Added rpi-pico-sdk

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

@@ -0,0 +1,18 @@
+{
+    "configurations": [
+        {
+            "name": "Linux",
+            "includePath": [
+                "${workspaceFolder}/include/**",
+                "${workspaceFolder}/lib/pico-sdk/lib/tinyusb/src"
+            ],
+            "defines": [],
+            "compilerPath": "/usr/bin/gcc",
+            "cStandard": "c17",
+            "cppStandard": "c++14",
+            "intelliSenseMode": "linux-gcc-arm",
+            "configurationProvider": "ms-vscode.cmake-tools"
+        }
+    ],
+    "version": 4
+}

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

@@ -0,0 +1,31 @@
+{
+    // Use IntelliSense to learn about possible attributes.
+    // Hover to view descriptions of existing attributes.
+    // For more information, visit: https://go.microsoft.com/fwlink/?linkid=830387
+    "version": "0.2.0",
+    "configurations": [
+        {
+            "name": "Pico: Debug External OpenOCD",
+            "cwd": "${workspaceRoot}",
+            "executable": "${command:cmake.launchTargetPath}",
+            "request": "launch",
+            "preLaunchTask": "Pico: flash freeRTOS_test",
+            "type": "cortex-debug",
+            "servertype": "external",
+            "gdbPath" : "gdb-multiarch",
+            "gdbTarget": "localhost:3333",
+            "device": "RP2040",
+            "configFiles": [
+                "interface/cmsis-dap.cfg",
+                "target/rp2040.cfg"
+            ],
+            
+            "svdFile": "${env:PICO_SDK_PATH}/src/rp2040/hardware_regs/rp2040.svd",
+            "runToEntryPoint": "main",
+            
+            "postRestartCommands": [
+                "continue"
+            ]
+        }
+    ]
+}

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

@@ -0,0 +1,78 @@
+{
+    "cSpell.words": [
+        "apcsw",
+        "apreg",
+        "apsel",
+        "arrayname",
+        "baseaddr",
+        "Bhaskra",
+        "bitwidth",
+        "BOOTSEL",
+        "cget",
+        "channellist",
+        "charmsg",
+        "clkdiv",
+        "cpnum",
+        "deassert",
+        "deasserted",
+        "deasserting",
+        "doxygen",
+        "dpreg",
+        "drawio",
+        "dreq",
+        "eabi",
+        "eventlist",
+        "gpio",
+        "helptext",
+        "jtag",
+        "lindex",
+        "memaccess",
+        "microcontroller",
+        "multiarch",
+        "multicore",
+        "Pico",
+        "picoprobe",
+        "pindirs",
+        "pinout",
+        "pregen",
+        "resexit",
+        "semihosting",
+        "srst",
+        "struct",
+        "targetname",
+        "TPIU",
+        "trst",
+        "UART",
+        "virt",
+        "waitstate",
+        "watchpoint",
+        "watchpoints",
+        "wready"
+    ],
+    "cmake.sourceDirectory": "/home/alexander/Projects/gobot/motor-control/firmware",
+    "cmake.buildDirectory": "${workspaceFolder}/firmware/build",
+    "cmake.configureOnOpen": true,
+    "files.associations": {
+        "timer.h": "c",
+        "stdlib.h": "c",
+        "stdio.h": "c",
+        "string.h": "c",
+        "assert.h": "c",
+        "gen.h": "c",
+        "multicore.h": "c",
+        "pio.h": "c",
+        "freertos.h": "c",
+        "random": "c",
+        "queue.h": "c",
+        "string_view": "c",
+        "instructionformat.h": "c",
+        "includeglobals.h": "c",
+        "dacconfig.h": "c",
+        "freertosconfig.h": "c"
+    },
+    "cortex-debug.variableUseNaturalFormat": false,
+    "todo-tree.filtering.ignoreGitSubmodules": true,
+    "todo-tree.tree.showBadges": true,
+    "terminal.integrated.scrollback": 10000,
+    "C_Cpp.refactoring.includeHeader": "always",
+}

