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1 Commits
can-interf
...
stone-disp
| Author | SHA1 | Date | |
|---|---|---|---|
|
801e791199 |
7
can-interface/.vscode/settings.json
vendored
7
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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|
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BIN
can-interface/circuit/gobot-can-interface/gobot-can-interface-backups/gobot-can-interface-2024-11-30_000501.zip
(Stored with Git LFS)
Normal file
BIN
can-interface/circuit/gobot-can-interface/gobot-can-interface-backups/gobot-can-interface-2024-11-30_000501.zip
(Stored with Git LFS)
Normal file
Binary file not shown.
BIN
can-interface/circuit/gobot-can-interface/gobot-can-interface-backups/gobot-can-interface-2024-11-30_140231.zip
(Stored with Git LFS)
Normal file
BIN
can-interface/circuit/gobot-can-interface/gobot-can-interface-backups/gobot-can-interface-2024-11-30_140231.zip
(Stored with Git LFS)
Normal file
Binary file not shown.
BIN
can-interface/circuit/gobot-can-interface/gobot-can-interface-backups/gobot-can-interface-2024-12-22_095043.zip
(Stored with Git LFS)
Normal file
BIN
can-interface/circuit/gobot-can-interface/gobot-can-interface-backups/gobot-can-interface-2024-12-22_095043.zip
(Stored with Git LFS)
Normal file
Binary file not shown.
BIN
can-interface/circuit/gobot-can-interface/gobot-can-interface-backups/gobot-can-interface-2024-12-27_204815.zip
(Stored with Git LFS)
Normal file
BIN
can-interface/circuit/gobot-can-interface/gobot-can-interface-backups/gobot-can-interface-2024-12-27_204815.zip
(Stored with Git LFS)
Normal file
Binary file not shown.
@@ -1 +0,0 @@
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{"hostname":"hal","username":"alexander"}
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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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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);
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}
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break;
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case CANTP_FRAME_TYPE::FIRST_FRAME:
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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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sendFlowControl(CANTP_FLOW_STATUS::CLEAR_TO_SEND, blockSizes, 0);
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break;
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case CANTP_FRAME_TYPE::CONSECUTIVE_FRAME:
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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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}
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break;
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case CANTP_FRAME_TYPE::FLOW_CONTROL:
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break;
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}
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}
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SocketCANTP::SocketCANTP(
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MCP2521 *mcp2521,
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uint32_t address,
