Date   

Re: nrf52 hw pwm 1 enabled and compile failed on sample code #builds #ninja

lairdjm
 

Hi Jeremy

The reason is that hardware is static and defined as part of the device tree, so for the nRF52840 this will be in the boards\arm\nrf52840_pca10056 directory and is nrf52840_pca10056.dts, if you open this file in a text editor and search for PWM you will find this code:

&pwm0 {

                status = "ok";

                ch0-pin = <13>;

                ch0-inverted;

};

There is no pwm1 section, so to utilise a second PWM channel you would need to create another section for it named &pwm1.

Thanks,
Jamie


nrf52 hw pwm 1 enabled and compile failed on sample code #builds #ninja

hotkernel@...
 

Hello guys,
I have got a compile error after enable the PWM channel 1 on nrf52_pca10040 board with sample code.
If I only use PWM0, there is no problem to pass the compile, but if I enable the PWM1, the issue happened.
I have searched all the source code, and did not find any difference between PWM0 and PWM1.
board: nrf52_pca10040
sample code: samples/bluetooth/peripheral_hr
ninja guiconfig:
 

the error info shows as below:
jeremy@jeremy:~/zephyr/source2/samples/bluetooth/peripheral_hr/build$ ninja
[0/1] Re-running CMake...
Zephyr version: 1.14.99
-- Selected BOARD nrf52_pca10040
-- Found west: /home/jeremy/.local/bin/west (found suitable version "0.5.7", minimum required is "0.5.6")
-- Loading /home/jeremy/zephyr/source2/boards/arm/nrf52_pca10040/nrf52_pca10040.dts as base
-- Overlaying /home/jeremy/zephyr/source2/dts/common/common.dts
Parsing Kconfig tree in /home/jeremy/zephyr/source2/Kconfig
Loaded configuration '/home/jeremy/zephyr/source2/samples/bluetooth/peripheral_hr/build/zephyr/.config'
No change to '/home/jeremy/zephyr/source2/samples/bluetooth/peripheral_hr/build/zephyr/.config'
-- Cache files will be written to: /home/jeremy/.cache/zephyr
-- Configuring done
-- Generating done
-- Build files have been written to: /home/jeremy/zephyr/source2/samples/bluetooth/peripheral_hr/build
[150/162] Building C object zephyr/drivers/pwm/CMakeFiles/drivers__pwm.dir/pwm_nrfx.c.obj
FAILED: zephyr/drivers/pwm/CMakeFiles/drivers__pwm.dir/pwm_nrfx.c.obj
ccache /home/jeremy/zephyr/sdk/arm-zephyr-eabi/bin/arm-zephyr-eabi-gcc -DBUILD_VERSION=zephyr-v1.14.0-1479-gd3977996088a -DKERNEL -DNRF52832_XXAA -D_FORTIFY_SOURCE=2 -D__ZEPHYR_SUPERVISOR__ -D__ZEPHYR__=1 -I../../../../kernel/include -I../../../../arch/arm/include -I../../../../include -I../../../../include/drivers -Izephyr/include/generated -I../../../../soc/arm/nordic_nrf/nrf52 -I../../../../soc/arm/nordic_nrf/include -I../../../../lib/libc/minimal/include -I../../../../ext/lib/crypto/tinycrypt/include -I../../../../ext/hal/cmsis/Include -I../../../../ext/hal/nordic/nrfx -I../../../../ext/hal/nordic/nrfx/drivers/include -I../../../../ext/hal/nordic/nrfx/hal -I../../../../ext/hal/nordic/nrfx/mdk -I../../../../ext/hal/nordic/. -I../../../../subsys/bluetooth -isystem /home/jeremy/zephyr/sdk/arm-zephyr-eabi/bin/../lib/gcc/arm-zephyr-eabi/8.3.0/include -isystem /home/jeremy/zephyr/sdk/arm-zephyr-eabi/bin/../lib/gcc/arm-zephyr-eabi/8.3.0/include-fixed -Os -nostdinc -imacros /home/jeremy/zephyr/source2/samples/bluetooth/peripheral_hr/build/zephyr/include/generated/autoconf.h -ffreestanding -fno-common -g -mthumb -mcpu=cortex-m4 -Wall -Wformat -Wformat-security -Wno-format-zero-length -Wno-main -Wno-pointer-sign -Wpointer-arith -Wno-unused-but-set-variable -Werror=implicit-int -fno-asynchronous-unwind-tables -fno-pie -fno-pic -fno-strict-overflow -fno-reorder-functions -fno-defer-pop -fmacro-prefix-map=/home/jeremy/zephyr/source2=. -ffunction-sections -fdata-sections -mabi=aapcs -march=armv7e-m -std=c99 -MD -MT zephyr/drivers/pwm/CMakeFiles/drivers__pwm.dir/pwm_nrfx.c.obj -MF zephyr/drivers/pwm/CMakeFiles/drivers__pwm.dir/pwm_nrfx.c.obj.d -o zephyr/drivers/pwm/CMakeFiles/drivers__pwm.dir/pwm_nrfx.c.obj   -c /home/jeremy/zephyr/source2/drivers/pwm/pwm_nrfx.c
In file included from ../../../../include/pwm.h:32,
                 from /home/jeremy/zephyr/source2/drivers/pwm/pwm_nrfx.c:7:
/home/jeremy/zephyr/source2/drivers/pwm/pwm_nrfx.c:384:9: error: 'DT_NORDIC_NRF_PWM_PWM_1_LABEL' undeclared here (not in a function); did you mean 'DT_NORDIC_NRF_PWM_PWM_0_LABEL'?
         DT_NORDIC_NRF_PWM_PWM_##idx##_LABEL,        \
         ^~~~~~~~~~~~~~~~~~~~~~
../../../../include/device.h:107:11: note: in definition of macro 'DEVICE_AND_API_INIT'
   .name = drv_name, .init = (init_fn),     \
           ^~~~~~~~
/home/jeremy/zephyr/source2/drivers/pwm/pwm_nrfx.c:383:2: note: in expansion of macro 'DEVICE_DEFINE'
  DEVICE_DEFINE(pwm_nrfx_##idx,           \
  ^~~~~~~~~~~~~
/home/jeremy/zephyr/source2/drivers/pwm/pwm_nrfx.c:444:1: note: in expansion of macro 'PWM_NRFX_DEVICE'
 PWM_NRFX_DEVICE(1);
 ^~~~~~~~~~~~~~~
[154/162] Building C object zephyr/kernel/CMakeFiles/kernel.dir/poll.c.obj
ninja: build stopped: subcommand failed.
 