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

@@ -0,0 +1,171 @@
+{
+    "version": "2.0.0",
+    "tasks": [
+        {
+            "type": "cmake",
+            "label": "CMake: build main",
+            "command": "build",
+            "targets": [
+                "main"
+            ],
+            "options": {
+                "cwd": "${workspaceRoot}"
+            },
+            "group": "build",
+            "presentation": {
+                "echo": true,
+                "reveal": "always",
+                "focus": true,
+                "panel": "dedicated",
+                "showReuseMessage": true,
+                "clear": true
+            }
+        },
+        {
+            "type": "shell",
+            "label": "Pico: flash main",
+            "command": [
+                "scripts/flash.exp",
+                "${workspaceRoot}/build/bin/main.elf"
+            ],
+            "options": {
+                "cwd": "${workspaceRoot}"
+            },
+            "group": "test",
+
+            "dependsOn": ["CMake: build main"],
+            "presentation": {
+                "echo": true,
+                "reveal": "always",
+                "focus": true,
+                "panel": "dedicated",
+                "showReuseMessage": true,
+                "clear": true
+            }
+        },
+
+        {
+            "type": "cmake",
+            "label": "CMake: build usb_test",
+            "command": "build",
+            "targets": [
+                "usb_test"
+            ],
+            "options": {
+                "cwd": "${workspaceRoot}"
+            },
+            "group": "build",
+            "presentation": {
+                "echo": true,
+                "reveal": "always",
+                "focus": true,
+                "panel": "dedicated",
+                "showReuseMessage": true,
+                "clear": true
+            }
+        },
+        {
+            "type": "shell",
+            "label": "Pico: flash usb_test",
+            "command": [
+                "scripts/flash.exp",
+                "${workspaceRoot}/build/bin/usb_test.elf"
+            ],
+            "options": {
+                "cwd": "${workspaceRoot}"
+            },
+            "group": "test",
+
+            "dependsOn": ["CMake: build usb_test"],
+            "presentation": {
+                "echo": true,
+                "reveal": "always",
+                "focus": true,
+                "panel": "dedicated",
+                "showReuseMessage": true,
+                "clear": true
+            }
+        },
+
+        {
+            "type": "cmake",
+            "label": "CMake: build freeRTOS_test",
+            "command": "build",
+            "targets": [
+                "freeRTOS_test"
+            ],
+            "options": {
+                "cwd": "${workspaceRoot}"
+            },
+            "group": "build",
+            "presentation": {
+                "echo": true,
+                "reveal": "always",
+                "focus": true,
+                "panel": "dedicated",
+                "showReuseMessage": true,
+                "clear": true
+            }
+        },
+        {
+            "type": "shell",
+            "label": "Pico: flash freeRTOS_test",
+            "command": [
+                "scripts/flash.exp",
+                "${workspaceRoot}/build/bin/freeRTOS_test.elf"
+            ],
+            "options": {
+                "cwd": "${workspaceRoot}"
+            },
+            "group": "test",
+
+            "dependsOn": ["CMake: build freeRTOS_test"],
+            "presentation": {
+                "echo": true,
+                "reveal": "always",
+                "focus": true,
+                "panel": "dedicated",
+                "showReuseMessage": true,
+                "clear": true
+            }
+        },
+
+
+        {
+            "type": "shell",
+            "label": "Pico: launch openocd",
+            "command": [
+                "scripts/launch_openocd.sh"
+            ],
+            "options": {
+                "cwd": "${workspaceRoot}"
+            },
+            "isBackground": true
+        },
+        {
+            "type": "cmake",
+            "label": "CMake: Clean",
+            "command": "clean"
+        },
+        {
+            "type": "cmake",
+            "label": "CMake: Clean Rebuild",
+            "command": "cleanRebuild"
+        },
+        {
+            "type": "cmake",
+            "label": "CMake: Configure",
+            "command": "configure"
+        },
+        {
+            "type": "shell",
+            "label": "Doxygen: Generate Docs",
+            "command": [
+                "doxygen ./docs/Doxyfile",
+            ],
+            "options": {
+                "cwd": "${workspaceRoot}"
+            }
+        }
+    ]
+}

