Merged i2c-helper in Main
This commit is contained in:
AlexanderHD27
219
stone-dispencer-control/.$Stone-Dispencer-Circuit.drawio.bkp
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219
stone-dispencer-control/.$Stone-Dispencer-Circuit.drawio.bkp
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stone-dispencer-control/Stone-Dispencer-Circuit.drawio
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BIN
stone-dispencer-control/firmware-stone-dispencer/.gitignore
(Stored with Git LFS)
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BIN
stone-dispencer-control/firmware-stone-dispencer/.gitignore
(Stored with Git LFS)
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Binary file not shown.
22
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22
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15
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15
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||||
{
|
||||
"name": "Pico",
|
||||
"compilers": {
|
||||
"C": "${command:raspberry-pi-pico.getCompilerPath}",
|
||||
"CXX": "${command:raspberry-pi-pico.getCxxCompilerPath}"
|
||||
},
|
||||
"environmentVariables": {
|
||||
"PATH": "${command:raspberry-pi-pico.getEnvPath};${env:PATH}"
|
||||
},
|
||||
"cmakeSettings": {
|
||||
"Python3_EXECUTABLE": "${command:raspberry-pi-pico.getPythonPath}"
|
||||
}
|
||||
}
|
||||
]
|
||||
9
stone-dispencer-control/firmware-stone-dispencer/.vscode/extensions.json
vendored
Normal file
9
stone-dispencer-control/firmware-stone-dispencer/.vscode/extensions.json
vendored
Normal file
@@ -0,0 +1,9 @@
|
||||
{
|
||||
"recommendations": [
|
||||
"marus25.cortex-debug",
|
||||
"ms-vscode.cpptools",
|
||||
"ms-vscode.cpptools-extension-pack",
|
||||
"ms-vscode.vscode-serial-monitor",
|
||||
"raspberry-pi.raspberry-pi-pico"
|
||||
]
|
||||
}
|
||||
70
stone-dispencer-control/firmware-stone-dispencer/.vscode/launch.json
vendored
Normal file
70
stone-dispencer-control/firmware-stone-dispencer/.vscode/launch.json
vendored
Normal file
@@ -0,0 +1,70 @@
|
||||
{
|
||||
"version": "0.2.0",
|
||||
"configurations": [
|
||||
{
|
||||
"name": "Pico Debug (Cortex-Debug)",
|
||||
"cwd": "${userHome}/.pico-sdk/openocd/0.12.0+dev/scripts",
|
||||
"executable": "${command:raspberry-pi-pico.launchTargetPath}",
|
||||
"request": "launch",
|
||||
"type": "cortex-debug",
|
||||
"servertype": "openocd",
|
||||
"serverpath": "${userHome}/.pico-sdk/openocd/0.12.0+dev/openocd.exe",
|
||||
"gdbPath": "${command:raspberry-pi-pico.getGDBPath}",
|
||||
"device": "${command:raspberry-pi-pico.getChipUppercase}",
|
||||
"configFiles": [
|
||||
"interface/cmsis-dap.cfg",
|
||||
"target/${command:raspberry-pi-pico.getTarget}.cfg"
|
||||
],
|
||||
"svdFile": "${userHome}/.pico-sdk/sdk/2.1.0/src/${command:raspberry-pi-pico.getChip}/hardware_regs/${command:raspberry-pi-pico.getChipUppercase}.svd",
|
||||
"runToEntryPoint": "main",
|
||||
// Fix for no_flash binaries, where monitor reset halt doesn't do what is expected
|
||||
// Also works fine for flash binaries
|
||||
"overrideLaunchCommands": [
|
||||
"monitor reset init",
|
||||
"load \"${command:raspberry-pi-pico.launchTargetPath}\""
|
||||
],
|
||||
"openOCDLaunchCommands": [
|
||||
"adapter speed 5000"
|
||||
]
|
||||
},
|
||||
{
|
||||
"name": "Pico Debug (Cortex-Debug with external OpenOCD)",
|
||||
"cwd": "${workspaceRoot}",
|
||||
"executable": "${command:raspberry-pi-pico.launchTargetPath}",
|
||||
"request": "launch",
|
||||
"type": "cortex-debug",
|
||||
"servertype": "external",
|
||||
"gdbTarget": "localhost:3333",
|
||||
"gdbPath": "${command:raspberry-pi-pico.getGDBPath}",
|
||||
"device": "${command:raspberry-pi-pico.getChipUppercase}",
|
||||
"svdFile": "${userHome}/.pico-sdk/sdk/2.1.0/src/${command:raspberry-pi-pico.getChip}/hardware_regs/${command:raspberry-pi-pico.getChipUppercase}.svd",
|
||||
"runToEntryPoint": "main",
|
||||
// Fix for no_flash binaries, where monitor reset halt doesn't do what is expected
|
||||
// Also works fine for flash binaries
|
||||
"overrideLaunchCommands": [
|
||||
"monitor reset init",
|
||||
"load \"${command:raspberry-pi-pico.launchTargetPath}\""
|
||||
]
|
||||
},
|
||||
{
|
||||
"name": "Pico Debug (C++ Debugger)",
|
||||
"type": "cppdbg",
|
||||
"request": "launch",
|
||||
"cwd": "${workspaceRoot}",
|
||||
"program": "${command:raspberry-pi-pico.launchTargetPath}",
|
||||
"MIMode": "gdb",
|
||||
"miDebuggerPath": "${command:raspberry-pi-pico.getGDBPath}",
|
||||
"miDebuggerServerAddress": "localhost:3333",
|
||||
"debugServerPath": "${userHome}/.pico-sdk/openocd/0.12.0+dev/openocd.exe",
|
||||
"debugServerArgs": "-f interface/cmsis-dap.cfg -f target/${command:raspberry-pi-pico.getTarget}.cfg -c \"adapter speed 5000\"",
|
||||
"serverStarted": "Listening on port .* for gdb connections",
|
||||
"filterStderr": true,
|
||||
"hardwareBreakpoints": {
|
||||
"require": true,
|
||||
"limit": 4
|
||||
},
|
||||
"preLaunchTask": "Flash",
|
||||
"svdPath": "${userHome}/.pico-sdk/sdk/2.1.0/src/${command:raspberry-pi-pico.getChip}/hardware_regs/${command:raspberry-pi-pico.getChipUppercase}.svd"
