Upgrade to pico SDK 2.0.0
This commit is contained in:
AlexanderHD27
2
motor-control/firmware/.vscode/settings.json
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2
motor-control/firmware/.vscode/settings.json
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@@ -50,7 +50,7 @@
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"wready"
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],
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"cmake.sourceDirectory": "/home/alexander/Projects/gobot/motor-control/firmware",
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"cmake.buildDirectory": "${workspaceFolder}/firmware/build",
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"cmake.buildDirectory": "${workspaceFolder}/build",
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"cmake.configureOnOpen": true,
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"files.associations": {
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"timer.h": "c",
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32
motor-control/firmware/.vscode/tasks.json
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32
motor-control/firmware/.vscode/tasks.json
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@@ -32,8 +32,9 @@
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"cwd": "${workspaceRoot}"
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},
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"group": "test",
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"dependsOn": ["CMake: build main"],
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"dependsOn": [
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"CMake: build main"
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],
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"presentation": {
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"echo": true,
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"reveal": "always",
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@@ -43,7 +44,6 @@
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"clear": true
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}
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},
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{
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"type": "cmake",
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"label": "CMake: build usb_test",
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@@ -75,8 +75,9 @@
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"cwd": "${workspaceRoot}"
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},
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"group": "test",
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"dependsOn": ["CMake: build usb_test"],
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"dependsOn": [
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"CMake: build usb_test"
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],
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"presentation": {
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"echo": true,
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"reveal": "always",
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@@ -86,7 +87,6 @@
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"clear": true
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}
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},
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{
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"type": "cmake",
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"label": "CMake: build freeRTOS_test",
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@@ -118,8 +118,9 @@
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"cwd": "${workspaceRoot}"
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},
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"group": "test",
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"dependsOn": ["CMake: build freeRTOS_test"],
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"dependsOn": [
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"CMake: build freeRTOS_test"
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],
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"presentation": {
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"echo": true,
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"reveal": "always",
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@@ -129,8 +130,6 @@
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"clear": true
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}
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},
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{
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"type": "shell",
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"label": "Pico: launch openocd",
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@@ -161,11 +160,22 @@
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"type": "shell",
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"label": "Doxygen: Generate Docs",
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"command": [
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"doxygen ./docs/Doxyfile",
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"doxygen ./docs/Doxyfile"
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],
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"options": {
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"cwd": "${workspaceRoot}"
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}
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},
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{
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"type": "shell",
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"label": "Nuke Build Directory",
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"command": [
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"rm -rf build"
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],
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"options": {
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"cwd": "${workspaceRoot}"
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},
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"problemMatcher": []
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}
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]
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}
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@@ -8,8 +8,8 @@ else()
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SET(PICO_SDK_PATH "${CMAKE_SOURCE_DIR}/lib/pico-sdk")
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endif()
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SET(PICO_TOOLCHAIN_PATH $PICO_SDK_PATH/cmake/preload/toolchains/)
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set(CMAKE_RUNTIME_OUTPUT_DIRECTORY "$<1:${CMAKE_BINARY_DIR}/bin>")
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#SET(PICO_TOOLCHAIN_PATH "${PICO_SDK_PATH}/cmake/preload/toolchains/")
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set(CMAKE_RUNTIME_OUTPUT_DIRECTORY "${CMAKE_BINARY_DIR}/bin")
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include(${PICO_SDK_PATH}/pico_sdk_init.cmake)
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@@ -47,12 +47,7 @@ target_include_directories(main PUBLIC
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include/
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)
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# Add FreeRTOS
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include(freeRTOS.cmake)
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target_include_directories(FreeRTOS PUBLIC
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${CMAKE_CURRENT_LIST_DIR}
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)
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include(${PROJECT_SOURCE_DIR}/cmake/tmc2209.cmake)
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# Adding PIO
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#pico_generate_pio_header(main ${CMAKE_CURRENT_LIST_DIR}/src/dac/dac.pio)
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@@ -61,11 +56,8 @@ target_include_directories(FreeRTOS PUBLIC
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target_link_libraries(main
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pico_stdlib
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pico_multicore
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hardware_pio
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hardware_dma
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hardware_timer
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FreeRTOS
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EEPROMDriver
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tmc2209_driver
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)
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@@ -1,100 +0,0 @@
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#ifndef FREERTOS_CONFIG_H
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#define FREERTOS_CONFIG_H
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#define configUSE_PREEMPTION 1
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#define configUSE_PORT_OPTIMISED_TASK_SELECTION 0
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#define configUSE_TICKLESS_IDLE 0
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#define configCPU_CLOCK_HZ 133000000
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#define configSYSTICK_CLOCK_HZ 1000000