Thanks in advance!
Jeremy


API meeting agenda for 2 Jul 2019

Maureen Helm
 

API meeting agenda for 2 Jul 2019:

  • Counter (Krzysztof C)
  • GPIO (Piotr M)
  • Sensors (Maureen/Kevin/Tom)
  • Driver-specific functions (Peter B)

 

Additional items in the "Triage" column in the GitHub project may be discussed if time permits.

If you want an item included in the meeting, please add it to the GitHub project.

 

https://github.com/zephyrproject-rtos/zephyr/projects/18


Re: Is "CONFIG_SYS_CLOCK_HW_CYCLES_PER_SEC = 32768" correct for nRF52840?

Wang, Steven L
 

Hi Carles:

   Thanks for help on it.

-Steven

On 6/28/2019 9:50 PM, Cufi, Carles wrote:
Hi Steven,

Yes, it's correct but there's an inaccuracy problem that Andy has fixed in this PR:

https://github.com/zephyrproject-rtos/zephyr/pull/16782

Carles

-----Original Message-----
From: devel@lists.zephyrproject.org <devel@lists.zephyrproject.org> On
Behalf Of Wang, Steven L via Lists.Zephyrproject.Org
Sent: 28 June 2019 10:03
To: devel@lists.zephyrproject.org
Cc: devel@lists.zephyrproject.org
Subject: [Zephyr-devel] Is "CONFIG_SYS_CLOCK_HW_CYCLES_PER_SEC = 32768"
correct for nRF52840?

Hi:

   Does anyone know if "CONFIG_SYS_CLOCK_HW_CYCLES_PER_SEC = 32768" is
correct for nRF52840? I call test_kernel_systick() with reel_board and
it always fails. I tried to print "start_time" and "stop_time"

and found that "stop_time - start_time" was around "32670". However, it
is supposed to be a number bigger than "32768". So, I'm wondering if
"32768" is correct setting.


