Implement I2C
This commit is contained in:
AlexanderHD27
@@ -41,7 +41,8 @@ pico_sdk_init()
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# Add executable. Default name is the project name, version 0.1
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add_executable(i2c-hub-firmware
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src/main.cpp
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src/main_core0.cpp
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src/main_core1.cpp
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#src/freeRTOS_impl.c
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)
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@@ -72,8 +72,8 @@
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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 (1024 * 64)
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#define configAPPLICATION_ALLOCATED_HEAP (1024 * 32)
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#define configTOTAL_HEAP_SIZE (1024 * 128)
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#define configAPPLICATION_ALLOCATED_HEAP (1024 * 64)
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/* Hook function related definitions. */
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#define configCHECK_FOR_STACK_OVERFLOW 0
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@@ -1,14 +1,17 @@
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@@ -1,13 +1,20 @@
|
||||
add_library(GobotRPC STATIC
|
||||
${CMAKE_CURRENT_LIST_DIR}/../ctrl_interface/base.cpp
|
||||
${CMAKE_CURRENT_LIST_DIR}/../ctrl_interface/ci_instruction.cpp
|
||||
${CMAKE_CURRENT_LIST_DIR}/../ctrl_interface/uart_rp2040/hardware_rp2040_uart.cpp
|
||||
${CMAKE_CURRENT_LIST_DIR}/../ctrl_interface/uart_rp2040/rx.cpp
|
||||
${CMAKE_CURRENT_LIST_DIR}/../crc16.cpp
|
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${CMAKE_CURRENT_LIST_DIR}/../protocol_base.cpp
|
||||
${CMAKE_CURRENT_LIST_DIR}/../transmission_interface/rp2040_i2c_init.cpp
|
||||
${CMAKE_CURRENT_LIST_DIR}/../transmission_interface/rp2040_i2c_tx.cpp
|
||||
${CMAKE_CURRENT_LIST_DIR}/../transmission_interface/rp2040_i2c_rx.cpp
|
||||
${CMAKE_CURRENT_LIST_DIR}/../transmission_interface/rp2040_i2c_int.cpp
|
||||
${CMAKE_CURRENT_LIST_DIR}/../transmission_interface/rp2040_i2c_ci_instructions.cpp
|
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)
|
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|
||||
target_include_directories(GobotRPC PUBLIC
|
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${CMAKE_CURRENT_LIST_DIR}/../include
|
||||
${CMAKE_CURRENT_LIST_DIR}/../include/ti
|
||||
${CMAKE_CURRENT_LIST_DIR}/../../..
|
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)
|
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|
||||
@@ -16,4 +23,5 @@ target_link_libraries(GobotRPC
|
||||
pico_stdlib
|
||||
hardware_uart
|
||||
hardware_irq
|
||||
hardware_i2c
|
||||
)
|
||||
@@ -6,11 +6,14 @@
|
||||
#include "task.h"
|
||||
|
||||
|
||||
GobotRPC_CI::GobotRPC_CI(I_GobotRPC_CI_Hardware *hardware, UBaseType_t core) {
|
||||
