Update PinConfig (BUild Board)
This commit is contained in:
AlexanderHD27
372
i2c-hub/circuit/.$I2CHubCircuit.drawio.bkp
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372
i2c-hub/circuit/.$I2CHubCircuit.drawio.bkp
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372
i2c-hub/circuit/I2CHubCircuit.drawio
Normal file
372
i2c-hub/circuit/I2CHubCircuit.drawio
Normal file
@@ -0,0 +1,372 @@
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||||||
|
<mxPoint x="430" y="180" />
|
||||||
|
</Array>
|
||||||
|
</mxGeometry>
|
||||||
|
</mxCell>
|
||||||
|
<mxCell id="3qXY1K8jvDizOHU8Sasa-63" value="RX" style="text;html=1;align=center;verticalAlign=middle;whiteSpace=wrap;rounded=0;" vertex="1" parent="1">
|
||||||
|
<mxGeometry x="440" y="60" width="20" height="20" as="geometry" />
|
||||||
|
</mxCell>
|
||||||
|
<mxCell id="3qXY1K8jvDizOHU8Sasa-64" value="TX" style="text;html=1;align=center;verticalAlign=middle;whiteSpace=wrap;rounded=0;" vertex="1" parent="1">
|
||||||
|
<mxGeometry x="420" y="60" width="20" height="20" as="geometry" />
|
||||||
|
</mxCell>
|
||||||
|
<mxCell id="3qXY1K8jvDizOHU8Sasa-66" style="edgeStyle=orthogonalEdgeStyle;rounded=0;orthogonalLoop=1;jettySize=auto;html=1;startArrow=classic;startFill=1;endArrow=none;endFill=0;" edge="1" parent="1" source="3qXY1K8jvDizOHU8Sasa-65">
|
||||||
|
<mxGeometry relative="1" as="geometry">
|
||||||
|
<mxPoint x="719.9999999999998" y="450" as="targetPoint" />
|
||||||
|
<Array as="points">
|
||||||
|
<mxPoint x="720" y="500" />
|
||||||
|
</Array>
|
||||||
|
</mxGeometry>
|
||||||
|
</mxCell>
|
||||||
|
<mxCell id="3qXY1K8jvDizOHU8Sasa-65" value="LED" style="ellipse;whiteSpace=wrap;html=1;aspect=fixed;" vertex="1" parent="1">
|
||||||
|
<mxGeometry x="760" y="480" width="40" height="40" as="geometry" />
|
||||||
|
</mxCell>
|
||||||
|
<mxCell id="3qXY1K8jvDizOHU8Sasa-75" style="edgeStyle=orthogonalEdgeStyle;rounded=0;orthogonalLoop=1;jettySize=auto;html=1;" edge="1" parent="1" source="3qXY1K8jvDizOHU8Sasa-68">
|
||||||
|
<mxGeometry relative="1" as="geometry">
|
||||||
|
<mxPoint x="720" y="200" as="targetPoint" />
|
||||||
|
<Array as="points">
|
||||||
|
<mxPoint x="830" y="160" />
|
||||||
|
<mxPoint x="830" y="200" />
|
||||||
|
</Array>
|
||||||
|
</mxGeometry>
|
||||||
|
</mxCell>
|
||||||
|
<mxCell id="3qXY1K8jvDizOHU8Sasa-68" value="O" style="rounded=0;whiteSpace=wrap;html=1;" vertex="1" parent="1">
|
||||||
|
<mxGeometry x="880" y="150" width="20" height="20" as="geometry" />
|
||||||
|
</mxCell>
|
||||||
|
<mxCell id="3qXY1K8jvDizOHU8Sasa-76" style="edgeStyle=orthogonalEdgeStyle;rounded=0;orthogonalLoop=1;jettySize=auto;html=1;exitX=0;exitY=0.5;exitDx=0;exitDy=0;" edge="1" parent="1" source="3qXY1K8jvDizOHU8Sasa-69">