#define WAIT_TIME_US 1000000

void test_kernel_systick(void)
{
        u32_t start_time, stop_time, diff;

        start_time = osKernelSysTick();
        k_busy_wait(WAIT_TIME_US);
        stop_time = osKernelSysTick();

        diff = SYS_CLOCK_HW_CYCLES_TO_NS(stop_time -
                                         start_time) / NSEC_PER_USEC;

        zassert_true(diff >= WAIT_TIME_US, NULL); }

Thanks,

-Steven



Opened on mac st_nucleo_l476

cstyle
 

Anyone use openocd for Mac? thanks.

Show error message like this ,After install  opened 0.10.0 by homebrew for st_nucleo_l476rg.


logs :

azhuodeMacBook-Pro:zephyr azhuo$ west flash
ninja: no work to do.
Using runner: openocd
Open On-Chip Debugger 0.10.0
Licensed under GNU GPL v2
For bug reports, read
Warn : ignoring extra IDs in hl_vid_pid (maximum is 1 pair)
hla_vid_pid (vid pid)* 

ERROR: command exited with status 1: /usr/local/bin/openocd -f /Users/azhuo/zephyr14git/zephyrproject/zephyr/boards/arm/nucleo_l476rg/support/openocd.cfg -c init -c targets -c 'reset halt' -c 'flash write_image erase /Users/azhuo/zephyr14git/zephyrproject/zephyr/build/zephyr/zephyr.elf' -c 'reset halt' -c 'verify_image /Users/azhuo/zephyr14git/zephyrproject/zephyr/build/zephyr/zephyr.elf' -c 'reset run' -c shutdown
run as "west -v flash" for a stack trace
azhuodeMacBook-Pro:zephyr azhuo$ west -v flash
ZEPHYR_BASE=/Users/azhuo/zephyr14git/zephyrproject/zephyr (origin: env)
ninja: no work to do.
Using runner: openocd
/usr/local/bin/openocd -f /Users/azhuo/zephyr14git/zephyrproject/zephyr/boards/arm/nucleo_l476rg/support/openocd.cfg -c init -c targets -c 'reset halt' -c 'flash write_image erase /Users/azhuo/zephyr14git/zephyrproject/zephyr/build/zephyr/zephyr.elf' -c 'reset halt' -c 'verify_image /Users/azhuo/zephyr14git/zephyrproject/zephyr/build/zephyr/zephyr.elf' -c 'reset run' -c shutdown
Open On-Chip Debugger 0.10.0
Licensed under GNU GPL v2
For bug reports, read
Warn : ignoring extra IDs in hl_vid_pid (maximum is 1 pair)
hla_vid_pid (vid pid)* 

ERROR: command exited with status 1: /usr/local/bin/openocd -f /Users/azhuo/zephyr14git/zephyrproject/zephyr/boards/arm/nucleo_l476rg/support/openocd.cfg -c init -c targets -c 'reset halt' -c 'flash write_image erase /Users/azhuo/zephyr14git/zephyrproject/zephyr/build/zephyr/zephyr.elf' -c 'reset halt' -c 'verify_image /Users/azhuo/zephyr14git/zephyrproject/zephyr/build/zephyr/zephyr.elf' -c 'reset run' -c shutdown
Traceback (most recent call last):
  File "/Users/azhuo/zephyr14git/zephyrproject/.west/west/src/west/main.py", line 580, in main
    args.handler(args, unknown)
  File "/Users/azhuo/zephyr14git/zephyrproject/.west/west/src/west/main.py", line 332, in ext_command_handler
    command.run(*west_parser.parse_known_args(argv))
  File "/Users/azhuo/zephyr14git/zephyrproject/.west/west/src/west/commands/command.py", line 90, in run
    self.do_run(args, unknown)
  File "/Users/azhuo/zephyr14git/zephyrproject/zephyr/scripts/west_commands/flash.py", line 32, in do_run
    'ZEPHYR_BOARD_FLASH_RUNNER')
  File "/Users/azhuo/zephyr14git/zephyrproject/zephyr/scripts/west_commands/run_common.py", line 228, in do_run_common
    runner.run(command_name)
  File "/Users/azhuo/zephyr14git/zephyrproject/zephyr/scripts/west_commands/runners/core.py", line 407, in run
    self.do_run(command, **kwargs)
  File "/Users/azhuo/zephyr14git/zephyrproject/zephyr/scripts/west_commands/runners/openocd.py", line 84, in do_run
    self.do_flash(**kwargs)
  File "/Users/azhuo/zephyr14git/zephyrproject/zephyr/scripts/west_commands/runners/openocd.py", line 116, in do_flash
    self.check_call(cmd)
  File "/Users/azhuo/zephyr14git/zephyrproject/zephyr/scripts/west_commands/runners/core.py", line 466, in check_call
    subprocess.check_call(cmd)
  File "/usr/local/Cellar/python/3.7.1/Frameworks/Python.framework/Versions/3.7/lib/python3.7/subprocess.py", line 341, in check_call
    raise CalledProcessError(retcode, cmd)
subprocess.CalledProcessError: Command '['/usr/local/bin/openocd', '-f', '/Users/azhuo/zephyr14git/zephyrproject/zephyr/boards/arm/nucleo_l476rg/support/openocd.cfg', '-c', 'init', '-c', 'targets', '-c', 'reset halt', '-c', 'flash write_image erase /Users/azhuo/zephyr14git/zephyrproject/zephyr/build/zephyr/zephyr.elf', '-c', 'reset halt', '-c', 'verify_image /Users/azhuo/zephyr14git/zephyrproject/zephyr/build/zephyr/zephyr.elf', '-c', 'reset run', '-c', 'shutdown']' returned non-zero exit status 1.
azhuodeMacBook-Pro:zephyr azhuo$ 


