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63 Commits
can-interf
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i2c-helper
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.gitignore
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.gitignore
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.gitmodules
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.gitmodules
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3D-Print-Files/RPi_Mount/RPi Mount Raw - MountPart.stl
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3D-Print-Files/RPi_Mount/RPi Mount Raw - MountPart.stl
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3D-Print-Files/RPi_Mount/RPi Mount Raw - TopPart.stl
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3D-Print-Files/RPi_Mount/RPi Mount Raw - TopPart.stl
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3D-Print-Files/RPi_Mount/RPi_Mount.3mf
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3D-Print-Files/RPi_Mount/RPi_Mount.3mf
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3d-print/RPi_Mount.3mf
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3d-print/RPi_Mount.3mf
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3d-print/models/PerfBoardHolder/PerfBoardHolder - BoarMount.stl
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3d-print/models/PerfBoardHolder/PerfBoardHolder - BoarMount.stl
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3d-print/models/PerfBoardHolder/PerfBoardHolder - Mount0.stl
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3d-print/models/PerfBoardHolder/PerfBoardHolder - Mount0.stl
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3d-print/models/PerfBoardHolder/PerfBoardHolder - Mount1.stl
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3d-print/models/PerfBoardHolder/PerfBoardHolder - Mount1.stl
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3d-print/models/PerfBoardHolder/PerfBoardHolder.3mf
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3d-print/models/PerfBoardHolder/PerfBoardHolder.3mf
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7
can-interface/.vscode/settings.json
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can-interface/.vscode/settings.json
vendored
@@ -10,11 +10,12 @@
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||||
"idf.openOcdConfigs": [
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"board/esp32-wrover-kit-3.3v.cfg"
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],
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"idf.port": "/dev/ttyUSB1",
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"idf.port": "/dev/ttyUSB0",
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"idf.pythonBinPath": "/home/alexander/.espressif/python_env/idf5.3_py3.12_env/bin/python",
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"idf.toolsPath": "/home/alexander/.espressif",
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"idf.flashType": "JTAG",
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"idf.openOcdLaunchArgs": ["-c", "adapter_khz 10000"],
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"idf.flashType": "UART",
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"idf.openOcdLaunchArgs": ["-c", "adapter_khz 1000"],
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"idf.openOcdDebugLevel": 2,
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"files.associations": {
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||||
"*.tcc": "cpp",
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"cstdint": "cpp",
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can-interface/circuit/i2c-hub/i2c-hub-backups/i2c-hub-2024-12-28_225050.zip
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can-interface/circuit/i2c-hub/i2c-hub-backups/i2c-hub-2024-12-28_225050.zip
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can-interface/circuit/i2c-hub/i2c-hub.kicad_prl
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can-interface/circuit/i2c-hub/i2c-hub.kicad_prl
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can-interface/circuit/i2c-hub/i2c-hub.kicad_pro
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can-interface/circuit/i2c-hub/i2c-hub.kicad_pro
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@@ -1,8 +0,0 @@
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idf_component_register(SRCS
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"canTP.cpp"
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"gobotRPC.cpp"
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INCLUDE_DIRS "include"
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REQUIRES driver
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REQUIRES mcp2521
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REQUIRES mcp2521_hardware_interface
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)
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@@ -1,75 +0,0 @@
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#include "canTP.hpp"
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#include <math.h>
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#include <cstring>
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void onRxHandlerWrapper(void *arg) {
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SocketCANTP *socket = (SocketCANTP *)arg;
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socket->onRxHandler();
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}
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void SocketCANTP::onRxHandler() {
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uint8_t tmpBuffer[8];
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rx_info info = mcp2521->get_rx_id(MCP2521_RX_BUFFER::RXB0);
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mcp2521->read_rx_buf(MCP2521_RX_BUFFER::RXB0, MCP2521_BUFFER_TYPE::DATA, tmpBuffer, info.length);
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CANTP_FRAME_TYPE ft = static_cast<CANTP_FRAME_TYPE>((tmpBuffer[0] & 0xF0) >> 4);
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||||
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||||
switch (ft) {
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||||
case CANTP_FRAME_TYPE::SINGLE_FRAME:
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||||
if (userHandler) {
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||||
userHandler(tmpBuffer + 1, info.length - 1, userArg);
|
||||
}
|
||||
break;
|
||||
|
||||
case CANTP_FRAME_TYPE::FIRST_FRAME:
|
||||
int sizeTotal = ((tmpBuffer[0] & 0x0F) << 8 | tmpBuffer[1]) - 6;
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||||
consecitonFrameCounter = ceil(((float)(sizeTotal)) / 7.0);
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||||
memcpy(rxBuffer, tmpBuffer + 1, 6);
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||||
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||||
sendFlowControl(CANTP_FLOW_STATUS::CLEAR_TO_SEND, blockSizes, 0);
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||||
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||||
break;
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||||
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||||
case CANTP_FRAME_TYPE::CONSECUTIVE_FRAME:
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||||
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||||
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||||
consecitonFrameCounter--;
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||||
if(consecitonFrameCounter == 0) {
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||||
if (userHandler) {
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||||
userHandler(rxBuffer, rxLength, userArg);
|
||||
}
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||||
}
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||||
break;
|
||||
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||||
case CANTP_FRAME_TYPE::FLOW_CONTROL:
|
||||
break;
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
SocketCANTP::SocketCANTP(
|
||||
MCP2521 *mcp2521,
|
||||
uint32_t address,
|
||||
bool is_extended,
|
||||
uint8_t blockSizes
|
||||
) {
|
||||
this->mcp2521 = mcp2521;
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||||
this->address = address;
|
||||
this->is_extended = is_extended;
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||||
this->rxLength = 0;
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||||
this->consecitonFrameCounter = 0;
|
||||
this->blockSizes = 0;
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||||
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||||
mcp2521->register_rx0_handler(onRxHandlerWrapper, this);
|
||||
}
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||||
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||||
void SocketCANTP::send(uint8_t *data, uint8_t length) {
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||||
mcp2521->prepare_tx(
|
||||
MCP2521_TX_BUFFER::TXB0, address, data, length, is_extended, false);
|
||||
mcp2521->request_to_send(MCP2521_TX_BUFFER::TXB0);
|
||||
}
|
||||
|
||||
void SocketCANTP::register_rx_handler(rx_handler handler, void *arg) {
|
||||
userHandler = handler;
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||||
userArg = arg;
|
||||
}
|
||||
@@ -1,556 +0,0 @@
|
||||
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</mxCell>
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@@ -1,51 +0,0 @@
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#pragma once
|
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#include "mcp2521_toplevel.hpp"
|
||||
|
||||
typedef void (*rx_handler)(uint8_t *data, uint8_t length, void *arg);
|
||||
|
||||
enum CANTP_FRAME_TYPE {
|
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SINGLE_FRAME = 0b00,
|
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FIRST_FRAME = 0b01,
|
||||
CONSECUTIVE_FRAME = 0b10,
|
||||
FLOW_CONTROL = 0b11
|
||||
};
|
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|
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enum CANTP_FLOW_STATUS {
|
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CLEAR_TO_SEND = 0b0000,
|
||||
WAIT = 0b0001,
|
||||
OVERLOAD = 0b0010
|
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};
|
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|
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enum CAN_MULTI_FRAME_STATES {
|
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WAITING_FOR_FIRST_FRAME,
|
||||
WAITING_FOR_CONSECUTIVE_FRAME,
|
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}
|
||||
|
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class SocketCANTP {
|
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private:
|
||||
rx_handler userHandler;
|
||||
void *userArg;
|
||||
|
||||
MCP2521 *mcp2521;
|
||||
uint32_t address;
|
||||
bool is_extended;
|
||||
|
||||
uint8_t rxBuffer[4096];
|
||||
uint8_t txBuffer[4096];
|
||||
|
||||
size_t rxLength;
|
||||
|
||||
int consecitonFrameCounter;
|
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uint8_t blockSizes;
|
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|
||||
protected:
|
||||
void sendFlowControl(CANTP_FLOW_STATUS status, uint8_t blockSize, uint8_t separationTime);
|
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|
||||
public:
|
||||
SocketCANTP(MCP2521 *mcp2521, uint32_t address, bool is_extended, uint8_t blockSizes);
|
||||
|
||||
void send(uint8_t *data, uint8_t length);
|
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void register_rx_handler(rx_handler handler, void *arg);
|
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|
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void onRxHandler();
|
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}
|
||||
1
can-interface/components/gobot_rpc
Symbolic link
1
can-interface/components/gobot_rpc
Symbolic link
@@ -0,0 +1 @@
|
||||
/home/alexander/Projects/gobot/common-libaries/gobot_rpc
|
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@@ -2,6 +2,6 @@ idf_component_register(SRCS "hello_world_main.cpp"
|
||||
REQUIRES driver
|
||||
REQUIRES mcp2521
|
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REQUIRES mcp2521_hardware_interface
|
||||
REQUIRES CAN-Protocol-Stack
|
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REQUIRES gobot_rpc
|
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REQUIRES spi_flash
|
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INCLUDE_DIRS "")
|
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|
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@@ -34,32 +34,32 @@
|
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#define CAN_INT1_PIN GPIO_NUM_26
|
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|
||||
void onRX0(void *arg) {
|
||||
MCP2521 *mcp2521_0 = (MCP2521 *)arg;
|
||||
MCP2521 *mcp2521 = (MCP2521 *)arg;
|
||||
|
||||
rx_info info = mcp2521_0->get_rx_id(MCP2521_RX_BUFFER::RXB0);
|
||||
rx_info info = mcp2521->get_rx_id(MCP2521_RX_BUFFER::RXB0);
|
||||
uint8_t data[8];
|
||||
|
||||
mcp2521_0->read_rx_buf(MCP2521_RX_BUFFER::RXB0, MCP2521_BUFFER_TYPE::DATA, data, info.length);
|
||||
//mcp2521->read_rx_buf(MCP2521_RX_BUFFER::RXB0, MCP2521_BUFFER_TYPE::DATA, data, info.length);
|
||||
|
||||
printf("RX0: (%x) ", info.id);
|
||||
for (int i = 0; i < info.length; i++) {
|
||||
printf("%x ", data[i]);
|
||||
}
|
||||
//for (int i = 0; i < 8; i++) {
|
||||
// printf("%x ", data[i]);
|
||||
//}
|
||||
printf("\n");
|
||||
}
|
||||
|
||||
void onRX1(void *arg) {
|
||||
MCP2521 *mcp2521_0 = (MCP2521 *)arg;
|
||||
MCP2521 *mcp2521 = (MCP2521 *)arg;
|
||||
|
||||
rx_info info = mcp2521_0->get_rx_id(MCP2521_RX_BUFFER::RXB0);
|
||||
rx_info info = mcp2521->get_rx_id(MCP2521_RX_BUFFER::RXB0);
|
||||
uint8_t data[8];
|
||||
|
||||
mcp2521_0->read_rx_buf(MCP2521_RX_BUFFER::RXB0, MCP2521_BUFFER_TYPE::DATA, data, info.length);
|
||||
|
||||
//mcp2521->read_rx_buf(MCP2521_RX_BUFFER::RXB0, MCP2521_BUFFER_TYPE::DATA, data, info.length);
|
||||
printf("RX1: (%x) ", info.id);
|
||||
for (int i = 0; i < info.length; i++) {
|
||||
printf("%x ", data[i]);
|
||||
}
|
||||
//for (int i = 0; i < 8; i++) {
|
||||
// printf("%x ", data[i]);
|
||||
//}
|
||||
|
||||
printf("\n");
|
||||
}
|
||||
|
||||
@@ -86,7 +86,7 @@ extern "C" void app_main() {
|
||||
MCP2521 mcp2521_0(&hardware_mcp2521_0);
|
||||
MCP2521 mcp2521_1(&hardware_mcp2521_1);
|
||||
|
||||
uint8_t data[4] = {0xf0, 0x42, 0x13, 0x37};
|
||||
uint8_t data[8] = {0x1, 0x02, 0x03, 0x04, 0x05, 0x06, 0x07, 0x08};
|
||||
|
||||
mcp2521_0.reset();
|
||||
mcp2521_1.reset();
|
||||
@@ -98,23 +98,28 @@ extern "C" void app_main() {
|
||||
mcp2521_0.register_rx1_handler(onRX0, &mcp2521_0);
|
||||
mcp2521_1.register_rx1_handler(onRX1, &mcp2521_1);
|
||||
|
||||
mcp2521_0.set_mode_of_operation(MCP2521_OPERATION_MODE::NORMAL, true);
|
||||
mcp2521_1.set_mode_of_operation(MCP2521_OPERATION_MODE::NORMAL, true);
|
||||
mcp2521_0.set_mode_of_operation(MCP2521_OPERATION_MODE::LOOPBACK, true);
|
||||
mcp2521_1.set_mode_of_operation(MCP2521_OPERATION_MODE::LOOPBACK, true);
|
||||
|
||||
printf("CANSTAT0: %x\n", mcp2521_0.read_reg(MCP2521_CANSTAT));
|
||||
printf("CANSTAT1: %x\n", mcp2521_1.read_reg(MCP2521_CANSTAT));
|
||||
//printf("CANSTAT0: %x\n", mcp2521_0.read_reg(MCP2521_CANSTAT));
|
||||
//printf("CANSTAT1: %x\n", mcp2521_1.read_reg(MCP2521_CANSTAT));
|
||||
|
||||
vTaskDelay(20 / portTICK_PERIOD_MS);
|
||||
|
||||
mcp2521_0.prepare_tx(
|
||||
MCP2521_TX_BUFFER::TXB0, 0x042, data, 4, false, false);
|
||||
mcp2521_1.prepare_tx(
|
||||
MCP2521_TX_BUFFER::TXB0, 0x042, data, 8, false, false);
|
||||
//mcp2521_1.prepare_tx(
|
||||
// MCP2521_TX_BUFFER::TXB0, 0x041, data, 4, false, false);
|
||||
|
||||
|
||||
vTaskDelay(20 / portTICK_PERIOD_MS);
|
||||
mcp2521_0.request_to_send(MCP2521_TX_BUFFER::TXB0);
|
||||
mcp2521_1.request_to_send(MCP2521_TX_BUFFER::TXB0);
|
||||
//vTaskDelay(10 / portTICK_PERIOD_MS);
|
||||
//mcp2521_1.request_to_send(MCP2521_TX_BUFFER::TXB0);
|
||||
|
||||
//mcp2521_0.set_tx_id(MCP2521_TX_BUFFER::TXB0, 0x041, false);
|
||||
//vTaskDelay(20 / portTICK_PERIOD_MS);
|
||||
|
||||
//mcp2521_0.set_tx_id(MCP2521_TX_BUFFER::TXB0, 0x042, false);
|
||||
//mcp2521_0.request_to_send(MCP2521_TX_BUFFER::TXB0);
|
||||
|
||||
vTaskDelay(20 / portTICK_PERIOD_MS);
|
||||
|
||||
10
common-libaries/gobot_rpc/CMakeLists.txt
Normal file
10
common-libaries/gobot_rpc/CMakeLists.txt
Normal file
@@ -0,0 +1,10 @@
|
||||
idf_component_register(SRCS
|
||||
"gobot_rpc_sender.cpp"
|
||||
"gobot_rpc_receiver.cpp"
|
||||
"gobot_rpc_statemaschine.cpp"
|
||||
"gobot_rpc_numberMap.cpp"
|
||||
"gobot_rpc_transiver.cpp"
|
||||
REQUIRES mcp2521
|
||||
REQUIRES mcp2521_hardware_interface
|
||||
REQUIRES driver
|
||||
INCLUDE_DIRS "include")
|
||||
19
common-libaries/gobot_rpc/gobot_rpc_numberMap.cpp
Normal file
19
common-libaries/gobot_rpc/gobot_rpc_numberMap.cpp
Normal file
@@ -0,0 +1,19 @@
|
||||
#include "gobot_rpc.hpp"
|
||||
#include "protocol_spec.hpp"
|
||||
#include <string.h>
|
||||
|
||||
GobotRPCNumberMap::GobotRPCNumberMap() {
|
||||
memset(rpc_number_map, 0xffffffff, 16);
|
||||
}
|
||||
|
||||
GobotRPCNumberMap::~GobotRPCNumberMap() {
|
||||
|
||||
}
|
||||
|
||||
void GobotRPCNumberMap::set(RpcNum rpc_num, uint32_t id) {
|
||||
rpc_number_map[(int)rpc_num] = id;
|
||||
}
|
||||
|
||||
uint32_t GobotRPCNumberMap::get(RpcNum rpc_num) {
|
||||
return rpc_number_map[(int)rpc_num];
|
||||
}
|
||||
43
common-libaries/gobot_rpc/gobot_rpc_receiver.cpp
Normal file
43
common-libaries/gobot_rpc/gobot_rpc_receiver.cpp
Normal file
@@ -0,0 +1,43 @@
|
||||
#include <string.h>
|
||||
#include "gobot_rpc.hpp"
|
||||
#include "sm.hpp"
|
||||
#include "protocol_spec.hpp"
|
||||
|
||||
#include "freertos/FreeRTOS.h"
|
||||
|
||||
GobotRPCReciver::GobotRPCReciver(MCP2521 * can_interface) {
|
||||
this->can_interface = can_interface;
|
||||
this->state_mashine = GobotRPCStateMashine();
|
||||
|
||||
can_interface->register_rx0_handler(onRX0_GoboRPC, can_interface);
|
||||
}
|
||||
|
||||
|
||||
void onRX0_GoboRPC(void *arg) {
|
||||
GobotRPCReciver *rpc_socket = (GobotRPCReciver *)arg;
|
||||
rpc_socket->onRX();
|
||||
}
|
||||
|
||||
void GobotRPCReciver::onRX() {
|
||||
rx_info info = can_interface->get_rx_id(MCP2521_RX_BUFFER::RXB0);
|
||||
uint8_t data[8];
|
||||
|
||||
can_interface->read_rx_buf(MCP2521_RX_BUFFER::RXB0, MCP2521_BUFFER_TYPE::DATA, data, info.length);
|
||||
|
||||
RPCFrame frame;
|
||||
memcpy(((char *)data) + 1, (char *)frame.data, 7);
|
||||
frame.header = (RPCHeader)(data[0]);
|
||||
|
||||
SMResult smResult;
|
||||
state_mashine.submitFrame(&frame, &smResult);
|
||||
|
||||
if(smResult.done) {
|
||||
|
||||
}
|
||||
}
|
||||
|
||||
void GobotRPCReciver::registerOnDoneFrameHandler(GobotRPCHandler_t handler, void * arg) {
|
||||
onDoneFrameHandler = handler;
|
||||
argOnDoneFrameHandler = arg;
|
||||
}
|
||||
|
||||
74
common-libaries/gobot_rpc/gobot_rpc_statemaschine.cpp
Normal file
74
common-libaries/gobot_rpc/gobot_rpc_statemaschine.cpp
Normal file
@@ -0,0 +1,74 @@
|
||||
#include "sm.hpp"
|
||||
#include "protocol_spec.hpp"
|
||||
#include <string.h>
|
||||
|
||||
GobotRPCStateMashine::GobotRPCStateMashine() {
|
||||
memset(requestDataBuffer, 0, REQUEST_DATA_BUFFER_SIZE*sizeof(uint8_t)*SLOTS);
|
||||
memset(responseDataBuffer, 0, RESPONSE_DATA_BUFFER_SIZE*sizeof(uint8_t)*SLOTS);
|
||||
memset(errorDataBuffer, 0, RESPONSE_DATA_BUFFER_SIZE*sizeof(uint8_t)*SLOTS);
|
||||
|
||||
memset(requestSegmentArrivedFlags, 0, sizeof(uint8_t)*SLOTS);
|
||||
memset(responseSegmentArrivedFlags, 0, sizeof(uint8_t)*SLOTS);
|
||||
memset(errorSegmentArrivedFlags, 0, sizeof(uint8_t)*SLOTS);
|
||||
|
||||
slotCounter = 0;
|
||||
rpc_number_map = GobotRPCNumberMap();
|
||||
}
|
||||
|
||||
void GobotRPCStateMashine::registerRPC(RpcNum rpc_num) {
|
||||
rpc_number_map.set(rpc_num, slotCounter);
|
||||
slotCounter = (slotCounter + 1) % SLOTS;
|
||||
}
|
||||
|
||||
void GobotRPCStateMashine::submitFrame(RPCFrame * frame, SMResult * result) {
|
||||
RpcNum rpcNum = (RpcNum)(frame->header.rpc_num);
|
||||
|
||||
result->done = false;
|
||||
result->rpc_num = rpcNum;
|
||||
|
||||
if(rpcNum == RpcNum::INVALID)
|
||||
return;
|
||||
|
||||
size_t slot = rpc_number_map.get(rpcNum);
|
||||
if (slot == 0xffffffff)
|
||||
return;
|
||||
|
||||
uint8_t segNum = frame->header.rpc_segement;
|
||||
|
||||
if(frame->header.error) {
|
||||
memcpy(result->data, frame->data, 7);
|
||||
errorSegmentArrivedFlags[slot] |= (1 << segNum);
|
||||
|
||||
result->done = true;
|
||||
result->type = RPCPackageType::ERROR;
|
||||
|
||||
} else if(frame->header.response) {
|
||||
memcpy(responseDataBuffer[slot] + segNum, frame->data, 7);
|
||||
responseSegmentArrivedFlags[slot] |= (1 << segNum);
|
||||
|
||||
uint8_t mask = SEGMENT_MASK_RESPONSE[(int)rpcNum];
|
||||
|
||||
if(((responseSegmentArrivedFlags[slot] & mask) ^ mask) == 0) {
|
||||
responseSegmentArrivedFlags[slot] = 0;
|
||||
|
||||
result->done = true;
|
||||
memcpy(result->data, responseDataBuffer[slot], 7*4);
|
||||
result->type = RPCPackageType::RESPONSE;
|
||||
}
|
||||
|
||||
} else {
|
||||
memcpy(requestDataBuffer[slot] + segNum, frame->data, 7);
|
||||
requestSegmentArrivedFlags[slot] |= (1 << segNum);
|
||||
|
||||
uint8_t mask = SEGMENT_MASK_RESPONSE[(int)rpcNum];
|
||||
|
||||
if(((requestSegmentArrivedFlags[slot] & mask) ^ mask) == 0) {
|
||||
requestSegmentArrivedFlags[slot] = 0;
|
||||
|
||||