GobotRPC_CI::GobotRPC_CI(I_GobotRPC_CI_Hardware *hardware, UBaseType_t core, QueueHandle_t ciInstructionQueue) {
|
||||
this->ciInstructionQueue = ciInstructionQueue;
|
||||
|
||||
this->hardware = hardware;
|
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this->hardware->registerCB_RxData(GobotRPC_CI_rxData_cb, this);
|
||||
|
||||
xTaskCreateAffinitySet(GobotRPC_CI_heartBeatTaskFn, "Heartbeat Task", 2048, this, 2, core, &this->heartBeatTaskHandle);
|
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xTaskCreateAffinitySet(GobotRPC_CI_txCIInstructionTaskFn, "Tx CI Instruction Task", 2048, this, 3, core, &this->txCIInstructionTaskHandle);
|
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}
|
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|
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// Rx Side
|
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@@ -59,9 +62,23 @@ void GobotRPC_CI_heartBeatTaskFn(void *args) {
|
||||
}
|
||||
|
||||
void GobotRPC_CI::heartBeartTaskFn() {
|
||||
char heartBeatPacket[] = {0xff, 0x02};
|
||||
char heartBeatPacket[] = {HEARTBEAT, 0x02};
|
||||
while(1) {
|
||||
this->hardware->send(heartBeatPacket, 2);
|
||||
vTaskDelay(GOBOTRPC_HEARTBEAT_INTERVAL / portTICK_PERIOD_MS);
|
||||
}
|
||||
}
|
||||
|
||||
void GobotRPC_CI::send_ErrorTransmission(bool rx, uint64_t addr) {
|
||||
char errorPacket[7];
|
||||
|
||||
errorPacket[0] = ERROR_TRANMISSION;
|
||||
errorPacket[1] = 7;
|
||||
errorPacket[2] = rx ? 0x01 : 0x00;
|
||||
errorPacket[3] = (addr >> 24) & 0xff;
|
||||
errorPacket[4] = (addr >> 16) & 0xff;
|
||||
errorPacket[5] = (addr >> 8) & 0xff;
|
||||
errorPacket[6] = addr & 0xff;
|
||||
|
||||
this->hardware->send(errorPacket, 7);
|
||||
}
|
||||
@@ -0,0 +1,27 @@
|
||||
#include "ctrl_interface.hpp"
|
||||
|
||||
#include "ctrl_interface_instructions.hpp"
|
||||
|
||||
#include "FreeRTOS.h"
|
||||
#include "task.h"
|
||||
#include "queue.h"
|
||||
|
||||
void GobotRPC_CI_txCIInstructionTaskFn(void *args) {
|
||||
GobotRPC_CI *gobotRPC = (GobotRPC_CI *)args;
|
||||
gobotRPC->txCIInstructionTask();
|
||||
}
|
||||
|
||||
void GobotRPC_CI::txCIInstructionTask() {
|
||||
while(1) {
|
||||
CI_Instruction_Transport ciInstruction;
|
||||
xQueueReceive(ciInstructionQueue, &ciInstruction, portMAX_DELAY);
|
||||
|
||||
switch (ciInstruction.type) {
|
||||
case CI_INSTRUCTION_SEND_TRANMISSION_ERROR:
|
||||
uint32_t addr = ciInstruction.data[1] | (ciInstruction.data[2] << 8) | (ciInstruction.data[3] << 16) | (ciInstruction.data[4] << 24);
|
||||
uint8_t rx = ciInstruction.data[0];
|
||||
send_ErrorTransmission(rx, addr);
|
||||
break;
|
||||
}
|
||||
}
|
||||
}
|
||||
@@ -18,7 +18,7 @@ GobotRPC_CI_Hardware_RP2040_UART::GobotRPC_CI_Hardware_RP2040_UART(uart_inst_t *
|
||||
|
||||
initRxTaskAndQueues();
|
||||
|
||||
txMutex = xSemaphoreCreateMutex();
|
||||
uartTxMutex = xSemaphoreCreateMutex();
|
||||
|
||||
this->uart = uart;
|
||||
uart_init(this->uart, baudrate);
|
||||
@@ -47,8 +47,8 @@ void GobotRPC_CI_Hardware_RP2040_UART::registerCB_RxData(callback_rxData cb, voi
|
||||
|
||||
// Sending data
|