Re: Is "CONFIG_SYS_CLOCK_HW_CYCLES_PER_SEC = 32768" correct for nRF52840?

Carles Cufi
 

Hi Steven,

Yes, it's correct but there's an inaccuracy problem that Andy has fixed in this PR:

https://github.com/zephyrproject-rtos/zephyr/pull/16782

Carles

-----Original Message-----
From: devel@lists.zephyrproject.org <devel@lists.zephyrproject.org> On
Behalf Of Wang, Steven L via Lists.Zephyrproject.Org
Sent: 28 June 2019 10:03
To: devel@lists.zephyrproject.org
Cc: devel@lists.zephyrproject.org
Subject: [Zephyr-devel] Is "CONFIG_SYS_CLOCK_HW_CYCLES_PER_SEC = 32768"
correct for nRF52840?

Hi:

   Does anyone know if "CONFIG_SYS_CLOCK_HW_CYCLES_PER_SEC = 32768" is
correct for nRF52840? I call test_kernel_systick() with reel_board and
it always fails. I tried to print "start_time" and "stop_time"

and found that "stop_time - start_time" was around "32670". However, it
is supposed to be a number bigger than "32768". So, I'm wondering if
"32768" is correct setting.


#define WAIT_TIME_US 1000000

void test_kernel_systick(void)
{
        u32_t start_time, stop_time, diff;

        start_time = osKernelSysTick();
        k_busy_wait(WAIT_TIME_US);
        stop_time = osKernelSysTick();

        diff = SYS_CLOCK_HW_CYCLES_TO_NS(stop_time -
                                         start_time) / NSEC_PER_USEC;

        zassert_true(diff >= WAIT_TIME_US, NULL); }

Thanks,

-Steven



Is "CONFIG_SYS_CLOCK_HW_CYCLES_PER_SEC = 32768" correct for nRF52840?

Wang, Steven L
 

Hi:

   Does anyone know if "CONFIG_SYS_CLOCK_HW_CYCLES_PER_SEC = 32768" is correct for nRF52840? I call test_kernel_systick() with reel_board and it always fails. I tried to print "start_time" and "stop_time"

and found that "stop_time - start_time" was around "32670". However, it is supposed to be a number bigger than "32768". So, I'm wondering if "32768" is correct setting.


#define WAIT_TIME_US 1000000

void test_kernel_systick(void)
{
        u32_t start_time, stop_time, diff;

        start_time = osKernelSysTick();
        k_busy_wait(WAIT_TIME_US);
        stop_time = osKernelSysTick();

        diff = SYS_CLOCK_HW_CYCLES_TO_NS(stop_time -
                                         start_time) / NSEC_PER_USEC;

        zassert_true(diff >= WAIT_TIME_US, NULL);
}

Thanks,

-Steven


Re: New sample for the microbit Line follower robot #samples #microbit #robot

Marc Herbert
 

On Linux the script zephyrproject/tools/ci-tools/scripts/check_compliance.py -c commit_range checks all that for you.