|
||||
},
|
||||
]
|
||||
}
|
||||
39
stone-dispencer-control/firmware-stone-dispencer/.vscode/settings.json
vendored
Normal file
39
stone-dispencer-control/firmware-stone-dispencer/.vscode/settings.json
vendored
Normal file
@@ -0,0 +1,39 @@
|
||||
{
|
||||
"cmake.options.statusBarVisibility": "hidden",
|
||||
"cmake.options.advanced": {
|
||||
"build": {
|
||||
"statusBarVisibility": "hidden"
|
||||
},
|
||||
"launch": {
|
||||
"statusBarVisibility": "hidden"
|
||||
},
|
||||
"debug": {
|
||||
"statusBarVisibility": "hidden"
|
||||
}
|
||||
},
|
||||
"cmake.configureOnEdit": true,
|
||||
"cmake.automaticReconfigure": true,
|
||||
"cmake.configureOnOpen": true,
|
||||
"cmake.generator": "Ninja",
|
||||
"cmake.cmakePath": "${userHome}/.pico-sdk/cmake/v3.29.9/bin/cmake",
|
||||
"C_Cpp.debugShortcut": false,
|
||||
"terminal.integrated.env.windows": {
|
||||
"PICO_SDK_PATH": "${env:USERPROFILE}/.pico-sdk/sdk/2.1.0",
|
||||
"PICO_TOOLCHAIN_PATH": "${env:USERPROFILE}/.pico-sdk/toolchain/13_3_Rel1",
|
||||
"Path": "${env:USERPROFILE}/.pico-sdk/toolchain/13_3_Rel1/bin;${env:USERPROFILE}/.pico-sdk/picotool/2.1.0/picotool;${env:USERPROFILE}/.pico-sdk/cmake/v3.29.9/bin;${env:USERPROFILE}/.pico-sdk/ninja/v1.12.1;${env:PATH}"
|
||||
},
|
||||
"terminal.integrated.env.osx": {
|
||||
"PICO_SDK_PATH": "${env:HOME}/.pico-sdk/sdk/2.1.0",
|
||||
"PICO_TOOLCHAIN_PATH": "${env:HOME}/.pico-sdk/toolchain/13_3_Rel1",
|
||||
"PATH": "${env:HOME}/.pico-sdk/toolchain/13_3_Rel1/bin:${env:HOME}/.pico-sdk/picotool/2.1.0/picotool:${env:HOME}/.pico-sdk/cmake/v3.29.9/bin:${env:HOME}/.pico-sdk/ninja/v1.12.1:${env:PATH}"
|
||||
},
|
||||
"terminal.integrated.env.linux": {
|
||||
"PICO_SDK_PATH": "${env:HOME}/.pico-sdk/sdk/2.1.0",
|
||||
"PICO_TOOLCHAIN_PATH": "${env:HOME}/.pico-sdk/toolchain/13_3_Rel1",
|
||||
"PATH": "${env:HOME}/.pico-sdk/toolchain/13_3_Rel1/bin:${env:HOME}/.pico-sdk/picotool/2.1.0/picotool:${env:HOME}/.pico-sdk/cmake/v3.29.9/bin:${env:HOME}/.pico-sdk/ninja/v1.12.1:${env:PATH}"
|
||||
},
|
||||
"raspberry-pi-pico.cmakeAutoConfigure": false,
|
||||
"raspberry-pi-pico.useCmakeTools": true,
|
||||
"raspberry-pi-pico.cmakePath": "${HOME}/.pico-sdk/cmake/v3.29.9/bin/cmake",
|
||||
"raspberry-pi-pico.ninjaPath": "${HOME}/.pico-sdk/ninja/v1.12.1/ninja"
|
||||
}
|
||||
106
stone-dispencer-control/firmware-stone-dispencer/.vscode/tasks.json
vendored
Normal file
106
stone-dispencer-control/firmware-stone-dispencer/.vscode/tasks.json
vendored
Normal file
@@ -0,0 +1,106 @@
|
||||
{
|
||||
"version": "2.0.0",
|
||||
"tasks": [
|
||||
{
|
||||
"label": "Compile Project",
|
||||
"type": "process",
|
||||
"isBuildCommand": true,
|
||||
"command": "${userHome}/.pico-sdk/ninja/v1.12.1/ninja",
|
||||
"args": ["-C", "${workspaceFolder}/build"],
|
||||
"group": "build",
|
||||
"presentation": {
|
||||
"echo": true,
|
||||
"reveal": "always",
|
||||
"focus": true,
|
||||
"panel": "shared",
|
||||
"showReuseMessage": true,
|
||||
"clear": true
|
||||
},
|
||||
"problemMatcher": "$gcc",
|
||||
"windows": {
|
||||
"command": "${env:USERPROFILE}/.pico-sdk/ninja/v1.12.1/ninja.exe"
|
||||
}
|
||||
},
|
||||
{
|
||||
"label": "Run Project",
|
||||
"type": "process",
|
||||
"command": "${env:HOME}/.pico-sdk/picotool/2.1.0/picotool/picotool",
|
||||
"args": [
|
||||
"load",
|
||||
"${command:raspberry-pi-pico.launchTargetPath}",
|
||||
"-fx"
|
||||
],
|
||||
"presentation": {
|
||||
"echo": true,
|
||||
"reveal": "always",
|
||||
"focus": true,
|
||||
"panel": "shared",
|
||||
"showReuseMessage": true,
|
||||
"clear": true
|
||||
},
|
||||
"problemMatcher": [],
|
||||
"windows": {
|
||||
"command": "${env:USERPROFILE}/.pico-sdk/picotool/2.1.0/picotool/picotool.exe"
|
||||
}
|
||||
},
|
||||
{
|
||||
"label": "Flash",
|
||||
"type": "process",
|
||||
"command": "${userHome}/.pico-sdk/openocd/0.12.0+dev/openocd.exe",
|
||||
"args": [
|
||||
"-s",
|
||||
"${userHome}/.pico-sdk/openocd/0.12.0+dev/scripts",
|
||||
"-f",
|
||||
"interface/cmsis-dap.cfg",
|
||||
"-f",
|
||||
"target/${command:raspberry-pi-pico.getTarget}.cfg",
|
||||
"-c", "adapter speed 5000; program \"${command:raspberry-pi-pico.launchTargetPath}\" verify",
|
||||
"-c", "reset halt",
|
||||
"-c", "rp2040.core1 arp_reset assert 0",
|
||||
"-c", "rp2040.core0 arp_reset assert 0",
|
||||
"-c", "exit"
|
||||
],
|
||||
"presentation": {
|
||||
"echo": true,
|
||||
"reveal": "always",
|
||||
"focus": true,
|
||||
"panel": "shared",
|
||||
"showReuseMessage": true,
|
||||
"clear": true
|
||||
},
|
||||
"dependsOn": ["Compile Project"],
|
||||
"problemMatcher": [],
|
||||
"windows": {
|
||||
"command": "${env:USERPROFILE}/.pico-sdk/openocd/0.12.0+dev/openocd.exe",
|
||||
}
|
||||
},
|
||||
{
|
||||
"label": "Reset",
|
||||
"type": "process",
|
||||
"command": "${userHome}/.pico-sdk/openocd/0.12.0+dev/openocd.exe",
|
||||
"args": [
|
||||
"-s",
|
||||
"${userHome}/.pico-sdk/openocd/0.12.0+dev/scripts",
|
||||
"-f",
|
||||
"interface/cmsis-dap.cfg",
|
||||
"-f", "target/${command:raspberry-pi-pico.getTarget}.cfg",
