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Finished Firmware for Vacum

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This commit is contained in:
AlexanderHD27
2025-01-02 03:55:45 +01:00
parent ad61e7e9b7
commit 0bb125fad9
39 changed files with 1701 additions and 2 deletions
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stone-dispencer-control/firmware-stone-dispencer/.gitignore (Stored with Git LFS) vendored Normal file
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22
stone-dispencer-control/firmware-stone-dispencer/.vscode/c_cpp_properties.json vendored Normal file
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{
"configurations": [
{
"name": "Pico",
"includePath": [
"${workspaceFolder}/**",
"${userHome}/.pico-sdk/sdk/2.1.0/**"
],
"forcedInclude": [
"${userHome}/.pico-sdk/sdk/2.1.0/src/common/pico_base_headers/include/pico.h",
"${workspaceFolder}/build/generated/pico_base/pico/config_autogen.h"
],
"defines": [],
"compilerPath": "${userHome}/.pico-sdk/toolchain/13_3_Rel1/bin/arm-none-eabi-gcc",
"compileCommands": "${workspaceFolder}/build/compile_commands.json",
"cStandard": "c17",
"cppStandard": "c++14",
"intelliSenseMode": "linux-gcc-arm"
}
],
"version": 4
}

15
stone-dispencer-control/firmware-stone-dispencer/.vscode/cmake-kits.json vendored Normal file
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[
{
"name": "Pico",
"compilers": {
"C": "${command:raspberry-pi-pico.getCompilerPath}",
"CXX": "${command:raspberry-pi-pico.getCxxCompilerPath}"
},
"environmentVariables": {
"PATH": "${command:raspberry-pi-pico.getEnvPath};${env:PATH}"
},
"cmakeSettings": {
"Python3_EXECUTABLE": "${command:raspberry-pi-pico.getPythonPath}"
}
}
]

9
stone-dispencer-control/firmware-stone-dispencer/.vscode/extensions.json vendored Normal file
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{
"recommendations": [
"marus25.cortex-debug",
"ms-vscode.cpptools",
"ms-vscode.cpptools-extension-pack",
"ms-vscode.vscode-serial-monitor",
"raspberry-pi.raspberry-pi-pico"
]
}

70
stone-dispencer-control/firmware-stone-dispencer/.vscode/launch.json vendored Normal file
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{
"version": "0.2.0",
"configurations": [
{
"name": "Pico Debug (Cortex-Debug)",
"cwd": "${userHome}/.pico-sdk/openocd/0.12.0+dev/scripts",
"executable": "${command:raspberry-pi-pico.launchTargetPath}",
"request": "launch",
"type": "cortex-debug",
"servertype": "openocd",
"serverpath": "${userHome}/.pico-sdk/openocd/0.12.0+dev/openocd.exe",
"gdbPath": "${command:raspberry-pi-pico.getGDBPath}",
"device": "${command:raspberry-pi-pico.getChipUppercase}",
"configFiles": [
"interface/cmsis-dap.cfg",
"target/${command:raspberry-pi-pico.getTarget}.cfg"
],
"svdFile": "${userHome}/.pico-sdk/sdk/2.1.0/src/${command:raspberry-pi-pico.getChip}/hardware_regs/${command:raspberry-pi-pico.getChipUppercase}.svd",
"runToEntryPoint": "main",
// Fix for no_flash binaries, where monitor reset halt doesn't do what is expected
// Also works fine for flash binaries
"overrideLaunchCommands": [
"monitor reset init",
"load \"${command:raspberry-pi-pico.launchTargetPath}\""
],
"openOCDLaunchCommands": [
"adapter speed 5000"
]
},
{
"name": "Pico Debug (Cortex-Debug with external OpenOCD)",
"cwd": "${workspaceRoot}",
"executable": "${command:raspberry-pi-pico.launchTargetPath}",
"request": "launch",
"type": "cortex-debug",
"servertype": "external",
"gdbTarget": "localhost:3333",
"gdbPath": "${command:raspberry-pi-pico.getGDBPath}",
"device": "${command:raspberry-pi-pico.getChipUppercase}",
"svdFile": "${userHome}/.pico-sdk/sdk/2.1.0/src/${command:raspberry-pi-pico.getChip}/hardware_regs/${command:raspberry-pi-pico.getChipUppercase}.svd",
"runToEntryPoint": "main",
// Fix for no_flash binaries, where monitor reset halt doesn't do what is expected
// Also works fine for flash binaries
"overrideLaunchCommands": [
"monitor reset init",
"load \"${command:raspberry-pi-pico.launchTargetPath}\""
]
},
{
"name": "Pico Debug (C++ Debugger)",
"type": "cppdbg",
"request": "launch",
"cwd": "${workspaceRoot}",
"program": "${command:raspberry-pi-pico.launchTargetPath}",
"MIMode": "gdb",
"miDebuggerPath": "${command:raspberry-pi-pico.getGDBPath}",
"miDebuggerServerAddress": "localhost:3333",
"debugServerPath": "${userHome}/.pico-sdk/openocd/0.12.0+dev/openocd.exe",
"debugServerArgs": "-f interface/cmsis-dap.cfg -f target/${command:raspberry-pi-pico.getTarget}.cfg -c \"adapter speed 5000\"",
"serverStarted": "Listening on port .* for gdb connections",
"filterStderr": true,
"hardwareBreakpoints": {
"require": true,
"limit": 4
},
"preLaunchTask": "Flash",
"svdPath": "${userHome}/.pico-sdk/sdk/2.1.0/src/${command:raspberry-pi-pico.getChip}/hardware_regs/${command:raspberry-pi-pico.getChipUppercase}.svd"
},
]
}

39
stone-dispencer-control/firmware-stone-dispencer/.vscode/settings.json vendored Normal file
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{
"cmake.options.statusBarVisibility": "hidden",
"cmake.options.advanced": {
"build": {
"statusBarVisibility": "hidden"
},
"launch": {
"statusBarVisibility": "hidden"
},
"debug": {
"statusBarVisibility": "hidden"
}
},
"cmake.configureOnEdit": true,
"cmake.automaticReconfigure": true,
"cmake.configureOnOpen": true,
"cmake.generator": "Ninja",
"cmake.cmakePath": "${userHome}/.pico-sdk/cmake/v3.29.9/bin/cmake",
"C_Cpp.debugShortcut": false,
"terminal.integrated.env.windows": {
"PICO_SDK_PATH": "${env:USERPROFILE}/.pico-sdk/sdk/2.1.0",
"PICO_TOOLCHAIN_PATH": "${env:USERPROFILE}/.pico-sdk/toolchain/13_3_Rel1",
"Path": "${env:USERPROFILE}/.pico-sdk/toolchain/13_3_Rel1/bin;${env:USERPROFILE}/.pico-sdk/picotool/2.1.0/picotool;${env:USERPROFILE}/.pico-sdk/cmake/v3.29.9/bin;${env:USERPROFILE}/.pico-sdk/ninja/v1.12.1;${env:PATH}"
},
"terminal.integrated.env.osx": {
"PICO_SDK_PATH": "${env:HOME}/.pico-sdk/sdk/2.1.0",
"PICO_TOOLCHAIN_PATH": "${env:HOME}/.pico-sdk/toolchain/13_3_Rel1",
"PATH": "${env:HOME}/.pico-sdk/toolchain/13_3_Rel1/bin:${env:HOME}/.pico-sdk/picotool/2.1.0/picotool:${env:HOME}/.pico-sdk/cmake/v3.29.9/bin:${env:HOME}/.pico-sdk/ninja/v1.12.1:${env:PATH}"
},
"terminal.integrated.env.linux": {
"PICO_SDK_PATH": "${env:HOME}/.pico-sdk/sdk/2.1.0",
"PICO_TOOLCHAIN_PATH": "${env:HOME}/.pico-sdk/toolchain/13_3_Rel1",
"PATH": "${env:HOME}/.pico-sdk/toolchain/13_3_Rel1/bin:${env:HOME}/.pico-sdk/picotool/2.1.0/picotool:${env:HOME}/.pico-sdk/cmake/v3.29.9/bin:${env:HOME}/.pico-sdk/ninja/v1.12.1:${env:PATH}"
},
"raspberry-pi-pico.cmakeAutoConfigure": false,
"raspberry-pi-pico.useCmakeTools": true,
"raspberry-pi-pico.cmakePath": "${HOME}/.pico-sdk/cmake/v3.29.9/bin/cmake",
"raspberry-pi-pico.ninjaPath": "${HOME}/.pico-sdk/ninja/v1.12.1/ninja"
}