 

I also got the script running on Windows too once with a couple hacks.

 

Marc

 

From: <devel@...> on behalf of "Wang, Steven L" <steven.l.wang@...>
Date: Thursday, 27 June 2019 at 18:56
To: "devel@..." <devel@...>
Subject: Re: [Zephyr-devel] New sample for the microbit Line follower robot #samples #microbit #robot

 

Hi Maksim:

    I think it is good idea. It is helpful for anyone, who uses the same board for development.

    For your PR, there are several failures of auto checking, such as checkpath, Shippable, etc.  I think you have to fix them first.

-Steven

On 6/27/2019 9:32 PM, Maksim Masalski wrote:

Hello,
I made a new sample for the microbit board, which can be used to program a small robotic car to follow the line. What community thinks about my idea? Will it be useful for some of the developers?
By the way, I created a PR https://github.com/zephyrproject-rtos/zephyr/pull/17125

Best regards, Maksim


Re: New sample for the microbit Line follower robot #samples #microbit #robot

Wang, Steven L
 

Hi Maksim:

    I think it is good idea. It is helpful for anyone, who uses the same board for development.

    For your PR, there are several failures of auto checking, such as checkpath, Shippable, etc.  I think you have to fix them first.

-Steven

On 6/27/2019 9:32 PM, Maksim Masalski wrote:
Hello,
I made a new sample for the microbit board, which can be used to program a small robotic car to follow the line. What community thinks about my idea? Will it be useful for some of the developers?
By the way, I created a PR https://github.com/zephyrproject-rtos/zephyr/pull/17125

Best regards, Maksim


Zephyr 2.0 Release - important information & dates

Glaropoulos, Ioannis
 

Hi Zephyr developers,

 

The next major Zephyr release, 2.0, is scheduled for Friday, 30 August 2019.

 

We are now in the development phase for 2.0; merge window is open for all features until feature freeze, which is scheduled for Friday 9 August, 2019. This is in 6 weeks from today. Major features should, ideally, be up for review by mid-July 2019.

 

Any new features / enhancements to be included in the Zephyr 2.0 release must be pushed to master by the feature freeze deadline. If you are working on such features / enhancements, please, submit your pull-requests in good time, to have them properly reviewed, revised and merged before August 9.

 

After feature freeze only bug-fixes, documentation and stabilization-related updates may be merged; the merge window will remain closed until the release date.

 

 

More details can be found here: https://github.com/zephyrproject-rtos/zephyr/wiki/Program-Management

 

Roadmap: https://github.com/zephyrproject-rtos/zephyr/projects/9

 

Thanks in advance for all your contributions!

 

Ioannis Glaropoulos


Upcoming Event: Zephyr Project: Dev Meeting - Thu, 06/27/2019 8:00am-9:00am, Please RSVP #cal-reminder

devel@lists.zephyrproject.org Calendar <devel@...>
 

Reminder: Zephyr Project: Dev Meeting

When: Thursday, 27 June 2019, 8:00am to 9:00am, (GMT-07:00) America/Los Angeles

Where:https://zoom.us/j/993312203

An RSVP is requested. Click here to RSVP

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New sample for the microbit Line follower robot #samples #microbit #robot

Maksim Masalski <maxxliferobot@...>
 

Hello,
I made a new sample for the microbit board, which can be used to program a small robotic car to follow the line. What community thinks about my idea? Will it be useful for some of the developers?
By the way, I created a PR https://github.com/zephyrproject-rtos/zephyr/pull/17125

Best regards, Maksim


Dev review meeting: Agenda

Kumar Gala
 


Re: removing HEX_FILES_TO_MERGE?

Benjamin Lindqvist
 

If the feature isn't horribly misimplemented, does what is expected of it and is expected to have very little maintenance costs, why drop it? I haven't used the feature, but I can definitely picture a situation where it might be useful. 


On Thu, Jun 27, 2019 at 8:35 AM lairdjm <jamie.mccrae@...> wrote:
Hi Marti,
I haven't personally used this feature at time of writing but I can imagine it would be useful for merging in a bootloader, e.g. we have a design that has 3 components:
        1. Nordic MBR
        2. User application
        3. Bootloader
So may give it a try out in the future.