|
||||||
|
<mxGeometry relative="1" as="geometry">
|
||||||
|
<mxPoint x="720" y="180" as="targetPoint" />
|
||||||
|
<Array as="points">
|
||||||
|
<mxPoint x="880" y="180" />
|
||||||
|
</Array>
|
||||||
|
</mxGeometry>
|
||||||
|
</mxCell>
|
||||||
|
<mxCell id="3qXY1K8jvDizOHU8Sasa-69" value="O" style="rounded=0;whiteSpace=wrap;html=1;" vertex="1" parent="1">
|
||||||
|
<mxGeometry x="880" y="170" width="20" height="20" as="geometry" />
|
||||||
|
</mxCell>
|
||||||
|
<mxCell id="3qXY1K8jvDizOHU8Sasa-72" value="GND" style="text;html=1;align=center;verticalAlign=middle;whiteSpace=wrap;rounded=0;" vertex="1" parent="1">
|
||||||
|
<mxGeometry x="900" y="150" width="40" height="20" as="geometry" />
|
||||||
|
</mxCell>
|
||||||
|
<mxCell id="3qXY1K8jvDizOHU8Sasa-74" value="5V+" style="text;html=1;align=center;verticalAlign=middle;whiteSpace=wrap;rounded=0;" vertex="1" parent="1">
|
||||||
|
<mxGeometry x="900" y="170" width="40" height="20" as="geometry" />
|
||||||
|
</mxCell>
|
||||||
|
<mxCell id="3qXY1K8jvDizOHU8Sasa-78" style="edgeStyle=orthogonalEdgeStyle;rounded=0;orthogonalLoop=1;jettySize=auto;html=1;" edge="1" parent="1" source="3qXY1K8jvDizOHU8Sasa-77">
|
||||||
|
<mxGeometry relative="1" as="geometry">
|
||||||
|
<mxPoint x="320" y="540" as="targetPoint" />
|
||||||
|
<Array as="points">
|
||||||
|
<mxPoint x="321" y="505" />
|
||||||
|
<mxPoint x="321" y="540" />
|
||||||
|
</Array>
|
||||||
|
</mxGeometry>
|
||||||
|
</mxCell>
|
||||||
|
<mxCell id="3qXY1K8jvDizOHU8Sasa-77" value="3V&nbsp;" style="text;html=1;align=center;verticalAlign=middle;whiteSpace=wrap;rounded=0;" vertex="1" parent="1">
|
||||||
|
<mxGeometry x="400" y="490" width="60" height="30" as="geometry" />
|
||||||
|
</mxCell>
|
||||||
|
</root>
|
||||||
|
</mxGraphModel>
|
||||||
|
</diagram>
|
||||||
|
</mxfile>
|
||||||
@@ -1,6 +1,6 @@
|
|||||||
<mxfile host="Electron" agent="Mozilla/5.0 (X11; Linux x86_64) AppleWebKit/537.36 (KHTML, like Gecko) draw.io/25.0.1 Chrome/128.0.6613.186 Electron/32.2.6 Safari/537.36" version="25.0.1">
|
<mxfile host="Electron" agent="Mozilla/5.0 (X11; Linux x86_64) AppleWebKit/537.36 (KHTML, like Gecko) draw.io/25.0.1 Chrome/128.0.6613.186 Electron/32.2.6 Safari/537.36" version="25.0.1">
|
||||||
<diagram name="Page-1" id="VLDBnTalcAr4j7jpmEzg">
|
<diagram name="Page-1" id="VLDBnTalcAr4j7jpmEzg">
|
||||||
<mxGraphModel dx="2390" dy="1450" grid="1" gridSize="10" guides="1" tooltips="1" connect="1" arrows="1" fold="1" page="1" pageScale="1" pageWidth="1169" pageHeight="827" math="0" shadow="0">
|