58
stone-dispencer-control/firmware-stone-dispencer/.vscode/tasks.json vendored Normal file
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{
"version": "2.0.0",
"tasks": [
{
"label": "Compile Project",
"type": "process",
"isBuildCommand": true,
"command": "${userHome}/.pico-sdk/ninja/v1.12.1/ninja",
"args": ["-C", "${workspaceFolder}/build"],
"group": "build",
"presentation": {
"reveal": "always",
"panel": "dedicated"
},
"problemMatcher": "$gcc",
"windows": {
"command": "${env:USERPROFILE}/.pico-sdk/ninja/v1.12.1/ninja.exe"
}
},
{
"label": "Run Project",
"type": "process",
"command": "${env:HOME}/.pico-sdk/picotool/2.1.0/picotool/picotool",
"args": [
"load",
"${command:raspberry-pi-pico.launchTargetPath}",
"-fx"
],
"presentation": {
"reveal": "always",
"panel": "dedicated"
},
"problemMatcher": [],
"windows": {
"command": "${env:USERPROFILE}/.pico-sdk/picotool/2.1.0/picotool/picotool.exe"
}
},
{
"label": "Flash",
"type": "process",
"command": "${userHome}/.pico-sdk/openocd/0.12.0+dev/openocd.exe",
"args": [
"-s",
"${userHome}/.pico-sdk/openocd/0.12.0+dev/scripts",
"-f",
"interface/cmsis-dap.cfg",
"-f",
"target/${command:raspberry-pi-pico.getTarget}.cfg",
"-c",
"adapter speed 5000; program \"${command:raspberry-pi-pico.launchTargetPath}\" verify reset exit"
],
"problemMatcher": [],
"windows": {
"command": "${env:USERPROFILE}/.pico-sdk/openocd/0.12.0+dev/openocd.exe",
}
}
]
}

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stone-dispencer-control/firmware-stone-dispencer/CMakeLists.txt Normal file
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# Generated Cmake Pico project file
cmake_minimum_required(VERSION 3.13)
set(CMAKE_C_STANDARD 11)
set(CMAKE_CXX_STANDARD 17)
set(CMAKE_EXPORT_COMPILE_COMMANDS ON)
# Initialise pico_sdk from installed location
# (note this can come from environment, CMake cache etc)
# == DO NOT EDIT THE FOLLOWING LINES for the Raspberry Pi Pico VS Code Extension to work ==
if(WIN32)
set(USERHOME $ENV{USERPROFILE})
else()
set(USERHOME $ENV{HOME})
endif()
set(sdkVersion 2.1.0)
set(toolchainVersion 13_3_Rel1)
set(picotoolVersion 2.1.0)
set(picoVscode ${USERHOME}/.pico-sdk/cmake/pico-vscode.cmake)
if (EXISTS ${picoVscode})
include(${picoVscode})
endif()
# ====================================================================================
set(PICO_BOARD pico CACHE STRING "Board type")
# Pull in Raspberry Pi Pico SDK (must be before project)
include(pico_sdk_import.cmake)
project(firmware-stone-dispencer C CXX ASM)
# Initialise the Raspberry Pi Pico SDK
pico_sdk_init()
# Add executable. Default name is the project name, version 0.1
add_executable(firmware-stone-dispencer firmware-stone-dispencer.cpp )
pico_set_program_name(firmware-stone-dispencer "firmware-stone-dispencer")
pico_set_program_version(firmware-stone-dispencer "0.1")
# Modify the below lines to enable/disable output over UART/USB
pico_enable_stdio_uart(firmware-stone-dispencer 1)
pico_enable_stdio_usb(firmware-stone-dispencer 0)
# Add the standard library to the build
target_link_libraries(firmware-stone-dispencer
pico_stdlib)
# Add the standard include files to the build
target_include_directories(firmware-stone-dispencer PRIVATE
${CMAKE_CURRENT_LIST_DIR}
)
pico_add_extra_outputs(firmware-stone-dispencer)

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stone-dispencer-control/firmware-stone-dispencer/firmware-stone-dispencer.cpp Normal file
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#include <stdio.h>
#include "pico/stdlib.h"
int main()
{
stdio_init_all();
while (true) {
printf("Hello, world!\n");
sleep_ms(1000);
}
}

84
stone-dispencer-control/firmware-stone-dispencer/pico_sdk_import.cmake Normal file
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# This is a copy of <PICO_SDK_PATH>/external/pico_sdk_import.cmake
# This can be dropped into an external project to help locate this SDK
# It should be include()ed prior to project()
if (DEFINED ENV{PICO_SDK_PATH} AND (NOT PICO_SDK_PATH))
set(PICO_SDK_PATH $ENV{PICO_SDK_PATH})
message("Using PICO_SDK_PATH from environment ('${PICO_SDK_PATH}')")
endif ()
if (DEFINED ENV{PICO_SDK_FETCH_FROM_GIT} AND (NOT PICO_SDK_FETCH_FROM_GIT))
set(PICO_SDK_FETCH_FROM_GIT $ENV{PICO_SDK_FETCH_FROM_GIT})
message("Using PICO_SDK_FETCH_FROM_GIT from environment ('${PICO_SDK_FETCH_FROM_GIT}')")
endif ()
if (DEFINED ENV{PICO_SDK_FETCH_FROM_GIT_PATH} AND (NOT PICO_SDK_FETCH_FROM_GIT_PATH))
set(PICO_SDK_FETCH_FROM_GIT_PATH $ENV{PICO_SDK_FETCH_FROM_GIT_PATH})
message("Using PICO_SDK_FETCH_FROM_GIT_PATH from environment ('${PICO_SDK_FETCH_FROM_GIT_PATH}')")
endif ()
if (DEFINED ENV{PICO_SDK_FETCH_FROM_GIT_TAG} AND (NOT PICO_SDK_FETCH_FROM_GIT_TAG))
set(PICO_SDK_FETCH_FROM_GIT_TAG $ENV{PICO_SDK_FETCH_FROM_GIT_TAG})
message("Using PICO_SDK_FETCH_FROM_GIT_TAG from environment ('${PICO_SDK_FETCH_FROM_GIT_TAG}')")
endif ()
if (PICO_SDK_FETCH_FROM_GIT AND NOT PICO_SDK_FETCH_FROM_GIT_TAG)
set(PICO_SDK_FETCH_FROM_GIT_TAG "master")
message("Using master as default value for PICO_SDK_FETCH_FROM_GIT_TAG")
endif()
set(PICO_SDK_PATH "${PICO_SDK_PATH}" CACHE PATH "Path to the Raspberry Pi Pico SDK")
set(PICO_SDK_FETCH_FROM_GIT "${PICO_SDK_FETCH_FROM_GIT}" CACHE BOOL "Set to ON to fetch copy of SDK from git if not otherwise locatable")
set(PICO_SDK_FETCH_FROM_GIT_PATH "${PICO_SDK_FETCH_FROM_GIT_PATH}" CACHE FILEPATH "location to download SDK")
set(PICO_SDK_FETCH_FROM_GIT_TAG "${PICO_SDK_FETCH_FROM_GIT_TAG}" CACHE FILEPATH "release tag for SDK")
if (NOT PICO_SDK_PATH)
if (PICO_SDK_FETCH_FROM_GIT)
include(FetchContent)
set(FETCHCONTENT_BASE_DIR_SAVE ${FETCHCONTENT_BASE_DIR})
if (PICO_SDK_FETCH_FROM_GIT_PATH)
get_filename_component(FETCHCONTENT_BASE_DIR "${PICO_SDK_FETCH_FROM_GIT_PATH}" REALPATH BASE_DIR "${CMAKE_SOURCE_DIR}")
endif ()
# GIT_SUBMODULES_RECURSE was added in 3.17
if (${CMAKE_VERSION} VERSION_GREATER_EQUAL "3.17.0")
FetchContent_Declare(
pico_sdk
GIT_REPOSITORY https://github.com/raspberrypi/pico-sdk
GIT_TAG ${PICO_SDK_FETCH_FROM_GIT_TAG}
GIT_SUBMODULES_RECURSE FALSE
)
else ()
FetchContent_Declare(
pico_sdk
GIT_REPOSITORY https://github.com/raspberrypi/pico-sdk
GIT_TAG ${PICO_SDK_FETCH_FROM_GIT_TAG}
)
endif ()
if (NOT pico_sdk)
message("Downloading Raspberry Pi Pico SDK")
FetchContent_Populate(pico_sdk)
set(PICO_SDK_PATH ${pico_sdk_SOURCE_DIR})
endif ()
set(FETCHCONTENT_BASE_DIR ${FETCHCONTENT_BASE_DIR_SAVE})
else ()
message(FATAL_ERROR
"SDK location was not specified. Please set PICO_SDK_PATH or set PICO_SDK_FETCH_FROM_GIT to on to fetch from git."
)
endif ()
endif ()
get_filename_component(PICO_SDK_PATH "${PICO_SDK_PATH}" REALPATH BASE_DIR "${CMAKE_BINARY_DIR}")
if (NOT EXISTS ${PICO_SDK_PATH})
message(FATAL_ERROR "Directory '${PICO_SDK_PATH}' not found")
endif ()
set(PICO_SDK_INIT_CMAKE_FILE ${PICO_SDK_PATH}/pico_sdk_init.cmake)
if (NOT EXISTS ${PICO_SDK_INIT_CMAKE_FILE})
message(FATAL_ERROR "Directory '${PICO_SDK_PATH}' does not appear to contain the Raspberry Pi Pico SDK")
endif ()
set(PICO_SDK_PATH ${PICO_SDK_PATH} CACHE PATH "Path to the Raspberry Pi Pico SDK" FORCE)
include(${PICO_SDK_INIT_CMAKE_FILE})