||||
void GobotRPC_CI_Hardware_RP2040_UART::send(char *data, size_t len) {
|
||||
xSemaphoreTake(txMutex, portMAX_DELAY);
|
||||
xSemaphoreTake(uartTxMutex, portMAX_DELAY);
|
||||
uart_write_blocking(this->uart, (uint8_t *)(data), len);
|
||||
uart_tx_wait_blocking(this->uart);
|
||||
xSemaphoreGive(txMutex);
|
||||
xSemaphoreGive(uartTxMutex);
|
||||
}
|
||||
|
||||
@@ -7,6 +7,8 @@ enum GobotRPC_CI_CMD {
|
||||
RX_CI_PACKET = 0x02,
|
||||
PERFORM_SCAN_CI_PACKET = 0x03,
|
||||
SCAN_RESULT_CI_PACKET = 0x04,
|
||||
ERROR_TRANMISSION = 0xfd,
|
||||
HEARTBEAT = 0xff
|
||||
};
|
||||
|
||||
#define CI_TX_PACKAGE_DATA_OFFSET 6
|
||||
@@ -18,6 +20,7 @@ enum GobotRPC_CI_CMD {
|
||||
typedef void (*callback_TxPacket)(void * args, char *data, size_t len, uint32_t addr);
|
||||
void GobotRPC_CI_rxData_cb(void * args, char *data, size_t len);
|
||||
void GobotRPC_CI_heartBeatTaskFn(void *args);
|
||||
void GobotRPC_CI_txCIInstructionTaskFn(void *args);
|
||||
|
||||
class GobotRPC_CI {
|
||||
private:
|
||||
@@ -27,9 +30,11 @@ private:
|
||||
void * cb_TxPacket_args;
|
||||
|
||||
TaskHandle_t heartBeatTaskHandle;
|
||||
TaskHandle_t txCIInstructionTaskHandle;
|
||||
|
||||
QueueHandle_t ciInstructionQueue;
|
||||
public:
|
||||
GobotRPC_CI(I_GobotRPC_CI_Hardware *hardware, UBaseType_t core);
|
||||
GobotRPC_CI(I_GobotRPC_CI_Hardware *hardware, UBaseType_t core, QueueHandle_t ciInstructionQueue);
|
||||
|
||||
void registerCB_TxPacket(callback_TxPacket cb, void *args);
|
||||
void send_RxPacket(char *data, size_t len, uint32_t addr);
|
||||
@@ -37,4 +42,8 @@ public:
|
||||
void onRxData(char *data, size_t len);
|
||||
|
||||
void heartBeartTaskFn();
|
||||
|
||||
// CI Instruction Stuff
|
||||
void txCIInstructionTask();
|
||||
void send_ErrorTransmission(bool rx, uint64_t addr);
|
||||
};
|
||||
@@ -53,7 +53,7 @@ private:
|
||||
callback_rxData cb_rxData;
|
||||
void * cb_rxData_args;
|
||||
|
||||
SemaphoreHandle_t txMutex;
|
||||
SemaphoreHandle_t uartTxMutex;
|
||||
|
||||
UBaseType_t core;
|
||||
|
||||
|
||||
@@ -0,0 +1,14 @@
|
||||
enum CI_Instruction_Type {
|
||||
CI_INSTRUCTION_SEND_TRANMISSION_ERROR
|
||||
};
|
||||
|
||||
struct CI_Instruction_Transport {
|
||||
CI_Instruction_Type type;
|
||||
uint32_t addr;
|
||||
char data[16];
|
||||
};
|
||||
|
||||
struct CI_Instruction_Data_SEND_TRANMISSION_ERROR {
|
||||
bool rx;
|
||||
uint32_t addr;
|
||||
};
|
||||
@@ -0,0 +1,14 @@
|
||||
#pragma once
|
||||
|
||||
#include "FreeRTOSConfig.h"
|
||||
#include "FreeRTOS.h"
|
||||
#include "task.h"
|
||||
#include "queue.h"
|
||||
|
||||
struct AppData {
|
||||
QueueHandle_t txQueue;
|
||||
QueueHandle_t rxQueue;
|
||||
QueueHandle_t ciInstructionQueue;
|
||||
};
|
||||
|
||||
void main_core2(void * pvParameters);
|
||||
@@ -3,4 +3,17 @@
|
||||
#define GOBOTRPC_CI_UART_RX 0
|
||||
#define GOBOTRPC_CI_UART_TX 1
|
||||
|
||||
#define GOBOTRPC_HEARTBEAT_INTERVAL 3000
|
||||
#define GOBOTRPC_TI_I2C_SDA 4
|
||||
#define GOBOTRPC_TI_I2C_SCL 5
|
||||
#define GOBOTRPC_TI_CLOCK_SPEED 10000
|
||||
|
||||
#define GOBOTRPC_TI_INT_PIN_START 10
|
||||
