Merged i2c-helper in Main

2025-01-12 00:16:00 +01:00
parent f4792de050
commit b5c7e5b4c1
396 changed files with 182143 additions and 14 deletions
--- a/vacum-control/vacum-control-firmware/src/main.cpp
+++ b/vacum-control/vacum-control-firmware/src/main.cpp
@@ -0,0 +1,119 @@
+#include <stdio.h>
+#include <string.h>
+#include "pico/stdlib.h"
+
+#include "vacum.hpp"
+
+#include "FreeRTOSConfig.h"
+#include "FreeRTOS.h"
+#include "task.h"
+#include "queue.h"
+
+#include "hardware/i2c.h"
+
+#include "pinConfigNode.hpp"
+#include "node_interface_hardware.hpp"
+#include "node_interface.hpp"
+#include "protocol.hpp"
+
+struct AppData {
+    xQueueHandle txQueue;
+    xQueueHandle rxQueue;
+    VacumControl * vacumControl;
+    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::VACUM: {
+            GobotRPCPackage_Req_Vacum * pkg = (GobotRPCPackage_Req_Vacum *) data;
+            appData->vacumControl->setState(pkg->enable);
+            g_appData.gobotrpc_ni->sendPackage(txBuffer, 0, GobotRPCTypes::RESPONSE, GobotRPCNumber::VACUM);
+            break;
+        }
+
+        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::RESET: {
+            softwareReset();
+            break;
+        }
+        
+        default: {
+            break;
+        }
+    }
+}
+
+void core1_main(void *pvParameters) {
+    AppData * appData = (AppData *) pvParameters;
+    GobotRPC_NI_Hardware_RP2040_I2C gobotrpc_ni_hardware(
+        appData->txQueue, appData->rxQueue, CORE_MASK_VACUM,
+        i2c0, I2C_ADDR, GORPC_SDA_PIN, GORPC_SCL_PIN, GORPC_INT_PIN
+    );
+
+    while (true) {
+        gpio_put(LED2_PIN, 0);
+        vTaskDelay(500 / portTICK_PERIOD_MS);
+        gpio_put(LED2_PIN, 1);
+        vTaskDelay(500 / portTICK_PERIOD_MS);
+    }
+}
+
+TaskHandle_t xCore0TaskHandle = NULL;
+TaskHandle_t xCore1TaskHandle = NULL;
+
+int main() {
+    stdio_init_all();
+    printf("Hello, world!\n");
+
+    gpio_init(LED1_PIN);
+    gpio_set_dir(LED1_PIN, GPIO_OUT);
+    gpio_put(LED1_PIN, 1);
+
+    gpio_init(LED2_PIN);
+    gpio_set_dir(LED2_PIN, GPIO_OUT);
+    gpio_put(LED2_PIN, 1);
+
+    g_appData.txQueue = xQueueCreate(16, sizeof(GobotRPC_NI_Package_Transport));
+    g_appData.rxQueue = xQueueCreate(16, sizeof(GobotRPC_NI_Package_Transport));
+
+    VacumControl vacumControl = VacumControl(CORE_MASK_VACUM);
+    vacumControl.setState(false);
+    g_appData.vacumControl = &vacumControl;
+
+    InfoData info = {.addr=I2C_ADDR, .type=NODE_TYPE_VACUM};
+
+    GobotRPC_NI gobotrpc_ni(CORE_MASK_VACUM, g_appData.txQueue, g_appData.rxQueue, info);
+    gobotrpc_ni.registerOnPackageRxCallback(onRxPackage, &g_appData);
+
+    g_appData.gobotrpc_ni = &gobotrpc_ni;
+
+    xTaskCreateAffinitySet(
+        core1_main, "Core 1 Main", 2048, &g_appData, 1, CORE_MASK_VACUM, &xCore1TaskHandle
+    );
+
+    char txBuffer[32];
+    g_appData.gobotrpc_ni->sendPackage(txBuffer, 0, GobotRPCTypes::RESPONSE, GobotRPCNumber::RESET);
+
+    vTaskStartScheduler();
+
+    while (true) {
+        tight_loop_contents();
+    }
+}