RM, MBO, FT, OWE, etc.
+
+    sae_pwe_h2e: wifi_sae_pwe_method_t = @import("std").mem.zeroes(wifi_sae_pwe_method_t),
+    sae_pk_mode: wifi_sae_pk_mode_t = @import("std").mem.zeroes(wifi_sae_pk_mode_t),
+    failure_retry_cnt: u8 = 0,
+
+    // HE Capabilities
+    // 0      he_dcm_set
+    // 1-2    he_dcm_max_constellation_tx (2-bit)
+    // 3-4    he_dcm_max_constellation_rx (2-bit)
+    // 5      he_mcs9_enabled
+    // 6      he_su_beamformee_disabled
+    // 7      he_trig_su_bmforming_feedback_disabled
+    // 8      he_trig_mu_bmforming_partial_feedback_disabled
+    // 9      he_trig_cqi_feedback_disabled
+    // 10-31  he_reserved
+    he_capabilities: u32 = 0, // Stores HE-related flags (DCM, MCS9, beamforming, CQI, etc.)
+
+    sae_h2e_identifier: [32]u8 = @import("std").mem.zeroes([32]u8),
+};

software/zig_main/patches/xport_can_yield.zig

@@ -0,0 +1,8 @@
+pub fn xPortCanYield() callconv(.c) bool {
+    var threshold: u32 = blk: {
+        break :blk @as([*c]volatile u32, @ptrFromInt(@as(c_int, 545259520) + @as(c_int, 8))).*;
+    };
+    _ = &threshold;
+    threshold = threshold >> @intCast(@as(c_int, 24) + (@as(c_int, 8) - @as(c_int, 3)));
+    return threshold == @as(u32, @bitCast(@as(c_int, 0)));
+}