Upgrade to pico SDK 2.0.0

motor-control/firmware/.vscode/settings.json

@@ -50,7 +50,7 @@
         "wready"
     ],
     "cmake.sourceDirectory": "/home/alexander/Projects/gobot/motor-control/firmware",
-    "cmake.buildDirectory": "${workspaceFolder}/firmware/build",
+    "cmake.buildDirectory": "${workspaceFolder}/build",
     "cmake.configureOnOpen": true,
     "files.associations": {
         "timer.h": "c",

motor-control/firmware/.vscode/tasks.json

@@ -32,8 +32,9 @@
                 "cwd": "${workspaceRoot}"
             },
             "group": "test",
-
+            "dependsOn": [
-            "dependsOn": ["CMake: build main"],
+                "CMake: build main"
+            ],
             "presentation": {
                 "echo": true,
                 "reveal": "always",
@@ -43,7 +44,6 @@
                 "clear": true
             }
         },
-
         {
             "type": "cmake",
             "label": "CMake: build usb_test",
@@ -75,8 +75,9 @@
                 "cwd": "${workspaceRoot}"
             },
             "group": "test",
-
+            "dependsOn": [
-            "dependsOn": ["CMake: build usb_test"],
+                "CMake: build usb_test"
+            ],
             "presentation": {
                 "echo": true,
                 "reveal": "always",
@@ -86,7 +87,6 @@
                 "clear": true
             }
         },
-
         {
             "type": "cmake",
             "label": "CMake: build freeRTOS_test",
@@ -118,8 +118,9 @@
                 "cwd": "${workspaceRoot}"
             },
             "group": "test",
-
+            "dependsOn": [
-            "dependsOn": ["CMake: build freeRTOS_test"],
+                "CMake: build freeRTOS_test"
+            ],
             "presentation": {
                 "echo": true,
                 "reveal": "always",
@@ -129,8 +130,6 @@
                 "clear": true
             }
         },
-
-
         {
             "type": "shell",
             "label": "Pico: launch openocd",
@@ -161,11 +160,22 @@
             "type": "shell",
             "label": "Doxygen: Generate Docs",
             "command": [
-                "doxygen ./docs/Doxyfile",
+                "doxygen ./docs/Doxyfile"
             ],
             "options": {
                 "cwd": "${workspaceRoot}"
             }
+        },
+        {
+            "type": "shell",
+            "label": "Nuke Build Directory",
+            "command": [
+                "rm -rf build"
+            ],
+            "options": {
+                "cwd": "${workspaceRoot}"
+            },
+            "problemMatcher": []
         }
     ]
 }

motor-control/firmware/CMakeLists.txt

@@ -8,8 +8,8 @@ else()
     SET(PICO_SDK_PATH "${CMAKE_SOURCE_DIR}/lib/pico-sdk")
 endif()
 
-SET(PICO_TOOLCHAIN_PATH $PICO_SDK_PATH/cmake/preload/toolchains/)
+#SET(PICO_TOOLCHAIN_PATH "${PICO_SDK_PATH}/cmake/preload/toolchains/")
-set(CMAKE_RUNTIME_OUTPUT_DIRECTORY "$<1:${CMAKE_BINARY_DIR}/bin>")
+set(CMAKE_RUNTIME_OUTPUT_DIRECTORY "${CMAKE_BINARY_DIR}/bin")
 
 include(${PICO_SDK_PATH}/pico_sdk_init.cmake)
 
@@ -47,12 +47,7 @@ target_include_directories(main PUBLIC
     include/
 )
 
-# Add FreeRTOS
+include(${PROJECT_SOURCE_DIR}/cmake/tmc2209.cmake)
-include(freeRTOS.cmake)
-
-target_include_directories(FreeRTOS PUBLIC
-    ${CMAKE_CURRENT_LIST_DIR}
-)
 
 # Adding PIO
 #pico_generate_pio_header(main ${CMAKE_CURRENT_LIST_DIR}/src/dac/dac.pio)
@@ -61,11 +56,8 @@ target_include_directories(FreeRTOS PUBLIC
 target_link_libraries(main 
     pico_stdlib 
     pico_multicore
-    hardware_pio
+    
-    hardware_dma
+    tmc2209_driver
-    hardware_timer
-    FreeRTOS
-    EEPROMDriver
 )
 