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vacum-control/circuit/Vacum-Control-Circuit.drawio Normal file
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vacum-control/test-prject/.gitignore (Stored with Git LFS) vendored Normal file
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22
vacum-control/test-prject/.vscode/c_cpp_properties.json vendored Normal file
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{
"configurations": [
{
"name": "Pico",
"includePath": [
"${workspaceFolder}/**",
"${userHome}/.pico-sdk/sdk/2.1.0/**"
],
"forcedInclude": [
"${userHome}/.pico-sdk/sdk/2.1.0/src/common/pico_base_headers/include/pico.h",
"${workspaceFolder}/build/generated/pico_base/pico/config_autogen.h"
],
"defines": [],
"compilerPath": "${userHome}/.pico-sdk/toolchain/13_3_Rel1/bin/arm-none-eabi-gcc",
"compileCommands": "${workspaceFolder}/build/compile_commands.json",
"cStandard": "c17",
"cppStandard": "c++14",
"intelliSenseMode": "linux-gcc-arm"
}
],
"version": 4
}

15
vacum-control/test-prject/.vscode/cmake-kits.json vendored Normal file
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[
{
"name": "Pico",
"compilers": {
"C": "${command:raspberry-pi-pico.getCompilerPath}",
"CXX": "${command:raspberry-pi-pico.getCxxCompilerPath}"
},
"environmentVariables": {
"PATH": "${command:raspberry-pi-pico.getEnvPath};${env:PATH}"
},
"cmakeSettings": {
"Python3_EXECUTABLE": "${command:raspberry-pi-pico.getPythonPath}"
}
}
]

9
vacum-control/test-prject/.vscode/extensions.json vendored Normal file
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{
"recommendations": [
"marus25.cortex-debug",
"ms-vscode.cpptools",
"ms-vscode.cpptools-extension-pack",
"ms-vscode.vscode-serial-monitor",
"raspberry-pi.raspberry-pi-pico"
]
}

70
vacum-control/test-prject/.vscode/launch.json vendored Normal file
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{
"version": "0.2.0",
"configurations": [
{
"name": "Pico Debug (Cortex-Debug)",
"cwd": "${userHome}/.pico-sdk/openocd/0.12.0+dev/scripts",
"executable": "${command:raspberry-pi-pico.launchTargetPath}",
"request": "launch",
"type": "cortex-debug",
"servertype": "openocd",
"serverpath": "${userHome}/.pico-sdk/openocd/0.12.0+dev/openocd.exe",
"gdbPath": "${command:raspberry-pi-pico.getGDBPath}",
"device": "${command:raspberry-pi-pico.getChipUppercase}",
"configFiles": [
"interface/cmsis-dap.cfg",
"target/${command:raspberry-pi-pico.getTarget}.cfg"
],
"svdFile": "${userHome}/.pico-sdk/sdk/2.1.0/src/${command:raspberry-pi-pico.getChip}/hardware_regs/${command:raspberry-pi-pico.getChipUppercase}.svd",
"runToEntryPoint": "main",
// Fix for no_flash binaries, where monitor reset halt doesn't do what is expected
// Also works fine for flash binaries
"overrideLaunchCommands": [
"monitor reset init",
"load \"${command:raspberry-pi-pico.launchTargetPath}\""
],
"openOCDLaunchCommands": [
"adapter speed 5000"
]
},
{
"name": "Pico Debug (Cortex-Debug with external OpenOCD)",
"cwd": "${workspaceRoot}",
"executable": "${command:raspberry-pi-pico.launchTargetPath}",
"request": "launch",
"type": "cortex-debug",
"servertype": "external",
"gdbTarget": "localhost:3333",
"gdbPath": "${command:raspberry-pi-pico.getGDBPath}",
"device": "${command:raspberry-pi-pico.getChipUppercase}",
"svdFile": "${userHome}/.pico-sdk/sdk/2.1.0/src/${command:raspberry-pi-pico.getChip}/hardware_regs/${command:raspberry-pi-pico.getChipUppercase}.svd",
"runToEntryPoint": "main",
// Fix for no_flash binaries, where monitor reset halt doesn't do what is expected
// Also works fine for flash binaries
"overrideLaunchCommands": [
"monitor reset init",
"load \"${command:raspberry-pi-pico.launchTargetPath}\""
]
},
{
"name": "Pico Debug (C++ Debugger)",
"type": "cppdbg",
"request": "launch",
"cwd": "${workspaceRoot}",
"program": "${command:raspberry-pi-pico.launchTargetPath}",
"MIMode": "gdb",
"miDebuggerPath": "${command:raspberry-pi-pico.getGDBPath}",
"miDebuggerServerAddress": "localhost:3333",
"debugServerPath": "${userHome}/.pico-sdk/openocd/0.12.0+dev/openocd.exe",
"debugServerArgs": "-f interface/cmsis-dap.cfg -f target/${command:raspberry-pi-pico.getTarget}.cfg -c \"adapter speed 5000\"",
"serverStarted": "Listening on port .* for gdb connections",
"filterStderr": true,
"hardwareBreakpoints": {
"require": true,
"limit": 4
},
"preLaunchTask": "Flash",
"svdPath": "${userHome}/.pico-sdk/sdk/2.1.0/src/${command:raspberry-pi-pico.getChip}/hardware_regs/${command:raspberry-pi-pico.getChipUppercase}.svd"
},
]
}

39
vacum-control/test-prject/.vscode/settings.json vendored Normal file
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@@ -0,0 +1,39 @@
{
"cmake.options.statusBarVisibility": "hidden",
"cmake.options.advanced": {
"build": {
"statusBarVisibility": "hidden"
},
"launch": {
"statusBarVisibility": "hidden"
},
"debug": {
"statusBarVisibility": "hidden"
}
},
"cmake.configureOnEdit": true,
"cmake.automaticReconfigure": true,
"cmake.configureOnOpen": true,
"cmake.generator": "Ninja",
"cmake.cmakePath": "${userHome}/.pico-sdk/cmake/v3.29.9/bin/cmake",
"C_Cpp.debugShortcut": false,
"terminal.integrated.env.windows": {
"PICO_SDK_PATH": "${env:USERPROFILE}/.pico-sdk/sdk/2.1.0",
"PICO_TOOLCHAIN_PATH": "${env:USERPROFILE}/.pico-sdk/toolchain/13_3_Rel1",
"Path": "${env:USERPROFILE}/.pico-sdk/toolchain/13_3_Rel1/bin;${env:USERPROFILE}/.pico-sdk/picotool/2.1.0/picotool;${env:USERPROFILE}/.pico-sdk/cmake/v3.29.9/bin;${env:USERPROFILE}/.pico-sdk/ninja/v1.12.1;${env:PATH}"
},
"terminal.integrated.env.osx": {
"PICO_SDK_PATH": "${env:HOME}/.pico-sdk/sdk/2.1.0",
"PICO_TOOLCHAIN_PATH": "${env:HOME}/.pico-sdk/toolchain/13_3_Rel1",
"PATH": "${env:HOME}/.pico-sdk/toolchain/13_3_Rel1/bin:${env:HOME}/.pico-sdk/picotool/2.1.0/picotool:${env:HOME}/.pico-sdk/cmake/v3.29.9/bin:${env:HOME}/.pico-sdk/ninja/v1.12.1:${env:PATH}"
},
"terminal.integrated.env.linux": {
"PICO_SDK_PATH": "${env:HOME}/.pico-sdk/sdk/2.1.0",
"PICO_TOOLCHAIN_PATH": "${env:HOME}/.pico-sdk/toolchain/13_3_Rel1",
"PATH": "${env:HOME}/.pico-sdk/toolchain/13_3_Rel1/bin:${env:HOME}/.pico-sdk/picotool/2.1.0/picotool:${env:HOME}/.pico-sdk/cmake/v3.29.9/bin:${env:HOME}/.pico-sdk/ninja/v1.12.1:${env:PATH}"
},
"raspberry-pi-pico.cmakeAutoConfigure": false,
"raspberry-pi-pico.useCmakeTools": true,
"raspberry-pi-pico.cmakePath": "${HOME}/.pico-sdk/cmake/v3.29.9/bin/cmake",
"raspberry-pi-pico.ninjaPath": "${HOME}/.pico-sdk/ninja/v1.12.1/ninja"
}