<mxGraphModel dx="478" dy="290" grid="1" gridSize="10" guides="1" tooltips="1" connect="1" arrows="1" fold="1" page="1" pageScale="1" pageWidth="1169" pageHeight="827" math="0" shadow="0">
|
||||||
<root>
|
<root>
|
||||||
<mxCell id="0" />
|
<mxCell id="0" />
|
||||||
<mxCell id="1" parent="0" />
|
<mxCell id="1" parent="0" />
|
||||||
@@ -1446,6 +1446,27 @@
|
|||||||
<mxCell id="weFQkCekfF49Ojb9-c9R-522" value="<div style="color: rgb(204, 204, 204); background-color: rgb(31, 31, 31); font-family: &quot;Droid Sans Mono&quot;, &quot;monospace&quot;, monospace; font-size: 14px; line-height: 19px; white-space: pre;"><div style="line-height: 19px;"><div style="line-height: 19px;"><span style="color: #dcdcaa;">send</span></div></div></div>" style="rounded=1;whiteSpace=wrap;html=1;" vertex="1" parent="1">
|
<mxCell id="weFQkCekfF49Ojb9-c9R-522" value="<div style="color: rgb(204, 204, 204); background-color: rgb(31, 31, 31); font-family: &quot;Droid Sans Mono&quot;, &quot;monospace&quot;, monospace; font-size: 14px; line-height: 19px; white-space: pre;"><div style="line-height: 19px;"><div style="line-height: 19px;"><span style="color: #dcdcaa;">send</span></div></div></div>" style="rounded=1;whiteSpace=wrap;html=1;" vertex="1" parent="1">
|
||||||
<mxGeometry x="1470" y="2320" width="113.71" height="40" as="geometry" />
|
<mxGeometry x="1470" y="2320" width="113.71" height="40" as="geometry" />
|
||||||
</mxCell>
|
</mxCell>
|
||||||
|
<mxCell id="weFQkCekfF49Ojb9-c9R-526" value="Sucess TX" style="text;html=1;align=center;verticalAlign=middle;whiteSpace=wrap;rounded=0;" vertex="1" parent="1">
|
||||||
|
<mxGeometry x="1123.8300000000002" y="1436.41" width="80" height="21" as="geometry" />
|
||||||
|
</mxCell>
|
||||||
|
<mxCell id="weFQkCekfF49Ojb9-c9R-527" value="0xfc" style="rounded=0;whiteSpace=wrap;html=1;" vertex="1" parent="1">
|
||||||
|
<mxGeometry x="1203.4599999999998" y="1437.41" width="79.66" height="20" as="geometry" />
|
||||||
|
</mxCell>
|
||||||
|
<mxCell id="weFQkCekfF49Ojb9-c9R-528" value="size" style="rounded=0;whiteSpace=wrap;html=1;" vertex="1" parent="1">
|
||||||
|
<mxGeometry x="1283.32" y="1437.41" width="80.95" height="20" as="geometry" />
|
||||||
|
</mxCell>
|
||||||
|
<mxCell id="weFQkCekfF49Ojb9-c9R-529" value="1" style="text;html=1;align=center;verticalAlign=middle;whiteSpace=wrap;rounded=0;" vertex="1" parent="1">
|
||||||
|
<mxGeometry x="1201.8300000000004" y="1421" width="79.66" height="20" as="geometry" />
|
||||||
|
</mxCell>
|
||||||
|
<mxCell id="weFQkCekfF49Ojb9-c9R-530" value="1" style="text;html=1;align=center;verticalAlign=middle;whiteSpace=wrap;rounded=0;" vertex="1" parent="1">
|
||||||
|
<mxGeometry x="1281.8900000000006" y="1422" width="79.66" height="20" as="geometry" />
|
||||||
|
</mxCell>