|
||||
"-c", "adapter speed 5000; init; reset halt;",
|
||||
"-c", "rp2040.core1 arp_reset assert 0",
|
||||
"-c", "rp2040.core0 arp_reset assert 0",
|
||||
"-c", "exit"
|
||||
],
|
||||
"presentation": {
|
||||
"echo": true,
|
||||
"reveal": "always",
|
||||
"focus": true,
|
||||
"panel": "shared",
|
||||
"showReuseMessage": true,
|
||||
"clear": true
|
||||
},
|
||||
"problemMatcher": [],
|
||||
"windows": {
|
||||
"command": "${env:USERPROFILE}/.pico-sdk/openocd/0.12.0+dev/openocd.exe",
|
||||
}
|
||||
}
|
||||
]
|
||||
}
|
||||
@@ -0,0 +1,78 @@
|
||||
# Generated Cmake Pico project file
|
||||
|
||||
cmake_minimum_required(VERSION 3.13)
|
||||
|
||||
set(CMAKE_C_STANDARD 11)
|
||||
set(CMAKE_CXX_STANDARD 17)
|
||||
set(CMAKE_EXPORT_COMPILE_COMMANDS ON)
|
||||
|
||||
# Initialise pico_sdk from installed location
|
||||
# (note this can come from environment, CMake cache etc)
|
||||
|
||||
# == DO NOT EDIT THE FOLLOWING LINES for the Raspberry Pi Pico VS Code Extension to work ==
|
||||
if(WIN32)
|
||||
set(USERHOME $ENV{USERPROFILE})
|
||||
else()
|
||||
set(USERHOME $ENV{HOME})
|
||||
endif()
|
||||
set(sdkVersion 2.1.0)
|
||||
set(toolchainVersion 13_3_Rel1)
|
||||
set(picotoolVersion 2.1.0)
|
||||
set(picoVscode ${USERHOME}/.pico-sdk/cmake/pico-vscode.cmake)
|
||||
if (EXISTS ${picoVscode})
|
||||
include(${picoVscode})
|
||||
endif()
|
||||
# ====================================================================================
|
||||
set(PICO_BOARD pico CACHE STRING "Board type")
|
||||
|
||||
# Pull in Raspberry Pi Pico SDK (must be before project)
|
||||
include(pico_sdk_import.cmake)
|
||||
|
||||
project(firmware-stone-dispencer C CXX ASM)
|
||||
|
||||
# Add FreeRTOS
|
||||
set(FREERTOS_KERNEL_PATH ${CMAKE_CURRENT_LIST_DIR}/lib/FreeRTOS-Kernel)
|
||||
include(cmake/FreeRTOS_Kernel_import.cmake)
|
||||
|
||||
# Adding GobotRPC Node Library
|
||||
include(lib/gobotrpc/cmake/gobotRPC_Node.cmake)
|
||||
|
||||
# Initialise the Raspberry Pi Pico SDK
|
||||
pico_sdk_init()
|
||||
|
||||
# Add executable. Default name is the project name, version 0.1
|
||||
|
||||
add_executable(firmware-stone-dispencer
|
||||
src/main.cpp
|
||||
src/headSystem/init.cpp
|
||||
src/headSystem/z-axis.cpp
|
||||
src/headSystem/chopper.cpp
|
||||
src/headSystem/stoneDispencer.cpp
|
||||
)
|
||||
|
||||
pico_set_program_name(firmware-stone-dispencer "firmware-stone-dispencer")
|
||||
pico_set_program_version(firmware-stone-dispencer "0.1")
|
||||
|
||||
# Modify the below lines to enable/disable output over UART/USB
|
||||
pico_enable_stdio_uart(firmware-stone-dispencer 1)
|
||||
pico_enable_stdio_usb(firmware-stone-dispencer 0)
|
||||
|
||||
# Add the standard library to the build
|
||||
target_link_libraries(firmware-stone-dispencer
|
||||
pico_stdlib
|
||||
hardware_pwm
|
||||
FreeRTOS-Kernel-Heap4
|
||||
GobotRPC_Node_RP2040_I2C
|
||||
)
|
||||
|
||||
target_include_directories(firmware-stone-dispencer PUBLIC
|
||||
${CMAKE_CURRENT_LIST_DIR}/include
|
||||
)
|
||||
|
||||
# Add the standard include files to the build
|
||||
target_include_directories(firmware-stone-dispencer PRIVATE
|
||||
${CMAKE_CURRENT_LIST_DIR}
|
||||
)
|
||||
|
||||
pico_add_extra_outputs(firmware-stone-dispencer)
|
||||
|
||||
@@ -0,0 +1,143 @@
|
||||
/*
|
||||
* FreeRTOS V202111.00
|
||||
* Copyright (C) 2020 Amazon.com, Inc. or its affiliates. All Rights Reserved.
|
||||
*
|
||||
* Permission is hereby granted, free of charge, to any person obtaining a copy of
|
||||
* this software and associated documentation files (the "Software"), to deal in
|
||||
* the Software without restriction, including without limitation the rights to
|
||||
* use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of
|
||||
* the Software, and to permit persons to whom the Software is furnished to do so,
|
||||
* subject to the following conditions:
|
||||
*
|
||||
* The above copyright notice and this permission notice shall be included in all
|
||||
* copies or substantial portions of the Software.
|
||||
*
|
||||
* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
|
||||
* IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS
|
||||
* FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR
|
||||
* COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER
|
||||
* IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN
|
||||
* CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
|
||||
*
|
||||
* http://www.FreeRTOS.org
|
||||
* http://aws.amazon.com/freertos
|
||||
*
|
||||
* 1 tab == 4 spaces!
|
||||
*/
|
||||
|
||||
#ifndef FREERTOS_CONFIG_H
|
||||
#define FREERTOS_CONFIG_H
|
||||
|
||||
/*-----------------------------------------------------------
|
||||
* Application specific definitions.
|
||||
*
|
||||
* These definitions should be adjusted for your particular hardware and
|
||||
* application requirements.
|
||||
*
|
||||
* THESE PARAMETERS ARE DESCRIBED WITHIN THE 'CONFIGURATION' SECTION OF THE
|
||||
* FreeRTOS API DOCUMENTATION AVAILABLE ON THE FreeRTOS.org WEB SITE.