58
vacum-control/test-prject/.vscode/tasks.json vendored Normal file
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@@ -0,0 +1,58 @@
{
"version": "2.0.0",
"tasks": [
{
"label": "Compile Project",
"type": "process",
"isBuildCommand": true,
"command": "${userHome}/.pico-sdk/ninja/v1.12.1/ninja",
"args": ["-C", "${workspaceFolder}/build"],
"group": "build",
"presentation": {
"reveal": "always",
"panel": "dedicated"
},
"problemMatcher": "$gcc",
"windows": {
"command": "${env:USERPROFILE}/.pico-sdk/ninja/v1.12.1/ninja.exe"
}
},
{
"label": "Run Project",
"type": "process",
"command": "${env:HOME}/.pico-sdk/picotool/2.1.0/picotool/picotool",
"args": [
"load",
"${command:raspberry-pi-pico.launchTargetPath}",
"-fx"
],
"presentation": {
"reveal": "always",
"panel": "dedicated"
},
"problemMatcher": [],
"windows": {
"command": "${env:USERPROFILE}/.pico-sdk/picotool/2.1.0/picotool/picotool.exe"
}
},
{
"label": "Flash",
"type": "process",
"command": "${userHome}/.pico-sdk/openocd/0.12.0+dev/openocd.exe",
"args": [
"-s",
"${userHome}/.pico-sdk/openocd/0.12.0+dev/scripts",
"-f",
"interface/cmsis-dap.cfg",
"-f",
"target/${command:raspberry-pi-pico.getTarget}.cfg",
"-c",
"adapter speed 1000; program \"${command:raspberry-pi-pico.launchTargetPath}\" verify reset exit"
],
"problemMatcher": [],
"windows": {
"command": "${env:USERPROFILE}/.pico-sdk/openocd/0.12.0+dev/openocd.exe",
}
}
]
}

57
vacum-control/test-prject/CMakeLists.txt Normal file
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# Generated Cmake Pico project file
cmake_minimum_required(VERSION 3.13)
set(CMAKE_C_STANDARD 11)
set(CMAKE_CXX_STANDARD 17)
set(CMAKE_EXPORT_COMPILE_COMMANDS ON)
# Initialise pico_sdk from installed location
# (note this can come from environment, CMake cache etc)
# == DO NOT EDIT THE FOLLOWING LINES for the Raspberry Pi Pico VS Code Extension to work ==
if(WIN32)
set(USERHOME $ENV{USERPROFILE})
else()
set(USERHOME $ENV{HOME})
endif()
set(sdkVersion 2.1.0)
set(toolchainVersion 13_3_Rel1)
set(picotoolVersion 2.1.0)
set(picoVscode ${USERHOME}/.pico-sdk/cmake/pico-vscode.cmake)
if (EXISTS ${picoVscode})
include(${picoVscode})
endif()
# ====================================================================================
set(PICO_BOARD pico CACHE STRING "Board type")
# Pull in Raspberry Pi Pico SDK (must be before project)
include(pico_sdk_import.cmake)
project(test-prject C CXX ASM)
# Initialise the Raspberry Pi Pico SDK
pico_sdk_init()
# Add executable. Default name is the project name, version 0.1
add_executable(test-prject test-prject.c )
pico_set_program_name(test-prject "test-prject")
pico_set_program_version(test-prject "0.1")
# Modify the below lines to enable/disable output over UART/USB
pico_enable_stdio_uart(test-prject 1)
pico_enable_stdio_usb(test-prject 0)
# Add the standard library to the build
target_link_libraries(test-prject
pico_stdlib)
# Add the standard include files to the build
target_include_directories(test-prject PRIVATE
${CMAKE_CURRENT_LIST_DIR}
)
pico_add_extra_outputs(test-prject)

84
vacum-control/test-prject/pico_sdk_import.cmake Normal file
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# This is a copy of <PICO_SDK_PATH>/external/pico_sdk_import.cmake
# This can be dropped into an external project to help locate this SDK
# It should be include()ed prior to project()
if (DEFINED ENV{PICO_SDK_PATH} AND (NOT PICO_SDK_PATH))
set(PICO_SDK_PATH $ENV{PICO_SDK_PATH})
message("Using PICO_SDK_PATH from environment ('${PICO_SDK_PATH}')")
endif ()
if (DEFINED ENV{PICO_SDK_FETCH_FROM_GIT} AND (NOT PICO_SDK_FETCH_FROM_GIT))
set(PICO_SDK_FETCH_FROM_GIT $ENV{PICO_SDK_FETCH_FROM_GIT})
message("Using PICO_SDK_FETCH_FROM_GIT from environment ('${PICO_SDK_FETCH_FROM_GIT}')")
endif ()
if (DEFINED ENV{PICO_SDK_FETCH_FROM_GIT_PATH} AND (NOT PICO_SDK_FETCH_FROM_GIT_PATH))
set(PICO_SDK_FETCH_FROM_GIT_PATH $ENV{PICO_SDK_FETCH_FROM_GIT_PATH})
message("Using PICO_SDK_FETCH_FROM_GIT_PATH from environment ('${PICO_SDK_FETCH_FROM_GIT_PATH}')")
endif ()
if (DEFINED ENV{PICO_SDK_FETCH_FROM_GIT_TAG} AND (NOT PICO_SDK_FETCH_FROM_GIT_TAG))
set(PICO_SDK_FETCH_FROM_GIT_TAG $ENV{PICO_SDK_FETCH_FROM_GIT_TAG})
message("Using PICO_SDK_FETCH_FROM_GIT_TAG from environment ('${PICO_SDK_FETCH_FROM_GIT_TAG}')")
endif ()
if (PICO_SDK_FETCH_FROM_GIT AND NOT PICO_SDK_FETCH_FROM_GIT_TAG)
set(PICO_SDK_FETCH_FROM_GIT_TAG "master")
message("Using master as default value for PICO_SDK_FETCH_FROM_GIT_TAG")
endif()
set(PICO_SDK_PATH "${PICO_SDK_PATH}" CACHE PATH "Path to the Raspberry Pi Pico SDK")
set(PICO_SDK_FETCH_FROM_GIT "${PICO_SDK_FETCH_FROM_GIT}" CACHE BOOL "Set to ON to fetch copy of SDK from git if not otherwise locatable")
set(PICO_SDK_FETCH_FROM_GIT_PATH "${PICO_SDK_FETCH_FROM_GIT_PATH}" CACHE FILEPATH "location to download SDK")
set(PICO_SDK_FETCH_FROM_GIT_TAG "${PICO_SDK_FETCH_FROM_GIT_TAG}" CACHE FILEPATH "release tag for SDK")
if (NOT PICO_SDK_PATH)
if (PICO_SDK_FETCH_FROM_GIT)
include(FetchContent)
set(FETCHCONTENT_BASE_DIR_SAVE ${FETCHCONTENT_BASE_DIR})
if (PICO_SDK_FETCH_FROM_GIT_PATH)
get_filename_component(FETCHCONTENT_BASE_DIR "${PICO_SDK_FETCH_FROM_GIT_PATH}" REALPATH BASE_DIR "${CMAKE_SOURCE_DIR}")
endif ()
# GIT_SUBMODULES_RECURSE was added in 3.17
if (${CMAKE_VERSION} VERSION_GREATER_EQUAL "3.17.0")
FetchContent_Declare(
pico_sdk
GIT_REPOSITORY https://github.com/raspberrypi/pico-sdk
GIT_TAG ${PICO_SDK_FETCH_FROM_GIT_TAG}
GIT_SUBMODULES_RECURSE FALSE
)
else ()
FetchContent_Declare(
pico_sdk
GIT_REPOSITORY https://github.com/raspberrypi/pico-sdk
GIT_TAG ${PICO_SDK_FETCH_FROM_GIT_TAG}
)
endif ()
if (NOT pico_sdk)
message("Downloading Raspberry Pi Pico SDK")
FetchContent_Populate(pico_sdk)
set(PICO_SDK_PATH ${pico_sdk_SOURCE_DIR})
endif ()
set(FETCHCONTENT_BASE_DIR ${FETCHCONTENT_BASE_DIR_SAVE})
else ()
message(FATAL_ERROR
"SDK location was not specified. Please set PICO_SDK_PATH or set PICO_SDK_FETCH_FROM_GIT to on to fetch from git."
)
endif ()
endif ()
get_filename_component(PICO_SDK_PATH "${PICO_SDK_PATH}" REALPATH BASE_DIR "${CMAKE_BINARY_DIR}")
if (NOT EXISTS ${PICO_SDK_PATH})
message(FATAL_ERROR "Directory '${PICO_SDK_PATH}' not found")
endif ()
set(PICO_SDK_INIT_CMAKE_FILE ${PICO_SDK_PATH}/pico_sdk_init.cmake)
if (NOT EXISTS ${PICO_SDK_INIT_CMAKE_FILE})
message(FATAL_ERROR "Directory '${PICO_SDK_PATH}' does not appear to contain the Raspberry Pi Pico SDK")
endif ()
set(PICO_SDK_PATH ${PICO_SDK_PATH} CACHE PATH "Path to the Raspberry Pi Pico SDK" FORCE)
include(${PICO_SDK_INIT_CMAKE_FILE})