#define GOBOTRPC_TI_INT_NUM 4
|
||||
#define GOBOTRPC_TI_COMBINED_INT_PIN 2
|
||||
|
||||
#define GOBOTRPC_TI_EXTERNAL_PULLUP 0
|
||||
|
||||
#define GOBOTRPC_HEARTBEAT_INTERVAL 3000
|
||||
|
||||
#define UART_CORE_MASK 0b01
|
||||
#define I2C_CORE_MASK 0b10
|
||||
@@ -0,0 +1,83 @@
|
||||
#pragma once
|
||||
|
||||
#include "FreeRTOS.h"
|
||||
#include "task.h"
|
||||
#include "semphr.h"
|
||||
|
||||
#include <stdint.h>
|
||||
#include <strings.h>
|
||||
|
||||
#include "pico/stdlib.h"
|
||||
#include "hardware/i2c.h"
|
||||
|
||||
#include "pinConfig.hpp"
|
||||
|
||||
#include "ctrl_interface_instructions.hpp"
|
||||
|
||||
struct GoRPCPackage_Transport {
|
||||
uint32_t addr;
|
||||
uint32_t len;
|
||||
char data[256];
|
||||
};
|
||||
|
||||
typedef void (*callback_pullPackage)(GoRPCPackage_Transport *src, void *args);
|
||||
typedef void (*callback_pushPackage)(GoRPCPackage_Transport *dest, void *args);
|
||||
typedef void (*callback_pushCIInstruction)(CI_Instruction_Transport *src, void *args);
|
||||
|
||||
class GobotRPC_TI_Hardware {
|
||||
public:
|
||||
virtual void registerPullPackageCB(callback_pullPackage cb, void *args) = 0;
|
||||
virtual void registerPushPackageCB(callback_pushPackage cb, void *args) = 0;
|
||||
virtual void registerPushCIInstructionCB(callback_pushCIInstruction cb, void *args) = 0;
|
||||
virtual void setAddrMap(uint32_t addr, int intNum) = 0;
|
||||
};
|
||||
|
||||
void i2cRxTaskFn(void * args);
|
||||
void i2cTxTaskFn(void * args);
|
||||
|
||||
void intPin_ISR(uint gpio, uint32_t events);
|
||||
|
||||
class GobotRPC_TI_Hardware_RP2040_I2C : public GobotRPC_TI_Hardware {
|
||||
private:
|
||||
callback_pullPackage pullPackageCB;
|
||||
void *pullPackageCBArgs;
|
||||
|
||||
callback_pushPackage pushPackageCB;
|
||||
void *pushPackageCBArgs;
|
||||
|
||||
callback_pushCIInstruction pushCIInstructionCB;
|
||||
void *pushCIInstructionCBArgs;
|
||||
|
||||
SemaphoreHandle_t i2cMutex;
|
||||
SemaphoreHandle_t i2cRXSemaphore;
|
||||
|
||||
TaskHandle_t i2cRxTaskHandle;
|
||||
TaskHandle_t i2cTxTaskHandle;
|
||||
UBaseType_t core;
|
||||
|
||||
i2c_inst_t * i2c;
|
||||
|
||||
uint32_t intAddressMap[GOBOTRPC_TI_INT_NUM];
|
||||
|
||||
void initTasks();
|
||||
bool readI2C(GoRPCPackage_Transport * pkg, uint32_t addr);
|
||||
|
||||
public:
|
||||
GobotRPC_TI_Hardware_RP2040_I2C(UBaseType_t core, i2c_inst_t *i2c);
|
||||
|
||||
void registerPullPackageCB(callback_pullPackage cb, void *args);
|
||||
void registerPushPackageCB(callback_pushPackage cb, void *args);
|
||||
void registerPushCIInstructionCB(callback_pushCIInstruction cb, void *args);
|
||||
|
||||
void setAddrMap(uint32_t addr, int intNum);
|
||||
|
||||
void i2cRxTask();
|
||||
void i2cTxTask();
|
||||
void intPinISR(BaseType_t * xHigherPriorityTaskWoken);
|
||||
uint32_t readIntPins();
|
||||
|
||||
void raiseTranmissionError(bool rx, uint32_t addr);
|
||||
};
|
||||
|
||||
|
||||
extern GobotRPC_TI_Hardware_RP2040_I2C * g_GobotRPC_TI_Hardware_RP2040_I2C;
|
||||
@@ -0,0 +1,16 @@
|
||||
#include "transmission_interface.hpp"
|
||||
|
||||
#include "FreeRTOS.h"
|
||||