|
||||
*
|
||||
* See http://www.freertos.org/a00110.html
|
||||
*----------------------------------------------------------*/
|
||||
|
||||
/* Scheduler Related */
|
||||
#define configUSE_PREEMPTION 1
|
||||
#define configUSE_TICKLESS_IDLE 0
|
||||
#define configUSE_IDLE_HOOK 0
|
||||
#define configUSE_TICK_HOOK 0
|
||||
#define configTICK_RATE_HZ ( ( TickType_t ) 1000 )
|
||||
#define configMAX_PRIORITIES 32
|
||||
#define configMINIMAL_STACK_SIZE ( configSTACK_DEPTH_TYPE ) 256
|
||||
#define configUSE_16_BIT_TICKS 0
|
||||
|
||||
#define configIDLE_SHOULD_YIELD 1
|
||||
|
||||
/* Synchronization Related */
|
||||
#define configUSE_MUTEXES 1
|
||||
#define configUSE_RECURSIVE_MUTEXES 1
|
||||
#define configUSE_APPLICATION_TASK_TAG 0
|
||||
#define configUSE_COUNTING_SEMAPHORES 1
|
||||
#define configQUEUE_REGISTRY_SIZE 8
|
||||
#define configUSE_QUEUE_SETS 1
|
||||
#define configUSE_TIME_SLICING 1
|
||||
#define configUSE_NEWLIB_REENTRANT 0
|
||||
// todo need this for lwip FreeRTOS sys_arch to compile
|
||||
#define configENABLE_BACKWARD_COMPATIBILITY 1
|
||||
#define configNUM_THREAD_LOCAL_STORAGE_POINTERS 5
|
||||
|
||||
/* System */
|
||||
#define configSTACK_DEPTH_TYPE uint32_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 (1024 * 128)
|
||||
#define configAPPLICATION_ALLOCATED_HEAP (1024 * 64)
|
||||
|
||||
/* Hook function related definitions. */
|
||||
#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 1
|
||||
#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 ( configMAX_PRIORITIES - 1 )
|
||||
#define configTIMER_QUEUE_LENGTH 10
|
||||
#define configTIMER_TASK_STACK_DEPTH 1024
|
||||
|
||||
/* 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]
|
||||
*/
|
||||
|
||||
#if FREE_RTOS_KERNEL_SMP // set by the RP2040 SMP port of FreeRTOS
|
||||
/* SMP port only */
|
||||
#define configNUMBER_OF_CORES 2
|
||||
#define configTICK_CORE 0
|
||||
#define configRUN_MULTIPLE_PRIORITIES 1
|
||||
#define configUSE_CORE_AFFINITY 1
|
||||
#define configUSE_PASSIVE_IDLE_HOOK 0
|
||||
#endif
|
||||
|
||||
/* RP2040 specific */
|
||||
#define configSUPPORT_PICO_SYNC_INTEROP 1
|
||||
#define configSUPPORT_PICO_TIME_INTEROP 1
|
||||
|
||||
#include <assert.h>
|
||||
/* Define to trap errors during development. */
|
||||
#define configASSERT(x) assert(x)
|
||||
|
||||
/* Set the following definitions to 1 to include the API function, or zero
|
||||
to exclude the API function. */
|
||||
#define INCLUDE_vTaskPrioritySet 1
|
||||
#define INCLUDE_uxTaskPriorityGet 1
|
||||
#define INCLUDE_vTaskDelete 1
|
||||
#define INCLUDE_vTaskSuspend 1
|
||||
#define INCLUDE_vTaskDelayUntil 1
|
||||
#define INCLUDE_vTaskDelay 1
|
||||
#define INCLUDE_xTaskGetSchedulerState 1
|
||||
#define INCLUDE_xTaskGetCurrentTaskHandle 1
|
||||
#define INCLUDE_uxTaskGetStackHighWaterMark 1
|
||||
#define INCLUDE_xTaskGetIdleTaskHandle 1
|
||||
#define INCLUDE_eTaskGetState 1
|
||||
#define INCLUDE_xTimerPendFunctionCall 1
|
||||
#define INCLUDE_xTaskAbortDelay 1
|
||||
#define INCLUDE_xTaskGetHandle 1
|
||||
#define INCLUDE_xTaskResumeFromISR 1
|
||||
#define INCLUDE_xQueueGetMutexHolder 1
|
||||
|
||||
/* A header file that defines trace macro can be included here. */
|
||||
|
||||
#endif /* FREERTOS_CONFIG_H */
|
||||
@@ -0,0 +1,61 @@
|
||||
# This is a copy of <FREERTOS_KERNEL_PATH>/portable/ThirdParty/GCC/RP2040/FREERTOS_KERNEL_import.cmake
|
||||
|
||||
# This can be dropped into an external project to help locate the FreeRTOS kernel
|
||||
# It should be include()ed prior to project(). Alternatively this file may
|
||||
# or the CMakeLists.txt in this directory may be included or added via add_subdirectory
|
||||
# respectively.
|
||||
|
||||
if (DEFINED ENV{FREERTOS_KERNEL_PATH} AND (NOT FREERTOS_KERNEL_PATH))
|
||||
set(FREERTOS_KERNEL_PATH $ENV{FREERTOS_KERNEL_PATH})
|
||||
message("Using FREERTOS_KERNEL_PATH from environment ('${FREERTOS_KERNEL_PATH}')")
|
||||
endif ()
|
||||
|
||||
set(FREERTOS_KERNEL_RP2040_RELATIVE_PATH "portable/ThirdParty/GCC/RP2040")
|
||||
# undo the above
|
||||
set(FREERTOS_KERNEL_RP2040_BACK_PATH "../../../..")
|
||||
|
||||
if (NOT FREERTOS_KERNEL_PATH)
|
||||
# check if we are inside the FreeRTOS kernel tree (i.e. this file has been included directly)
|
||||
get_filename_component(_ACTUAL_PATH ${CMAKE_CURRENT_LIST_DIR} REALPATH)
|
||||
get_filename_component(_POSSIBLE_PATH ${CMAKE_CURRENT_LIST_DIR}/${FREERTOS_KERNEL_RP2040_BACK_PATH}/${FREERTOS_KERNEL_RP2040_RELATIVE_PATH} REALPATH)
|
||||
if (_ACTUAL_PATH STREQUAL _POSSIBLE_PATH)
|
||||
get_filename_component(FREERTOS_KERNEL_PATH ${CMAKE_CURRENT_LIST_DIR}/${FREERTOS_KERNEL_RP2040_BACK_PATH} REALPATH)
|
||||
endif()
|
||||
if (_ACTUAL_PATH STREQUAL _POSSIBLE_PATH)
|
||||
get_filename_component(FREERTOS_KERNEL_PATH ${CMAKE_CURRENT_LIST_DIR}/${FREERTOS_KERNEL_RP2040_BACK_PATH} REALPATH)
|
||||
message("Setting FREERTOS_KERNEL_PATH to ${FREERTOS_KERNEL_PATH} based on location of FreeRTOS-Kernel-import.cmake")
|
||||
elseif (PICO_SDK_PATH AND EXISTS "${PICO_SDK_PATH}/../FreeRTOS-Kernel")
|
||||
set(FREERTOS_KERNEL_PATH ${PICO_SDK_PATH}/../FreeRTOS-Kernel)
|
||||
message("Defaulting FREERTOS_KERNEL_PATH as sibling of PICO_SDK_PATH: ${FREERTOS_KERNEL_PATH}")
|
||||
endif()
|
||||
endif ()
|
||||
|
||||
if (NOT FREERTOS_KERNEL_PATH)
|
||||
foreach(POSSIBLE_SUFFIX Source FreeRTOS-Kernel FreeRTOS/Source)
|
||||
# check if FreeRTOS-Kernel exists under directory that included us
|
||||
set(SEARCH_ROOT ${CMAKE_CURRENT_SOURCE_DIR})
|
||||
get_filename_component(_POSSIBLE_PATH ${SEARCH_ROOT}/${POSSIBLE_SUFFIX} REALPATH)
|
||||
if (EXISTS ${_POSSIBLE_PATH}/${FREERTOS_KERNEL_RP2040_RELATIVE_PATH}/CMakeLists.txt)
|
||||
get_filename_component(FREERTOS_KERNEL_PATH ${_POSSIBLE_PATH} REALPATH)
|
||||
message("Setting FREERTOS_KERNEL_PATH to '${FREERTOS_KERNEL_PATH}' found relative to enclosing project")
|
||||
break()
|
||||
endif()
|
||||
endforeach()
|
||||
endif()
|
||||
|
||||
if (NOT FREERTOS_KERNEL_PATH)
|
||||
message(FATAL_ERROR "FreeRTOS location was not specified. Please set FREERTOS_KERNEL_PATH.")