result->done = true;
|
||||
memcpy(result->data, requestDataBuffer[slot], 7*4);
|
||||
result->type = RPCPackageType::REQUEST;
|
||||
}
|
||||
}
|
||||
|
||||
}
|
||||
56
common-libaries/gobot_rpc/include/gobot_rpc.hpp
Normal file
56
common-libaries/gobot_rpc/include/gobot_rpc.hpp
Normal file
@@ -0,0 +1,56 @@
|
||||
#pragma once
|
||||
#include "protocol_spec.hpp"
|
||||
#include "mcp2521.hpp"
|
||||
#include "sm.hpp"
|
||||
|
||||
#include "freertos/FreeRTOS.h"
|
||||
|
||||
|
||||
|
||||
typedef void (*GobotRPCHandler_t)(void *);
|
||||
typedef void (*GobotRPCFrameHandler)(void *, RPCFrame *);
|
||||
|
||||
class GobotRPCReciver {
|
||||
protected:
|
||||
MCP2521 * can_interface;
|
||||
GobotRPCStateMashine state_mashine;
|
||||
|
||||
GobotRPCHandler_t onDoneFrameHandler;
|
||||
void * argOnDoneFrameHandler;
|
||||
|
||||
public:
|
||||
GobotRPCReciver(MCP2521 * can_interface);
|
||||
~GobotRPCReciver();
|
||||
|
||||
void onRX();
|
||||
|
||||
void registerOnDoneFrameHandler(GobotRPCHandler_t handler, void * arg);
|
||||
};
|
||||
|
||||
void onRX0_GoboRPC(void *arg);
|
||||
|
||||
class GoboRPCTransiver {
|
||||
private:
|
||||
MCP2521 * can_interface;
|
||||
GobotRPCReciver rx;
|
||||
|
||||
GobotRPCHandler_t onRequestHandler;
|
||||
GobotRPCHandler_t onResponseHandler;
|
||||
GobotRPCHandler_t onResponseErrorHandler;
|
||||
|
||||
void * argOnRequestHandler;
|
||||
void * argOnResponseHandler;
|
||||
void * argOnResponseErrorHandler;
|
||||
|
||||
|
||||
|
||||
public:
|
||||
GoboRPCTransiver(MCP2521 * can_interface);
|
||||
~GoboRPCTransiver();
|
||||
|
||||
void send(RPCFrame * frame);
|
||||
|
||||
void registerOnRequestHandler(GobotRPCHandler_t handler, void * arg);
|
||||
void registerOnResponseHandler(GobotRPCHandler_t handler, void * arg);
|
||||
void registerOnResponseErrorHandler(GobotRPCHandler_t handler, void * arg);
|
||||
};
|
||||
123
common-libaries/gobot_rpc/include/protocol_spec.hpp
Normal file
123
common-libaries/gobot_rpc/include/protocol_spec.hpp
Normal file
@@ -0,0 +1,123 @@
|
||||
#pragma once
|
||||
#include <stdint.h>
|
||||
|
||||
enum RpcNum {
|
||||
Get_Info = 0x0,
|
||||
Home = 0x1,
|
||||
Move_Step = 0x2,
|
||||
Move_XY = 0x3,
|
||||
Set_Padding = 0x4,
|
||||
Release_Motors = 0x5,
|
||||
Drop_Stones = 0x6,
|
||||
Get_Stone_Status = 0x7,
|
||||
Mov_Z_Axis = 0x8,
|
||||
Set_Vacum = 0x9,
|
||||
INVALID = 0xF,
|
||||
};
|
||||
|
||||
struct RPCHeader {
|
||||
unsigned char rpc_num : 4;
|
||||
unsigned char response : 1;
|
||||
unsigned char error : 1;
|
||||
unsigned char rpc_segement : 1;
|
||||
};
|
||||
|
||||
struct RPCFrame {
|
||||
RPCHeader header;
|
||||
uint8_t data[7];
|
||||
};
|
||||
|
||||
enum RPC_Node_Type {
|
||||
NODE_ALL = 0x0,
|
||||
NODE_CORE_XY = 0x1,
|
||||
NODE_HEAD = 0x2,
|
||||
NODE_VACUM = 0x3,
|
||||
};
|
||||
|
||||
// RPC Request and Response structures
|
||||
struct RPC_RES_Get_Info {
|
||||
uint32_t can_address;
|
||||
RPC_Node_Type node_type;
|
||||
uint32_t status;
|
||||
uint32_t error;
|
||||
};
|
||||
|
||||
enum RPC_Home_Corner {
|
||||
HOME_CORNER_0 = 0b00,
|
||||
HOME_CORNER_1 = 0b01,
|
||||
HOME_CORNER_2 = 0b10,
|
||||
HOME_CORNER_3 = 0b11,
|
||||
};
|
||||
|
||||
struct RPC_REQ_Home {
|
||||
RPC_Home_Corner corner;
|
||||
};
|
||||
|
||||
struct RPC_RES_Home {
|
||||
uint32_t x;
|
||||
uint32_t y;
|
||||
};
|
||||
|
||||
struct RPC_REQ_Move_Step {
|
||||
int32_t x;
|
||||
int32_t y;
|
||||
};
|
||||
|
||||
struct RPC_RES_Move_Step {
|
||||
uint32_t x;
|
||||
uint32_t y;
|
||||
};
|
||||
|
||||
struct RPC_REQ_Set_Padding {
|
||||
uint32_t c_1x;
|
||||
uint32_t c_1y;
|
||||
uint32_t c_2x;
|
||||
uint32_t c_2y;
|
||||
uint8_t n_x;
|
||||
uint8_t n_y;
|
||||
};
|
||||
|
||||
struct RPC_REQ_Move_Z_Axis {
|
||||
bool up;
|
||||
};
|
||||
|
||||
struct RPC_REQ_Set_Vacum {
|
||||
bool on;
|
||||
};
|
||||
|
||||
// Segment3, Segment2, Segment1, Segment0
|
||||
const uint8_t SEGMENT_MASK_REQUEST[16] = {
|
||||
0b0001, // Get_Info
|
||||
0b0001, // Home
|
||||
0b0001, // Move_Step
|
||||
0b0001, // Move_XY
|
||||
0b0111, // Set_Padding
|
||||
0b0001, // Release_Motors
|
||||
0b0001, // Drop_Stones
|
||||
0b0001, // Get_Stone_Status
|
||||
0b0001, // Mov_Z_Axis
|
||||
0b0001, // Set_Vacum
|
||||
0b0001, //
|
||||
0b0001, //
|
||||
0b0001, //
|
||||
0b0001, //
|
||||
0b0001, //
|
||||
};
|
||||
|
||||
const uint8_t SEGMENT_MASK_RESPONSE[16] = {
|
||||
0b0001, // Get_Info
|
||||
0b0001, // Home
|
||||
0b0001, // Move_Step
|
||||
0b0001, // Move_XY
|
||||
0b0001, // Set_Padding
|
||||
0b0001, // Release_Motors
|
||||
0b0001, // Drop_Stones
|
||||
0b0001, // Get_Stone_Status
|
||||
0b0001, // Mov_Z_Axis
|
||||
0b0001, // Set_Vacum
|
||||
0b0001, //
|
||||
0b0001, //
|
||||
0b0001, //
|
||||
0b0001, //
|
||||
0b0001, //
|
||||
};
|
||||
58
common-libaries/gobot_rpc/include/sm.hpp
Normal file
58
common-libaries/gobot_rpc/include/sm.hpp
Normal file
@@ -0,0 +1,58 @@
|
||||
#pragma once
|
||||
#include <stdint.h>
|
||||
#include "protocol_spec.hpp"
|
||||
#include <strings.h>
|
||||
|
||||
class GobotRPCNumberMap {
|
||||
private:
|
||||
int32_t rpc_number_map[16];
|
||||
public:
|
||||
GobotRPCNumberMap();
|
||||
~GobotRPCNumberMap();
|
||||
|
||||
void set(RpcNum rpc_num, uint32_t id);
|
||||
uint32_t get(RpcNum rpc_num);
|
||||
};
|
||||
|
||||
|
||||
enum RPCPackageType {
|
||||
REQUEST,
|
||||
RESPONSE,
|
||||
ERROR
|
||||
};
|
||||
|
||||
struct SMResult {
|
||||
bool done;
|
||||
uint8_t data[7*4];
|
||||
RpcNum rpc_num;
|
||||
RPCPackageType type;
|
||||
};
|
||||
|
||||
class GobotRPCStateMashine {
|
||||
private:
|
||||
static const size_t SLOTS = 6;
|
||||
static const size_t REQUEST_DATA_BUFFER_SIZE = 7*4;
|
||||
static const size_t RESPONSE_DATA_BUFFER_SIZE = 7*4;
|
||||
|
||||
|
||||
GobotRPCNumberMap rpc_number_map;
|
||||
size_t slotCounter;
|
||||
|
||||
uint8_t requestDataBuffer[REQUEST_DATA_BUFFER_SIZE][SLOTS];
|
||||
bool requestSegmentArrivedFlags [SLOTS];
|
||||
|
||||
uint8_t responseDataBuffer[RESPONSE_DATA_BUFFER_SIZE][SLOTS];
|
||||
uint8_t responseSegmentArrivedFlags [SLOTS];
|
||||
|
||||
uint8_t errorDataBuffer[RESPONSE_DATA_BUFFER_SIZE][SLOTS];
|
||||
uint8_t errorSegmentArrivedFlags [SLOTS];
|
||||
|
||||
public:
|
||||
GobotRPCStateMashine();
|
||||
~GobotRPCStateMashine();
|
||||
|
||||
void registerRPC(RpcNum rpc_num);
|
||||
|
||||
void submitFrame(RPCFrame * frame, SMResult * result);
|
||||
|
||||
};
|
||||
0
common-libaries/mcp2521/cmake/pico.cmake
Normal file
0
common-libaries/mcp2521/cmake/pico.cmake
Normal file
@@ -76,7 +76,7 @@ void MCP2521_HardwareHandle_ESP::read(uint8_t cmd, uint8_t *data, size_t length)
|
||||
.addr = 0,
|
||||
.length = 8*length,
|
||||
.rxlength = 8*length,
|
||||
.tx_buffer = NULL,
|
||||
.tx_buffer = null_buffer,
|
||||
.rx_buffer = data
|
||||
},
|
||||
.command_bits = 8,
|
||||
|
||||
@@ -73,7 +73,7 @@ void MCP2521_HardwareHandle_ESP::initSPIDevice(
|
||||
// Learned this the hard way
|
||||
.cs_ena_pretrans = 0,
|
||||
.cs_ena_posttrans = 0,
|
||||
.clock_speed_hz = 10000,
|
||||
.clock_speed_hz = 2000,
|
||||
|
||||
.spics_io_num = cs,
|
||||
.flags = SPI_DEVICE_NO_DUMMY,
|
||||
|
||||
BIN
i2c-hub/asd
Normal file
BIN
i2c-hub/asd
Normal file
Binary file not shown.
BIN
i2c-hub/backend/Protocol.md
LFS
Normal file
BIN
i2c-hub/backend/Protocol.md
LFS
Normal file
Binary file not shown.
BIN
i2c-hub/backend/src/gobotRPC_ctrl_interface.py
LFS
Normal file
BIN
i2c-hub/backend/src/gobotRPC_ctrl_interface.py
LFS
Normal file
Binary file not shown.
0
i2c-hub/backend/src/main.py
Normal file
0
i2c-hub/backend/src/main.py
Normal file
9
i2c-hub/backend/test.txt
Normal file
9
i2c-hub/backend/test.txt
Normal file
@@ -0,0 +1,9 @@
|
||||
fe fe fe fe fc 10 10 10 20 ff 48 65 6c 6c 6f 20
|
||||
6f 72 6c 64 21 0a 84 00 01 00 42 00 00 00 12
|
||||
00 00 00 c0 84 01 01 01 43 00 00 00 22 00 00
|
||||
3f 00 84 00 01 00 42 00 00 00 32 00 00 00 80
|
||||
54 68 69 73 20 69 73 20 52 61 6e 64 6f 6d 20
|
||||
65 78 74 0a 84 01 01 02 43 00 00 00 63 00 00
|
||||
3f 00 84 01 01 00 42 00 00 00 73 00 00 00 bf
|
||||
81 10 40 42 00 00 00 01 02 03 04 05 06 00 11
|
||||
13 14 fe fe fe fe fe fe fc
|
||||
372
i2c-hub/circuit/.$I2CHubCircuit.drawio.bkp
Normal file
372
i2c-hub/circuit/.$I2CHubCircuit.drawio.bkp
Normal file
@@ -0,0 +1,372 @@
|
||||
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372
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372
i2c-hub/circuit/I2CHubCircuit.drawio
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@@ -0,0 +1,372 @@
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||||
</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
i2c-hub/circuit/external/KiCad-RP-Pico
vendored
Submodule
1
i2c-hub/circuit/external/KiCad-RP-Pico
vendored
Submodule
Submodule i2c-hub/circuit/external/KiCad-RP-Pico added at dc6f9b9f21
1
i2c-hub/circuit/external/RP_Silicon_KiCad
vendored
Submodule
1
i2c-hub/circuit/external/RP_Silicon_KiCad
vendored
Submodule
Submodule i2c-hub/circuit/external/RP_Silicon_KiCad added at 8ab84dd99d
1
i2c-hub/circuit/i2c-hub/#auto_saved_files#
Normal file
1
i2c-hub/circuit/i2c-hub/#auto_saved_files#
Normal file
@@ -0,0 +1 @@
|
||||
/home/alexander/Projects/gobot/i2c-hub/circuit/i2c-hub/_autosave-i2c-hub.kicad_sch
|
||||
BIN
i2c-hub/circuit/i2c-hub/_autosave-i2c-hub.kicad_sch
LFS
Normal file
BIN
i2c-hub/circuit/i2c-hub/_autosave-i2c-hub.kicad_sch
LFS
Normal file
Binary file not shown.
BIN
i2c-hub/circuit/i2c-hub/i2c-hub-backups/i2c-hub-2024-12-30_211118.zip
LFS
Normal file
BIN
i2c-hub/circuit/i2c-hub/i2c-hub-backups/i2c-hub-2024-12-30_211118.zip
LFS
Normal file
Binary file not shown.
BIN
i2c-hub/circuit/i2c-hub/i2c-hub.kicad_pcb
LFS
Normal file
BIN
i2c-hub/circuit/i2c-hub/i2c-hub.kicad_pcb
LFS
Normal file
Binary file not shown.
BIN
i2c-hub/circuit/i2c-hub/i2c-hub.kicad_prl
LFS
Normal file
BIN
i2c-hub/circuit/i2c-hub/i2c-hub.kicad_prl
LFS
Normal file
Binary file not shown.
BIN
i2c-hub/circuit/i2c-hub/i2c-hub.kicad_pro
LFS
Normal file
BIN
i2c-hub/circuit/i2c-hub/i2c-hub.kicad_pro
LFS
Normal file
Binary file not shown.
BIN
i2c-hub/circuit/i2c-hub/i2c-hub.kicad_sch
LFS
Normal file
BIN
i2c-hub/circuit/i2c-hub/i2c-hub.kicad_sch
LFS
Normal file
Binary file not shown.
4
i2c-hub/circuit/i2c-hub/sym-lib-table
Normal file
4
i2c-hub/circuit/i2c-hub/sym-lib-table
Normal file
@@ -0,0 +1,4 @@
|
||||
(sym_lib_table
|
||||
(version 7)
|
||||
(lib (name "MCU_RaspberryPi_and_Boards")(type "KiCad")(uri "/home/alexander/Projects/gobot/i2c-hub/circuit/external/KiCad-RP-Pico/RP-Pico Libraries/MCU_RaspberryPi_and_Boards.kicad_sym")(options "")(descr ""))
|
||||
)
|
||||
BIN
i2c-hub/firmware/i2c-hub-firmware/.gitignore
LFS
vendored
Normal file
BIN
i2c-hub/firmware/i2c-hub-firmware/.gitignore
LFS
vendored
Normal file
Binary file not shown.