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#include <stdio.h>
#include "pico/stdlib.h"
int main()
{
stdio_init_all();
while (true) {
printf("Hello, world!\n");
sleep_ms(1000);
}
}

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vacum-control/vacum-control-firmware/.vscode/c_cpp_properties.json vendored Normal file
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{
"configurations": [
{
"name": "Pico",
"includePath": [
"${workspaceFolder}/**",
"${userHome}/.pico-sdk/sdk/2.1.0/**"
],
"forcedInclude": [
"${userHome}/.pico-sdk/sdk/2.1.0/src/common/pico_base_headers/include/pico.h",
"${workspaceFolder}/build/generated/pico_base/pico/config_autogen.h"
],
"defines": [],
"compilerPath": "${userHome}/.pico-sdk/toolchain/13_3_Rel1/bin/arm-none-eabi-gcc",
"compileCommands": "${workspaceFolder}/build/compile_commands.json",
"cStandard": "c17",
"cppStandard": "c++14",
"intelliSenseMode": "linux-gcc-arm"
}
],
"version": 4
}

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vacum-control/vacum-control-firmware/.vscode/cmake-kits.json vendored Normal file
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[
{
"name": "Pico",
"compilers": {
"C": "${command:raspberry-pi-pico.getCompilerPath}",
"CXX": "${command:raspberry-pi-pico.getCxxCompilerPath}"
},
"environmentVariables": {
"PATH": "${command:raspberry-pi-pico.getEnvPath};${env:PATH}"
},
"cmakeSettings": {
"Python3_EXECUTABLE": "${command:raspberry-pi-pico.getPythonPath}"
}
}
]

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{
"recommendations": [
"marus25.cortex-debug",
"ms-vscode.cpptools",
"ms-vscode.cpptools-extension-pack",
"ms-vscode.vscode-serial-monitor",
"raspberry-pi.raspberry-pi-pico"
]
}

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{
"version": "0.2.0",
"configurations": [
{
"name": "Pico Debug (Cortex-Debug)",
"cwd": "${userHome}/.pico-sdk/openocd/0.12.0+dev/scripts",
"executable": "${command:raspberry-pi-pico.launchTargetPath}",
"request": "launch",
"type": "cortex-debug",
"servertype": "openocd",
"serverpath": "${userHome}/.pico-sdk/openocd/0.12.0+dev/openocd.exe",
"gdbPath": "${command:raspberry-pi-pico.getGDBPath}",
"device": "${command:raspberry-pi-pico.getChipUppercase}",
"configFiles": [
"interface/cmsis-dap.cfg",
"target/${command:raspberry-pi-pico.getTarget}.cfg"
],
"svdFile": "${userHome}/.pico-sdk/sdk/2.1.0/src/${command:raspberry-pi-pico.getChip}/hardware_regs/${command:raspberry-pi-pico.getChipUppercase}.svd",
"runToEntryPoint": "main",
// Fix for no_flash binaries, where monitor reset halt doesn't do what is expected
// Also works fine for flash binaries
"overrideLaunchCommands": [
"monitor reset init",
"load \"${command:raspberry-pi-pico.launchTargetPath}\""
],
"openOCDLaunchCommands": [
"adapter speed 5000"
]
},
{
"name": "Pico Debug (Cortex-Debug with external OpenOCD)",
"cwd": "${workspaceRoot}",
"executable": "${command:raspberry-pi-pico.launchTargetPath}",
"request": "launch",
"type": "cortex-debug",
"servertype": "external",
"gdbTarget": "localhost:3333",
"gdbPath": "${command:raspberry-pi-pico.getGDBPath}",
"device": "${command:raspberry-pi-pico.getChipUppercase}",
"svdFile": "${userHome}/.pico-sdk/sdk/2.1.0/src/${command:raspberry-pi-pico.getChip}/hardware_regs/${command:raspberry-pi-pico.getChipUppercase}.svd",
"runToEntryPoint": "main",
// Fix for no_flash binaries, where monitor reset halt doesn't do what is expected
// Also works fine for flash binaries
"overrideLaunchCommands": [
"monitor reset init",
"load \"${command:raspberry-pi-pico.launchTargetPath}\""
]
},
{
"name": "Pico Debug (C++ Debugger)",
"type": "cppdbg",
"request": "launch",
"cwd": "${workspaceRoot}",
"program": "${command:raspberry-pi-pico.launchTargetPath}",
"MIMode": "gdb",
"miDebuggerPath": "${command:raspberry-pi-pico.getGDBPath}",
"miDebuggerServerAddress": "localhost:3333",
"debugServerPath": "${userHome}/.pico-sdk/openocd/0.12.0+dev/openocd.exe",
"debugServerArgs": "-f interface/cmsis-dap.cfg -f target/${command:raspberry-pi-pico.getTarget}.cfg -c \"adapter speed 5000\"",
"serverStarted": "Listening on port .* for gdb connections",
"filterStderr": true,
"hardwareBreakpoints": {
"require": true,
"limit": 4
},
"preLaunchTask": "Flash",
"svdPath": "${userHome}/.pico-sdk/sdk/2.1.0/src/${command:raspberry-pi-pico.getChip}/hardware_regs/${command:raspberry-pi-pico.getChipUppercase}.svd"
},
]
}

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vacum-control/vacum-control-firmware/.vscode/settings.json vendored Normal file
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{
"cmake.options.statusBarVisibility": "hidden",
"cmake.options.advanced": {
"build": {
"statusBarVisibility": "hidden"
},
"launch": {
"statusBarVisibility": "hidden"
},
"debug": {
"statusBarVisibility": "hidden"
}
},
"cmake.configureOnEdit": true,
"cmake.automaticReconfigure": true,
"cmake.configureOnOpen": true,
"cmake.generator": "Ninja",
"cmake.cmakePath": "${userHome}/.pico-sdk/cmake/v3.29.9/bin/cmake",
"C_Cpp.debugShortcut": false,
"terminal.integrated.env.windows": {
"PICO_SDK_PATH": "${env:USERPROFILE}/.pico-sdk/sdk/2.1.0",
"PICO_TOOLCHAIN_PATH": "${env:USERPROFILE}/.pico-sdk/toolchain/13_3_Rel1",
"Path": "${env:USERPROFILE}/.pico-sdk/toolchain/13_3_Rel1/bin;${env:USERPROFILE}/.pico-sdk/picotool/2.1.0/picotool;${env:USERPROFILE}/.pico-sdk/cmake/v3.29.9/bin;${env:USERPROFILE}/.pico-sdk/ninja/v1.12.1;${env:PATH}"
},
"terminal.integrated.env.osx": {
"PICO_SDK_PATH": "${env:HOME}/.pico-sdk/sdk/2.1.0",
"PICO_TOOLCHAIN_PATH": "${env:HOME}/.pico-sdk/toolchain/13_3_Rel1",
"PATH": "${env:HOME}/.pico-sdk/toolchain/13_3_Rel1/bin:${env:HOME}/.pico-sdk/picotool/2.1.0/picotool:${env:HOME}/.pico-sdk/cmake/v3.29.9/bin:${env:HOME}/.pico-sdk/ninja/v1.12.1:${env:PATH}"
},
"terminal.integrated.env.linux": {
"PICO_SDK_PATH": "${env:HOME}/.pico-sdk/sdk/2.1.0",
"PICO_TOOLCHAIN_PATH": "${env:HOME}/.pico-sdk/toolchain/13_3_Rel1",
"PATH": "${env:HOME}/.pico-sdk/toolchain/13_3_Rel1/bin:${env:HOME}/.pico-sdk/picotool/2.1.0/picotool:${env:HOME}/.pico-sdk/cmake/v3.29.9/bin:${env:HOME}/.pico-sdk/ninja/v1.12.1:${env:PATH}"
},
"raspberry-pi-pico.cmakeAutoConfigure": false,
"raspberry-pi-pico.useCmakeTools": true,
"raspberry-pi-pico.cmakePath": "${HOME}/.pico-sdk/cmake/v3.29.9/bin/cmake",
"raspberry-pi-pico.ninjaPath": "${HOME}/.pico-sdk/ninja/v1.12.1/ninja"
}