|
||||
endif()
|
||||
|
||||
set(FREERTOS_KERNEL_PATH "${FREERTOS_KERNEL_PATH}" CACHE PATH "Path to the FreeRTOS Kernel")
|
||||
|
||||
get_filename_component(FREERTOS_KERNEL_PATH "${FREERTOS_KERNEL_PATH}" REALPATH BASE_DIR "${CMAKE_BINARY_DIR}")
|
||||
if (NOT EXISTS ${FREERTOS_KERNEL_PATH})
|
||||
message(FATAL_ERROR "Directory '${FREERTOS_KERNEL_PATH}' not found")
|
||||
endif()
|
||||
if (NOT EXISTS ${FREERTOS_KERNEL_PATH}/${FREERTOS_KERNEL_RP2040_RELATIVE_PATH}/CMakeLists.txt)
|
||||
message(FATAL_ERROR "Directory '${FREERTOS_KERNEL_PATH}' does not contain an RP2040 port here: ${FREERTOS_KERNEL_RP2040_RELATIVE_PATH}")
|
||||
endif()
|
||||
set(FREERTOS_KERNEL_PATH ${FREERTOS_KERNEL_PATH} CACHE PATH "Path to the FreeRTOS_KERNEL" FORCE)
|
||||
|
||||
add_subdirectory(${FREERTOS_KERNEL_PATH}/${FREERTOS_KERNEL_RP2040_RELATIVE_PATH} FREERTOS_KERNEL)
|
||||
@@ -0,0 +1,40 @@
|
||||
#pragma once
|
||||
#include "pinConfigNode.hpp"
|
||||
#include "FreeRTOS.h"
|
||||
#include "queue.h"
|
||||
#include "semphr.h"
|
||||
|
||||
enum STONE_STATE {
|
||||
EMPTY = 0b00, FULL = 0b10, LOW = 0b01
|
||||
};
|
||||
|
||||
void vHeadTaskFn(void *pvParameters);
|
||||
|
||||
class HeadSystem {
|
||||
private:
|
||||
unsigned int motor_chopper1_slice_num;
|
||||
unsigned int motor_chopper2_slice_num;
|
||||
unsigned int motor_z_axis_slice_num;
|
||||
|
||||
bool headUp = false;
|
||||
|
||||
STONE_STATE stoneState;
|
||||
xQueueHandle headStateQueue;
|
||||
xSemaphoreHandle headSateSemaphore;
|
||||
xTaskHandle headTaskHandle;
|
||||
|
||||
public:
|
||||
HeadSystem();
|
||||
|
||||
void initPins();
|
||||
|
||||
void setChopper(bool open1, bool open2);
|
||||
void setHeadUp(bool up);
|
||||
|
||||
bool preLoad();
|
||||
STONE_STATE dropStone();
|
||||
|
||||
STONE_STATE dropSequence();
|
||||
|
||||
void vHeadTask();
|
||||
};
|
||||
@@ -0,0 +1,62 @@
|
||||
#pragma once
|
||||
#include "pico/stdlib.h"
|
||||
|
||||
#define SENSOR_STONE_PIN 6
|
||||
#define SENSOR_Z_AXIS_PIN 7
|
||||
|
||||
#define MOTOR_CHOPPER1_PIN 11
|
||||
#define MOTOR_CHOPPER2_PIN 12
|
||||
#define MOTOR_Z_AXIS_PIN 13
|
||||
|
||||
#define LED1_PIN 25
|
||||
#define LED2_PIN 16
|
||||
#define BUTTON_PIN 20
|
||||
|
||||
// GoRPC Config
|
||||
#define GORPC_INT_PIN 2
|
||||
#define GORPC_SDA_PIN 4
|
||||
#define GORPC_SCL_PIN 5
|
||||
|
||||
#define I2C_ADDR 0x22
|
||||
|
||||
#define CORE_MASK_GOBOTRPC 0b01
|
||||
#define CORE_MASK_HEAD 0b01
|
||||
|
||||
// Pwm Config
|
||||
|
||||
#define PWM_TARGET_FREQ_HZ 100000.f
|
||||
#define PWM_CLK_DIV ((float)(SYS_CLK_HZ) / PWM_TARGET_FREQ_HZ)
|
||||
// 10us per Cycle -> 20ms / 10us = 2000
|
||||
#define PWM_TOTAL 11080
|
||||
|
||||
#define PWM_CALC_CYCLE(n) ((int)((PWM_TOTAL/20.f) * (n)))
|
||||
|
||||
#define MOTOR_MS18_MIN PWM_CALC_CYCLE(0.48f)
|
||||
#define MOTOR_MS18_MAX PWM_CALC_CYCLE(2.5f)
|
||||
#define MOTOR_MS18_MID (MOTOR_MS18_MAX + MOTOR_MS18_MIN) / 2
|
||||
|
||||
#define MOTOR_MG996R_MIN PWM_CALC_CYCLE(0.36f)
|
||||
#define MOTOR_MG996R_MAX PWM_CALC_CYCLE(2.6f)
|
||||
#define MOTOR_MG966R_HALF_RANGE ((MOTOR_MG996R_MAX - MOTOR_MG996R_MIN) / 2)
|
||||
#define MOTOR_MG996R_MID (MOTOR_MG996R_MAX + MOTOR_MG996R_MIN) / 2
|
||||
|
||||
#define PWM_INVERT(n) ((PWM_TOTAL + 1) - (n))
|
||||
|
||||
// Chopper - Motor Mapping
|
||||
#define MOTOR_CHOPPER1 0
|
||||
#define MOTOR_CHOPPER2 1
|
||||
|
||||
// Chopper States
|
||||
#define CHOPPER1_OPEN MOTOR_MS18_MID - 400
|
||||
#define CHOPPER1_CLOSE MOTOR_MS18_MID + 20
|
||||
#define CHOPPER2_OPEN MOTOR_MS18_MID + 375
|
||||
#define CHOPPER2_CLOSE MOTOR_MS18_MID + 30
|
||||
|
||||
// Z Axis Config
|
||||
#define Z_AXIS_OFF MOTOR_MS18_MID
|
||||
#define Z_AXIS_UP MOTOR_MS18_MID + ((int)(MOTOR_MG966R_HALF_RANGE) * 0.9f)
|
||||
#define Z_AXIS_DOWN MOTOR_MS18_MID - ((int)(MOTOR_MG966R_HALF_RANGE) * 0.9f)
|
||||
#define Z_AXIS_DOWN_TIME 600
|
||||
#define Z_AXIS_UP_TIME 600
|
||||
|
||||
#define Z_AXIS_IS_UP() (gpio_get(SENSOR_Z_AXIS_PIN) == 1)
|
||||
Submodule stone-dispencer-control/firmware-stone-dispencer/lib/FreeRTOS-Kernel added at e55bde2133
1
stone-dispencer-control/firmware-stone-dispencer/lib/gobotrpc
Symbolic link
1
stone-dispencer-control/firmware-stone-dispencer/lib/gobotrpc
Symbolic link
@@ -0,0 +1 @@
|
||||
/home/alexander/Projects/gobot/i2c-hub/firmware/i2c-hub-firmware/src/gobotrpc
|
||||
@@ -0,0 +1,84 @@
|
||||
# This is a copy of <PICO_SDK_PATH>/external/pico_sdk_import.cmake
|
||||
|
||||
# This can be dropped into an external project to help locate this SDK
|
||||
# It should be include()ed prior to project()
|
||||
|
||||
if (DEFINED ENV{PICO_SDK_PATH} AND (NOT PICO_SDK_PATH))