|
||||||
|
<mxCell id="weFQkCekfF49Ojb9-c9R-531" value="Address" style="rounded=0;whiteSpace=wrap;html=1;" vertex="1" parent="1">
|
||||||
|
<mxGeometry x="1363.4399999999996" y="1437.41" width="160" height="20" as="geometry" />
|
||||||
|
</mxCell>
|
||||||
|
<mxCell id="weFQkCekfF49Ojb9-c9R-532" value="4" style="text;html=1;align=center;verticalAlign=middle;whiteSpace=wrap;rounded=0;" vertex="1" parent="1">
|
||||||
|
<mxGeometry x="1364.27" y="1422" width="160" height="20" as="geometry" />
|
||||||
|
</mxCell>
|
||||||
</root>
|
</root>
|
||||||
</mxGraphModel>
|
</mxGraphModel>
|
||||||
</diagram>
|
</diagram>
|
||||||
|
|||||||
1479
i2c-hub/firmware/i2c-hub-firmware/docs/.$NetworkStack.drawio.dtmp
Normal file
1479
i2c-hub/firmware/i2c-hub-firmware/docs/.$NetworkStack.drawio.dtmp
Normal file
File diff suppressed because it is too large
Load Diff
@@ -1,6 +1,6 @@
|
|||||||
<mxfile host="Electron" agent="Mozilla/5.0 (X11; Linux x86_64) AppleWebKit/537.36 (KHTML, like Gecko) draw.io/25.0.1 Chrome/128.0.6613.186 Electron/32.2.6 Safari/537.36" version="25.0.1">
|
<mxfile host="Electron" agent="Mozilla/5.0 (X11; Linux x86_64) AppleWebKit/537.36 (KHTML, like Gecko) draw.io/25.0.1 Chrome/128.0.6613.186 Electron/32.2.6 Safari/537.36" version="25.0.1">
|
||||||
<diagram name="Page-1" id="VLDBnTalcAr4j7jpmEzg">
|
<diagram name="Page-1" id="VLDBnTalcAr4j7jpmEzg">
|
||||||
<mxGraphModel dx="478" dy="290" grid="1" gridSize="10" guides="1" tooltips="1" connect="1" arrows="1" fold="1" page="1" pageScale="1" pageWidth="1169" pageHeight="827" math="0" shadow="0">
|
<mxGraphModel dx="2868" dy="1740" grid="1" gridSize="10" guides="1" tooltips="1" connect="1" arrows="1" fold="1" page="1" pageScale="1" pageWidth="1169" pageHeight="827" math="0" shadow="0">
|
||||||
<root>
|
<root>
|
||||||
<mxCell id="0" />
|
<mxCell id="0" />
|
||||||
<mxCell id="1" parent="0" />
|
<mxCell id="1" parent="0" />
|
||||||
@@ -1235,6 +1235,9 @@
|
|||||||
<mxPoint as="offset" />
|
<mxPoint as="offset" />
|
||||||
</mxGeometry>
|
</mxGeometry>
|
||||||
</mxCell>
|
</mxCell>
|
||||||
|
<mxCell id="weFQkCekfF49Ojb9-c9R-536" style="edgeStyle=orthogonalEdgeStyle;rounded=0;orthogonalLoop=1;jettySize=auto;html=1;" edge="1" parent="1" source="weFQkCekfF49Ojb9-c9R-440" target="weFQkCekfF49Ojb9-c9R-535">
|
||||||
|
<mxGeometry relative="1" as="geometry" />
|
||||||
|
</mxCell>
|
||||||
<mxCell id="weFQkCekfF49Ojb9-c9R-440" value="i2cMutex" style="shape=hexagon;perimeter=hexagonPerimeter2;whiteSpace=wrap;html=1;fixedSize=1;size=10;" vertex="1" parent="1">
|
<mxCell id="weFQkCekfF49Ojb9-c9R-440" value="i2cMutex" style="shape=hexagon;perimeter=hexagonPerimeter2;whiteSpace=wrap;html=1;fixedSize=1;size=10;" vertex="1" parent="1">