motor-control/firmware/CMakeLists.txt

@@ -0,0 +1,76 @@
+cmake_minimum_required(VERSION 3.12)
+
+# Including the SDK (must be before project)
+
+if (NOT "$ENV{PICO_SDK_PATH_OVERRIDE}" STREQUAL "")
+    SET(PICO_SDK_PATH "$ENV{PICO_SDK_PATH_OVERRIDE}")
+else()
+    SET(PICO_SDK_PATH "${CMAKE_SOURCE_DIR}/lib/pico-sdk")
+endif()
+
+SET(PICO_TOOLCHAIN_PATH $PICO_SDK_PATH/cmake/preload/toolchains/)
+set(CMAKE_RUNTIME_OUTPUT_DIRECTORY "$<1:${CMAKE_BINARY_DIR}/bin>")
+
+include(${PICO_SDK_PATH}/pico_sdk_init.cmake)
+
+#include(pico_extras_import_optional.cmake)
+
+project(pico_examples C CXX ASM)
+set(CMAKE_C_STANDARD 23)
+set(CMAKE_CXX_STANDARD 23)
+
+if (PICO_SDK_VERSION_STRING VERSION_LESS "1.3.0")
+    message(FATAL_ERROR "Raspberry Pi Pico SDK version 1.3.0 (or later) required. Your version is ${PICO_SDK_VERSION_STRING}")
+endif()
+
+set(PICO_EXAMPLES_PATH ${PROJECT_SOURCE_DIR})
+
+# Initialize the SDK
+pico_sdk_init()
+
+include(example_auto_set_url.cmake)
+
+add_compile_options(-Wall
+        -Wno-format          # int != int32_t as far as the compiler is concerned because gcc has int32_t as long int
+        -Wno-unused-function # we have some for the docs that aren't called
+        )
+if (CMAKE_C_COMPILER_ID STREQUAL "GNU")
+    add_compile_options(-Wno-maybe-uninitialized)
+endif()
+
+# adding sources files & includes
+add_executable(main
+    src/main.cpp
+)
+
+target_include_directories(main PUBLIC 
+    include/
+)
+
+# Add FreeRTOS
+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)
+
+# pull in common dependencies
+target_link_libraries(main 
+    pico_stdlib 
+    pico_multicore
+    hardware_pio
+    hardware_dma
+    hardware_timer
+    FreeRTOS
+    EEPROMDriver
+)
+
+
+# create map/bin/hex file etc.
+pico_add_extra_outputs(main)
+
+# add url via pico_set_program_url
+example_auto_set_url(main)

motor-control/firmware/FreeRTOSConfig.h

@@ -0,0 +1,100 @@
+#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/Jenkinsfile

@@ -0,0 +1,106 @@
+pipeline {
+    agent none
+
+    stages {
+        stage('git checkout') {
+            agent {
+                label 'docker'
+            }
+            
+            steps {
+                git branch: 'firmware-dev',
+                    credentialsId: 'osci-rendering_github',
+                    url: 'git@github.com:AlexanderHD27/oscilloscope-drawing.git'
+                
+                sh 'git submodule update --init --recursive'
+                sh "ls -laF"
+                stash includes: "firmware/lib/doxygen-awesome-css/**", name: 'libs-doxygen' 
+            }
+        }
+        
+        stage('build build-container') {
+            agent {
+                label 'docker'
+            }
+            
+            steps {
+                sh 'docker build -t rpi_pico_build_container firmware/docker/'
+            }
+        }
+        
+        stage('build') {
+            parallel {
+                stage('build firmware') {
+                    agent {
+                        docker { 
+                            image 'rpi_pico_build_container'
+                            label 'docker'
+                            reuseNode true
+                        }
+                    }
+                    
+                    steps {
+                        script {
+                            env.PICO_SDK_PATH_OVERRIDE = sh(script: 'echo $PWD/firmware/lib/pico-sdk', returnStdout: true).trim()
+                        }
+                        
+                        dir('firmware/build') {
+                            sh 'echo building in $PWD'
+                            sh 'rm -rf *'
+                            sh 'echo PicoSDK path: $PICO_SDK_PATH_OVERRIDE'
+                            sh 'cmake ..'
+                            sh 'cmake --build . --config Debug'
+                            sh 'make -j4 all'                           
+                        }
+
+                        stash includes: "firmware/build/bin/*", name: 'binary'
+                    }
+                }
+                
+                stage('build docs') {
+                    agent {
+                        docker { 
+                            image 'rpi_pico_build_container'
+                            label 'docker'
+                            reuseNode true
+                        }
+                    }
+                    
+                    steps {
+                        unstash 'libs-doxygen'
+                        sh "doxygen firmware/docs/Doxyfile"
+                        stash includes: "firmware/docs/html/*", name: 'html-docs'
+                    }
+                }
+            }
+        }
+
+        stage('publish') {
+            parallel {
+                stage('publish docs') {
+                    agent {
+                        label 'cdc-deploy'
+                    }
+
+                    steps {
+                        sh 'rm -rf /www/projects/osci-rendering/docs/*'
+                        unstash 'html-docs'
+                        sh 'cp -r firmware/docs/html/* /www/projects/osci-rendering/docs'
+                    }
+                }
+
+                stage('publish binary') {
+                    agent {
+                        label 'cdc-deploy'
+                    }
+
+                    steps {
+                        sh 'rm -rf /www/projects/osci-rendering/bin/*'
+                        unstash 'binary'
+                        sh 'cp -r bin/* /www/projects/osci-rendering/bin'
+                    }
+                }
+            }
+        }
+    }
+}