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bool is_extended,
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uint8_t blockSizes
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) {
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this->mcp2521 = mcp2521;
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this->address = address;
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this->is_extended = is_extended;
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this->rxLength = 0;
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this->consecitonFrameCounter = 0;
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this->blockSizes = 0;
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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(
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MCP2521_TX_BUFFER::TXB0, address, data, length, is_extended, false);
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mcp2521->request_to_send(MCP2521_TX_BUFFER::TXB0);
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}
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void SocketCANTP::register_rx_handler(rx_handler handler, void *arg) {
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userHandler = handler;
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userArg = arg;
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}
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@@ -1,556 +0,0 @@
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||||
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@@ -1,51 +0,0 @@
|
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#pragma once
|
||||
#include "mcp2521_toplevel.hpp"
|
||||
|
||||
typedef void (*rx_handler)(uint8_t *data, uint8_t length, void *arg);
|
||||
|
||||
enum CANTP_FRAME_TYPE {
|
||||
SINGLE_FRAME = 0b00,
|
||||
FIRST_FRAME = 0b01,
|
||||
CONSECUTIVE_FRAME = 0b10,
|
||||
FLOW_CONTROL = 0b11
|
||||
};
|
||||
|
||||
enum CANTP_FLOW_STATUS {
|
||||
CLEAR_TO_SEND = 0b0000,
|
||||
WAIT = 0b0001,
|
||||
OVERLOAD = 0b0010
|
||||
};
|
||||
|
||||
enum CAN_MULTI_FRAME_STATES {
|
||||
WAITING_FOR_FIRST_FRAME,
|
||||
WAITING_FOR_CONSECUTIVE_FRAME,
|
||||
}
|
||||
|
||||
class SocketCANTP {
|
||||
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;
|
||||
uint8_t blockSizes;
|
||||
|
||||
protected:
|
||||
void sendFlowControl(CANTP_FLOW_STATUS status, uint8_t blockSize, uint8_t separationTime);
|
||||
|
||||
public:
|
||||
SocketCANTP(MCP2521 *mcp2521, uint32_t address, bool is_extended, uint8_t blockSizes);
|
||||
|
||||
void send(uint8_t *data, uint8_t length);
|
||||
void register_rx_handler(rx_handler handler, void *arg);
|
||||
|
||||
void onRxHandler();
|
||||
}
|
||||
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
|
||||
@@ -2,6 +2,6 @@ idf_component_register(SRCS "hello_world_main.cpp"
|
||||
REQUIRES driver
|
||||
REQUIRES mcp2521
|
||||
REQUIRES mcp2521_hardware_interface
|
||||
REQUIRES CAN-Protocol-Stack
|
||||
REQUIRES gobot_rpc
|
||||
REQUIRES spi_flash
|
||||
INCLUDE_DIRS "")
|
||||
|
||||
@@ -34,32 +34,32 @@
|
||||
#define CAN_INT1_PIN GPIO_NUM_26
|
||||
|
||||
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);
|
||||
|
||||
};
|
||||
@@ -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,
|
