Merged i2c-helper in Main
This commit is contained in:
AlexanderHD27
101
vacum-control/vacum-control-firmware/src/base.cpp
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101
vacum-control/vacum-control-firmware/src/base.cpp
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#include "vacum.hpp"
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#include "pinConfigNode.hpp"
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#include "FreeRTOS.h"
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#include "task.h"
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#include "semphr.h"
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#include "pico/stdlib.h"
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void vInterruptionTaskFn(void *pvParameters) {
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VacumControl *vacumControl = (VacumControl *)pvParameters;
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vacumControl->interruptionTaskFn();
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}
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void vButtonTaskFn(void *pvParameters) {
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VacumControl *vacumControl = (VacumControl *)pvParameters;
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vacumControl->buttonTaskFn();
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}
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VacumControl::VacumControl(uint coreMask) {
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this->coreMask = coreMask;
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initVacumPins();
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state = false;
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vacumMutex = xSemaphoreCreateMutex();
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interruptionSemaphore = xSemaphoreCreateBinary();
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xTaskCreateAffinitySet(vInterruptionTaskFn, "Interruption Task", 1024, this, 3, coreMask, &interruptionTask);
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xTaskCreateAffinitySet(vButtonTaskFn, "Button Task", 1024, this, 2, coreMask, &buttonTask);
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}
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void VacumControl::initVacumPins() {
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gpio_init(LED1_PIN);
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gpio_set_dir(LED1_PIN, GPIO_OUT);
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gpio_put(LED1_PIN, 0);
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gpio_init(LED2_PIN);
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gpio_set_dir(LED2_PIN, GPIO_OUT);
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gpio_put(LED2_PIN, 0);
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gpio_init(RELAY_PIN);
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gpio_set_dir(RELAY_PIN, GPIO_OUT);
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gpio_put(RELAY_PIN, 0);
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gpio_init(BUTTON_PIN);
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gpio_set_dir(BUTTON_PIN, GPIO_IN);
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gpio_pull_up(BUTTON_PIN);
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}
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void VacumControl::setState(bool on) {
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xSemaphoreTake(vacumMutex, portMAX_DELAY);
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if(on) {
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gpio_put(RELAY_PIN, 1);
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gpio_put(LED1_PIN, 1);
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state = true;
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xSemaphoreGive(interruptionSemaphore);
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} else {
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gpio_put(RELAY_PIN, 0);
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gpio_put(LED1_PIN, 0);
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state = false;
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}
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xSemaphoreGive(vacumMutex);
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}
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void VacumControl::interruptionTaskFn() {
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while(true) {
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xSemaphoreTake(interruptionSemaphore, portMAX_DELAY);
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if(state) {
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while(state) {
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vTaskDelay(INTERRUPTION_DELAY / portTICK_PERIOD_MS);
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if(state) {
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gpio_put(RELAY_PIN, 0);
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gpio_put(LED1_PIN, 0);
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} else
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break;
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vTaskDelay(INTERRUPTION_DURATION / portTICK_PERIOD_MS);
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if(state) {
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gpio_put(RELAY_PIN, 1);
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gpio_put(LED1_PIN, 1);
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}
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}
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}
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}
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}
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void VacumControl::buttonTaskFn() {
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bool buttonLastState = gpio_get(BUTTON_PIN);
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while(true) {
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bool buttonState = gpio_get(BUTTON_PIN);
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if(!buttonState && buttonLastState) {
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setState(true);
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vTaskDelay(250 / portTICK_PERIOD_MS);
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} else if(buttonState && !buttonLastState) {
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setState(false);
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}
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buttonLastState = buttonState;
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vTaskDelay(250 / portTICK_PERIOD_MS);
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}
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}
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119
vacum-control/vacum-control-firmware/src/main.cpp
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119
vacum-control/vacum-control-firmware/src/main.cpp
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#include <stdio.h>
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#include <string.h>
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#include "pico/stdlib.h"
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#include "vacum.hpp"