#include "queue.h"
|
||||
|
||||
void GobotRPC_TI_Hardware_RP2040_I2C::raiseTranmissionError(bool rx, uint32_t addr) {
|
||||
CI_Instruction_Transport ciInstruction;
|
||||
ciInstruction.type = CI_INSTRUCTION_SEND_TRANMISSION_ERROR;
|
||||
ciInstruction.data[0] = rx;
|
||||
ciInstruction.data[1] = addr & 0xff;
|
||||
ciInstruction.data[2] = (addr >> 8) & 0xff;
|
||||
ciInstruction.data[3] = (addr >> 16) & 0xff;
|
||||
ciInstruction.data[4] = (addr >> 24) & 0xff;
|
||||
|
||||
this->pushCIInstructionCB(&ciInstruction, pushCIInstructionCBArgs);
|
||||
}
|
||||
@@ -0,0 +1,72 @@
|
||||
#include "transmission_interface.hpp"
|
||||
#include "hardware/i2c.h"
|
||||
|
||||
#include "pinConfig.hpp"
|
||||
|
||||
GobotRPC_TI_Hardware_RP2040_I2C * g_GobotRPC_TI_Hardware_RP2040_I2C;
|
||||
|
||||
GobotRPC_TI_Hardware_RP2040_I2C::GobotRPC_TI_Hardware_RP2040_I2C(UBaseType_t core, i2c_inst_t *i2c) {
|
||||
this->core = core;
|
||||
this->i2c = i2c0;
|
||||
|
||||
g_GobotRPC_TI_Hardware_RP2040_I2C = this;
|
||||
|
||||
i2c_init(i2c, GOBOTRPC_TI_CLOCK_SPEED);
|
||||
gpio_set_function(GOBOTRPC_TI_I2C_SDA, GPIO_FUNC_I2C);
|
||||
gpio_set_function(GOBOTRPC_TI_I2C_SCL, GPIO_FUNC_I2C);
|
||||
|
||||
if(!GOBOTRPC_TI_EXTERNAL_PULLUP) {
|
||||
gpio_pull_up(GOBOTRPC_TI_I2C_SDA);
|
||||
gpio_pull_up(GOBOTRPC_TI_I2C_SCL);
|
||||
}
|
||||
|
||||
for(int i=0; i<GOBOTRPC_TI_INT_NUM; i++) {
|
||||
intAddressMap[i] = 0xffffffff;
|
||||
gpio_init(GOBOTRPC_TI_INT_PIN_START + i);
|
||||
gpio_set_dir(GOBOTRPC_TI_INT_PIN_START< + i, GPIO_IN);
|
||||
gpio_pull_down(GOBOTRPC_TI_INT_PIN_START + i);
|
||||
}
|
||||
|
||||
initTasks();
|
||||
|
||||
gpio_init(GOBOTRPC_TI_COMBINED_INT_PIN);
|
||||
gpio_set_dir(GOBOTRPC_TI_COMBINED_INT_PIN, GPIO_IN);
|
||||
gpio_pull_down(GOBOTRPC_TI_COMBINED_INT_PIN);
|
||||
gpio_set_irq_enabled_with_callback(GOBOTRPC_TI_COMBINED_INT_PIN, GPIO_IRQ_EDGE_RISE , true, &intPin_ISR);
|
||||
|
||||
}
|
||||
|
||||
void GobotRPC_TI_Hardware_RP2040_I2C::initTasks() {
|
||||
i2cMutex = xSemaphoreCreateMutex();
|
||||
i2cRXSemaphore = xSemaphoreCreateBinary();
|
||||
|
||||
pushPackageCB = NULL;
|
||||
pullPackageCB = NULL;
|
||||
pushPackageCBArgs = NULL;
|
||||
pullPackageCBArgs = NULL;
|
||||
|
||||
volatile int a = xPortGetFreeHeapSize();
|
||||
|
||||
xTaskCreateAffinitySet(i2cRxTaskFn, "i2c Rx Task", 4096, this, 3, core, &i2cRxTaskHandle);
|
||||
xTaskCreateAffinitySet(i2cTxTaskFn, "i2c Tx Task", 4096, this, 3, core, &i2cTxTaskHandle);
|
||||
}
|
||||
|
||||
void GobotRPC_TI_Hardware_RP2040_I2C::registerPullPackageCB(callback_pullPackage cb, void *args) {
|
||||
pullPackageCB = cb;
|
||||
pullPackageCBArgs = args;
|
||||
}
|
||||
|
||||
void GobotRPC_TI_Hardware_RP2040_I2C::registerPushPackageCB(callback_pushPackage cb, void *args) {
|
||||
pushPackageCB = cb;
|
||||
pushPackageCBArgs = args;
|
||||
}
|
||||
|
||||
void GobotRPC_TI_Hardware_RP2040_I2C::registerPushCIInstructionCB(callback_pushCIInstruction cb, void *args) {
|
||||
pushCIInstructionCB = cb;
|
||||
pushCIInstructionCBArgs = args;
|
||||
}
|
||||
|
||||