||||
|
||||
47
stone-dispencer/.devcontainer/Dockerfile
Normal file
47
stone-dispencer/.devcontainer/Dockerfile
Normal file
@@ -0,0 +1,47 @@
|
||||
FROM espressif/idf
|
||||
|
||||
ARG DEBIAN_FRONTEND=nointeractive
|
||||
ARG CONTAINER_USER=esp
|
||||
ARG USER_UID=1050
|
||||
ARG USER_GID=$USER_UID
|
||||
|
||||
RUN apt-get update \
|
||||
&& apt install -y -q \
|
||||
cmake \
|
||||
git \
|
||||
libglib2.0-0 \
|
||||
libnuma1 \
|
||||
libpixman-1-0 \
|
||||
&& rm -rf /var/lib/apt/lists/*
|
||||
|
||||
# QEMU
|
||||
ENV QEMU_REL=esp_develop_8.2.0_20240122
|
||||
ENV QEMU_SHA256=e7c72ef5705ad1444d391711088c8717fc89f42e9bf6d1487f9c2a326b8cfa83
|
||||
ENV QEMU_DIST=qemu-xtensa-softmmu-${QEMU_REL}-x86_64-linux-gnu.tar.xz
|
||||
ENV QEMU_URL=https://github.com/espressif/qemu/releases/download/esp-develop-8.2.0-20240122/${QEMU_DIST}
|
||||
|
||||
ENV LC_ALL=C.UTF-8
|
||||
ENV LANG=C.UTF-8
|
||||
|
||||
RUN wget --no-verbose ${QEMU_URL} \
|
||||
&& echo "${QEMU_SHA256} *${QEMU_DIST}" | sha256sum --check --strict - \
|
||||
&& tar -xf $QEMU_DIST -C /opt \
|
||||
&& rm ${QEMU_DIST}
|
||||
|
||||
ENV PATH=/opt/qemu/bin:${PATH}
|
||||
|
||||
RUN groupadd --gid $USER_GID $CONTAINER_USER \
|
||||
&& adduser --uid $USER_UID --gid $USER_GID --disabled-password --gecos "" ${CONTAINER_USER} \
|
||||
&& usermod -a -G root $CONTAINER_USER && usermod -a -G dialout $CONTAINER_USER
|
||||
|
||||
RUN chmod -R 775 /opt/esp/python_env/
|
||||
|
||||
USER ${CONTAINER_USER}
|
||||
ENV USER=${CONTAINER_USER}
|
||||
WORKDIR /home/${CONTAINER_USER}
|
||||
|
||||
RUN echo "source /opt/esp/idf/export.sh > /dev/null 2>&1" >> ~/.bashrc
|
||||
|
||||
ENTRYPOINT [ "/opt/esp/entrypoint.sh" ]
|
||||
|
||||
CMD ["/bin/bash", "-c"]
|
||||
36
stone-dispencer/.devcontainer/devcontainer.json
Normal file
36
stone-dispencer/.devcontainer/devcontainer.json
Normal file
@@ -0,0 +1,36 @@
|
||||
{
|
||||
"name": "ESP-IDF QEMU",
|
||||
"build": {
|
||||
"dockerfile": "Dockerfile"
|
||||
},
|
||||
"customizations": {
|
||||
"vscode": {
|
||||
"settings": {
|
||||
"terminal.integrated.defaultProfile.linux": "bash",
|
||||
"idf.espIdfPath": "/opt/esp/idf",
|
||||
"idf.customExtraPaths": "",
|
||||
"idf.pythonBinPath": "/opt/esp/python_env/idf5.4_py3.12_env/bin/python",
|
||||
"idf.toolsPath": "/opt/esp",
|
||||
"idf.gitPath": "/usr/bin/git"
|
||||
},
|
||||
"extensions": [
|
||||
"espressif.esp-idf-extension"
|
||||
]
|
||||
},
|
||||
"codespaces": {
|
||||
"settings": {
|
||||
"terminal.integrated.defaultProfile.linux": "bash",
|
||||
"idf.espIdfPath": "/opt/esp/idf",
|
||||
"idf.customExtraPaths": "",
|
||||
"idf.pythonBinPath": "/opt/esp/python_env/idf5.4_py3.12_env/bin/python",
|
||||
"idf.toolsPath": "/opt/esp",
|
||||
"idf.gitPath": "/usr/bin/git"
|
||||
},
|
||||
"extensions": [
|
||||
"espressif.esp-idf-extension",
|
||||
"espressif.esp-idf-web"
|
||||
]
|
||||
}
|
||||
},
|
||||
"runArgs": ["--privileged"]
|
||||
}
|
||||
BIN
stone-dispencer/.gitignore
(Stored with Git LFS)
vendored
Normal file
BIN
stone-dispencer/.gitignore
(Stored with Git LFS)
vendored
Normal file
Binary file not shown.
23
stone-dispencer/.vscode/c_cpp_properties.json
vendored
Normal file
23
stone-dispencer/.vscode/c_cpp_properties.json
vendored
Normal file
@@ -0,0 +1,23 @@
|
||||
{
|