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#define configTICK_RATE_HZ 1000
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#define configMAX_PRIORITIES 4
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#define configMINIMAL_STACK_SIZE 256
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#define configMAX_TASK_NAME_LEN 16
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#define configUSE_16_BIT_TICKS 0
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#define configIDLE_SHOULD_YIELD 1
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#define configUSE_TASK_NOTIFICATIONS 1
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#define configTASK_NOTIFICATION_ARRAY_ENTRIES 3
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#define configUSE_MUTEXES 0
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#define configUSE_RECURSIVE_MUTEXES 0
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#define configUSE_COUNTING_SEMAPHORES 1
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#define configUSE_ALTERNATIVE_API 0 /* Deprecated! */
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#define configQUEUE_REGISTRY_SIZE 10
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#define configUSE_QUEUE_SETS 0
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#define configUSE_TIME_SLICING 1
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#define configUSE_NEWLIB_REENTRANT 0
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#define configENABLE_BACKWARD_COMPATIBILITY 0
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#define configNUM_THREAD_LOCAL_STORAGE_POINTERS 5
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#define configSTACK_DEPTH_TYPE uint16_t
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#define configMESSAGE_BUFFER_LENGTH_TYPE size_t
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/* Memory allocation related definitions. */
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#define configSUPPORT_STATIC_ALLOCATION 0
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#define configSUPPORT_DYNAMIC_ALLOCATION 1
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#define configTOTAL_HEAP_SIZE 50000
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#define configAPPLICATION_ALLOCATED_HEAP 0
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/* Hook function related definitions. */
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#define configUSE_IDLE_HOOK 0
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#define configUSE_TICK_HOOK 0
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#define configCHECK_FOR_STACK_OVERFLOW 0
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#define configUSE_MALLOC_FAILED_HOOK 0
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#define configUSE_DAEMON_TASK_STARTUP_HOOK 0
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/* Run time and task stats gathering related definitions. */
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#define configGENERATE_RUN_TIME_STATS 0
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#define configUSE_TRACE_FACILITY 0
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#define configUSE_STATS_FORMATTING_FUNCTIONS 0
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/* Co-routine related definitions. */
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#define configUSE_CO_ROUTINES 0
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#define configMAX_CO_ROUTINE_PRIORITIES 1
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/* Software timer related definitions. */
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#define configUSE_TIMERS 1
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#define configTIMER_TASK_PRIORITY 3
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#define configTIMER_QUEUE_LENGTH 10
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#define configTIMER_TASK_STACK_DEPTH configMINIMAL_STACK_SIZE
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/* Interrupt nesting behaviour configuration. */
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#define configKERNEL_INTERRUPT_PRIORITY [dependent of processor]
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#define configMAX_SYSCALL_INTERRUPT_PRIORITY [dependent on processor and application]
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#define configMAX_API_CALL_INTERRUPT_PRIORITY [dependent on processor and application]
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/* Define to trap errors during development. */
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//#define configASSERT( ( x ) ) assert()
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/* FreeRTOS MPU specific definitions. */
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#define configINCLUDE_APPLICATION_DEFINED_PRIVILEGED_FUNCTIONS 0
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#define configTOTAL_MPU_REGIONS 8 /* Default value. */
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#define configTEX_S_C_B_FLASH 0x07UL /* Default value. */
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#define configTEX_S_C_B_SRAM 0x07UL /* Default value. */
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#define configENFORCE_SYSTEM_CALLS_FROM_KERNEL_ONLY 1
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/* Optional functions - most linkers will remove unused functions anyway. */
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#define INCLUDE_vTaskPrioritySet 1
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#define INCLUDE_uxTaskPriorityGet 1
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#define INCLUDE_vTaskDelete 1
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#define INCLUDE_vTaskSuspend 1
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#define INCLUDE_xResumeFromISR 1
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#define INCLUDE_vTaskDelayUntil 1
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#define INCLUDE_vTaskDelay 1
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#define INCLUDE_xTaskGetSchedulerState 1
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#define INCLUDE_xTaskGetCurrentTaskHandle 1
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#define INCLUDE_uxTaskGetStackHighWaterMark 0
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#define INCLUDE_xTaskGetIdleTaskHandle 0
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#define INCLUDE_eTaskGetState 0
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#define INCLUDE_xEventGroupSetBitFromISR 1
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#define INCLUDE_xTimerPendFunctionCall 0
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#define INCLUDE_xTaskAbortDelay 0
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#define INCLUDE_xTaskGetHandle 0
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#define INCLUDE_xTaskResumeFromISR 1
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#define vPortSVCHandler isr_svcall
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#define xPortPendSVHandler isr_pendsv
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#define xPortSysTickHandler isr_systick
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/* A header file that defines trace macro can be included here. */
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#endif /* FREERTOS_CONFIG_H */
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13
motor-control/firmware/cmake/tmc2209.cmake
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13
motor-control/firmware/cmake/tmc2209.cmake
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@@ -0,0 +1,13 @@
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add_library(tmc2209_driver STATIC
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src/tmc2209/uart_interface.cpp
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)
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target_include_directories(tmc2209_driver PRIVATE
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include/tmc2209/
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)
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target_link_libraries(tmc2209_driver
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pico_stdlib
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hardware_uart
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)
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@@ -1,13 +0,0 @@
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SET(FreeRTOS_DIR ${CMAKE_CURRENT_LIST_DIR}/lib/FreeRTOS-Kernel)
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FILE(GLOB FreeRTOS_src ${FreeRTOS_DIR}/*.c)
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add_library(FreeRTOS STATIC
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${FreeRTOS_src}
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${FreeRTOS_DIR}/portable/GCC/ARM_CM0/port.c
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${FreeRTOS_DIR}/portable/MemMang/heap_4.c
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)
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target_include_directories(FreeRTOS PUBLIC
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${FreeRTOS_DIR}/portable/GCC/ARM_CM0/
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${FreeRTOS_DIR}/include/
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)
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Submodule motor-control/firmware/lib/pico-sdk updated: efe2103f9b...beb6f990a6
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