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#include "FreeRTOSConfig.h"
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#include "FreeRTOS.h"
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#include "task.h"
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#include "queue.h"
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#include "hardware/i2c.h"
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#include "pinConfigNode.hpp"
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#include "node_interface_hardware.hpp"
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#include "node_interface.hpp"
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#include "protocol.hpp"
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struct AppData {
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xQueueHandle txQueue;
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xQueueHandle rxQueue;
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VacumControl * vacumControl;
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GobotRPC_NI * gobotrpc_ni;
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};
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AppData g_appData;
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void onRxPackage(void * args, char *data, uint16_t len, GobotRPCTypes type, GobotRPCNumber number) {
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AppData * appData = (AppData *) args;
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char txBuffer[32];
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switch (number) {
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case GobotRPCNumber::VACUM: {
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GobotRPCPackage_Req_Vacum * pkg = (GobotRPCPackage_Req_Vacum *) data;
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appData->vacumControl->setState(pkg->enable);
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g_appData.gobotrpc_ni->sendPackage(txBuffer, 0, GobotRPCTypes::RESPONSE, GobotRPCNumber::VACUM);
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break;
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}
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case GobotRPCNumber::GET_INFO: {
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InfoData info = appData->gobotrpc_ni->getInfo();
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txBuffer[0] = (info.addr >> 24) & 0xFF;
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txBuffer[1] = (info.addr >> 16) & 0xFF;
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txBuffer[2] = (info.addr >> 8) & 0xFF;
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txBuffer[3] = info.addr & 0xFF;
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txBuffer[4] = info.type;
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g_appData.gobotrpc_ni->sendPackage(txBuffer, 5, GobotRPCTypes::RESPONSE, GobotRPCNumber::GET_INFO);
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break;
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}
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case GobotRPCNumber::RESET: {
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softwareReset();
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break;
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}
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default: {
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break;
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}
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}
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}
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void core1_main(void *pvParameters) {
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AppData * appData = (AppData *) pvParameters;
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GobotRPC_NI_Hardware_RP2040_I2C gobotrpc_ni_hardware(
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appData->txQueue, appData->rxQueue, CORE_MASK_VACUM,
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i2c0, I2C_ADDR, GORPC_SDA_PIN, GORPC_SCL_PIN, GORPC_INT_PIN
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);
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while (true) {
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gpio_put(LED2_PIN, 0);
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vTaskDelay(500 / portTICK_PERIOD_MS);
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gpio_put(LED2_PIN, 1);
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vTaskDelay(500 / portTICK_PERIOD_MS);
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}
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}
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TaskHandle_t xCore0TaskHandle = NULL;
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TaskHandle_t xCore1TaskHandle = NULL;
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int main() {
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stdio_init_all();
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printf("Hello, world!\n");
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gpio_init(LED1_PIN);
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gpio_set_dir(LED1_PIN, GPIO_OUT);
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gpio_put(LED1_PIN, 1);
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gpio_init(LED2_PIN);
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gpio_set_dir(LED2_PIN, GPIO_OUT);
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gpio_put(LED2_PIN, 1);
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g_appData.txQueue = xQueueCreate(16, sizeof(GobotRPC_NI_Package_Transport));
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g_appData.rxQueue = xQueueCreate(16, sizeof(GobotRPC_NI_Package_Transport));
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VacumControl vacumControl = VacumControl(CORE_MASK_VACUM);
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vacumControl.setState(false);
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g_appData.vacumControl = &vacumControl;
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InfoData info = {.addr=I2C_ADDR, .type=NODE_TYPE_VACUM};
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GobotRPC_NI gobotrpc_ni(CORE_MASK_VACUM, g_appData.txQueue, g_appData.rxQueue, info);
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gobotrpc_ni.registerOnPackageRxCallback(onRxPackage, &g_appData);
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g_appData.gobotrpc_ni = &gobotrpc_ni;
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xTaskCreateAffinitySet(
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core1_main, "Core 1 Main", 2048, &g_appData, 1, CORE_MASK_VACUM, &xCore1TaskHandle
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);
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char txBuffer[32];
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g_appData.gobotrpc_ni->sendPackage(txBuffer, 0, GobotRPCTypes::RESPONSE, GobotRPCNumber::RESET);
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vTaskStartScheduler();
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while (true) {
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tight_loop_contents();
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}
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}
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