23
i2c-hub/firmware/i2c-hub-firmware/.vscode/c_cpp_properties.json
vendored
Normal file
23
i2c-hub/firmware/i2c-hub-firmware/.vscode/c_cpp_properties.json
vendored
Normal file
@@ -0,0 +1,23 @@
|
||||
{
|
||||
"configurations": [
|
||||
{
|
||||
"name": "Pico",
|
||||
"includePath": [
|
||||
"${workspaceFolder}/**",
|
||||
"${userHome}/.pico-sdk/sdk/2.1.0/**"
|
||||
],
|
||||
"forcedInclude": [
|
||||
"${userHome}/.pico-sdk/sdk/2.1.0/src/common/pico_base_headers/include/pico.h",
|
||||
"${workspaceFolder}/build/generated/pico_base/pico/config_autogen.h"
|
||||
],
|
||||
"defines": [],
|
||||
"compilerPath": "${userHome}/.pico-sdk/toolchain/13_3_Rel1/bin/arm-none-eabi-gcc",
|
||||
"compileCommands": "${workspaceFolder}/build/compile_commands.json",
|
||||
"cStandard": "c17",
|
||||
"cppStandard": "c++14",
|
||||
"intelliSenseMode": "linux-gcc-arm",
|
||||
"configurationProvider": "ms-vscode.cmake-tools"
|
||||
}
|
||||
],
|
||||
"version": 4
|
||||
}
|
||||
15
i2c-hub/firmware/i2c-hub-firmware/.vscode/cmake-kits.json
vendored
Normal file
15
i2c-hub/firmware/i2c-hub-firmware/.vscode/cmake-kits.json
vendored
Normal file
@@ -0,0 +1,15 @@
|
||||
[
|
||||
{
|
||||
"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": "${command:raspberry-pi-pico.getPythonPath}"
|
||||
}
|
||||
}
|
||||
]
|
||||
9
i2c-hub/firmware/i2c-hub-firmware/.vscode/extensions.json
vendored
Normal file
9
i2c-hub/firmware/i2c-hub-firmware/.vscode/extensions.json
vendored
Normal file
@@ -0,0 +1,9 @@
|
||||
{
|
||||
"recommendations": [
|
||||
"marus25.cortex-debug",
|
||||
"ms-vscode.cpptools",
|
||||
"ms-vscode.cpptools-extension-pack",
|
||||
"ms-vscode.vscode-serial-monitor",
|
||||
"raspberry-pi.raspberry-pi-pico"
|
||||
]
|
||||
}
|
||||
70
i2c-hub/firmware/i2c-hub-firmware/.vscode/launch.json
vendored
Normal file
70
i2c-hub/firmware/i2c-hub-firmware/.vscode/launch.json
vendored
Normal file
@@ -0,0 +1,70 @@
|
||||
{
|
||||
"version": "0.2.0",
|
||||
"configurations": [
|
||||
{
|
||||
"name": "Pico Debug (Cortex-Debug)",
|
||||
"cwd": "${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/${command:raspberry-pi-pico.getChipUppercase}.svd"
|
||||
},
|
||||
]
|
||||
}
|
||||
87
i2c-hub/firmware/i2c-hub-firmware/.vscode/settings.json
vendored
Normal file
87
i2c-hub/firmware/i2c-hub-firmware/.vscode/settings.json
vendored
Normal file
@@ -0,0 +1,87 @@
|
||||
{
|
||||
"cmake.options.statusBarVisibility": "hidden",
|
||||
"cmake.options.advanced": {
|
||||
"build": {
|
||||
"statusBarVisibility": "hidden"
|
||||
},
|
||||
"launch": {
|
||||
"statusBarVisibility": "hidden"
|
||||
},
|
||||
"debug": {
|
||||
"statusBarVisibility": "hidden"
|
||||
}
|
||||
},
|
||||
"cmake.configureOnEdit": true,
|
||||
"cmake.automaticReconfigure": true,
|
||||
"cmake.configureOnOpen": true,
|
||||
"cmake.generator": "Ninja",
|
||||
"cmake.cmakePath": "${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": "${HOME}/.pico-sdk/ninja/v1.12.1/ninja",
|
||||
"files.associations": {
|
||||
"uart.h": "c",
|
||||
"freertos.h": "c",
|
||||
"array": "cpp",
|
||||
"atomic": "cpp",
|
||||
"bit": "cpp",
|
||||
"*.tcc": "cpp",
|
||||
"cctype": "cpp",
|
||||
"clocale": "cpp",
|
||||
"cmath": "cpp",
|
||||
"compare": "cpp",
|
||||
"concepts": "cpp",
|
||||
"cstdarg": "cpp",
|
||||
"cstddef": "cpp",
|
||||
"cstdint": "cpp",
|
||||
"cstdio": "cpp",
|
||||
"cstdlib": "cpp",
|
||||
"cwchar": "cpp",
|
||||
"cwctype": "cpp",
|
||||
"deque": "cpp",
|
||||
"map": "cpp",
|
||||
"string": "cpp",
|
||||
"unordered_map": "cpp",
|
||||
"vector": "cpp",
|
||||
"exception": "cpp",
|
||||
"algorithm": "cpp",
|
||||
"functional": "cpp",
|
||||
"iterator": "cpp",
|
||||
"memory": "cpp",
|
||||
"memory_resource": "cpp",
|
||||
"numeric": "cpp",
|
||||
"optional": "cpp",
|
||||
"random": "cpp",
|
||||
"string_view": "cpp",
|
||||
"system_error": "cpp",
|
||||
"tuple": "cpp",
|
||||
"type_traits": "cpp",
|
||||
"utility": "cpp",
|
||||
"initializer_list": "cpp",
|
||||
"iosfwd": "cpp",
|
||||
"limits": "cpp",
|
||||
"new": "cpp",
|
||||
"numbers": "cpp",
|
||||
"ostream": "cpp",
|
||||
"stdexcept": "cpp",
|
||||
"streambuf": "cpp",
|
||||
"typeinfo": "cpp"
|
||||
}
|
||||
}
|
||||
106
i2c-hub/firmware/i2c-hub-firmware/.vscode/tasks.json
vendored
Normal file
106
i2c-hub/firmware/i2c-hub-firmware/.vscode/tasks.json
vendored
Normal file
@@ -0,0 +1,106 @@
|
||||
{
|
||||
"version": "2.0.0",
|
||||
"tasks": [
|
||||
{
|
||||
"label": "Compile Project",
|
||||
"type": "process",
|
||||
"isBuildCommand": true,
|
||||
"command": "${userHome}/.pico-sdk/ninja/v1.12.1/ninja",
|
||||
"args": ["-C", "${workspaceFolder}/build"],
|
||||
"group": "build",
|
||||
"presentation": {
|
||||
"echo": true,
|
||||
"reveal": "always",
|
||||
"focus": true,
|
||||
"panel": "dedicated",
|
||||
"showReuseMessage": true,
|
||||
"clear": true
|
||||
},
|
||||
"problemMatcher": "$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",
|
||||
}
|
||||
}
|
||||
]
|
||||
}
|
||||
75
i2c-hub/firmware/i2c-hub-firmware/CMakeLists.txt
Normal file
75
i2c-hub/firmware/i2c-hub-firmware/CMakeLists.txt
Normal file
@@ -0,0 +1,75 @@
|
||||
# Generated Cmake Pico project file
|
||||
set(CMAKE_VERBOSE_MAKEFILE ON CACHE BOOL "ON")
|
||||
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)
|
||||
|
||||
# Adding FreeRTOS
|
||||
set(FREERTOS_KERNEL_PATH ../lib/FreeRTOS-Kernel)
|
||||
include(cmake/FreeRTOS_Kernel_import.cmake)
|
||||
include(src/gobotrpc/cmake/CMakeLists.txt)
|
||||
|
||||
project(i2c-hub-firmware C CXX ASM)
|
||||
|
||||
# Initialise the Raspberry Pi Pico SDK
|
||||
pico_sdk_init()
|
||||
|
||||
# Add executable. Default name is the project name, version 0.1
|
||||
|
||||
add_executable(i2c-hub-firmware
|
||||
src/main_core0.cpp
|
||||
src/main_core1.cpp
|
||||
#src/freeRTOS_impl.c
|
||||
)
|
||||
|
||||
pico_set_program_name(i2c-hub-firmware "i2c-hub-firmware")
|
||||
pico_set_program_version(i2c-hub-firmware "0.1")
|
||||
|
||||
# Modify the below lines to enable/disable output over UART/USB
|
||||
pico_enable_stdio_uart(i2c-hub-firmware 1)
|
||||
pico_enable_stdio_usb(i2c-hub-firmware 0)
|
||||
|
||||
# Add the standard library to the build
|
||||
target_link_libraries(i2c-hub-firmware
|
||||
FreeRTOS-Kernel-Heap4
|
||||
GobotRPC
|
||||
pico_stdlib
|
||||
)
|
||||
|
||||
# Add the standard include files to the build
|
||||
target_include_directories(i2c-hub-firmware PRIVATE
|
||||
${CMAKE_CURRENT_LIST_DIR}
|
||||
${CMAKE_CURRENT_LIST_DIR}/include
|
||||
)
|
||||
|
||||
# Add any user requested libraries
|
||||
target_link_libraries(i2c-hub-firmware
|
||||
hardware_i2c
|
||||
)
|
||||
|
||||
pico_add_extra_outputs(i2c-hub-firmware)
|
||||
|
||||
143
i2c-hub/firmware/i2c-hub-firmware/FreeRTOSConfig.h
Normal file
143
i2c-hub/firmware/i2c-hub-firmware/FreeRTOSConfig.h
Normal file
@@ -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 * 84)
|
||||
|
||||
/* 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}/${FREERTOS_KERNEL_RP2040_RELATIVE_PATH} FREERTOS_KERNEL)
|
||||
1708
i2c-hub/firmware/i2c-hub-firmware/docs/.$NetworkStack.drawio.bkp
Normal file
1708
i2c-hub/firmware/i2c-hub-firmware/docs/.$NetworkStack.drawio.bkp
Normal file
File diff suppressed because it is too large
Load Diff
1708
i2c-hub/firmware/i2c-hub-firmware/docs/NetworkStack.drawio
Normal file
1708
i2c-hub/firmware/i2c-hub-firmware/docs/NetworkStack.drawio
Normal file
File diff suppressed because it is too large
Load Diff
23
i2c-hub/firmware/i2c-hub-firmware/include/pinConfig.hpp
Normal file
23
i2c-hub/firmware/i2c-hub-firmware/include/pinConfig.hpp
Normal file
@@ -0,0 +1,23 @@
|
||||
#pragma once
|
||||
|
||||
#define LED1_PIN 8
|
||||
#define LED2_PIN 9
|
||||
#define LED3_PIN 25
|
||||
|
||||
#define GOBOTRPC_CI_UART_RX 0
|
||||
#define GOBOTRPC_CI_UART_TX 1
|
||||
|
||||
#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 18
|
||||
|
||||
#define GOBOTRPC_TI_EXTERNAL_PULLUP 1
|
||||
|
||||
#define GOBOTRPC_HEARTBEAT_INTERVAL 3000
|
||||
|
||||
#define UART_CORE_MASK 0b01
|
||||
#define I2C_CORE_MASK 0b01
|
||||
Submodule i2c-hub/firmware/i2c-hub-firmware/lib/FreeRTOS-Kernel added at dbf70559b2
84
i2c-hub/firmware/i2c-hub-firmware/pico_sdk_import.cmake
Normal file
84
i2c-hub/firmware/i2c-hub-firmware/pico_sdk_import.cmake
Normal file
@@ -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 +1,29 @@
|
||||
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
|
||||
${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
|
||||
)
|
||||
|
||||
target_include_directories(GobotRPC PUBLIC
|
||||
${CMAKE_CURRENT_LIST_DIR}/../include
|
||||
${CMAKE_CURRENT_LIST_DIR}/../include/util
|
||||
${CMAKE_CURRENT_LIST_DIR}/../include/ti
|
||||
${CMAKE_CURRENT_LIST_DIR}/../../..
|
||||
${CMAKE_CURRENT_LIST_DIR}/../../../include
|
||||
)
|
||||
|
||||
target_link_libraries(GobotRPC
|
||||
FreeRTOS-Kernel-Heap4
|
||||
pico_stdlib
|
||||
hardware_uart
|
||||
hardware_irq
|
||||
hardware_i2c
|
||||
)
|
||||
@@ -0,0 +1,19 @@
|
||||
add_library(GobotRPC_Node_RP2040_I2C STATIC
|
||||
${CMAKE_CURRENT_LIST_DIR}/../node_interface/rp2040/i2c/init.cpp
|
||||
${CMAKE_CURRENT_LIST_DIR}/../node_interface/rp2040/i2c/rx_tx.cpp
|
||||
${CMAKE_CURRENT_LIST_DIR}/../crc16.cpp
|
||||
${CMAKE_CURRENT_LIST_DIR}/../protocol_base.cpp
|
||||
${CMAKE_CURRENT_LIST_DIR}/../node_interface/init.cpp
|
||||
)
|
||||
target_include_directories(GobotRPC_Node_RP2040_I2C PUBLIC
|
||||
${CMAKE_CURRENT_LIST_DIR}/../node_interface/include
|
||||
${CMAKE_CURRENT_LIST_DIR}/../include/util
|
||||
${CMAKE_CURRENT_LIST_DIR}/../../..
|
||||
)
|
||||
|
||||
target_link_libraries(GobotRPC_Node_RP2040_I2C
|
||||
FreeRTOS-Kernel-Heap4
|
||||
pico_stdlib
|
||||
hardware_i2c
|
||||
hardware_irq
|
||||
)
|
||||
39
i2c-hub/firmware/i2c-hub-firmware/src/gobotrpc/crc16.cpp
Normal file
39
i2c-hub/firmware/i2c-hub-firmware/src/gobotrpc/crc16.cpp
Normal file
@@ -0,0 +1,39 @@
|
||||
#include "crc16.hpp"
|
||||
|
||||
#define POLY 0x8408
|
||||
/*
|
||||
// 16 12 5
|
||||
// this is the CCITT CRC 16 polynomial X + X + X + 1.
|
||||
// This works out to be 0x1021, but the way the algorithm works
|
||||
// lets us use 0x8408 (the reverse of the bit pattern). The high
|
||||
// bit is always assumed to be set, thus we only use 16 bits to
|
||||
// represent the 17 bit value.