||||
"configurations": [
|
||||
{
|
||||
"name": "ESP-IDF",
|
||||
"compilerPath": "${config:idf.toolsPath}/tools/xtensa-esp-elf/esp-13.2.0_20240530/xtensa-esp-elf/bin/xtensa-esp32-elf-gcc",
|
||||
"compileCommands": "${config:idf.buildPath}/compile_commands.json",
|
||||
"includePath": [
|
||||
"${config:idf.espIdfPath}/components/**",
|
||||
"${config:idf.espIdfPathWin}/components/**",
|
||||
"${workspaceFolder}/**"
|
||||
],
|
||||
"browse": {
|
||||
"path": [
|
||||
"${config:idf.espIdfPath}/components",
|
||||
"${config:idf.espIdfPathWin}/components",
|
||||
"${workspaceFolder}"
|
||||
],
|
||||
"limitSymbolsToIncludedHeaders": true
|
||||
}
|
||||
}
|
||||
],
|
||||
"version": 4
|
||||
}
|
||||
15
stone-dispencer/.vscode/launch.json
vendored
Normal file
15
stone-dispencer/.vscode/launch.json
vendored
Normal file
@@ -0,0 +1,15 @@
|
||||
{
|
||||
"version": "0.2.0",
|
||||
"configurations": [
|
||||
{
|
||||
"type": "gdbtarget",
|
||||
"request": "attach",
|
||||
"name": "Eclipse CDT GDB Adapter"
|
||||
},
|
||||
{
|
||||
"type": "espidf",
|
||||
"name": "Launch",
|
||||
"request": "launch"
|
||||
}
|
||||
]
|
||||
}
|
||||
38
stone-dispencer/.vscode/settings.json
vendored
Normal file
38
stone-dispencer/.vscode/settings.json
vendored
Normal file
@@ -0,0 +1,38 @@
|
||||
{
|
||||
"C_Cpp.intelliSenseEngine": "default",
|
||||
"idf.adapterTargetName": "esp32",
|
||||
"idf.customExtraPaths": "/home/alexander/.espressif/tools/xtensa-esp-elf-gdb/14.2_20240403/xtensa-esp-elf-gdb/bin:/home/alexander/.espressif/tools/riscv32-esp-elf-gdb/14.2_20240403/riscv32-esp-elf-gdb/bin:/home/alexander/.espressif/tools/xtensa-esp-elf/esp-13.2.0_20240530/xtensa-esp-elf/bin:/home/alexander/.espressif/tools/riscv32-esp-elf/esp-13.2.0_20240530/riscv32-esp-elf/bin:/home/alexander/.espressif/tools/esp32ulp-elf/2.38_20240113/esp32ulp-elf/bin:/home/alexander/.espressif/tools/openocd-esp32/v0.12.0-esp32-20240318/openocd-esp32/bin:/home/alexander/.espressif/tools/esp-rom-elfs/20240305",
|
||||
"idf.customExtraVars": {
|
||||
"OPENOCD_SCRIPTS": "/home/alexander/.espressif/tools/openocd-esp32/v0.12.0-esp32-20240318/openocd-esp32/share/openocd/scripts",
|
||||
"ESP_ROM_ELF_DIR": "/home/alexander/.espressif/tools/esp-rom-elfs/20240305/"
|
||||
},
|
||||
"idf.espIdfPath": "/opt/esp/v5.3.2/esp-idf",
|
||||
"idf.openOcdConfigs": [
|
||||
"board/esp32-wrover-kit-3.3v.cfg"
|
||||
],
|
||||
"idf.port": "/dev/ttyUSB1",
|
||||
"idf.toolsPath": "/home/alexander/.espressif",
|
||||
"idf.flashType": "JTAG",
|
||||
"idf.openOcdLaunchArgs": [
|
||||
"-c",
|
||||
"adapter speed 1000"
|
||||
],
|
||||
"files.associations": {
|
||||
"*.tcc": "c",
|
||||
"charconv": "c",
|
||||
"chrono": "c",
|
||||
"optional": "c",
|
||||
"format": "c",
|
||||
"ratio": "c",
|
||||
"system_error": "c",
|
||||
"array": "c",
|
||||
"functional": "c",
|
||||
"regex": "c",
|
||||
"tuple": "c",
|
||||
"type_traits": "c",
|
||||
"utility": "c",
|
||||
"esp_chip_info.h": "c",
|
||||
"random": "cpp",
|
||||
"future": "cpp"
|
||||
},
|
||||
}
|
||||
259
stone-dispencer/.vscode/tasks.json
vendored
Normal file
259
stone-dispencer/.vscode/tasks.json
vendored
Normal file
@@ -0,0 +1,259 @@
|
||||
{
|
||||
"version": "2.0.0",
|
||||
"tasks": [
|
||||
{
|
||||
"label": "Build - Build project",
|