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vacum-control/vacum-control-firmware/.vscode/tasks.json vendored Normal file
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{
"version": "2.0.0",
"tasks": [
{
"label": "Compile Project",
"type": "process",
"isBuildCommand": true,
"command": "${userHome}/.pico-sdk/ninja/v1.12.1/ninja",
"args": ["-C", "${workspaceFolder}/build"],
"group": "build",
"presentation": {
"reveal": "always",
"panel": "dedicated"
},
"problemMatcher": "$gcc",
"windows": {
"command": "${env:USERPROFILE}/.pico-sdk/ninja/v1.12.1/ninja.exe"
}
},
{
"label": "Run Project",
"type": "process",
"command": "${env:HOME}/.pico-sdk/picotool/2.1.0/picotool/picotool",
"args": [
"load",
"${command:raspberry-pi-pico.launchTargetPath}",
"-fx"
],
"presentation": {
"reveal": "always",
"panel": "dedicated"
},
"problemMatcher": [],
"windows": {
"command": "${env:USERPROFILE}/.pico-sdk/picotool/2.1.0/picotool/picotool.exe"
}
},
{
"label": "Flash",
"type": "process",
"command": "${userHome}/.pico-sdk/openocd/0.12.0+dev/openocd.exe",
"args": [
"-s",
"${userHome}/.pico-sdk/openocd/0.12.0+dev/scripts",
"-f",
"interface/cmsis-dap.cfg",
"-f",
"target/${command:raspberry-pi-pico.getTarget}.cfg",
"-c",
"adapter speed 5000; program \"${command:raspberry-pi-pico.launchTargetPath}\" verify reset exit"
],
"problemMatcher": [],
"windows": {
"command": "${env:USERPROFILE}/.pico-sdk/openocd/0.12.0+dev/openocd.exe",
}
}
]
}

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# Generated Cmake Pico project file
cmake_minimum_required(VERSION 3.13)
set(CMAKE_C_STANDARD 11)
set(CMAKE_CXX_STANDARD 17)
set(CMAKE_EXPORT_COMPILE_COMMANDS ON)
# Initialise pico_sdk from installed location
# (note this can come from environment, CMake cache etc)
# == DO NOT EDIT THE FOLLOWING LINES for the Raspberry Pi Pico VS Code Extension to work ==
if(WIN32)
set(USERHOME $ENV{USERPROFILE})
else()
set(USERHOME $ENV{HOME})
endif()
set(sdkVersion 2.1.0)
set(toolchainVersion 13_3_Rel1)
set(picotoolVersion 2.1.0)
set(picoVscode ${USERHOME}/.pico-sdk/cmake/pico-vscode.cmake)
if (EXISTS ${picoVscode})
include(${picoVscode})
endif()
# ====================================================================================
set(PICO_BOARD pico CACHE STRING "Board type")
# Pull in Raspberry Pi Pico SDK (must be before project)
include(pico_sdk_import.cmake)
project(vacum-control-firmware C CXX ASM)
# Add FreeRTOS
set(FREERTOS_KERNEL_PATH ${CMAKE_CURRENT_LIST_DIR}/lib/FreeRTOS-Kernel)
include(cmake/FreeRTOS_Kernel_import.cmake)
# Initialise the Raspberry Pi Pico SDK
pico_sdk_init()
# Add executable. Default name is the project name, version 0.1
add_executable(vacum-control-firmware
src/main.cpp
src/base.cpp
)
pico_set_program_name(vacum-control-firmware "vacum-control-firmware")
pico_set_program_version(vacum-control-firmware "0.1")
# Modify the below lines to enable/disable output over UART/USB
pico_enable_stdio_uart(vacum-control-firmware 1)
pico_enable_stdio_usb(vacum-control-firmware 0)
# Add the standard library to the build
target_link_libraries(vacum-control-firmware
pico_stdlib
FreeRTOS-Kernel-Heap4
)
target_include_directories(vacum-control-firmware PUBLIC
include/
build/
./
)
# Add the standard include files to the build
target_include_directories(vacum-control-firmware PRIVATE
${CMAKE_CURRENT_LIST_DIR}
)
pico_add_extra_outputs(vacum-control-firmware)

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/*
* FreeRTOS V202111.00
* Copyright (C) 2020 Amazon.com, Inc. or its affiliates. All Rights Reserved.
*
* Permission is hereby granted, free of charge, to any person obtaining a copy of
* this software and associated documentation files (the "Software"), to deal in
* the Software without restriction, including without limitation the rights to
* use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of
* the Software, and to permit persons to whom the Software is furnished to do so,
* subject to the following conditions:
*
* The above copyright notice and this permission notice shall be included in all
* copies or substantial portions of the Software.
*
* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
* IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS
* FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR
* COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER
* IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN
* CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
*
* http://www.FreeRTOS.org
* http://aws.amazon.com/freertos
*
* 1 tab == 4 spaces!
*/
#ifndef FREERTOS_CONFIG_H
#define FREERTOS_CONFIG_H
/*-----------------------------------------------------------
* Application specific definitions.
*
* These definitions should be adjusted for your particular hardware and
* application requirements.
*
* THESE PARAMETERS ARE DESCRIBED WITHIN THE 'CONFIGURATION' SECTION OF THE
* FreeRTOS API DOCUMENTATION AVAILABLE ON THE FreeRTOS.org WEB SITE.
*
* See http://www.freertos.org/a00110.html
*----------------------------------------------------------*/
/* Scheduler Related */
#define configUSE_PREEMPTION 1
#define configUSE_TICKLESS_IDLE 0
#define configUSE_IDLE_HOOK 0
#define configUSE_TICK_HOOK 0
#define configTICK_RATE_HZ ( ( TickType_t ) 1000 )
#define configMAX_PRIORITIES 32
#define configMINIMAL_STACK_SIZE ( configSTACK_DEPTH_TYPE ) 256
#define configUSE_16_BIT_TICKS 0
#define configIDLE_SHOULD_YIELD 1
/* Synchronization Related */
#define configUSE_MUTEXES 1
#define configUSE_RECURSIVE_MUTEXES 1
#define configUSE_APPLICATION_TASK_TAG 0
#define configUSE_COUNTING_SEMAPHORES 1
#define configQUEUE_REGISTRY_SIZE 8
#define configUSE_QUEUE_SETS 1
#define configUSE_TIME_SLICING 1
#define configUSE_NEWLIB_REENTRANT 0
// todo need this for lwip FreeRTOS sys_arch to compile
#define configENABLE_BACKWARD_COMPATIBILITY 1
#define configNUM_THREAD_LOCAL_STORAGE_POINTERS 5
/* System */
#define configSTACK_DEPTH_TYPE uint32_t
#define configMESSAGE_BUFFER_LENGTH_TYPE size_t
/* Memory allocation related definitions. */
#define configSUPPORT_STATIC_ALLOCATION 0
#define configSUPPORT_DYNAMIC_ALLOCATION 1
#define configTOTAL_HEAP_SIZE (1024 * 64)
#define configAPPLICATION_ALLOCATED_HEAP (1024 * 32)
/* Hook function related definitions. */
#define configCHECK_FOR_STACK_OVERFLOW 0
#define configUSE_MALLOC_FAILED_HOOK 0
#define configUSE_DAEMON_TASK_STARTUP_HOOK 0
/* Run time and task stats gathering related definitions. */
#define configGENERATE_RUN_TIME_STATS 0
#define configUSE_TRACE_FACILITY 1
#define configUSE_STATS_FORMATTING_FUNCTIONS 0
/* Co-routine related definitions. */
#define configUSE_CO_ROUTINES 0
#define configMAX_CO_ROUTINE_PRIORITIES 1
/* Software timer related definitions. */
#define configUSE_TIMERS 1
#define configTIMER_TASK_PRIORITY ( configMAX_PRIORITIES - 1 )
#define configTIMER_QUEUE_LENGTH 10
#define configTIMER_TASK_STACK_DEPTH 1024
/* Interrupt nesting behaviour configuration. */
/*
#define configKERNEL_INTERRUPT_PRIORITY [dependent of processor]
#define configMAX_SYSCALL_INTERRUPT_PRIORITY [dependent on processor and application]
#define configMAX_API_CALL_INTERRUPT_PRIORITY [dependent on processor and application]
*/
#if FREE_RTOS_KERNEL_SMP // set by the RP2040 SMP port of FreeRTOS
/* SMP port only */
#define configUSE_PASSIVE_IDLE_HOOK 0
#define configNUMBER_OF_CORES 1
#define configTICK_CORE 0
#define configRUN_MULTIPLE_PRIORITIES 1
//#define configUSE_CORE_AFFINITY 1
#endif
/* RP2040 specific */
#define configSUPPORT_PICO_SYNC_INTEROP 1
#define configSUPPORT_PICO_TIME_INTEROP 1
#include <assert.h>
/* Define to trap errors during development. */
#define configASSERT(x) assert(x)
/* Set the following definitions to 1 to include the API function, or zero
to exclude the API function. */
#define INCLUDE_vTaskPrioritySet 1
#define INCLUDE_uxTaskPriorityGet 1
#define INCLUDE_vTaskDelete 1
#define INCLUDE_vTaskSuspend 1
#define INCLUDE_vTaskDelayUntil 1
#define INCLUDE_vTaskDelay 1
#define INCLUDE_xTaskGetSchedulerState 1
#define INCLUDE_xTaskGetCurrentTaskHandle 1
#define INCLUDE_uxTaskGetStackHighWaterMark 1
#define INCLUDE_xTaskGetIdleTaskHandle 1
#define INCLUDE_eTaskGetState 1
#define INCLUDE_xTimerPendFunctionCall 1
#define INCLUDE_xTaskAbortDelay 1
#define INCLUDE_xTaskGetHandle 1
#define INCLUDE_xTaskResumeFromISR 1
#define INCLUDE_xQueueGetMutexHolder 1
/* A header file that defines trace macro can be included here. */
#endif /* FREERTOS_CONFIG_H */