|
||||
*/
|
||||
|
||||
unsigned short crc16(char *data_p, unsigned short length)
|
||||
{
|
||||
unsigned char i;
|
||||
unsigned int data;
|
||||
unsigned int crc = 0xffff;
|
||||
|
||||
if (length == 0)
|
||||
return (~crc);
|
||||
|
||||
do
|
||||
{
|
||||
for (i=0, data=(unsigned int)0xff & *data_p++;
|
||||
i < 8;
|
||||
i++, data >>= 1)
|
||||
{
|
||||
if ((crc & 0x0001) ^ (data & 0x0001))
|
||||
crc = (crc >> 1) ^ POLY;
|
||||
else crc >>= 1;
|
||||
}
|
||||
} while (--length);
|
||||
|
||||
crc = ~crc;
|
||||
data = crc;
|
||||
crc = (crc << 8) | (data >> 8 & 0xff);
|
||||
|
||||
return (crc);
|
||||
}
|
||||
@@ -0,0 +1,100 @@
|
||||
#include "ci/base.hpp"
|
||||
#include "pinConfig.hpp"
|
||||
|
||||
#include "protocol.hpp"
|
||||
|
||||
#include "pico/stdlib.h"
|
||||
#include "hardware/watchdog.h"
|
||||
|
||||
#include "FreeRTOSConfig.h"
|
||||
#include "FreeRTOS.h"
|
||||
#include "task.h"
|
||||
|
||||
|
||||
GobotRPC_CI::GobotRPC_CI(I_GobotRPC_CI_Hardware *hardware, UBaseType_t core, QueueHandle_t ciInstructionQueue, QueueHandle_t ciInstructionReverseQueue) {
|
||||
this->ciInstructionQueue = ciInstructionQueue;
|
||||
this->ciInstructionReverseQueue = ciInstructionReverseQueue;
|
||||
|
||||
this->hardware = hardware;
|
||||
this->hardware->registerCB_RxData(GobotRPC_CI_rxData_cb, this);
|
||||
|
||||
this->cb_TxPacket = NULL;
|
||||
this->cb_TxPacket_args = NULL;
|
||||
this->cb_SetAddressMap = NULL;
|
||||
this->cb_SetAddressMap_args = NULL;
|
||||
|
||||
xTaskCreateAffinitySet(GobotRPC_CI_heartBeatTaskFn, "Heartbeat Task", 2048, this, 2, core, &this->heartBeatTaskHandle);
|
||||
xTaskCreateAffinitySet(GobotRPC_CI_txCIInstructionTaskFn, "Tx CI Instruction Task", 2048, this, 3, core, &this->txCIInstructionTaskHandle);
|
||||
}
|
||||
|
||||
// Rx Side
|
||||
void GobotRPC_CI_rxData_cb(void * args, char *data, size_t len) {
|
||||
GobotRPC_CI *gobotRPC = (GobotRPC_CI *)args;
|
||||
gobotRPC->onRxData(data, len);
|
||||
}
|
||||
|
||||
void GobotRPC_CI::onRxData(char *data, size_t len) {
|
||||
GobotRPC_CI_CMD cmd = (GobotRPC_CI_CMD)data[0];
|
||||
|
||||
switch (cmd) {
|
||||
case TX_CI_PACKET:
|
||||
if(this->cb_TxPacket != NULL) {
|
||||
uint32_t addr = (data[2] << 24) | (data[3] << 16) | (data[4] << 8) | data[5];
|
||||
this->cb_TxPacket(this->cb_TxPacket_args, data+6, len-6, addr);
|
||||
}
|
||||
break;
|
||||
|
||||
case RESET_CI_PACKET:
|
||||
//softwareReset();
|
||||
break;
|
||||
|
||||
case SET_ADDR_PORT_MAP: {
|
||||
if(this->cb_SetAddressMap != NULL) {
|
||||
uint32_t addr = (data[2] << 24) | (data[3] << 16) | (data[4] << 8) | data[5];
|
||||
uint8_t port = data[6];
|
||||
this->cb_SetAddressMap(cb_SetAddressMap_args, addr, port);
|
||||
}
|
||||
break;
|
||||
}
|
||||
|
||||
default:
|
||||
break;
|
||||
}
|
||||
}
|
||||
|
||||
void GobotRPC_CI::registerCB_TxPacket(callback_TxPacket cb, void *args) {
|
||||
this->cb_TxPacket = cb;
|
||||
this->cb_TxPacket_args = args;
|
||||
}
|
||||
|
||||
void GobotRPC_CI::registerCB_SetAddress(callback_SetAddress cb, void *args) {
|
||||
this->cb_SetAddressMap = cb;
|
||||
this->cb_SetAddressMap_args = args;
|
||||
}
|
||||
|
||||
void GobotRPC_CI::send_RxPacket(char *data, size_t len, uint32_t addr) {
|
||||
data[0] = RX_CI_PACKET;
|
||||
data[1] = len + CI_RX_PACKAGE_DATA_OFFSET;
|
||||
|
||||
data[2] = (addr >> 24) & 0xff;
|
||||
data[3] = (addr >> 16) & 0xff;
|
||||
data[4] = (addr >> 8) & 0xff;
|
||||
data[5] = addr & 0xff;
|
||||
|
||||
this->hardware->send(data, len+6);
|
||||
}
|
||||
|
||||
// Heartbeat Task
|
||||
|
||||
void GobotRPC_CI_heartBeatTaskFn(void *args) {
|
||||
GobotRPC_CI *gobotRPC = (GobotRPC_CI *)args;
|
||||
gobotRPC->heartBeartTaskFn();
|
||||
}
|
||||
|
||||
void GobotRPC_CI::heartBeartTaskFn() {
|
||||
char heartBeatPacket[] = {HEARTBEAT, 0x02};
|
||||
while(1) {
|
||||
this->hardware->send(heartBeatPacket, 2);
|
||||
vTaskDelay(GOBOTRPC_HEARTBEAT_INTERVAL / portTICK_PERIOD_MS);
|
||||
}
|
||||
}
|
||||
@@ -0,0 +1,90 @@
|
||||
#include "ci/base.hpp"
|
||||
|
||||
#include "ci/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;
|
||||
}
|
||||
|
||||
case CI_INSTRUCTION_SEND_TRANMISSION_SUCCESS: {
|
||||
uint32_t addr = ciInstruction.data[0] \
|
||||
| (ciInstruction.data[1] << 8) \
|
||||
| (ciInstruction.data[2] << 16) \
|
||||
| (ciInstruction.data[3] << 24);
|
||||
send_SuccessTransmission(addr);
|
||||
break;
|
||||
}
|
||||
|
||||
case CI_INSTRUCTION_SEND_INFO_RESET:
|
||||
send_InfoReset();
|
||||
break;
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
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);
|
||||
}
|
||||
|
||||
void GobotRPC_CI::send_SuccessTransmission(uint64_t addr) {
|
||||
char successPacket[6];
|
||||
|
||||
successPacket[0] = SUCESS_TRANMISSION;
|
||||
successPacket[1] = 6;
|
||||
successPacket[2] = (addr >> 24) & 0xff;
|
||||
successPacket[3] = (addr >> 16) & 0xff;
|
||||
successPacket[4] = (addr >> 8) & 0xff;
|
||||
successPacket[5] = addr & 0xff;
|
||||
|
||||
this->hardware->send(successPacket, 6);
|
||||
}
|
||||
|
||||
void GobotRPC_CI::send_InfoReset() {
|
||||
char resetPacket[2];
|
||||
|
||||
resetPacket[0] = RESET_INFO_CI_PACKET;
|
||||
resetPacket[1] = 2;
|
||||
|
||||
this->hardware->send(resetPacket, 2);
|
||||
}
|
||||
|
||||
// CI Reverse Instructions (CI -> TI)
|
||||
void GobotRPC_CI::send_rev_SetAddrMap(uint32_t addr, uint8_t port) {
|
||||
CI_Instruction_Transport ciInstruction;
|
||||
ciInstruction.type = CI_INSTRUCTION_REV_SEND_SET_ADDR_MAP;
|
||||
ciInstruction.data[0] = addr & 0xff;
|
||||
ciInstruction.data[1] = (addr >> 8) & 0xff;
|
||||
ciInstruction.data[2] = (addr >> 16) & 0xff;
|
||||
ciInstruction.data[3] = (addr >> 24) & 0xff;
|
||||
ciInstruction.data[4] = port;
|
||||
|
||||
xQueueSend(ciInstructionReverseQueue, &ciInstruction, portMAX_DELAY);
|
||||
}
|
||||
@@ -0,0 +1,54 @@
|
||||
#include "ci/hardware.hpp"
|
||||
#include "pinConfig.hpp"
|
||||
|
||||
#include "pico/stdlib.h"
|
||||
#include "hardware/uart.h"
|
||||
|
||||
#include "FreeRTOS.h"
|
||||
#include "task.h"
|
||||
#include "queue.h"
|
||||
#include <string.h>
|
||||
|
||||
// Initialize stuff
|
||||
GobotRPC_CI_Hardware_RP2040_UART * g_GobotRPC_CI_Hardware_RP2040_UART;
|
||||
|
||||
GobotRPC_CI_Hardware_RP2040_UART::GobotRPC_CI_Hardware_RP2040_UART(uart_inst_t *uart, uint baudrate, UBaseType_t core) {
|
||||
g_GobotRPC_CI_Hardware_RP2040_UART = this;
|
||||
this->core = core;
|
||||
|
||||
initRxTaskAndQueues();
|
||||
|
||||
uartTxMutex = xSemaphoreCreateMutex();
|
||||
|
||||
this->uart = uart;
|
||||
uart_init(this->uart, baudrate);
|
||||
|
||||
gpio_set_function(GOBOTRPC_CI_UART_RX, UART_FUNCSEL_NUM(uart, GOBOTRPC_CI_UART_RX));
|
||||
gpio_set_function(GOBOTRPC_CI_UART_TX, UART_FUNCSEL_NUM(uart, GOBOTRPC_CI_UART_TX));
|
||||
|
||||
uart_set_hw_flow(uart, false, false);
|
||||
uart_set_format(uart, 8, 1, UART_PARITY_NONE);
|
||||
uart_set_baudrate(uart, baudrate);
|
||||
uart_set_fifo_enabled(uart, true);
|
||||
|
||||
int UART_IRQ = uart == uart0 ? UART0_IRQ : UART1_IRQ;
|
||||
|
||||
irq_set_exclusive_handler(UART_IRQ, GobotRPC_CI_Hardware_RP2040_UART_isr);
|
||||
irq_set_enabled(UART_IRQ, true);
|
||||
|
||||
uart_set_irq_enables(uart, true, false);
|
||||
}
|
||||
|
||||
void GobotRPC_CI_Hardware_RP2040_UART::registerCB_RxData(callback_rxData cb, void *args) {
|
||||
this->cb_rxData = cb;
|
||||
this->cb_rxData_args = args;
|
||||
}
|
||||
|
||||
|
||||
// Sending data
|
||||
void GobotRPC_CI_Hardware_RP2040_UART::send(char *data, size_t len) {
|
||||
xSemaphoreTake(uartTxMutex, portMAX_DELAY);
|
||||
uart_write_blocking(this->uart, (uint8_t *)(data), len);
|
||||
uart_tx_wait_blocking(this->uart);
|
||||
xSemaphoreGive(uartTxMutex);
|
||||
}
|
||||
@@ -0,0 +1,122 @@
|
||||
#include "ci/hardware.hpp"
|
||||
#include "pico/stdlib.h"
|
||||
|
||||
#include <string.h>
|
||||
|
||||
#include "FreeRTOS.h"
|
||||
#include "FreeRTOSConfig.h"
|
||||
|
||||
// External Functions
|
||||
void GobotRPC_CI_Hardware_RP2040_UART_isr() {
|
||||
GobotRPC_CI_Hardware_RP2040_UART *uart = (GobotRPC_CI_Hardware_RP2040_UART *)g_GobotRPC_CI_Hardware_RP2040_UART;
|
||||
uart->onRx_ISR();
|
||||
};
|
||||
|
||||
void GobotRPC_CI_Hardware_RP2040_UART_Task_RXProcessing(void *args) {
|
||||
GobotRPC_CI_Hardware_RP2040_UART *uart = (GobotRPC_CI_Hardware_RP2040_UART *)args;
|
||||
uart->rxProcessingTaskFn();
|
||||
}
|
||||
|
||||
// Init
|
||||
|
||||
void GobotRPC_CI_Hardware_RP2040_UART::initRxTaskAndQueues() {
|
||||
emptyInputBuffersQueue = xQueueCreate(NUM_INPUT_BUFFERS, sizeof(inputBuffers_t *));
|
||||
filledInputBuffersQueue = xQueueCreate(NUM_INPUT_BUFFERS, sizeof(inputBuffers_t *));
|
||||
|
||||
for(int i = 0; i < NUM_INPUT_BUFFERS; i++) {
|
||||
inputBuffers_t * p = &inputBufferPool[i];
|
||||
memset(p->data, 0xff, 256);
|
||||
p->len = 0;
|
||||
p->state = NEW;
|
||||
p->expected_length = 0;
|
||||
xQueueSend(emptyInputBuffersQueue, &p, portMAX_DELAY);
|
||||
}
|
||||
|
||||
rxSignalSemaphore = xSemaphoreCreateBinary();
|
||||
|
||||
xTaskCreateAffinitySet(GobotRPC_CI_Hardware_RP2040_UART_Task_RXProcessing, "UART RX Processing", 1024, this, 3, core, &this->rxProcessingTaskHandle);
|
||||
}
|
||||
|
||||
inputBufferRXState_t fillBuffer(inputBuffers_t * buffer, char data) {
|
||||
switch(buffer->state) {
|
||||
case NEW:
|