|
||||
set(PICO_SDK_PATH $ENV{PICO_SDK_PATH})
|
||||
message("Using PICO_SDK_PATH from environment ('${PICO_SDK_PATH}')")
|
||||
endif ()
|
||||
|
||||
if (DEFINED ENV{PICO_SDK_FETCH_FROM_GIT} AND (NOT PICO_SDK_FETCH_FROM_GIT))
|
||||
set(PICO_SDK_FETCH_FROM_GIT $ENV{PICO_SDK_FETCH_FROM_GIT})
|
||||
message("Using PICO_SDK_FETCH_FROM_GIT from environment ('${PICO_SDK_FETCH_FROM_GIT}')")
|
||||
endif ()
|
||||
|
||||
if (DEFINED ENV{PICO_SDK_FETCH_FROM_GIT_PATH} AND (NOT PICO_SDK_FETCH_FROM_GIT_PATH))
|
||||
set(PICO_SDK_FETCH_FROM_GIT_PATH $ENV{PICO_SDK_FETCH_FROM_GIT_PATH})
|
||||
message("Using PICO_SDK_FETCH_FROM_GIT_PATH from environment ('${PICO_SDK_FETCH_FROM_GIT_PATH}')")
|
||||
endif ()
|
||||
|
||||
if (DEFINED ENV{PICO_SDK_FETCH_FROM_GIT_TAG} AND (NOT PICO_SDK_FETCH_FROM_GIT_TAG))
|
||||
set(PICO_SDK_FETCH_FROM_GIT_TAG $ENV{PICO_SDK_FETCH_FROM_GIT_TAG})
|
||||
message("Using PICO_SDK_FETCH_FROM_GIT_TAG from environment ('${PICO_SDK_FETCH_FROM_GIT_TAG}')")
|
||||
endif ()
|
||||
|
||||
if (PICO_SDK_FETCH_FROM_GIT AND NOT PICO_SDK_FETCH_FROM_GIT_TAG)
|
||||
set(PICO_SDK_FETCH_FROM_GIT_TAG "master")
|
||||
message("Using master as default value for PICO_SDK_FETCH_FROM_GIT_TAG")
|
||||
endif()
|
||||
|
||||
set(PICO_SDK_PATH "${PICO_SDK_PATH}" CACHE PATH "Path to the Raspberry Pi Pico SDK")
|
||||
set(PICO_SDK_FETCH_FROM_GIT "${PICO_SDK_FETCH_FROM_GIT}" CACHE BOOL "Set to ON to fetch copy of SDK from git if not otherwise locatable")
|
||||
set(PICO_SDK_FETCH_FROM_GIT_PATH "${PICO_SDK_FETCH_FROM_GIT_PATH}" CACHE FILEPATH "location to download SDK")
|
||||
set(PICO_SDK_FETCH_FROM_GIT_TAG "${PICO_SDK_FETCH_FROM_GIT_TAG}" CACHE FILEPATH "release tag for SDK")
|
||||
|
||||
if (NOT PICO_SDK_PATH)
|
||||
if (PICO_SDK_FETCH_FROM_GIT)
|
||||
include(FetchContent)
|
||||
set(FETCHCONTENT_BASE_DIR_SAVE ${FETCHCONTENT_BASE_DIR})
|
||||
if (PICO_SDK_FETCH_FROM_GIT_PATH)
|
||||
get_filename_component(FETCHCONTENT_BASE_DIR "${PICO_SDK_FETCH_FROM_GIT_PATH}" REALPATH BASE_DIR "${CMAKE_SOURCE_DIR}")
|
||||
endif ()
|
||||
# GIT_SUBMODULES_RECURSE was added in 3.17
|
||||
if (${CMAKE_VERSION} VERSION_GREATER_EQUAL "3.17.0")
|
||||
FetchContent_Declare(
|
||||
pico_sdk
|
||||
GIT_REPOSITORY https://github.com/raspberrypi/pico-sdk
|
||||
GIT_TAG ${PICO_SDK_FETCH_FROM_GIT_TAG}
|
||||
GIT_SUBMODULES_RECURSE FALSE
|
||||
)
|
||||
else ()
|
||||
FetchContent_Declare(
|
||||
pico_sdk
|
||||
GIT_REPOSITORY https://github.com/raspberrypi/pico-sdk
|
||||
GIT_TAG ${PICO_SDK_FETCH_FROM_GIT_TAG}
|
||||
)
|
||||
endif ()
|
||||
|
||||
if (NOT pico_sdk)
|
||||
message("Downloading Raspberry Pi Pico SDK")
|
||||
FetchContent_Populate(pico_sdk)
|
||||
set(PICO_SDK_PATH ${pico_sdk_SOURCE_DIR})
|
||||
endif ()
|
||||
set(FETCHCONTENT_BASE_DIR ${FETCHCONTENT_BASE_DIR_SAVE})
|
||||
else ()
|
||||
message(FATAL_ERROR
|
||||
"SDK location was not specified. Please set PICO_SDK_PATH or set PICO_SDK_FETCH_FROM_GIT to on to fetch from git."
|
||||
)
|
||||
endif ()
|
||||
endif ()
|
||||
|
||||
get_filename_component(PICO_SDK_PATH "${PICO_SDK_PATH}" REALPATH BASE_DIR "${CMAKE_BINARY_DIR}")
|
||||
if (NOT EXISTS ${PICO_SDK_PATH})
|
||||
message(FATAL_ERROR "Directory '${PICO_SDK_PATH}' not found")
|
||||
endif ()
|
||||
|
||||
set(PICO_SDK_INIT_CMAKE_FILE ${PICO_SDK_PATH}/pico_sdk_init.cmake)
|
||||
if (NOT EXISTS ${PICO_SDK_INIT_CMAKE_FILE})
|
||||
message(FATAL_ERROR "Directory '${PICO_SDK_PATH}' does not appear to contain the Raspberry Pi Pico SDK")
|
||||
endif ()
|
||||
|
||||
set(PICO_SDK_PATH ${PICO_SDK_PATH} CACHE PATH "Path to the Raspberry Pi Pico SDK" FORCE)
|
||||
|
||||
include(${PICO_SDK_INIT_CMAKE_FILE})
|
||||
@@ -0,0 +1,64 @@
|
||||
#include "headSystem.hpp"
|
||||
#include "hardware/pwm.h"
|
||||
|
||||
#include "FreeRTOS.h"
|
||||
#include "task.h"
|
||||
|
||||
void HeadSystem::setChopper(bool open1, bool open2) {
|
||||
unsigned setpoint1 = open1 ? CHOPPER1_OPEN : CHOPPER1_CLOSE;
|
||||
unsigned setpoint2 = open2 ? CHOPPER2_OPEN : CHOPPER2_CLOSE;
|
||||
|
||||
setpoint1 = PWM_INVERT(setpoint1);
|
||||
setpoint2 = PWM_INVERT(setpoint2);
|
||||
|
||||
if(MOTOR_CHOPPER1) {
|
||||
pwm_set_gpio_level(MOTOR_CHOPPER2_PIN, setpoint1);
|
||||
} else {
|
||||
pwm_set_gpio_level(MOTOR_CHOPPER1_PIN, setpoint1);
|
||||
}
|
||||
|
||||
if(MOTOR_CHOPPER2) {
|
||||
pwm_set_gpio_level(MOTOR_CHOPPER2_PIN, setpoint2);
|
||||
} else {
|
||||
pwm_set_gpio_level(MOTOR_CHOPPER1_PIN, setpoint2);
|
||||
}
|
||||
}
|
||||
|
||||
STONE_STATE HeadSystem::dropStone() {
|
||||
|
||||
if(!gpio_get(SENSOR_STONE_PIN)) {
|
||||
setChopper(true, false);
|
||||
vTaskDelay(250 / portTICK_PERIOD_MS);