||||
"type": "shell",
|
||||
"command": "${config:idf.pythonBinPath} ${config:idf.espIdfPath}/tools/idf.py build",
|
||||
"windows": {
|
||||
"command": "${config:idf.pythonBinPathWin} ${config:idf.espIdfPathWin}\\tools\\idf.py build",
|
||||
"options": {
|
||||
"env": {
|
||||
"PATH": "${env:PATH};${config:idf.customExtraPaths}"
|
||||
}
|
||||
}
|
||||
},
|
||||
"options": {
|
||||
"env": {
|
||||
"PATH": "${env:PATH}:${config:idf.customExtraPaths}"
|
||||
}
|
||||
},
|
||||
"problemMatcher": [
|
||||
{
|
||||
"owner": "cpp",
|
||||
"fileLocation": [
|
||||
"autoDetect",
|
||||
"${workspaceFolder}"
|
||||
],
|
||||
"pattern": {
|
||||
"regexp": "^(.*?):(\\d+):(\\d*):?\\s+(?:fatal\\s+)?(warning|error):\\s+(.*)$",
|
||||
"file": 1,
|
||||
"line": 2,
|
||||
"column": 3,
|
||||
"severity": 4,
|
||||
"message": 5
|
||||
}
|
||||
}
|
||||
],
|
||||
"group": {
|
||||
"kind": "build",
|
||||
"isDefault": true
|
||||
}
|
||||
},
|
||||
{
|
||||
"label": "Set ESP-IDF Target",
|
||||
"type": "shell",
|
||||
"command": "${command:espIdf.setTarget}",
|
||||
"problemMatcher": {
|
||||
"owner": "cpp",
|
||||
"fileLocation": [
|
||||
"autoDetect",
|
||||
"${workspaceFolder}"
|
||||
],
|
||||
"pattern": {
|
||||
"regexp": "^(.*?):(\\d+):(\\d*):?\\s+(?:fatal\\s+)?(warning|error):\\s+(.*)$",
|
||||
"file": 1,
|
||||
"line": 2,
|
||||
"column": 3,
|
||||
"severity": 4,
|
||||
"message": 5
|
||||
}
|
||||
}
|
||||
},
|
||||
{
|
||||
"label": "Clean - Clean the project",
|
||||
"type": "shell",
|
||||
"command": "${config:idf.pythonBinPath} ${config:idf.espIdfPath}/tools/idf.py fullclean",
|
||||
"windows": {
|
||||
"command": "${config:idf.pythonBinPathWin} ${config:idf.espIdfPathWin}\\tools\\idf.py fullclean",
|
||||
"options": {
|
||||
"env": {
|
||||
"PATH": "${env:PATH};${config:idf.customExtraPaths}"
|
||||
}
|
||||
}
|
||||
},
|
||||
"options": {
|
||||
"env": {
|
||||
"PATH": "${env:PATH}:${config:idf.customExtraPaths}"
|
||||
}
|
||||
},
|
||||
"problemMatcher": [
|
||||
{
|
||||
"owner": "cpp",
|
||||
"fileLocation": [
|
||||
"autoDetect",
|
||||
"${workspaceFolder}"
|
||||
],
|
||||
"pattern": {
|
||||
"regexp": "^(.*?):(\\d+):(\\d*):?\\s+(?:fatal\\s+)?(warning|error):\\s+(.*)$",
|
||||
"file": 1,
|
||||
"line": 2,
|
||||
"column": 3,
|
||||
"severity": 4,
|
||||
"message": 5
|
||||
}
|
||||
}
|
||||
]
|
||||
},
|
||||
{
|
||||
"label": "Flash - Flash the device",
|
||||
"type": "shell",
|
||||
"command": "${config:idf.pythonBinPath} ${config:idf.espIdfPath}/tools/idf.py -p ${config:idf.port} -b ${config:idf.flashBaudRate} flash",
|
||||
"windows": {
|
||||
"command": "${config:idf.pythonBinPathWin} ${config:idf.espIdfPathWin}\\tools\\idf.py flash -p ${config:idf.portWin} -b ${config:idf.flashBaudRate}",
|
||||
"options": {
|
||||
"env": {
|
||||
"PATH": "${env:PATH};${config:idf.customExtraPaths}"
|
||||
}
|
||||
}
|
||||
},
|
||||
"options": {
|
||||
"env": {
|
||||
"PATH": "${env:PATH}:${config:idf.customExtraPaths}"
|
||||
}
|
||||
},
|
||||
"problemMatcher": [
|
||||
{
|
||||
"owner": "cpp",
|
||||
"fileLocation": [
|
||||
"autoDetect",
|
||||
"${workspaceFolder}"
|
||||
],
|
||||
"pattern": {
|
||||
"regexp": "^(.*?):(\\d+):(\\d*):?\\s+(?:fatal\\s+)?(warning|error):\\s+(.*)$",
|
||||
"file": 1,
|
||||
"line": 2,
|