||||
buffer->data[0] = data;
|
||||
buffer->len = 1;
|
||||
buffer->state = READ_SIZE;
|
||||
break;
|
||||
|
||||
case READ_SIZE:
|
||||
buffer->data[1] = data;
|
||||
buffer->expected_length = data;
|
||||
buffer->len += 1;
|
||||
|
||||
if(buffer->len == buffer->expected_length) {
|
||||
buffer->state = FULL;
|
||||
} else {
|
||||
buffer->state = READ_DATA;
|
||||
}
|
||||
break;
|
||||
|
||||
case READ_DATA:
|
||||
buffer->data[buffer->len] = data;
|
||||
buffer->len += 1;
|
||||
|
||||
if(buffer->len == buffer->expected_length) {
|
||||
buffer->state = FULL;
|
||||
} else {
|
||||
buffer->state = READ_DATA;
|
||||
}
|
||||
break;
|
||||
|
||||
case FULL:
|
||||
break;
|
||||
}
|
||||
return buffer->state;
|
||||
}
|
||||
|
||||
// real Task Fns
|
||||
void GobotRPC_CI_Hardware_RP2040_UART::onRx_ISR() {
|
||||
BaseType_t xHigherPriorityTaskWoken = pdFALSE;
|
||||
|
||||
static inputBuffers_t * inputBuffer = NULL;
|
||||
|
||||
while (uart_is_readable(this->uart)) {
|
||||
|
||||
if(inputBuffer == NULL) {
|
||||
xQueueReceiveFromISR(emptyInputBuffersQueue, &inputBuffer, &xHigherPriorityTaskWoken);
|
||||
|
||||
if(inputBuffer == NULL) {
|
||||
return; // No more buffers -> device overload
|
||||
}
|
||||
|
||||
inputBuffer->state = NEW;
|
||||
inputBuffer->len = 0;
|
||||
inputBuffer->expected_length = 0;
|
||||
}
|
||||
|
||||
inputBufferRXState_t state = fillBuffer(inputBuffer, uart_getc(this->uart));
|
||||
|
||||
if (state == FULL) {
|
||||
xQueueSendFromISR(filledInputBuffersQueue, &inputBuffer, &xHigherPriorityTaskWoken);
|
||||
inputBuffer = NULL;
|
||||
}
|
||||
}
|
||||
|
||||
portYIELD_FROM_ISR(xHigherPriorityTaskWoken);
|
||||
}
|
||||
|
||||
|
||||
void GobotRPC_CI_Hardware_RP2040_UART::rxProcessingTaskFn() {
|
||||
inputBuffers_t * inputBuffer = NULL;
|
||||
|
||||
while(1) {
|
||||
xQueueReceive(filledInputBuffersQueue, &inputBuffer, portMAX_DELAY);
|
||||
|
||||
if(this->cb_rxData != NULL) {
|
||||
this->cb_rxData(this->cb_rxData_args, inputBuffer->data, inputBuffer->len);
|
||||
}
|
||||
|
||||
xQueueSend(emptyInputBuffersQueue, &inputBuffer, portMAX_DELAY);
|
||||
vTaskDelay(1000);
|
||||
}
|
||||
}
|
||||
@@ -0,0 +1,64 @@
|
||||
#pragma once
|
||||
#include "ci/hardware.hpp"
|
||||
#include <strings.h>
|
||||
|
||||
enum GobotRPC_CI_CMD {
|
||||
TX_CI_PACKET = 0x01,
|
||||
RX_CI_PACKET = 0x02,
|
||||
SET_ADDR_PORT_MAP = 0x03,
|
||||
|
||||
SUCESS_TRANMISSION = 0xfc,
|
||||
ERROR_TRANMISSION = 0xfd,
|
||||
HEARTBEAT = 0xff,
|
||||
|
||||
RESET_CI_PACKET = 0xcc,
|
||||
RESET_INFO_CI_PACKET = 0xcd
|
||||
};
|
||||
|
||||
#define CI_TX_PACKAGE_DATA_OFFSET 6
|
||||
#define CI_TX_PACKAGE_SIZE(data_len) (data_len + CI_TX_PACKAGE_SIZE)
|
||||
|
||||
#define CI_RX_PACKAGE_DATA_OFFSET 6
|
||||
#define CI_RX_PACKAGE_SIZE(data_len) (data_len + CI_RX_PACKAGE_DATA_OFFSET)
|
||||
|
||||
typedef void (*callback_TxPacket)(void * args, char *data, size_t len, uint32_t addr);
|
||||
typedef void (*callback_SetAddress)(void * args, uint32_t addr, uint8_t port);
|
||||
|
||||
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:
|
||||
I_GobotRPC_CI_Hardware *hardware;
|
||||
|
||||
callback_TxPacket cb_TxPacket;
|
||||
void * cb_TxPacket_args;
|
||||
|
||||
callback_SetAddress cb_SetAddressMap;
|
||||
void * cb_SetAddressMap_args;
|
||||
|
||||
TaskHandle_t heartBeatTaskHandle;
|
||||
TaskHandle_t txCIInstructionTaskHandle;
|
||||
|
||||
QueueHandle_t ciInstructionQueue;
|
||||
QueueHandle_t ciInstructionReverseQueue;
|
||||
public:
|
||||
GobotRPC_CI(I_GobotRPC_CI_Hardware *hardware, UBaseType_t core, QueueHandle_t ciInstructionQueue, QueueHandle_t ciInstructionReverseQueue);
|
||||
|
||||
void registerCB_TxPacket(callback_TxPacket cb, void *args);
|
||||
void registerCB_SetAddress(callback_SetAddress cb, void *args);
|
||||
|
||||
void send_RxPacket(char *data, size_t len, uint32_t addr);
|
||||
|
||||
void onRxData(char *data, size_t len);
|
||||
|
||||
void heartBeartTaskFn();
|
||||
|
||||
// CI Instruction Stuff
|
||||
void send_rev_SetAddrMap(uint32_t addr, uint8_t port);
|
||||
void txCIInstructionTask();
|
||||
void send_ErrorTransmission(bool rx, uint64_t addr);
|
||||
void send_SuccessTransmission(uint64_t addr);
|
||||
void send_InfoReset();
|
||||
};
|
||||
@@ -0,0 +1,73 @@
|
||||
#pragma once
|
||||
#include <strings.h>
|
||||
|
||||
#include "FreeRTOSConfig.h"
|
||||
#include "FreeRTOS.h"
|
||||
#include "task.h"
|
||||
#include "semphr.h"
|
||||
#include "queue.h"
|
||||
|
||||
typedef void (*callback_rxData)(void * args, char *data, size_t len);
|
||||
|
||||
class I_GobotRPC_CI_Hardware {
|
||||
public:
|
||||
virtual void send(char *data, size_t len) = 0;
|
||||
virtual void registerCB_RxData(callback_rxData cb, void *args) = 0;
|
||||
};
|
||||
|
||||
|
||||
#include "hardware/uart.h"
|
||||
|
||||
void GobotRPC_CI_Hardware_RP2040_UART_isr();
|
||||
void GobotRPC_CI_Hardware_RP2040_UART_Task_RXBuffering(void *args);
|
||||
void GobotRPC_CI_Hardware_RP2040_UART_Task_RXProcessing(void *args);
|
||||
|
||||
#define NUM_INPUT_BUFFERS 16
|
||||
|
||||
enum inputBufferRXState_t {
|
||||
NEW,
|
||||
READ_SIZE,
|
||||
READ_DATA,
|
||||
FULL
|
||||
};
|
||||
|
||||
struct inputBuffers_t {
|
||||
char data[256];
|
||||
size_t expected_length;
|
||||
size_t len;
|
||||
inputBufferRXState_t state;
|
||||
};
|
||||
|
||||
class GobotRPC_CI_Hardware_RP2040_UART : public I_GobotRPC_CI_Hardware {
|
||||
private:
|
||||
uart_inst_t *uart;
|
||||
|
||||
inputBuffers_t inputBufferPool[NUM_INPUT_BUFFERS];
|
||||
|
||||
TaskHandle_t rxProcessingTaskHandle;
|
||||
|
||||
SemaphoreHandle_t rxSignalSemaphore;
|
||||
QueueHandle_t emptyInputBuffersQueue;
|
||||
QueueHandle_t filledInputBuffersQueue;
|
||||
|
||||
callback_rxData cb_rxData;
|
||||
void * cb_rxData_args;
|
||||
|
||||
SemaphoreHandle_t uartTxMutex;
|
||||
|
||||
UBaseType_t core;
|
||||
|
||||
public:
|
||||
GobotRPC_CI_Hardware_RP2040_UART(uart_inst_t *uart, uint baudrate, UBaseType_t core);
|
||||
void send(char *data, size_t len) override;
|
||||
void registerCB_RxData(callback_rxData cb, void *args);
|
||||
|
||||
void initRxTaskAndQueues();
|
||||
|
||||
void onRx_ISR();
|
||||
void rxBufferingTaskFn();
|
||||
void rxProcessingTaskFn();
|
||||
};
|
||||
|
||||
extern GobotRPC_CI_Hardware_RP2040_UART * g_GobotRPC_CI_Hardware_RP2040_UART;
|
||||
|
||||
@@ -0,0 +1,17 @@
|
||||
enum CI_Instruction_Type {
|
||||
CI_INSTRUCTION_SEND_TRANMISSION_ERROR,
|
||||
CI_INSTRUCTION_SEND_TRANMISSION_SUCCESS,
|
||||
CI_INSTRUCTION_SEND_INFO_RESET,
|
||||
CI_INSTRUCTION_REV_SEND_SET_ADDR_MAP,
|
||||
};
|
||||
|
||||
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 +1,15 @@
|
||||
#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;
|
||||
QueueHandle_t ciInstructionReverseQueue;
|
||||
};
|
||||
|
||||
void main_core2(void * pvParameters);
|
||||
@@ -0,0 +1,98 @@
|
||||
#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 "ci/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 raiseTranmissionError(bool rx, uint32_t addr);
|
||||
void raiseTransmissionSuceess(uint32_t addr);
|
||||
void raiseInfoReset();
|
||||
};
|
||||
|
||||
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;
|
||||
TaskHandle_t i2cIntTaskHandle;
|
||||
TaskHandle_t revCIInstructionTaskHandle;
|
||||
|
||||
QueueHandle_t revCIInstructionQueue;
|
||||
|
||||
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, QueueHandle_t revCIInstructionQueue);
|
||||
|
||||
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 manualTriggerIntTask();
|
||||
void intPinISR(BaseType_t * xHigherPriorityTaskWoken);
|
||||
uint32_t readIntPins();
|
||||
|
||||
void raiseTranmissionError(bool rx, uint32_t addr);
|
||||
void raiseTransmissionSuceess(uint32_t addr);
|
||||
void raiseInfoReset();
|
||||
|
||||
void revCIInstructionTask();
|
||||
};
|
||||
|
||||
|
||||
extern GobotRPC_TI_Hardware_RP2040_I2C * g_GobotRPC_TI_Hardware_RP2040_I2C;
|
||||
@@ -0,0 +1,2 @@
|
||||
#pragma once
|
||||
unsigned short crc16(char *data_p, unsigned short length);
|
||||
@@ -0,0 +1,45 @@
|
||||
#pragma once
|
||||
#include <stdint.h>
|
||||
#include <strings.h>
|
||||
|
||||
enum GobotRPCNumber {
|
||||
HOME_XY = 0x1,
|
||||
SET_PADDING = 0x2,
|
||||
GOTO = 0x3,
|
||||
RELEASE_MOTORS = 0x4,
|
||||
|
||||
DROP_STONE = 0x5,
|
||||
MOVE_Z_AXIS = 0x7,
|
||||
|
||||
VACUM = 0x8,
|
||||
RESET = 0xc,
|
||||
GET_INFO = 0xd
|
||||
};
|
||||
|
||||
enum GobotRPCTypes {
|
||||
REQUEST = 0b00,
|
||||
RESPONSE = 0b01,
|
||||
ERROR = 0b10
|
||||
};
|
||||
|
||||
struct GobotRPCPackage_Req_Vacum {
|
||||
uint8_t enable : 8;
|
||||
};
|
||||
|
||||
#define GobotRPC_Package_DATA_OFFSET 2
|
||||
#define CALC_SIZE_GobotRPC_PACKAGE(data_len) (data_len + GobotRPC_Package_DATA_OFFSET + 2)
|
||||
|
||||
struct GobotRPCHeaderInfo {
|
||||
public:
|
||||
GobotRPCNumber number;
|
||||
GobotRPCTypes type;
|
||||
size_t len;
|
||||
};
|
||||
|
||||
void assembleGobotRPCHeader(char * buffer, GobotRPCNumber number, GobotRPCTypes data_size, size_t);
|
||||
void assembleCRC(char * buffer, size_t data_len);
|
||||
bool checkCRC(char * buffer, size_t data_len);
|
||||
|
||||
GobotRPCHeaderInfo extractGobotRPCHeader(char * buffer);
|
||||
|
||||
void softwareReset();
|
||||
@@ -0,0 +1,45 @@
|
||||
#pragma once
|
||||
#include "protocol.hpp"
|
||||
#include "node_interface_hardware.hpp"