|
||||
setChopper(false, false);
|
||||
vTaskDelay(100 / portTICK_PERIOD_MS);
|
||||
|
||||
if(!gpio_get(SENSOR_STONE_PIN)) {
|
||||
return EMPTY;
|
||||
}
|
||||
}
|
||||
|
||||
setChopper(false, true);
|
||||
vTaskDelay(250 / portTICK_PERIOD_MS);
|
||||
setChopper(false, false);
|
||||
vTaskDelay(100 / portTICK_PERIOD_MS);
|
||||
setChopper(true, false);
|
||||
vTaskDelay(250 / portTICK_PERIOD_MS);
|
||||
setChopper(false, false);
|
||||
vTaskDelay(100 / portTICK_PERIOD_MS);
|
||||
|
||||
|
||||
return gpio_get(SENSOR_STONE_PIN) ? FULL : LOW;
|
||||
}
|
||||
|
||||
bool HeadSystem::preLoad() {
|
||||
if(gpio_get(SENSOR_STONE_PIN)) {
|
||||
return true;
|
||||
}
|
||||
|
||||
setChopper(true, false);
|
||||
vTaskDelay(250 / portTICK_PERIOD_MS);
|
||||
setChopper(false, false);
|
||||
vTaskDelay(100 / portTICK_PERIOD_MS);
|
||||
|
||||
return gpio_get(SENSOR_STONE_PIN);
|
||||
}
|
||||
@@ -0,0 +1,63 @@
|
||||
#include "headSystem.hpp"
|
||||
#include "pico/stdlib.h"
|
||||
#include "hardware/pwm.h"
|
||||
|
||||
#include "FreeRTOS.h"
|
||||
#include "queue.h"
|
||||
#include "semphr.h"
|
||||
|
||||
HeadSystem::HeadSystem() {
|
||||
initPins();
|
||||
}
|
||||
|
||||
void vHeadTaskFn(void *pvParameters) {
|
||||
HeadSystem * headSystem = (HeadSystem *) pvParameters;
|
||||
headSystem->vHeadTask();
|
||||
}
|
||||
|
||||
void HeadSystem::initPins() {
|
||||
stoneState = EMPTY;
|
||||
|
||||
headStateQueue = xQueueCreate(3, sizeof(bool));
|
||||
headSateSemaphore = xSemaphoreCreateBinary();
|
||||
xTaskCreate(vHeadTaskFn, "Head Task", 1024, this, 1, &headTaskHandle);
|
||||
|
||||
gpio_init(SENSOR_STONE_PIN);
|
||||
gpio_set_dir(SENSOR_STONE_PIN, GPIO_IN);
|
||||
gpio_pull_up(SENSOR_STONE_PIN);
|
||||
|
||||
gpio_init(SENSOR_Z_AXIS_PIN);
|
||||
gpio_set_dir(SENSOR_Z_AXIS_PIN, GPIO_IN);
|
||||
gpio_pull_down(SENSOR_Z_AXIS_PIN);
|
||||
|
||||
gpio_init(LED1_PIN);
|
||||
gpio_set_dir(LED1_PIN, GPIO_OUT);
|
||||
gpio_init(LED2_PIN);
|
||||
gpio_set_dir(LED2_PIN, GPIO_OUT);
|
||||
|
||||
gpio_set_function(MOTOR_CHOPPER1_PIN, GPIO_FUNC_PWM);
|
||||
gpio_set_function(MOTOR_CHOPPER2_PIN, GPIO_FUNC_PWM);
|
||||
gpio_set_function(MOTOR_Z_AXIS_PIN, GPIO_FUNC_PWM);
|
||||
|
||||
gpio_init(BUTTON_PIN);
|
||||
gpio_set_dir(BUTTON_PIN, GPIO_IN);
|
||||
gpio_pull_up(BUTTON_PIN);
|
||||
|
||||
motor_chopper1_slice_num = pwm_gpio_to_slice_num(MOTOR_CHOPPER1_PIN);
|
||||
motor_chopper2_slice_num = pwm_gpio_to_slice_num(MOTOR_CHOPPER2_PIN);
|
||||
motor_z_axis_slice_num = pwm_gpio_to_slice_num(MOTOR_Z_AXIS_PIN);
|
||||
|
||||
pwm_config config = pwm_get_default_config();
|
||||
pwm_config_set_wrap(&config, PWM_TOTAL);
|
||||
pwm_config_set_clkdiv(&config, PWM_CLK_DIV);
|
||||
|
||||
pwm_init(motor_chopper1_slice_num, &config, true);
|
||||
pwm_init(motor_chopper2_slice_num, &config, true);
|
||||
pwm_init(motor_z_axis_slice_num, &config, true);
|
||||
|
||||
pwm_set_gpio_level(MOTOR_CHOPPER1_PIN, PWM_INVERT(MOTOR_MS18_MID));
|
||||
pwm_set_gpio_level(MOTOR_CHOPPER2_PIN, PWM_INVERT(MOTOR_MS18_MID));
|
||||
pwm_set_gpio_level(MOTOR_Z_AXIS_PIN, PWM_INVERT(MOTOR_MS18_MID));
|
||||
|
||||
setChopper(false, false);
|
||||
}
|
||||
@@ -0,0 +1,19 @@
|
||||
#include "headSystem.hpp"
|
||||
#include "FreeRTOS.h"
|
||||
#include "task.h"
|
||||
|
||||
STONE_STATE HeadSystem::dropSequence() {
|
||||
gpio_put(LED1_PIN, 1);
|
||||
if(!preLoad()) {
|
||||
this->stoneState = EMPTY;
|
||||
return this->stoneState;
|
||||
}
|
||||
|
||||
bool prev_head_state = headUp;
|
||||
setHeadUp(false);
|
||||
STONE_STATE res = dropStone();
|
||||
setHeadUp(prev_head_state);
|
||||
this->stoneState = res;
|
||||
gpio_put(LED2_PIN, 0);
|
||||
return res;
|
||||
}
|
||||
@@ -0,0 +1,50 @@
|
||||
#include "headSystem.hpp"
|
||||
#include "hardware/pwm.h"
|
||||
#include "pico/stdlib.h"
|
||||
#include <stdio.h>
|
||||
|
||||
#include "FreeRTOS.h"
|
||||
|
||||
void HeadSystem::vHeadTask() {
|
||||
while (1) {
|
||||
bool new_state;
|
||||
xQueueReceive(headStateQueue, &new_state, portMAX_DELAY);
|
||||
|
||||
// Units in milliseconds
|
||||
const int READ_DELAY = 50;
|
||||
const int MAX_TIME = 7000;
|
||||
|
||||
if(headUp != new_state) {
|
||||
if(new_state && !Z_AXIS_IS_UP()) { // Head Up
|
||||
|
||||
pwm_set_gpio_level(MOTOR_Z_AXIS_PIN, PWM_INVERT(Z_AXIS_UP));
|
||||
vTaskDelay(100 / portTICK_PERIOD_MS);
|
||||
|
||||
for(int i=0; i<MAX_TIME / READ_DELAY; i++) {
|
||||
|
||||
if(Z_AXIS_IS_UP())
|
||||
break;
|
||||
|
||||
vTaskDelay(READ_DELAY / portTICK_PERIOD_MS);
|
||||
}
|
||||
|
||||
pwm_set_gpio_level(MOTOR_Z_AXIS_PIN, PWM_INVERT(Z_AXIS_OFF));
|
||||
|
||||
} else if(!new_state && Z_AXIS_IS_UP()) { // Head Down