 

motor-control/firmware/FreeRTOSConfig.h

@@ -1,100 +0,0 @@
-#ifndef FREERTOS_CONFIG_H
-#define FREERTOS_CONFIG_H
-
-
-#define configUSE_PREEMPTION                    1
-#define configUSE_PORT_OPTIMISED_TASK_SELECTION 0
-#define configUSE_TICKLESS_IDLE                 0
-#define configCPU_CLOCK_HZ                      133000000
-#define configSYSTICK_CLOCK_HZ                  1000000  
-#define configTICK_RATE_HZ                      1000      
-#define configMAX_PRIORITIES                    4
-#define configMINIMAL_STACK_SIZE                256     
-#define configMAX_TASK_NAME_LEN                 16
-#define configUSE_16_BIT_TICKS                  0
-#define configIDLE_SHOULD_YIELD                 1
-#define configUSE_TASK_NOTIFICATIONS            1
-#define configTASK_NOTIFICATION_ARRAY_ENTRIES   3
-#define configUSE_MUTEXES                       0
-#define configUSE_RECURSIVE_MUTEXES             0
-#define configUSE_COUNTING_SEMAPHORES           1
-#define configUSE_ALTERNATIVE_API               0 /* Deprecated! */
-#define configQUEUE_REGISTRY_SIZE               10
-#define configUSE_QUEUE_SETS                    0
-#define configUSE_TIME_SLICING                  1
-#define configUSE_NEWLIB_REENTRANT              0
-#define configENABLE_BACKWARD_COMPATIBILITY     0
-#define configNUM_THREAD_LOCAL_STORAGE_POINTERS 5
-#define configSTACK_DEPTH_TYPE                  uint16_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                   50000
-#define configAPPLICATION_ALLOCATED_HEAP        0
-
-/* Hook function related definitions. */
-#define configUSE_IDLE_HOOK                     0
-#define configUSE_TICK_HOOK                     0
-#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                0
-#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               3
-#define configTIMER_QUEUE_LENGTH                10
-#define configTIMER_TASK_STACK_DEPTH            configMINIMAL_STACK_SIZE
-
-/* 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]
-
-/* Define to trap errors during development. */
-//#define configASSERT( ( x ) ) assert()
-
-/* FreeRTOS MPU specific definitions. */
-#define configINCLUDE_APPLICATION_DEFINED_PRIVILEGED_FUNCTIONS 0
-#define configTOTAL_MPU_REGIONS                                8 /* Default value. */
-#define configTEX_S_C_B_FLASH                                  0x07UL /* Default value. */
-#define configTEX_S_C_B_SRAM                                   0x07UL /* Default value. */
-#define configENFORCE_SYSTEM_CALLS_FROM_KERNEL_ONLY            1
-
-/* Optional functions - most linkers will remove unused functions anyway. */
-#define INCLUDE_vTaskPrioritySet                1
-#define INCLUDE_uxTaskPriorityGet               1
-#define INCLUDE_vTaskDelete                     1
-#define INCLUDE_vTaskSuspend                    1
-#define INCLUDE_xResumeFromISR                  1
-#define INCLUDE_vTaskDelayUntil                 1
-#define INCLUDE_vTaskDelay                      1
-#define INCLUDE_xTaskGetSchedulerState          1
-#define INCLUDE_xTaskGetCurrentTaskHandle       1
-#define INCLUDE_uxTaskGetStackHighWaterMark     0
-#define INCLUDE_xTaskGetIdleTaskHandle          0
-#define INCLUDE_eTaskGetState                   0
-#define INCLUDE_xEventGroupSetBitFromISR        1
-#define INCLUDE_xTimerPendFunctionCall          0
-#define INCLUDE_xTaskAbortDelay                 0
-#define INCLUDE_xTaskGetHandle                  0
-#define INCLUDE_xTaskResumeFromISR              1
-
-#define vPortSVCHandler isr_svcall
-#define xPortPendSVHandler isr_pendsv
-#define xPortSysTickHandler isr_systick
-
-
-/* A header file that defines trace macro can be included here. */
-
-#endif /* FREERTOS_CONFIG_H */

motor-control/firmware/cmake/tmc2209.cmake

@@ -0,0 +1,13 @@
+add_library(tmc2209_driver STATIC
+    src/tmc2209/uart_interface.cpp
+)
+
+target_include_directories(tmc2209_driver PRIVATE
+    include/tmc2209/
+)
+
+target_link_libraries(tmc2209_driver
+    pico_stdlib
+    hardware_uart
+)
+

motor-control/firmware/freeRTOS.cmake

@@ -1,13 +0,0 @@
-SET(FreeRTOS_DIR ${CMAKE_CURRENT_LIST_DIR}/lib/FreeRTOS-Kernel)
-FILE(GLOB FreeRTOS_src ${FreeRTOS_DIR}/*.c)
-
-add_library(FreeRTOS STATIC
-    ${FreeRTOS_src}
-    ${FreeRTOS_DIR}/portable/GCC/ARM_CM0/port.c
-    ${FreeRTOS_DIR}/portable/MemMang/heap_4.c
-)
-
-target_include_directories(FreeRTOS PUBLIC 
-${FreeRTOS_DIR}/portable/GCC/ARM_CM0/
-    ${FreeRTOS_DIR}/include/
-)