|
||||||
<mxGeometry x="2880" y="2078" width="70" height="40" as="geometry" />
|
<mxGeometry x="2880" y="2078" width="70" height="40" as="geometry" />
|
||||||
</mxCell>
|
</mxCell>
|
||||||
@@ -1467,6 +1470,9 @@
|
|||||||
<mxCell id="weFQkCekfF49Ojb9-c9R-532" value="4" style="text;html=1;align=center;verticalAlign=middle;whiteSpace=wrap;rounded=0;" vertex="1" parent="1">
|
<mxCell id="weFQkCekfF49Ojb9-c9R-532" value="4" style="text;html=1;align=center;verticalAlign=middle;whiteSpace=wrap;rounded=0;" vertex="1" parent="1">
|
||||||
<mxGeometry x="1364.27" y="1422" width="160" height="20" as="geometry" />
|
<mxGeometry x="1364.27" y="1422" width="160" height="20" as="geometry" />
|
||||||
</mxCell>
|
</mxCell>
|
||||||
|
<mxCell id="weFQkCekfF49Ojb9-c9R-535" value="i2cMutex" style="shape=hexagon;perimeter=hexagonPerimeter2;whiteSpace=wrap;html=1;fixedSize=1;size=10;" vertex="1" parent="1">
|
||||||
|
<mxGeometry x="2595" y="2060" width="70" height="40" as="geometry" />
|
||||||
|
</mxCell>
|
||||||
</root>
|
</root>
|
||||||
</mxGraphModel>
|
</mxGraphModel>
|
||||||
</diagram>
|
</diagram>
|
||||||
|
|||||||
@@ -1,5 +1,9 @@
|
|||||||
#pragma once
|
#pragma once
|
||||||
|
|
||||||
|
#define LED1_PIN 8
|
||||||
|
#define LED2_PIN 9
|
||||||
|
#define LED3_PIN 25
|
||||||
|
|
||||||
#define GOBOTRPC_CI_UART_RX 0
|
#define GOBOTRPC_CI_UART_RX 0
|
||||||
#define GOBOTRPC_CI_UART_TX 1
|
#define GOBOTRPC_CI_UART_TX 1
|
||||||
|
|
||||||
@@ -9,7 +13,7 @@
|
|||||||
|
|
||||||
#define GOBOTRPC_TI_INT_PIN_START 10
|
#define GOBOTRPC_TI_INT_PIN_START 10
|
||||||
#define GOBOTRPC_TI_INT_NUM 4
|
#define GOBOTRPC_TI_INT_NUM 4
|
||||||
#define GOBOTRPC_TI_COMBINED_INT_PIN 2
|
#define GOBOTRPC_TI_COMBINED_INT_PIN 18
|
||||||
|
|
||||||
#define GOBOTRPC_TI_EXTERNAL_PULLUP 0
|
#define GOBOTRPC_TI_EXTERNAL_PULLUP 0
|
||||||
|
|
||||||
|
|||||||
@@ -20,7 +20,7 @@ void GobotRPC_TI_Hardware_RP2040_I2C::i2cTxTask() {
|
|||||||
unsigned int res = i2c_write_burst_blocking(i2c, pkg.addr & 0x7f, (uint8_t *)(&pkg.data), pkg.len);
|
unsigned int res = i2c_write_burst_blocking(i2c, pkg.addr & 0x7f, (uint8_t *)(&pkg.data), pkg.len);
|
||||||
xSemaphoreGive(i2cMutex);
|
xSemaphoreGive(i2cMutex);
|
||||||
|
|
||||||
if(res != PICO_ERROR_GENERIC) {
|
if(res == PICO_ERROR_GENERIC) {
|
||||||
raiseTranmissionError(false, pkg.addr);
|
raiseTranmissionError(false, pkg.addr);
|
||||||
} else {
|
} else {
|
||||||
raiseTransmissionSuceess(pkg.addr);
|
raiseTransmissionSuceess(pkg.addr);
|
||||||
|
|||||||
BIN
i2c-hub/uart-adapter/src/main.py
(Stored with Git LFS)
BIN
i2c-hub/uart-adapter/src/main.py
(Stored with Git LFS)
Binary file not shown.