|
||||
|
||||
#include "FreeRTOSConfig.h"
|
||||
#include "FreeRTOS.h"
|
||||
#include "task.h"
|
||||
#include "queue.h"
|
||||
|
||||
typedef void (*onPackageRxCallback)(void * args, char *data, uint16_t len, GobotRPCTypes type, GobotRPCNumber number);
|
||||
|
||||
enum NODE_TYPE: uint8_t {
|
||||
NODE_TYPE_VACUM = 0xa1,
|
||||
NODE_TYPE_HEAD = 0xa2,
|
||||
NODE_TYPE_COREXY = 0xa3,
|
||||
};
|
||||
|
||||
struct InfoData {
|
||||
uint32_t addr;
|
||||
NODE_TYPE type;
|
||||
};
|
||||
|
||||
class GobotRPC_NI {
|
||||
private:
|
||||
onPackageRxCallback onPackageRx;
|
||||
void *onPackageRxArgs;
|
||||
|
||||
QueueHandle_t txQueue;
|
||||
QueueHandle_t rxQueue;
|
||||
TaskHandle_t rxTaskHandle;
|
||||
|
||||
InfoData info;
|
||||
|
||||
unsigned int core;
|
||||
|
||||
public:
|
||||
GobotRPC_NI(unsigned int core, QueueHandle_t txQueue, QueueHandle_t rxQueue, InfoData info);
|
||||
|
||||
void registerOnPackageRxCallback(onPackageRxCallback callback, void *context);
|
||||
void sendPackage(char *data, size_t len, GobotRPCTypes type, GobotRPCNumber number);
|
||||
|
||||
InfoData getInfo();
|
||||
|
||||
void rxTask();
|
||||
};
|
||||
@@ -0,0 +1,78 @@
|
||||
#pragma once
|
||||
|
||||
#include "FreeRTOSConfig.h"
|
||||
#include "FreeRTOS.h"
|
||||
#include "queue.h"
|
||||
|
||||
#include "pico/stdlib.h"
|
||||
#include "hardware/i2c.h"
|
||||
#include "hardware/irq.h"
|
||||
|
||||
struct GobotRPC_NI_Package_Transport {
|
||||
char data[256];
|
||||
uint length;
|
||||
uint index;
|
||||
};
|
||||
|
||||
enum I2C_WRITE_STATE {
|
||||
I2C_WRITE_STATE_FIRST,
|
||||
I2C_WRITE_STATE_LENGTH,
|
||||
I2C_WRITE_STATE_DATA,
|
||||
};
|
||||
|
||||
enum I2C_READ_STATE {
|
||||
I2C_READ_STAGE_FIRST,
|
||||
I2C_READ_STAGE_DONE,
|
||||
I2C_READ_STAGE_WIP,
|
||||
I2C_READ_STAGE_INVALID
|
||||
};
|
||||
|
||||
enum I2C_SLAVE_EVENT {
|
||||
I2C_SLAVE_RECEIVE,
|
||||
I2C_SLAVE_REQUEST,
|
||||
I2C_SLAVE_FINISH
|
||||
};
|
||||
|
||||
class GobotRPC_NI_Hardware {
|
||||
|
||||
};
|
||||
|
||||
struct GobotRPC_NI_Hardware_RP2040_I2C_PreTxQueues {
|
||||
QueueHandle_t isrPreTxQueue;
|
||||
QueueHandle_t isrTXQueue;
|
||||
};
|
||||
|
||||
class GobotRPC_NI_Hardware_RP2040_I2C : public GobotRPC_NI_Hardware {
|
||||
uint core;
|
||||
|
||||
QueueHandle_t isrPreTxQueue;
|
||||
QueueHandle_t isrTXQueue;
|
||||
QueueHandle_t isrRXQueue;
|
||||
TaskHandle_t preTxTaskHandle;
|
||||
|
||||
uint i2cSDA_PIN;
|
||||
uint i2cSCL_PIN;
|
||||
uint int_PIN;
|
||||
uint8_t i2cAddress;
|
||||
|
||||
I2C_WRITE_STATE writeState = I2C_WRITE_STATE_FIRST;
|
||||
I2C_READ_STATE readState = I2C_READ_STAGE_INVALID;
|
||||
|
||||
GobotRPC_NI_Package_Transport rxPackage;
|
||||
GobotRPC_NI_Package_Transport txPackage;
|
||||
|
||||
public:
|
||||
i2c_inst_t * i2c_inst;
|
||||
|
||||
GobotRPC_NI_Hardware_RP2040_I2C(
|
||||
xQueueHandle TXQueue, xQueueHandle RXQueue, uint core,
|
||||
i2c_inst_t * i2c_inst,
|
||||
uint8_t i2cAddress,
|
||||
uint i2cSDA_PIN, uint i2cSCL_PIN, uint int_PIN
|
||||
);
|
||||
|
||||
void onI2CIRQ(I2C_SLAVE_EVENT event, BaseType_t * xHigherPriorityTaskWoken);
|
||||
void preTxTask();
|
||||
};
|
||||
|
||||
extern GobotRPC_NI_Hardware_RP2040_I2C * g_gobotrpc_ni_hardware_rp2040_i2c;
|
||||
@@ -0,0 +1,73 @@
|
||||
#include "node_interface.hpp"
|
||||
|
||||
#include "FreeRTOSConfig.h"
|
||||
#include "FreeRTOS.h"
|
||||
#include "task.h"
|
||||
#include <string.h>
|
||||
|
||||
static void rxTaskFn(void *pvParameters) {
|
||||
GobotRPC_NI *ni = (GobotRPC_NI *)pvParameters;
|
||||
ni->rxTask();
|
||||
}
|
||||
|
||||
GobotRPC_NI::GobotRPC_NI(unsigned int core, QueueHandle_t txQueue, QueueHandle_t rxQueue, InfoData info) {
|
||||
this->core = core;
|
||||
this->info = info;
|
||||
|
||||
this->txQueue = txQueue;
|
||||
this->rxQueue = rxQueue;
|
||||
|
||||
this->onPackageRx = NULL;
|
||||
this->onPackageRxArgs = NULL;
|
||||
|
||||
xTaskCreateAffinitySet(
|
||||
rxTaskFn,
|
||||
"GobotRPC_NI RX Task",
|
||||
2048,
|
||||
this,
|
||||
4,
|
||||
this->core,
|
||||
&this->rxTaskHandle
|
||||
);
|
||||
}
|
||||
|
||||
void GobotRPC_NI::registerOnPackageRxCallback(onPackageRxCallback callback, void *context) {
|
||||
this->onPackageRx = callback;
|
||||
this->onPackageRxArgs = context;
|
||||
}
|
||||
|
||||
void GobotRPC_NI::rxTask() {
|
||||
while (true) {
|
||||
GobotRPC_NI_Package_Transport package;
|
||||
|
||||
if (xQueueReceive(this->rxQueue, &package, portMAX_DELAY) == pdTRUE) {
|
||||
GobotRPCHeaderInfo header = extractGobotRPCHeader(package.data);
|
||||
|
||||
if(this->onPackageRx != NULL) {
|
||||
if (!checkCRC(package.data, header.len)) {
|
||||
volatile int a = 0;
|
||||
continue;
|
||||
}
|
||||
|
||||
this->onPackageRx(
|
||||
onPackageRxArgs,
|
||||
package.data + GobotRPC_Package_DATA_OFFSET,
|
||||
header.len, header.type, header.number
|
||||
);
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
void GobotRPC_NI::sendPackage(char *data, size_t len, GobotRPCTypes type, GobotRPCNumber number) {
|
||||
GobotRPC_NI_Package_Transport package;
|
||||
package.length = len + GobotRPC_Package_DATA_OFFSET + 2;
|
||||
memcpy(package.data + GobotRPC_Package_DATA_OFFSET, data, len);
|
||||
assembleGobotRPCHeader(package.data, number, type, len);
|
||||
assembleCRC(package.data, len);
|
||||
xQueueSend(this->txQueue, &package, portMAX_DELAY);
|
||||
}
|
||||
|
||||
InfoData GobotRPC_NI::getInfo() {
|
||||
return info;
|
||||
}
|
||||
@@ -0,0 +1,127 @@
|
||||
#include "node_interface_hardware.hpp"
|
||||
#include "pico/stdlib.h"
|
||||
#include "hardware/i2c.h"
|
||||
#include <string.h>
|
||||
|
||||
GobotRPC_NI_Hardware_RP2040_I2C * g_gobotrpc_ni_hardware_rp2040_i2c;
|
||||
i2c_inst_t * g_i2c_inst;
|
||||
bool g_transfer_in_progress = false;
|
||||
|
||||
static void finish_transfer(BaseType_t * xHigherPriorityTaskWoken) {
|
||||
if(g_transfer_in_progress) {
|
||||
GobotRPC_NI_Hardware_RP2040_I2C * gobotrpc_ni = g_gobotrpc_ni_hardware_rp2040_i2c;
|
||||
g_transfer_in_progress = false;
|
||||
gobotrpc_ni->onI2CIRQ(I2C_SLAVE_FINISH, xHigherPriorityTaskWoken);
|
||||
}
|
||||
}
|
||||
|
||||
static void i2c_isr() {
|
||||
GobotRPC_NI_Hardware_RP2040_I2C * gobotrpc_ni = g_gobotrpc_ni_hardware_rp2040_i2c;
|
||||
BaseType_t xHigherPriorityTaskWoken = pdFALSE;
|
||||
|
||||
i2c_hw_t * hw = i2c_get_hw(g_i2c_inst);
|
||||
uint32_t intr_stat = hw->intr_stat;
|
||||
|
||||
if (intr_stat == 0) {
|
||||
return;
|
||||
}
|
||||
|
||||
if (intr_stat & I2C_IC_INTR_STAT_R_TX_ABRT_BITS) {
|
||||
hw->clr_tx_abrt;
|
||||
finish_transfer(&xHigherPriorityTaskWoken);
|
||||
}
|
||||
|
||||
if (intr_stat & I2C_IC_INTR_STAT_R_START_DET_BITS) {
|
||||
hw->clr_start_det;
|
||||
finish_transfer(&xHigherPriorityTaskWoken);
|
||||
}
|
||||
|
||||
if (intr_stat & I2C_IC_INTR_STAT_R_STOP_DET_BITS) {
|
||||
hw->clr_stop_det;
|
||||
finish_transfer(&xHigherPriorityTaskWoken);
|
||||
}
|
||||
|
||||
if (intr_stat & I2C_IC_INTR_STAT_R_RX_FULL_BITS) {
|
||||
g_transfer_in_progress = true;
|
||||
gobotrpc_ni->onI2CIRQ(I2C_SLAVE_RECEIVE, &xHigherPriorityTaskWoken);
|
||||
}
|
||||
|
||||
if (intr_stat & I2C_IC_INTR_STAT_R_RD_REQ_BITS) {
|
||||
hw->clr_rd_req;
|
||||
g_transfer_in_progress = true;
|
||||
gobotrpc_ni->onI2CIRQ(I2C_SLAVE_REQUEST, &xHigherPriorityTaskWoken);
|
||||
}
|
||||
|
||||
portYIELD_FROM_ISR(xHigherPriorityTaskWoken);
|
||||
}
|
||||
|
||||
static void preTxTaskFn(void *pvParameters) {
|
||||
GobotRPC_NI_Hardware_RP2040_I2C * hw = (GobotRPC_NI_Hardware_RP2040_I2C *)(pvParameters);
|
||||
hw->preTxTask();
|
||||
};
|
||||
|
||||
GobotRPC_NI_Hardware_RP2040_I2C::GobotRPC_NI_Hardware_RP2040_I2C(
|
||||
xQueueHandle TXQueue, xQueueHandle RXQueue, uint core,
|
||||
i2c_inst_t * i2c_inst,
|
||||
uint8_t i2cAddress,
|
||||
uint i2cSDA_PIN, uint i2cSCL_PIN, uint int_PIN
|
||||
) {
|
||||
g_gobotrpc_ni_hardware_rp2040_i2c = this;
|
||||
g_i2c_inst = i2c_inst;
|
||||
|
||||
this->core = core;
|
||||
|
||||
this->readState = I2C_READ_STAGE_FIRST;
|
||||
this->writeState = I2C_WRITE_STATE_FIRST;
|
||||
|
||||
this->isrRXQueue = RXQueue;
|
||||
this->isrPreTxQueue = TXQueue;
|
||||
this->isrTXQueue = xQueueCreate(3, sizeof(GobotRPC_NI_Package_Transport));
|
||||
|
||||
xTaskCreateAffinitySet(
|
||||
preTxTaskFn,
|
||||
"GobotRPC_NI Hardware RP2040 I2C PreTx Task",
|
||||
2048,
|
||||
this,
|
||||
4,
|
||||
this->core,
|
||||
&this->preTxTaskHandle
|
||||
);
|
||||
|
||||
this->i2cSDA_PIN = i2cSDA_PIN;
|
||||
this->i2cSCL_PIN = i2cSCL_PIN;
|
||||
this->int_PIN = int_PIN;
|
||||
|
||||
this->i2cAddress = i2cAddress;
|
||||
this->i2c_inst = i2c_inst;
|
||||
|
||||
memset(&rxPackage.data, 0, sizeof(GobotRPC_NI_Package_Transport::data));
|
||||
memset(&txPackage.data, 0, sizeof(GobotRPC_NI_Package_Transport::data));
|
||||
|
||||
gpio_init(i2cSDA_PIN);
|
||||
gpio_init(i2cSCL_PIN);
|
||||
gpio_set_function(i2cSDA_PIN, GPIO_FUNC_I2C);
|
||||
gpio_set_function(i2cSCL_PIN, GPIO_FUNC_I2C);
|
||||
|
||||
gpio_init(int_PIN);
|
||||
gpio_set_dir(int_PIN, GPIO_OUT);
|
||||
gpio_put(int_PIN, 0);
|
||||
|
||||
// Note: The I2C slave does clock stretching implicitly after a RD_REQ, while the Tx FIFO is empty.
|
||||
// There is also an option to enable clock stretching while the Rx FIFO is full, but we leave it
|
||||
// disabled since the Rx FIFO should never fill up (unless slave->handler() is way too slow).