I imagine users of other devices have similar requirements e.g .with blobs for the ESP32. So I don't see why a working, cross platform feature like this should be removed so that 'users can come up with their own solution', if they want to do that then they can disable the feature and do as they wish already, leaving it in doesn't (as far as I know) cause any issues so why remove it?
Thanks,
Jamie




Re: removing HEX_FILES_TO_MERGE?

lairdjm
 

Hi Marti,
I haven't personally used this feature at time of writing but I can imagine it would be useful for merging in a bootloader, e.g. we have a design that has 3 components:
1. Nordic MBR
2. User application
3. Bootloader
So may give it a try out in the future.

I imagine users of other devices have similar requirements e.g .with blobs for the ESP32. So I don't see why a working, cross platform feature like this should be removed so that 'users can come up with their own solution', if they want to do that then they can disable the feature and do as they wish already, leaving it in doesn't (as far as I know) cause any issues so why remove it?
Thanks,
Jamie


removing HEX_FILES_TO_MERGE?

Bolivar, Marti
 

Hi,

Is anybody using the HEX_FILES_TO_MERGE build system property?

It was originally added by Nordic, but has since been removed from our
downstream Zephyr distribution, and I personally think it would make
sense to remove it from upstream as well for Zephyr 2.0 unless it's
proven useful to others.

There seems to be rough TSC consensus that upstream Zephyr should
avoid trying to half-solve the problem of "stitching" together blobs
into a final executable, in favor of letting users pick their own
solutions. This seems to fall into that category.

Any objections to removing this feature for Zephyr 2.0 (from actual
users)?

I thought I'd ping the list to check, especially since it's an
officially (if briefly) documented feature in the LTS release:

https://docs.zephyrproject.org/1.14.0/application/index.html

Thanks,
Marti


Re: aws iot

Ryan Erickson
 

There is no need to port the AWS IOT SDK to Zephyr.  Zephyr has all the pieces you need.  I am successfully connecting to AWS with the MQTT publisher example along with the few modifications I mentioned previously.


Re: aws iot

Wang, Steven L
 

Hi guy:

    Basically, I think you need to port AWS IOT SDK to zephyr. 

   https://docs.aws.amazon.com/iot/latest/developerguide/iot-sdks.html


-Steven

On 6/24/2019 8:46 PM, guy.benyehuda@... wrote:
looking for an example/insights with respect to working with aws iot and/or using x.509 certificate.
any information will be much appreciated.
thanks, guy


Re: Development in Zephyr

Wang, Steven L
 

Hi Muhammad:

   I ever played around Blue Mesh demo under /samples/boards/reel_board/mesh_badge. I'm not sure if it is what you refers in the email. Anyway, if you want to play around it, you need a reel board(https://docs.zephyrproject.org/latest/boards/arm/reel_board/doc/index.html?highlight=reel%20board). Then, follow the steps below.

  

   mdkir build && cd build

   cmake -DBOARD=reel_board ..
   make
   make flash

-Steven


On 6/24/2019 3:22 PM, Muhammad Muh wrote:

Hi.....I found this email address from Zephyr Projects. Basically i am totally new in the area of development. I want to start development using Zephyr. I have already installed Zephyr by following the instruction given in the website. Also, ran the hello world program. Now i want to take help from you people as how i should go on and  develop the application like given in your Zephyr SAMPLES. I am confused from where i start my programming. For example talking of Bluetooth Mesh Sample. You have one sample program. First of all how can i see the output of Mesh Demo Program. Moreover, from where i start to add on features and run with some hardware board as given in the list on zephyr website. I will be thank full if i can get help to start my programming in Zephyr. 


Upcoming Event: Zephyr Project: APIs - Tue, 06/25/2019 9:00am-10:00am, Please RSVP #cal-reminder

devel@lists.zephyrproject.org Calendar <devel@...>
 

Reminder: Zephyr Project: APIs

When: Tuesday, 25 June 2019, 9:00am to 10:00am, (GMT-07:00) America/Los Angeles

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    Meeting ID: 177 647 878
    International numbers available: https://zoom.us/zoomconference?m=ioAR9GK1OE5LkN1ojt-heTCl7yPcJrhY


 Live meeting minutes: https://docs.google.com/document/d/1lv-8B5QE2m4FjBcvfqAXFIgQfW5oz6306zJ7GIZIWCk/edit?usp=sharing

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