@@ -9,30 +9,46 @@ void waitForUserInput() {
|
|||||||
}
|
}
|
||||||
|
|
||||||
void performGridCall(CoreXYMaschine * machine) {
|
void performGridCall(CoreXYMaschine * machine) {
|
||||||
MotorPosition p0;
|
|
||||||
MotorPosition p1;
|
|
||||||
|
|
||||||
machine->homeFast(&p0, false);
|
while (true) {
|
||||||
printf("First Position\n");
|
|
||||||
machine->setMotorEnabled(false);
|
|
||||||
waitForUserInput();
|
|
||||||
machine->setMotorEnabled(true);
|
|
||||||
machine->homeFast(&p0, false);
|
|
||||||
|
|
||||||
printf("Second Position\n");
|
MotorPosition p0 = {.x=1296, .y=1802};
|
||||||
machine->setMotorEnabled(false);
|
MotorPosition p1 = {.x=16696, .y=18722};
|
||||||
waitForUserInput();
|
|
||||||
machine->setMotorEnabled(true);
|
|
||||||
machine->homeFast(&p1, false);
|
|
||||||
|
|
||||||
printf("First Position: %d, %d\n", p0.x, p0.y);
|
// machine->homeFast(&p0, false);
|
||||||
printf("Second Position: %d, %d\n", p1.x, p1.y);
|
// printf("First Position\n");
|
||||||
|
// machine->setMotorEnabled(false);
|
||||||
|
// waitForUserInput();
|
||||||
|
// machine->setMotorEnabled(true);
|
||||||
|
// machine->homeFast(&p0, false);
|
||||||
|
//
|
||||||
|
// printf("Second Position\n");
|
||||||
|
// machine->setMotorEnabled(false);
|
||||||
|
// waitForUserInput();
|
||||||
|
// machine->setMotorEnabled(true);
|
||||||
|
// machine->homeFast(&p1, false);
|
||||||
|
//
|
||||||
|
// printf("First Position: %d, %d\n", p0.x, p0.y);
|
||||||
|
// printf("Second Position: %d, %d\n", p1.x, p1.y);
|
||||||
|
//
|
||||||
|
BoardMessurements messurements = calcBoardMessurements(p0, p1, 19, 19);
|
||||||
|
machine->setBoardMessurements(messurements);
|
||||||
|
printf("Hi!\n");
|
||||||
|
machine->home(NULL);
|
||||||
|
waitForUserInput();
|
||||||
|
machine->gotoPosition(10, 9);
|
||||||
|
waitForUserInput();
|
||||||
|
machine->gotoPosition(9, 10);
|
||||||
|
waitForUserInput();
|
||||||
|
machine->gotoPosition(8, 9);
|
||||||
|
waitForUserInput();
|
||||||
|
machine->gotoPosition(9, 8);
|
||||||
|
waitForUserInput();
|
||||||
|
machine->gotoPosition(10, 7);
|
||||||
|
waitForUserInput();
|
||||||
|
machine->home(NULL);
|
||||||
|
}
|
||||||
|
|
||||||
BoardMessurements messurements = calcBoardMessurements(p0, p1, 19, 19);
|
|
||||||
machine->setBoardMessurements(messurements);
|
|
||||||
|
|
||||||
machine->gotoPosition(15, 15);
|
|
||||||
vTaskDelay(100 / portTICK_PERIOD_MS);
|
|
||||||
//machine->gotoPosition(7, 6);
|
//machine->gotoPosition(7, 6);
|
||||||
|
|
||||||
//for(int i = 0; i < 19; i++) {
|
//for(int i = 0; i < 19; i++) {
|
||||||
|
|||||||
@@ -15,14 +15,25 @@ void vMainTask(void *pvParameters) {
|
|||||||
|
|
||||||
headSystem->setHeadUp(true);
|
headSystem->setHeadUp(true);
|
||||||
|
|
||||||
|
unsigned int counter = 0;
|
||||||
|
|
||||||
while (1) {
|
while (1) {
|
||||||
buttonState = !gpio_get(BUTTON_PIN);
|
buttonState = !gpio_get(BUTTON_PIN);
|
||||||
|
|
||||||
if(buttonState) {
|
if(buttonState && counter == 4) {
|
||||||
|
headSystem->setHeadUp(false);
|
||||||
|
} else if(buttonState && counter == 5) {
|
||||||
|
headSystem->setHeadUp(true);
|
||||||
|
} else if(buttonState) {
|
||||||
STONE_STATE s = headSystem->dropSequence();
|
STONE_STATE s = headSystem->dropSequence();
|
||||||
printf("Stone dropped: %d\n", s);
|
printf("Stone dropped: %d\n", s);
|
||||||
}
|
}
|
||||||
|
|
||||||
|
if(buttonState) {
|
||||||
|
printf("Counter: %d\n", counter);
|
||||||
|
counter = (counter + 1) % 6;
|
||||||
|
}
|
||||||
|
|
||||||
buttonLastState = buttonState;
|
buttonLastState = buttonState;
|
||||||
vTaskDelay(pdMS_TO_TICKS(100));
|
vTaskDelay(pdMS_TO_TICKS(100));
|
||||||
}
|
}
|
||||||
|
|||||||
Reference in New Issue
Block a user