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# This is a copy of <FREERTOS_KERNEL_PATH>/portable/ThirdParty/GCC/RP2040/FREERTOS_KERNEL_import.cmake
# This can be dropped into an external project to help locate the FreeRTOS kernel
# It should be include()ed prior to project(). Alternatively this file may
# or the CMakeLists.txt in this directory may be included or added via add_subdirectory
# respectively.
if (DEFINED ENV{FREERTOS_KERNEL_PATH} AND (NOT FREERTOS_KERNEL_PATH))
set(FREERTOS_KERNEL_PATH $ENV{FREERTOS_KERNEL_PATH})
message("Using FREERTOS_KERNEL_PATH from environment ('${FREERTOS_KERNEL_PATH}')")
endif ()
set(FREERTOS_KERNEL_RP2040_RELATIVE_PATH "portable/ThirdParty/GCC/RP2040")
# undo the above
set(FREERTOS_KERNEL_RP2040_BACK_PATH "../../../..")
if (NOT FREERTOS_KERNEL_PATH)
# check if we are inside the FreeRTOS kernel tree (i.e. this file has been included directly)
get_filename_component(_ACTUAL_PATH ${CMAKE_CURRENT_LIST_DIR} REALPATH)
get_filename_component(_POSSIBLE_PATH ${CMAKE_CURRENT_LIST_DIR}/${FREERTOS_KERNEL_RP2040_BACK_PATH}/${FREERTOS_KERNEL_RP2040_RELATIVE_PATH} REALPATH)
if (_ACTUAL_PATH STREQUAL _POSSIBLE_PATH)
get_filename_component(FREERTOS_KERNEL_PATH ${CMAKE_CURRENT_LIST_DIR}/${FREERTOS_KERNEL_RP2040_BACK_PATH} REALPATH)
endif()
if (_ACTUAL_PATH STREQUAL _POSSIBLE_PATH)
get_filename_component(FREERTOS_KERNEL_PATH ${CMAKE_CURRENT_LIST_DIR}/${FREERTOS_KERNEL_RP2040_BACK_PATH} REALPATH)
message("Setting FREERTOS_KERNEL_PATH to ${FREERTOS_KERNEL_PATH} based on location of FreeRTOS-Kernel-import.cmake")
elseif (PICO_SDK_PATH AND EXISTS "${PICO_SDK_PATH}/../FreeRTOS-Kernel")
set(FREERTOS_KERNEL_PATH ${PICO_SDK_PATH}/../FreeRTOS-Kernel)
message("Defaulting FREERTOS_KERNEL_PATH as sibling of PICO_SDK_PATH: ${FREERTOS_KERNEL_PATH}")
endif()
endif ()
if (NOT FREERTOS_KERNEL_PATH)
foreach(POSSIBLE_SUFFIX Source FreeRTOS-Kernel FreeRTOS/Source)
# check if FreeRTOS-Kernel exists under directory that included us
set(SEARCH_ROOT ${CMAKE_CURRENT_SOURCE_DIR})
get_filename_component(_POSSIBLE_PATH ${SEARCH_ROOT}/${POSSIBLE_SUFFIX} REALPATH)
if (EXISTS ${_POSSIBLE_PATH}/${FREERTOS_KERNEL_RP2040_RELATIVE_PATH}/CMakeLists.txt)
get_filename_component(FREERTOS_KERNEL_PATH ${_POSSIBLE_PATH} REALPATH)
message("Setting FREERTOS_KERNEL_PATH to '${FREERTOS_KERNEL_PATH}' found relative to enclosing project")
break()
endif()
endforeach()
endif()
if (NOT FREERTOS_KERNEL_PATH)
message(FATAL_ERROR "FreeRTOS location was not specified. Please set FREERTOS_KERNEL_PATH.")
endif()
set(FREERTOS_KERNEL_PATH "${FREERTOS_KERNEL_PATH}" CACHE PATH "Path to the FreeRTOS Kernel")
get_filename_component(FREERTOS_KERNEL_PATH "${FREERTOS_KERNEL_PATH}" REALPATH BASE_DIR "${CMAKE_BINARY_DIR}")
if (NOT EXISTS ${FREERTOS_KERNEL_PATH})
message(FATAL_ERROR "Directory '${FREERTOS_KERNEL_PATH}' not found")
endif()
if (NOT EXISTS ${FREERTOS_KERNEL_PATH}/${FREERTOS_KERNEL_RP2040_RELATIVE_PATH}/CMakeLists.txt)
message(FATAL_ERROR "Directory '${FREERTOS_KERNEL_PATH}' does not contain an RP2040 port here: ${FREERTOS_KERNEL_RP2040_RELATIVE_PATH}")
endif()
set(FREERTOS_KERNEL_PATH ${FREERTOS_KERNEL_PATH} CACHE PATH "Path to the FreeRTOS_KERNEL" FORCE)
add_subdirectory(${FREERTOS_KERNEL_PATH}/${FREERTOS_KERNEL_RP2040_RELATIVE_PATH} FREERTOS_KERNEL)

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vacum-control/vacum-control-firmware/include/pinConfig.hpp Normal file
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#pragma once
#define LED1_PIN 16
#define LED2_PIN 25
#define RELAY_PIN 15
#define GORPC_INT_PIN 3
#define GORPC_SDA_PIN 4
#define GORPC_SCL_PIN 5
#define BUTTON_PIN 17
#define INTERRUPTION_DURATION ((int)(2.5 * 1000))
#define INTERRUPTION_DELAY 5 * 1000

28
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#pragma once
#include "pinConfig.hpp"
#include "FreeRTOS.h"
#include "task.h"
#include "semphr.h"
void vInterruptionTaskFn(void *pvParameters);
void vButtonTaskFn(void *pvParameters);
class VacumControl {
private:
bool state = false;
xSemaphoreHandle vacumMutex;
xSemaphoreHandle interruptionSemaphore;
xTaskHandle interruptionTask;
xTaskHandle buttonTask;
public:
VacumControl();
void initVacumPins();
void setState(bool on);
void interruptionTaskFn();
void buttonTaskFn();
};

1
vacum-control/vacum-control-firmware/lib/FreeRTOS-Kernel Submodule

Submodule vacum-control/vacum-control-firmware/lib/FreeRTOS-Kernel added at e55bde2133