motor-control/firmware/docker/Dockerfile

@@ -0,0 +1,8 @@
+FROM ubuntu:22.04
+
+RUN apt -y update
+RUN apt -y install build-essential gcc-arm-none-eabi doxygen cmake python3
+RUN mkdir /data
+
+WORKDIR /data
+

motor-control/firmware/docker/build_docs.sh

@@ -0,0 +1,3 @@
+#!/usr/bin/bash
+
+doxygen ./firmware/docs/Doxyfile

motor-control/firmware/docker/build_firmware.sh

@@ -0,0 +1,11 @@
+#!/usr/bin/bash
+
+cd ./firmware/build
+rm -rf *
+
+export PICO_SDK_PATH_OVERRIDE="/data/firmware/lib/pico-sdk"
+echo $PICO_SDK_PATH_OVERRIDE
+
+cmake ..
+cmake --build . --config Debug
+make -j4 all

motor-control/firmware/example_auto_set_url.cmake

@@ -0,0 +1,5 @@
+set(PICO_EXAMPLE_URL_BASE "https://github.com/raspberrypi/pico-examples/tree/HEAD")
+macro(example_auto_set_url TARGET)
+    file(RELATIVE_PATH URL_REL_PATH "${PICO_EXAMPLES_PATH}" "${CMAKE_CURRENT_LIST_DIR}")
+    pico_set_program_url(${TARGET} "${PICO_EXAMPLE_URL_BASE}/${URL_REL_PATH}")
+endmacro()

motor-control/firmware/freeRTOS.cmake

@@ -0,0 +1,13 @@
+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/
+)

motor-control/firmware/scripts/build.sh

@@ -0,0 +1,2 @@
+cd build
+make -j10

motor-control/firmware/scripts/build_and_flash.sh

@@ -0,0 +1,8 @@
+#!/usr/bin/bash
+
+if ! scripts/build.sh; then
+    exit
+else
+    scripts/flash.exp main.elf
+fi
+

motor-control/firmware/scripts/flash.exp

@@ -0,0 +1,21 @@
+#!/usr/bin/expect
+
+set timeout 30
+
+set input_file [lindex $argv 0]
+
+spawn telnet localhost 4444
+expect "> " 
+send "program $input_file verify\n"
+expect "** Programming Finished **"
+
+send "reset halt\n"
+expect "> "
+
+send "rp2040.core1 arp_reset assert 0\n"
+expect "> "
+send "rp2040.core0 arp_reset assert 0\n"
+expect "> "
+
+send "exit\n"
+exit

motor-control/firmware/scripts/flash_direct.sh

@@ -0,0 +1,3 @@
+#!/usr/bin/bash
+
+openocd -f interface/cmsis-dap.cfg -c "adapter speed 5000" -f target/rp2040.cfg -c "program $1 verify reset exit"

motor-control/firmware/scripts/launch_openocd.sh

@@ -0,0 +1,4 @@
+#!/usr/bin/bash
+
+sudo openocd -f interface/cmsis-dap.cfg -c "adapter speed 5000" -f target/rp2040.cfg
+

motor-control/firmware/scripts/launch_serial_monitor.sh

@@ -0,0 +1,2 @@
+#!/usr/bin/bash
+minicom -D $1

motor-control/firmware/scripts/reset.exp

@@ -0,0 +1,13 @@
+#!/usr/bin/expect
+
+set timeout 30
+
+set input_file [lindex $argv 0]
+
+spawn telnet localhost 4444
+
+expect "> "
+send "reset\n"
+expect "> "
+send "exit\n"
+exit

motor-control/firmware/src/main.cpp

@@ -0,0 +1,14 @@
+/**
+ * @file main.c
+ * @author AlexanderHD27
+ * @brief Main file of the RPi Pico Firmware for the Oscilloscope-Renderer
+ * @version 0.1
+ * @date 2024-02-15
+ * 
+ * @copyright Copyright (c) 2024
+ * 
+ */
+
+int main() {
+    
+}