void GobotRPC_TI_Hardware_RP2040_I2C::setAddrMap(uint32_t addr, int intNum) {
|
||||
intAddressMap[intNum] = addr;
|
||||
}
|
||||
|
||||
@@ -0,0 +1,34 @@
|
||||
#include "transmission_interface.hpp"
|
||||
|
||||
#include "FreeRTOSConfig.h"
|
||||
#include "FreeRTOS.h"
|
||||
#include "task.h"
|
||||
|
||||
uint32_t GobotRPC_TI_Hardware_RP2040_I2C::readIntPins() {
|
||||
uint32_t intPinsStates = 0;
|
||||
|
||||
for(int i=0; i<GOBOTRPC_TI_INT_NUM; i++) {
|
||||
intPinsStates |= gpio_get(GOBOTRPC_TI_INT_PIN_START + i) << i;
|
||||
}
|
||||
return intPinsStates;
|
||||
}
|
||||
|
||||
void intPin_ISR(uint gpio, uint32_t events) {
|
||||
GobotRPC_TI_Hardware_RP2040_I2C * hw = g_GobotRPC_TI_Hardware_RP2040_I2C;
|
||||
|
||||
uint32_t intPinsStates = hw->readIntPins();
|
||||
|
||||
if(intPinsStates == 0) {
|
||||
return;
|
||||
}
|
||||
|
||||
BaseType_t xHigherPriorityTaskWoken = pdFALSE;
|
||||
hw->intPinISR(&xHigherPriorityTaskWoken);
|
||||
portYIELD_FROM_ISR(xHigherPriorityTaskWoken);
|
||||
}
|
||||
|
||||
void GobotRPC_TI_Hardware_RP2040_I2C::intPinISR(BaseType_t * xHigherPriorityTaskWoken) {
|
||||
xSemaphoreGiveFromISR(i2cRXSemaphore, xHigherPriorityTaskWoken);
|
||||
}
|
||||
|
||||
|
||||
@@ -0,0 +1,59 @@
|
||||
#include "transmission_interface.hpp"
|
||||
|
||||
void i2cRxTaskFn(void * args) {
|
||||
GobotRPC_TI_Hardware_RP2040_I2C * hw = (GobotRPC_TI_Hardware_RP2040_I2C *)args;
|
||||
hw->i2cRxTask();
|
||||
}
|
||||
|
||||
void GobotRPC_TI_Hardware_RP2040_I2C::i2cRxTask() {
|
||||
while (1) {
|
||||
xSemaphoreTake(i2cRXSemaphore, portMAX_DELAY);
|
||||
|
||||
uint32_t done_mask = 0xffffffff;
|
||||
uint32_t pinStates = readIntPins();
|
||||
|
||||
do {
|
||||
for(int i=0; i<GOBOTRPC_TI_INT_NUM; i++) {
|
||||
if((pinStates & done_mask) & (1 << i)) {
|
||||
done_mask &= ~(1 << i);
|
||||
|
||||
uint32_t addr = intAddressMap[i];
|
||||
|
||||
GoRPCPackage_Transport pkg;
|
||||
|
||||
xSemaphoreTake(i2cMutex, portMAX_DELAY);
|
||||
bool read_res = readI2C(&pkg, addr);
|
||||
xSemaphoreGive(i2cMutex);
|
||||
|
||||
if(read_res) {
|
||||
if(pushPackageCB != NULL)
|
||||
pushPackageCB(&pkg, pushPackageCBArgs);
|
||||
}
|
||||
|
||||
break;
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
pinStates = readIntPins();
|
||||
} while(pinStates & done_mask);
|
||||
}
|
||||
}
|
||||
|
||||
bool GobotRPC_TI_Hardware_RP2040_I2C::readI2C(GoRPCPackage_Transport * pkg, uint32_t addr) {
|
||||
|
||||
uint res = i2c_read_burst_blocking(i2c, addr, (uint8_t *)pkg->data, 2);
|
||||
|
||||
if(res == PICO_ERROR_GENERIC)
|
||||
return false; // I2C error
|
||||
|
||||
size_t len = pkg->data[1];
|
||||
res = i2c_read_burst_blocking(i2c, addr, ((uint8_t *)pkg->data) + 2, len);
|
||||
|
||||
if(res == PICO_ERROR_GENERIC)
|
||||
return false; // I2C error
|
||||
|
||||
pkg->addr = addr;
|
||||
|
||||
return true;
|
||||
}
|
||||
@@ -0,0 +1,27 @@
|
||||
#include "transmission_interface.hpp"
|
||||
|
||||
void i2cTxTaskFn(void * args) {
|
||||
GobotRPC_TI_Hardware_RP2040_I2C * hw = (GobotRPC_TI_Hardware_RP2040_I2C *)args;
|
||||
hw->i2cTxTask();
|
||||
}
|
||||
|
||||