|
||||
i2c_set_slave_mode(i2c_inst, true, i2cAddress);
|
||||
|
||||
i2c_hw_t *hw = i2c_get_hw(i2c_inst);
|
||||
// unmask necessary interrupts
|
||||
hw->intr_mask = I2C_IC_INTR_MASK_M_RX_FULL_BITS |\
|
||||
I2C_IC_INTR_MASK_M_RD_REQ_BITS |\
|
||||
I2C_IC_RAW_INTR_STAT_TX_ABRT_BITS |\
|
||||
I2C_IC_INTR_MASK_M_STOP_DET_BITS |\
|
||||
I2C_IC_INTR_MASK_M_START_DET_BITS;
|
||||
|
||||
// enable interrupt for current core
|
||||
unsigned int intNum = i2c_inst == i2c0 ? I2C0_IRQ : I2C1_IRQ;
|
||||
irq_set_exclusive_handler(intNum, i2c_isr);
|
||||
irq_set_enabled(intNum, true);
|
||||
}
|
||||
@@ -0,0 +1,99 @@
|
||||
#include "node_interface_hardware.hpp"
|
||||
#include "hardware/irq.h"
|
||||
|
||||
void GobotRPC_NI_Hardware_RP2040_I2C::onI2CIRQ(I2C_SLAVE_EVENT event, BaseType_t * xHigherPriorityTaskWoken) {
|
||||
|
||||
switch (event) {
|
||||
case I2C_SLAVE_RECEIVE: { // I2C Write from Master
|
||||
char data = i2c_read_byte_raw(i2c_inst);
|
||||
|
||||
switch (writeState) {
|
||||
case I2C_WRITE_STATE_FIRST:
|
||||
writeState = I2C_WRITE_STATE_LENGTH;
|
||||
rxPackage.index = 0;
|
||||
rxPackage.length = 0;
|
||||
rxPackage.data[rxPackage.index++] = data;
|
||||
break;
|
||||
|
||||
case I2C_WRITE_STATE_LENGTH:
|
||||
rxPackage.data[rxPackage.index++] = data;
|
||||
rxPackage.length = data;
|
||||
writeState = I2C_WRITE_STATE_DATA;
|
||||
break;
|
||||
|
||||
case I2C_WRITE_STATE_DATA:
|
||||
rxPackage.data[rxPackage.index++] = data;
|
||||
|
||||
if(rxPackage.index == rxPackage.length) {
|
||||
xQueueSendFromISR(isrRXQueue, &rxPackage, xHigherPriorityTaskWoken);
|
||||
writeState = I2C_WRITE_STATE_FIRST;
|
||||
} else {
|
||||
writeState = I2C_WRITE_STATE_DATA;
|
||||
}
|
||||
|
||||
break;
|
||||
|
||||
default:
|
||||
break;
|
||||
}
|
||||
|
||||
break;
|
||||
}
|
||||
|
||||
case I2C_SLAVE_REQUEST: {
|
||||
// I2C Read from Master
|
||||
//if(xQueueIsQueueEmptyFromISR(isrTXQueue) == pdTRUE) {
|
||||
// readState = I2C_READ_STAGE_INVALID;
|
||||
//}
|
||||
|
||||
switch (readState) {
|
||||
case I2C_READ_STAGE_INVALID:
|
||||
i2c_write_byte_raw(i2c_inst, 0x01);
|
||||
break;
|
||||
|
||||
case I2C_READ_STAGE_FIRST:
|
||||
xQueueReceiveFromISR(isrTXQueue, &txPackage, xHigherPriorityTaskWoken);
|
||||
txPackage.index = 0;
|
||||
i2c_write_byte_raw(i2c_inst, txPackage.data[txPackage.index++]);
|
||||
readState = I2C_READ_STAGE_WIP;
|
||||
break;
|
||||
|
||||
case I2C_READ_STAGE_WIP:
|
||||
i2c_write_byte_raw(i2c_inst, txPackage.data[txPackage.index++]);
|
||||
|
||||
if(txPackage.index == txPackage.length) {
|
||||
readState = I2C_READ_STAGE_FIRST;
|
||||
gpio_put(int_PIN, 0);
|
||||
}
|
||||
|
||||
break;
|
||||
|
||||
default:
|
||||
break;
|
||||
}
|
||||
|
||||
break;
|
||||
}
|
||||
|
||||
case I2C_SLAVE_FINISH:
|
||||
writeState = I2C_WRITE_STATE_FIRST;
|
||||
|
||||
rxPackage.index = 0;
|
||||
txPackage.index = 0;
|
||||
break;
|
||||
|
||||
default:
|
||||
break;
|
||||
}
|
||||
}
|
||||
|
||||
void GobotRPC_NI_Hardware_RP2040_I2C::preTxTask() {
|
||||
GobotRPC_NI_Package_Transport pkg;
|
||||
|
||||
while (1) {
|
||||
xQueueReceive(isrPreTxQueue, &pkg, portMAX_DELAY);
|
||||
xQueueSend(isrTXQueue, &pkg, portMAX_DELAY);
|
||||
vTaskDelay(5 / portTICK_PERIOD_MS);
|
||||
gpio_put(int_PIN, 1);
|
||||
}
|
||||
}
|
||||
@@ -0,0 +1,37 @@
|
||||
#include "protocol.hpp"
|
||||
#include <stdint.h>
|
||||
|
||||
#include "pico/stdlib.h"
|
||||
#include "hardware/watchdog.h"
|
||||
|
||||
#include "crc16.hpp"
|
||||
|
||||
void assembleGobotRPCHeader(char * buffer, GobotRPCNumber number, GobotRPCTypes type, size_t len) {
|
||||
buffer[0] = ((number & 0b1111) << 4) | ((type & 0b11) << 2);
|
||||
buffer[1] = (len + 4) & 0xff;
|
||||
}
|
||||
|
||||
GobotRPCHeaderInfo extractGobotRPCHeader(char * buffer) {
|
||||
GobotRPCHeaderInfo info;
|
||||
info.number = (GobotRPCNumber)((buffer[0] >> 4) & 0b1111);
|
||||
info.type = (GobotRPCTypes)((buffer[0] >> 2) & 0b11);
|
||||
info.len = buffer[1];
|
||||
return info;
|
||||
}
|
||||
|
||||
void assembleCRC(char * buffer, size_t data_len) {
|
||||
unsigned short crc = crc16(buffer, data_len + GobotRPC_Package_DATA_OFFSET);
|
||||
buffer[GobotRPC_Package_DATA_OFFSET + data_len + 1] = crc & 0xff;
|
||||
buffer[GobotRPC_Package_DATA_OFFSET + data_len + 0] = (crc >> 8) & 0xff;
|
||||
}
|
||||
|
||||
bool checkCRC(char * buffer, size_t data_len) {
|
||||
unsigned short crc = crc16(buffer, data_len - 2);
|
||||
unsigned short crc_received = buffer[data_len - GobotRPC_Package_DATA_OFFSET + 1] | (buffer[data_len - GobotRPC_Package_DATA_OFFSET + 0] << 8);
|
||||
return crc == crc_received;
|
||||
}
|
||||
|
||||
void softwareReset() {
|
||||
watchdog_enable(1, 1);
|
||||
while(1);
|
||||
}
|
||||
@@ -0,0 +1,53 @@
|
||||
#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);
|
||||
}
|
||||
|
||||
void GobotRPC_TI_Hardware_RP2040_I2C::raiseTransmissionSuceess(uint32_t addr) {
|
||||
CI_Instruction_Transport ciInstruction;
|
||||
ciInstruction.type = CI_INSTRUCTION_SEND_TRANMISSION_SUCCESS;
|
||||
ciInstruction.data[0] = addr & 0xff;
|
||||
ciInstruction.data[1] = (addr >> 8) & 0xff;
|
||||
ciInstruction.data[2] = (addr >> 16) & 0xff;
|
||||
ciInstruction.data[3] = (addr >> 24) & 0xff;
|
||||
|
||||
this->pushCIInstructionCB(&ciInstruction, pushCIInstructionCBArgs);
|
||||
}
|
||||
|
||||
void GobotRPC_TI_Hardware_RP2040_I2C::raiseInfoReset() {
|
||||
CI_Instruction_Transport ciInstruction;
|
||||
ciInstruction.type = CI_INSTRUCTION_SEND_INFO_RESET;
|
||||
|
||||
this->pushCIInstructionCB(&ciInstruction, pushCIInstructionCBArgs);
|
||||
}
|
||||
|
||||
void GobotRPC_TI_Hardware_RP2040_I2C::revCIInstructionTask() {
|
||||
CI_Instruction_Transport ciInstruction;
|
||||
while(1) {
|
||||
xQueueReceive(revCIInstructionQueue, &ciInstruction, portMAX_DELAY);
|
||||
|
||||
switch (ciInstruction.type) {
|
||||
case CI_INSTRUCTION_REV_SEND_SET_ADDR_MAP: {
|
||||
uint32_t addr = ciInstruction.data[0] |\
|
||||
(ciInstruction.data[1] << 8) |\
|
||||
(ciInstruction.data[2] << 16) |\
|
||||
(ciInstruction.data[3] << 24);
|
||||
uint8_t port = ciInstruction.data[4];
|
||||
this->setAddrMap(addr, port);
|
||||
break;
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
@@ -0,0 +1,87 @@
|
||||
#include "transmission_interface.hpp"
|
||||
#include "hardware/i2c.h"
|
||||
|
||||
#include <string.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, QueueHandle_t revCIInstructionQueue) {
|
||||
this->core = core;
|
||||
this->i2c = i2c0;
|
||||
this->revCIInstructionQueue = revCIInstructionQueue;
|
||||
|
||||
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);
|
||||
gpio_set_irq_enabled_with_callback(GOBOTRPC_TI_INT_PIN_START + i, GPIO_IRQ_EDGE_RISE, true, intPin_ISR);
|
||||
}
|
||||
|
||||
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);
|
||||
|
||||
}
|
||||
|
||||
static void i2cIntTaskFn(void * pvParameters) {
|
||||
GobotRPC_TI_Hardware_RP2040_I2C * hw = (GobotRPC_TI_Hardware_RP2040_I2C *)pvParameters;
|
||||
hw->manualTriggerIntTask();
|
||||
}
|
||||
|
||||
static void revCIInstructionTaskFn(void * pvParameters) {
|
||||
GobotRPC_TI_Hardware_RP2040_I2C * hw = (GobotRPC_TI_Hardware_RP2040_I2C *)pvParameters;
|
||||
hw->revCIInstructionTask();
|
||||
}
|
||||
|
||||
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);
|
||||
xTaskCreateAffinitySet(i2cIntTaskFn, "i2c Int Task", 4096, this, 3, core, &i2cIntTaskHandle);
|
||||
xTaskCreateAffinitySet(revCIInstructionTaskFn, "Rev CI Instruction Task", 4096, this, 3, core, &revCIInstructionTaskHandle);
|
||||
}
|
||||
|
||||
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 +1,49 @@
|
||||
#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);
|
||||
}
|
||||
|
||||
void GobotRPC_TI_Hardware_RP2040_I2C::manualTriggerIntTask() {
|
||||
while (1) {
|
||||
uint32_t intPinsStates = readIntPins();
|
||||
|
||||
if(intPinsStates == 0) {
|
||||
vTaskDelay(500 / portTICK_PERIOD_MS);
|
||||
continue;
|
||||
}
|
||||
|
||||
vTaskDelay(500 / portTICK_PERIOD_MS);
|
||||
|
||||
xSemaphoreGive(i2cRXSemaphore);
|
||||
|
||||
}
|
||||
|
||||
}
|
||||
@@ -0,0 +1,69 @@
|
||||
#include "transmission_interface.hpp"
|
||||
#include "ci/base.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];
|
||||
|
||||
if(addr > 0xff)
|
||||
continue;
|
||||
|
||||
GoRPCPackage_Transport pkg;
|
||||
|
||||
xSemaphoreTake(i2cMutex, portMAX_DELAY);
|
||||
bool read_res = readI2C(&pkg, addr);
|
||||
xSemaphoreGive(i2cMutex);
|
||||
|
||||
if(!read_res)
|
||||
continue;
|
||||
|
||||
pkg.addr |= (i) << 8;
|
||||
|
||||
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) {
|
||||
unsigned int res;
|
||||
//uint res = i2c_read_blocking(i2c, addr, (uint8_t *)pkg->data, 2, true);
|
||||
|
||||
i2c_read_blocking(i2c, addr, (uint8_t *)pkg->data + CI_RX_PACKAGE_DATA_OFFSET, 2, true);
|
||||
|
||||
|
||||
size_t len = pkg->data[CI_RX_PACKAGE_DATA_OFFSET + 1];
|
||||
|
||||
if(len > 64) {
|
||||
return false;
|
||||
}
|
||||
|
||||
res = i2c_read_blocking(i2c, addr, ((uint8_t *)pkg->data) + CI_RX_PACKAGE_DATA_OFFSET, len, false);
|
||||
pkg->len = len;
|
||||
pkg->addr = addr;
|
||||
|
||||
return true;
|
||||
}
|
||||
@@ -0,0 +1,29 @@
|
||||
#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_blocking(i2c, pkg.addr & 0x7f, (uint8_t * )(pkg.data), pkg.len, false);
|
||||
xSemaphoreGive(i2cMutex);
|
||||
|
||||
if(res == PICO_ERROR_GENERIC) {
|
||||
raiseTranmissionError(false, pkg.addr);
|
||||
} else {
|
||||
raiseTransmissionSuceess(pkg.addr);
|
||||
}
|
||||
}
|
||||
}
|
||||
86
i2c-hub/firmware/i2c-hub-firmware/src/main_core0.cpp
Normal file
86
i2c-hub/firmware/i2c-hub-firmware/src/main_core0.cpp
Normal file
@@ -0,0 +1,86 @@
|
||||
#include <stdio.h>
|
||||
#include <string.h>
|
||||
#include "pico/stdlib.h"
|
||||
|
||||
#include "ci/base.hpp"
|
||||
#include "ci/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);
|
||||
}
|
||||
|
||||
void onRXFromI2CTask(void * pvParameters) {
|
||||
GobotRPC_CI * gobotRPC_ci = (GobotRPC_CI *)pvParameters;
|
||||
|
||||
GoRPCPackage_Transport pkg;
|
||||
while (true) {
|
||||
xQueueReceive(appData.rxQueue, &pkg, portMAX_DELAY);
|
||||
|
||||
gobotRPC_ci->send_RxPacket(pkg.data, pkg.len, pkg.addr);
|
||||
}
|
||||
}
|
||||
|
||||
static void onSetAddrMap(void * args, uint32_t addr, uint8_t port) {
|
||||
GobotRPC_CI * gobotrpc_ci = (GobotRPC_CI *)args;
|
||||
gobotrpc_ci->send_rev_SetAddrMap(addr, port);
|
||||
}
|
||||
|
||||
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(3, sizeof(CI_Instruction_Transport));
|
||||
appData.ciInstructionReverseQueue = xQueueCreate(3, sizeof(CI_Instruction_Transport));
|
||||
|
||||
GobotRPC_CI_Hardware_RP2040_UART gobotrpc_ci_hardware(uart0, 115200, UART_CORE_MASK);
|
||||
|
||||
GobotRPC_CI gobotRPC_ci(&gobotrpc_ci_hardware, UART_CORE_MASK, appData.ciInstructionQueue, appData.ciInstructionReverseQueue);
|
||||
gobotRPC_ci.registerCB_SetAddress(onSetAddrMap, &gobotRPC_ci);
|
||||
gobotRPC_ci.registerCB_TxPacket(onTxPacket, &gobotRPC_ci);
|
||||
|
||||
TaskHandle_t taskHandleCore0;
|
||||
TaskHandle_t taskHandleCore1;
|
||||
TaskHandle_t taskRXFromI2CTask;
|
||||
xTaskCreateAffinitySet(vTaskMain, "Main Task Core 0", 2048, &gobotRPC_ci, 1, UART_CORE_MASK, &taskHandleCore0);
|
||||
xTaskCreateAffinitySet(main_core2, "Main Task Core 1", 2048, &appData, 1, UART_CORE_MASK, &taskHandleCore1);
|
||||
xTaskCreateAffinitySet(onRXFromI2CTask, "RX From I2C Task", 2048, &gobotRPC_ci, 3, UART_CORE_MASK, &taskRXFromI2CTask);
|
||||
|
||||
vTaskStartScheduler();
|
||||
|
||||
while(1) {}
|
||||
}
|
||||
43
i2c-hub/firmware/i2c-hub-firmware/src/main_core1.cpp
Normal file
43
i2c-hub/firmware/i2c-hub-firmware/src/main_core1.cpp
Normal file
@@ -0,0 +1,43 @@
|
||||
#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 pushPackageCB(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 appData1 = *(AppData *)pvParameters;
|
||||
|
||||
GobotRPC_TI_Hardware_RP2040_I2C gobotrpc_ti_hardware(UART_CORE_MASK, i2c0, appData1.ciInstructionReverseQueue);
|
||||
//gobotrpc_ti_hardware.setAddrMap(0x21, 0);
|
||||
|
||||
gobotrpc_ti_hardware.registerPullPackageCB(pullPackageCB, appData.txQueue);
|
||||
gobotrpc_ti_hardware.registerPushPackageCB(pushPackageCB, appData.rxQueue);
|
||||
gobotrpc_ti_hardware.registerPushCIInstructionCB(pushCIInstruction, appData.ciInstructionQueue);
|
||||
|
||||
gobotrpc_ti_hardware.raiseInfoReset();
|
||||
|
||||
while(1) {
|
||||
vTaskDelay(pdMS_TO_TICKS(10000));
|
||||
}
|
||||
}
|
||||
BIN
i2c-hub/pulseview-i2c-session
Normal file
BIN
i2c-hub/pulseview-i2c-session
Normal file
Binary file not shown.
Some files were not shown because too many files have changed in this diff Show More
Reference in New Issue
Block a user