|
||||
pwm_set_gpio_level(MOTOR_Z_AXIS_PIN, PWM_INVERT(Z_AXIS_DOWN));
|
||||
vTaskDelay(Z_AXIS_DOWN_TIME / portTICK_PERIOD_MS);
|
||||
pwm_set_gpio_level(MOTOR_Z_AXIS_PIN, PWM_INVERT(Z_AXIS_OFF));
|
||||
}
|
||||
|
||||
headUp = new_state;
|
||||
}
|
||||
|
||||
xSemaphoreGive(headSateSemaphore);
|
||||
}
|
||||
}
|
||||
|
||||
void HeadSystem::setHeadUp(bool up) {
|
||||
bool s = up;
|
||||
xQueueSend(headStateQueue, &s, portMAX_DELAY);
|
||||
xSemaphoreTake(headSateSemaphore, portMAX_DELAY);
|
||||
}
|
||||
123
stone-dispencer-control/firmware-stone-dispencer/src/main.cpp
Normal file
123
stone-dispencer-control/firmware-stone-dispencer/src/main.cpp
Normal file
@@ -0,0 +1,123 @@
|
||||
#include <stdio.h>
|
||||
#include "pico/stdlib.h"
|
||||
|
||||
#include "FreeRTOSConfig.h"
|
||||
#include "FreeRTOS.h"
|
||||
#include "task.h"
|
||||
#include "hardware/pwm.h"
|
||||
|
||||
#include "headSystem.hpp"
|
||||
#include "node_interface_hardware.hpp"
|
||||
#include "node_interface.hpp"
|
||||
#include "protocol.hpp"
|
||||
|
||||
struct AppData {
|
||||
xQueueHandle txQueue;
|
||||
xQueueHandle rxQueue;
|
||||
HeadSystem * headsystem;
|
||||
GobotRPC_NI * gobotrpc_ni;
|
||||
};
|
||||
|
||||
AppData g_appData;
|
||||
|
||||
void onRxPackage(void * args, char *data, uint16_t len, GobotRPCTypes type, GobotRPCNumber number) {
|
||||
AppData * appData = (AppData *) args;
|
||||
char txBuffer[32];
|
||||
|
||||
switch (number) {
|
||||
case GobotRPCNumber::GET_INFO: {
|
||||
InfoData info = appData->gobotrpc_ni->getInfo();
|
||||
txBuffer[0] = (info.addr >> 24) & 0xFF;
|
||||
txBuffer[1] = (info.addr >> 16) & 0xFF;
|
||||
txBuffer[2] = (info.addr >> 8) & 0xFF;
|
||||
txBuffer[3] = info.addr & 0xFF;
|
||||
txBuffer[4] = info.type;
|
||||
|
||||
g_appData.gobotrpc_ni->sendPackage(txBuffer, 5, GobotRPCTypes::RESPONSE, GobotRPCNumber::GET_INFO);
|
||||
break;
|
||||
}
|
||||
|
||||
case GobotRPCNumber::DROP_STONE: {
|
||||
STONE_STATE state = appData->headsystem->dropStone();
|
||||
txBuffer[0] = state;
|
||||
g_appData.gobotrpc_ni->sendPackage(txBuffer, 1, GobotRPCTypes::RESPONSE, GobotRPCNumber::DROP_STONE);
|
||||
break;
|
||||
}
|
||||
|
||||
case GobotRPCNumber::MOVE_Z_AXIS: {
|
||||
bool up = data[0] > 0;
|
||||
appData->headsystem->setHeadUp(up);
|
||||
g_appData.gobotrpc_ni->sendPackage(txBuffer, 0, GobotRPCTypes::RESPONSE, GobotRPCNumber::MOVE_Z_AXIS);
|
||||
|
||||
break;
|
||||
}
|
||||
|
||||
case GobotRPCNumber::RESET: {
|
||||
softwareReset();
|
||||
break;
|
||||
}
|
||||
|
||||
default: {
|
||||
break;
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
void vMainRPCHardwareTask(void *pvParameters) {
|
||||
AppData * appData = (AppData *) pvParameters;
|
||||
GobotRPC_NI_Hardware_RP2040_I2C gobotrpc_ni_hardware(
|
||||
appData->txQueue, appData->rxQueue, CORE_MASK_GOBOTRPC,
|
||||
i2c0, I2C_ADDR, GORPC_SDA_PIN, GORPC_SCL_PIN, GORPC_INT_PIN
|
||||
);
|
||||
|
||||
while (1) {
|
||||
vTaskDelay(500 / portTICK_PERIOD_MS);
|
||||
gpio_put(LED1_PIN, 1);
|
||||
vTaskDelay(500 / portTICK_PERIOD_MS);
|
||||
gpio_put(LED1_PIN, 0);
|
||||
}
|
||||
}
|
||||
|
||||
void vMainTask(void *pvParameters) {
|
||||
HeadSystem * headSystem = (HeadSystem *) pvParameters;
|
||||
bool buttonState = false;
|
||||
bool buttonLastState = false;
|
||||
|
||||
headSystem->setHeadUp(true);
|
||||
|
||||
vTaskSuspend(NULL);
|
||||
}
|
||||
|
||||
int main()
|
||||
{
|
||||
stdio_init_all();
|
||||
|
||||
HeadSystem headSystem;
|
||||
g_appData.headsystem = &headSystem;
|
||||
printf("HeadSystem initialized\n");
|
||||
|
||||
// Creating Queues
|
||||
g_appData.txQueue = xQueueCreate(16, sizeof(GobotRPC_NI_Package_Transport));
|
||||
g_appData.rxQueue = xQueueCreate(16, sizeof(GobotRPC_NI_Package_Transport));
|
||||
|
||||
// Setting GobotRPC Node Interface
|
||||
InfoData info = {.addr=I2C_ADDR, .type=NODE_TYPE_HEAD};
|
||||
GobotRPC_NI gobotrpc_ni(CORE_MASK_HEAD, g_appData.txQueue, g_appData.rxQueue, info);
|
||||
gobotrpc_ni.registerOnPackageRxCallback(onRxPackage, &g_appData);
|
||||
g_appData.gobotrpc_ni = &gobotrpc_ni;
|
||||
|
||||
// Sending Reset Notification
|
||||
char txBuffer[8];
|
||||
g_appData.gobotrpc_ni->sendPackage(txBuffer, 0, GobotRPCTypes::RESPONSE, GobotRPCNumber::RESET);
|
||||
|
||||
// Creating Tasks
|
||||
xTaskCreate(vMainTask, "Main Head Task", 1024, &headSystem, 1, NULL);
|
||||
xTaskCreate(vMainRPCHardwareTask, "Main GoboRPC Task", 2048, &g_appData, 1, NULL);
|
||||
|
||||
vTaskStartScheduler();
|
||||
|
||||
while (1) {
|
||||
tight_loop_contents();
|
||||
}
|
||||
|
||||
}
|
||||
Reference in New Issue
Block a user