84
vacum-control/vacum-control-firmware/pico_sdk_import.cmake Normal file
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# This is a copy of <PICO_SDK_PATH>/external/pico_sdk_import.cmake
# This can be dropped into an external project to help locate this SDK
# It should be include()ed prior to project()
if (DEFINED ENV{PICO_SDK_PATH} AND (NOT PICO_SDK_PATH))
set(PICO_SDK_PATH $ENV{PICO_SDK_PATH})
message("Using PICO_SDK_PATH from environment ('${PICO_SDK_PATH}')")
endif ()
if (DEFINED ENV{PICO_SDK_FETCH_FROM_GIT} AND (NOT PICO_SDK_FETCH_FROM_GIT))
set(PICO_SDK_FETCH_FROM_GIT $ENV{PICO_SDK_FETCH_FROM_GIT})
message("Using PICO_SDK_FETCH_FROM_GIT from environment ('${PICO_SDK_FETCH_FROM_GIT}')")
endif ()
if (DEFINED ENV{PICO_SDK_FETCH_FROM_GIT_PATH} AND (NOT PICO_SDK_FETCH_FROM_GIT_PATH))
set(PICO_SDK_FETCH_FROM_GIT_PATH $ENV{PICO_SDK_FETCH_FROM_GIT_PATH})
message("Using PICO_SDK_FETCH_FROM_GIT_PATH from environment ('${PICO_SDK_FETCH_FROM_GIT_PATH}')")
endif ()
if (DEFINED ENV{PICO_SDK_FETCH_FROM_GIT_TAG} AND (NOT PICO_SDK_FETCH_FROM_GIT_TAG))
set(PICO_SDK_FETCH_FROM_GIT_TAG $ENV{PICO_SDK_FETCH_FROM_GIT_TAG})
message("Using PICO_SDK_FETCH_FROM_GIT_TAG from environment ('${PICO_SDK_FETCH_FROM_GIT_TAG}')")
endif ()
if (PICO_SDK_FETCH_FROM_GIT AND NOT PICO_SDK_FETCH_FROM_GIT_TAG)
set(PICO_SDK_FETCH_FROM_GIT_TAG "master")
message("Using master as default value for PICO_SDK_FETCH_FROM_GIT_TAG")
endif()
set(PICO_SDK_PATH "${PICO_SDK_PATH}" CACHE PATH "Path to the Raspberry Pi Pico SDK")
set(PICO_SDK_FETCH_FROM_GIT "${PICO_SDK_FETCH_FROM_GIT}" CACHE BOOL "Set to ON to fetch copy of SDK from git if not otherwise locatable")
set(PICO_SDK_FETCH_FROM_GIT_PATH "${PICO_SDK_FETCH_FROM_GIT_PATH}" CACHE FILEPATH "location to download SDK")
set(PICO_SDK_FETCH_FROM_GIT_TAG "${PICO_SDK_FETCH_FROM_GIT_TAG}" CACHE FILEPATH "release tag for SDK")
if (NOT PICO_SDK_PATH)
if (PICO_SDK_FETCH_FROM_GIT)
include(FetchContent)
set(FETCHCONTENT_BASE_DIR_SAVE ${FETCHCONTENT_BASE_DIR})
if (PICO_SDK_FETCH_FROM_GIT_PATH)
get_filename_component(FETCHCONTENT_BASE_DIR "${PICO_SDK_FETCH_FROM_GIT_PATH}" REALPATH BASE_DIR "${CMAKE_SOURCE_DIR}")
endif ()
# GIT_SUBMODULES_RECURSE was added in 3.17
if (${CMAKE_VERSION} VERSION_GREATER_EQUAL "3.17.0")
FetchContent_Declare(
pico_sdk
GIT_REPOSITORY https://github.com/raspberrypi/pico-sdk
GIT_TAG ${PICO_SDK_FETCH_FROM_GIT_TAG}
GIT_SUBMODULES_RECURSE FALSE
)
else ()
FetchContent_Declare(
pico_sdk
GIT_REPOSITORY https://github.com/raspberrypi/pico-sdk
GIT_TAG ${PICO_SDK_FETCH_FROM_GIT_TAG}
)
endif ()
if (NOT pico_sdk)
message("Downloading Raspberry Pi Pico SDK")
FetchContent_Populate(pico_sdk)
set(PICO_SDK_PATH ${pico_sdk_SOURCE_DIR})
endif ()
set(FETCHCONTENT_BASE_DIR ${FETCHCONTENT_BASE_DIR_SAVE})
else ()
message(FATAL_ERROR
"SDK location was not specified. Please set PICO_SDK_PATH or set PICO_SDK_FETCH_FROM_GIT to on to fetch from git."
)
endif ()
endif ()
get_filename_component(PICO_SDK_PATH "${PICO_SDK_PATH}" REALPATH BASE_DIR "${CMAKE_BINARY_DIR}")
if (NOT EXISTS ${PICO_SDK_PATH})
message(FATAL_ERROR "Directory '${PICO_SDK_PATH}' not found")
endif ()
set(PICO_SDK_INIT_CMAKE_FILE ${PICO_SDK_PATH}/pico_sdk_init.cmake)
if (NOT EXISTS ${PICO_SDK_INIT_CMAKE_FILE})
message(FATAL_ERROR "Directory '${PICO_SDK_PATH}' does not appear to contain the Raspberry Pi Pico SDK")
endif ()
set(PICO_SDK_PATH ${PICO_SDK_PATH} CACHE PATH "Path to the Raspberry Pi Pico SDK" FORCE)
include(${PICO_SDK_INIT_CMAKE_FILE})

100
vacum-control/vacum-control-firmware/src/base.cpp Normal file
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#include "vacum.hpp"
#include "pinConfig.hpp"
#include "FreeRTOS.h"
#include "task.h"
#include "semphr.h"
#include "pico/stdlib.h"
void vInterruptionTaskFn(void *pvParameters) {
VacumControl *vacumControl = (VacumControl *)pvParameters;
vacumControl->interruptionTaskFn();
}
void vButtonTaskFn(void *pvParameters) {
VacumControl *vacumControl = (VacumControl *)pvParameters;
vacumControl->buttonTaskFn();
}
VacumControl::VacumControl() {
initVacumPins();
state = false;
vacumMutex = xSemaphoreCreateMutex();
interruptionSemaphore = xSemaphoreCreateBinary();
xTaskCreate(vInterruptionTaskFn, "Interruption Task", 1024, this, 3, &interruptionTask);
xTaskCreate(vButtonTaskFn, "Button Task", 1024, this, 2, &buttonTask);
}
void VacumControl::initVacumPins() {
gpio_init(LED1_PIN);
gpio_set_dir(LED1_PIN, GPIO_OUT);
gpio_put(LED1_PIN, 0);
gpio_init(LED2_PIN);
gpio_set_dir(LED2_PIN, GPIO_OUT);
gpio_put(LED2_PIN, 0);
gpio_init(RELAY_PIN);
gpio_set_dir(RELAY_PIN, GPIO_OUT);
gpio_put(RELAY_PIN, 0);
gpio_init(BUTTON_PIN);
gpio_set_dir(BUTTON_PIN, GPIO_IN);
gpio_pull_up(BUTTON_PIN);
}
void VacumControl::setState(bool on) {
xSemaphoreTake(vacumMutex, portMAX_DELAY);
if(on) {
gpio_put(RELAY_PIN, 1);
gpio_put(LED1_PIN, 1);
state = true;
xSemaphoreGive(interruptionSemaphore);
} else {
gpio_put(RELAY_PIN, 0);
gpio_put(LED1_PIN, 0);
state = false;
}
xSemaphoreGive(vacumMutex);
}
void VacumControl::interruptionTaskFn() {
while(true) {
xSemaphoreTake(interruptionSemaphore, portMAX_DELAY);
if(state) {
while(state) {
vTaskDelay(INTERRUPTION_DELAY / portTICK_PERIOD_MS);
if(state) {
gpio_put(RELAY_PIN, 0);
gpio_put(LED1_PIN, 0);
} else
break;
vTaskDelay(INTERRUPTION_DURATION / portTICK_PERIOD_MS);
if(state) {
gpio_put(RELAY_PIN, 1);
gpio_put(LED1_PIN, 1);
}
}
}
}
}
void VacumControl::buttonTaskFn() {
bool buttonLastState = gpio_get(BUTTON_PIN);
while(true) {
bool buttonState = gpio_get(BUTTON_PIN);
if(!buttonState && buttonLastState) {
setState(true);
vTaskDelay(250 / portTICK_PERIOD_MS);
} else if(buttonState && !buttonLastState) {
setState(false);
}
buttonLastState = buttonState;
vTaskDelay(250 / portTICK_PERIOD_MS);
}
}

30
vacum-control/vacum-control-firmware/src/main.cpp Normal file
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#include <stdio.h>
#include "pico/stdlib.h"
#include "vacum.hpp"
#include "FreeRTOSConfig.h"
#include "FreeRTOS.h"
#include "task.h"
void vTaskFunction(void *pvParameters) {
while (true) {
printf("Button: %d\n", gpio_get(BUTTON_PIN));
vTaskDelay(pdMS_TO_TICKS(1000));
}
}
int main() {
stdio_init_all();
printf("Hello, world!\n");
VacumControl vacumControl;
vacumControl.setState(false);
xTaskCreate(vTaskFunction, "Main Task", 1024, NULL, tskIDLE_PRIORITY, NULL);
vTaskStartScheduler();
while (true) {
tight_loop_contents();
}
}