void GobotRPC_TI_Hardware_RP2040_I2C::i2cTxTask() {
|
||||
while (1) {
|
||||
GoRPCPackage_Transport pkg;
|
||||
|
||||
if(pullPackageCB == NULL) {
|
||||
vTaskDelay(pdMS_TO_TICKS(100));
|
||||
continue;
|
||||
}
|
||||
|
||||
pullPackageCB(&pkg, pullPackageCBArgs);
|
||||
|
||||
xSemaphoreTake(i2cMutex, portMAX_DELAY);
|
||||
unsigned int res = i2c_write_burst_blocking(i2c, pkg.addr & 0x7f, (uint8_t *)(&pkg.data), pkg.len);
|
||||
xSemaphoreGive(i2cMutex);
|
||||
|
||||
if(res == PICO_ERROR_GENERIC) {
|
||||
raiseTranmissionError(false, pkg.addr);
|
||||
}
|
||||
}
|
||||
}
|
||||
@@ -1,55 +0,0 @@
|
||||
#include <stdio.h>
|
||||
#include "pico/stdlib.h"
|
||||
|
||||
#include "ctrl_interface.hpp"
|
||||
#include "ctrl_interface_hardware.hpp"
|
||||
|
||||
#include "FreeRTOSConfig.h"
|
||||
#include "FreeRTOS.h"
|
||||
#include "task.h"
|
||||
|
||||
#include "protocol.hpp"
|
||||
|
||||
#define LED_PIN 25
|
||||
|
||||
#define UART_CORE_MASK 0b01
|
||||
#define I2C_CORE_MASK 0b10
|
||||
|
||||
void vTaskMain(void * pvParameters) {
|
||||
while(1) {
|
||||
gpio_put(LED_PIN, 1);
|
||||
vTaskDelay(pdMS_TO_TICKS(500));
|
||||
gpio_put(LED_PIN, 0);
|
||||
vTaskDelay(pdMS_TO_TICKS(500));
|
||||
}
|
||||
}
|
||||
|
||||
void onTxPacket(void * args, char *data, size_t len, uint32_t addr) {
|
||||
GobotRPC_CI * gobotRPC_ci = (GobotRPC_CI *)args;
|
||||
|
||||
char bufferPackage[CI_RX_PACKAGE_SIZE(CALC_SIZE_GobotRPC_PACKAGE(0))];
|
||||
char * gorpcPackageOffset = bufferPackage + CI_RX_PACKAGE_DATA_OFFSET;
|
||||
|
||||
assembleGobotRPCHeader(gorpcPackageOffset, GobotRPCNumber::VACUM, GobotRPCTypes::RESPONSE, 0);
|
||||
assembleCRC(gorpcPackageOffset, 0);
|
||||
|
||||
gobotRPC_ci->send_RxPacket(bufferPackage, CALC_SIZE_GobotRPC_PACKAGE(0), addr);
|
||||
}
|
||||
|
||||
int main() {
|
||||
gpio_init(LED_PIN);
|
||||
gpio_set_dir(LED_PIN, true);
|
||||
|
||||
GobotRPC_CI_Hardware_RP2040_UART gobotrpc_ci_hardware(uart0, 115200, 0b01);
|
||||
GobotRPC_CI gobotRPC_ci(&gobotrpc_ci_hardware, 0b01);
|
||||
|
||||
gobotRPC_ci.registerCB_TxPacket(onTxPacket, &gobotRPC_ci);
|
||||
|
||||
TaskHandle_t taskHandle;
|
||||
xTaskCreateAffinitySet(vTaskMain, "Main Task", 2048, &gobotRPC_ci, 1, UART_CORE_MASK, &taskHandle);
|
||||
vTaskCoreAffinitySet(taskHandle, 0);
|
||||
|
||||
vTaskStartScheduler();
|
||||
|
||||
while(1) {}
|
||||
}
|
||||
66
i2c-hub/firmware/i2c-hub-firmware/src/main_core0.cpp
Normal file
66
i2c-hub/firmware/i2c-hub-firmware/src/main_core0.cpp
Normal file
@@ -0,0 +1,66 @@
|
||||
#include <stdio.h>
|
||||
#include <string.h>
|
||||
#include "pico/stdlib.h"
|
||||
|
||||
#include "ctrl_interface.hpp"
|
||||
#include "ctrl_interface_hardware.hpp"
|
||||
#include "transmission_interface.hpp"
|
||||
|
||||
#include "main.hpp"
|
||||
|
||||
#include "FreeRTOSConfig.h"
|
||||
#include "FreeRTOS.h"
|
||||
#include "task.h"
|
||||
#include "message_buffer.h"
|
||||
|
||||
#include "protocol.hpp"
|
||||
|
||||
#define LED_PIN 25
|
||||
|
||||
AppData appData;
|
||||
|
||||
void vTaskMain(void * pvParameters) {
|
||||
while(1) {
|
||||
gpio_put(LED_PIN, 1);
|
||||
vTaskDelay(pdMS_TO_TICKS(500));
|
||||
gpio_put(LED_PIN, 0);
|
||||
vTaskDelay(pdMS_TO_TICKS(500));
|
||||
}
|
||||
}
|
||||
|
||||
void onTxPacket(void * args, char *data, size_t len, uint32_t addr) {
|
||||
GobotRPC_CI * gobotRPC_ci = (GobotRPC_CI *)args;
|
||||
|
||||
GoRPCPackage_Transport pkg;
|
||||
memcpy(pkg.data, data, len);
|
||||
pkg.len = len;
|
||||
pkg.addr = addr;
|
||||
|
||||
xQueueSend(appData.txQueue, &pkg, portMAX_DELAY);
|
||||
|
||||
//gobotRPC_ci->send_RxPacket(pkg.data, CALC_SIZE_GobotRPC_PACKAGE(0), addr);
|
||||
}
|
||||
|
||||
int main() {
|
||||
gpio_init(LED_PIN);
|
||||
gpio_set_dir(LED_PIN, true);
|
||||
|
||||
appData.txQueue = xQueueCreate(5, sizeof(GoRPCPackage_Transport));
|
||||
appData.rxQueue = xQueueCreate(5, sizeof(GoRPCPackage_Transport));
|
||||
appData.ciInstructionQueue = xQueueCreate(5, sizeof(CI_Instruction_Transport));
|
||||
|
||||
GobotRPC_CI_Hardware_RP2040_UART gobotrpc_ci_hardware(uart0, 115200, UART_CORE_MASK);
|
||||
|
||||
GobotRPC_CI gobotRPC_ci(&gobotrpc_ci_hardware, 0b01, appData.ciInstructionQueue);
|
||||
|
||||
gobotRPC_ci.registerCB_TxPacket(onTxPacket, &gobotRPC_ci);
|
||||
|
||||
TaskHandle_t taskHandleCore0;
|
||||
TaskHandle_t taskHandleCore1;
|
||||
xTaskCreateAffinitySet(vTaskMain, "Main Task Core 0", 2048, &gobotRPC_ci, 1, UART_CORE_MASK, &taskHandleCore0);
|
||||
xTaskCreateAffinitySet(main_core2, "Main Task Core 1", 2048, &gobotRPC_ci, 1, I2C_CORE_MASK, &taskHandleCore1);
|
||||
|
||||
vTaskStartScheduler();
|
||||
|
||||
while(1) {}
|
||||
}
|
||||
39
i2c-hub/firmware/i2c-hub-firmware/src/main_core1.cpp
Normal file
39
i2c-hub/firmware/i2c-hub-firmware/src/main_core1.cpp
Normal file
@@ -0,0 +1,39 @@
|
||||
#include "main.hpp"
|
||||
#include "transmission_interface.hpp"
|
||||
|
||||
#include "FreeRTOSConfig.h"
|
||||
#include "FreeRTOS.h"
|
||||
#include "task.h"
|
||||
#include "queue.h"
|
||||
|
||||
#include "pinConfig.hpp"
|
||||
|
||||
extern AppData appData;
|
||||
|
||||
void pullPackageCB(GoRPCPackage_Transport * dest, void *args) {
|
||||
QueueHandle_t queue = appData.txQueue;
|
||||
xQueueReceive(queue, dest, portMAX_DELAY);
|
||||
}
|
||||
|
||||
void pushPackage(GoRPCPackage_Transport * src, void *args) {
|
||||
QueueHandle_t queue = appData.rxQueue;
|
||||
xQueueSend(queue, src, portMAX_DELAY);
|
||||
}
|
||||
|
||||
void pushCIInstruction(CI_Instruction_Transport * src, void *args) {
|
||||
QueueHandle_t queue = appData.ciInstructionQueue;
|
||||
xQueueSend(queue, src, portMAX_DELAY);
|
||||
}
|
||||
|
||||
void main_core2(void * pvParameters) {
|
||||
AppData appData = *((AppData *)pvParameters);
|
||||
GobotRPC_TI_Hardware_RP2040_I2C gobotrpc_ti_hardware(I2C_CORE_MASK, i2c0);
|
||||
|
||||
gobotrpc_ti_hardware.registerPullPackageCB(pullPackageCB, appData.txQueue);
|
||||
gobotrpc_ti_hardware.registerPushPackageCB(pushPackage, appData.rxQueue);
|
||||
gobotrpc_ti_hardware.registerPushCIInstructionCB(pushCIInstruction, appData.ciInstructionQueue);
|
||||
|
||||
while(1) {
|
||||
vTaskDelay(pdMS_TO_TICKS(10000));
|
||||
}
|
||||
}
|
||||
Reference in New Issue
Block a user