||||
"column": 3,
|
||||
"severity": 4,
|
||||
"message": 5
|
||||
}
|
||||
}
|
||||
]
|
||||
},
|
||||
{
|
||||
"label": "Monitor: Start the monitor",
|
||||
"type": "shell",
|
||||
"command": "${config:idf.pythonBinPath} ${config:idf.espIdfPath}/tools/idf.py -p ${config:idf.port} monitor",
|
||||
"windows": {
|
||||
"command": "${config:idf.pythonBinPathWin} ${config:idf.espIdfPathWin}\\tools\\idf.py -p ${config:idf.portWin} monitor",
|
||||
"options": {
|
||||
"env": {
|
||||
"PATH": "${env:PATH};${config:idf.customExtraPaths}"
|
||||
}
|
||||
}
|
||||
},
|
||||
"options": {
|
||||
"env": {
|
||||
"PATH": "${env:PATH}:${config:idf.customExtraPaths}"
|
||||
}
|
||||
},
|
||||
"problemMatcher": [
|
||||
{
|
||||
"owner": "cpp",
|
||||
"fileLocation": [
|
||||
"autoDetect",
|
||||
"${workspaceFolder}"
|
||||
],
|
||||
"pattern": {
|
||||
"regexp": "^(.*?):(\\d+):(\\d*):?\\s+(?:fatal\\s+)?(warning|error):\\s+(.*)$",
|
||||
"file": 1,
|
||||
"line": 2,
|
||||
"column": 3,
|
||||
"severity": 4,
|
||||
"message": 5
|
||||
}
|
||||
}
|
||||
],
|
||||
"dependsOn": "Flash - Flash the device"
|
||||
},
|
||||
{
|
||||
"label": "OpenOCD: Start openOCD",
|
||||
"type": "shell",
|
||||
"presentation": {
|
||||
"echo": true,
|
||||
"reveal": "never",
|
||||
"focus": false,
|
||||
"panel": "new"
|
||||
},
|
||||
"command": "openocd -s ${command:espIdf.getOpenOcdScriptValue} ${command:espIdf.getOpenOcdConfigs}",
|
||||
"windows": {
|
||||
"command": "openocd.exe -s ${command:espIdf.getOpenOcdScriptValue} ${command:espIdf.getOpenOcdConfigs}",
|
||||
"options": {
|
||||
"env": {
|
||||
"PATH": "${env:PATH};${config:idf.customExtraPaths}"
|
||||
}
|
||||
}
|
||||
},
|
||||
"options": {
|
||||
"env": {
|
||||
"PATH": "${env:PATH}:${config:idf.customExtraPaths}"
|
||||
}
|
||||
},
|
||||
"problemMatcher": {
|
||||
"owner": "cpp",
|
||||
"fileLocation": [
|
||||
"autoDetect",
|
||||
"${workspaceFolder}"
|
||||
],
|
||||
"pattern": {
|
||||
"regexp": "^(.*?):(\\d+):(\\d*):?\\s+(?:fatal\\s+)?(warning|error):\\s+(.*)$",
|
||||
"file": 1,
|
||||
"line": 2,
|
||||
"column": 3,
|
||||
"severity": 4,
|
||||
"message": 5
|
||||
}
|
||||
}
|
||||
},
|
||||
{
|
||||
"label": "adapter",
|
||||
"type": "shell",
|
||||
"command": "${config:idf.pythonBinPath}",
|
||||
"isBackground": true,
|
||||
"options": {
|
||||
"env": {
|
||||
"PATH": "${env:PATH}:${config:idf.customExtraPaths}",
|
||||
"PYTHONPATH": "${command:espIdf.getExtensionPath}/esp_debug_adapter/debug_adapter"
|
||||
}
|
||||
},
|
||||
"problemMatcher": {
|
||||
"background": {
|
||||
"beginsPattern": "\bDEBUG_ADAPTER_STARTED\b",
|
||||
"endsPattern": "DEBUG_ADAPTER_READY2CONNECT",
|
||||
"activeOnStart": true
|
||||
},
|
||||
"pattern": {
|
||||
"regexp": "(\\d+)-(\\d+)-(\\d+)\\s(\\d+):(\\d+):(\\d+),(\\d+)\\s-(.+)\\s(ERROR)",
|
||||
"file": 8,
|
||||
"line": 2,
|
||||
"column": 3,
|
||||
"severity": 4,
|
||||
"message": 9
|
||||
}
|
||||
},
|
||||
"args": [
|
||||
"${command:espIdf.getExtensionPath}/esp_debug_adapter/debug_adapter_main.py",
|
||||
"-e",
|
||||
"${workspaceFolder}/build/${command:espIdf.getProjectName}.elf",
|
||||
"-s",
|
||||
"$OPENOCD_SCRIPTS",
|
||||
"-dn",
|
||||
"esp32",
|
||||
"-om",
|
||||
"connect_to_instance",
|
||||
"-t",
|
||||
"xtensa-esp32-elf-"
|
||||
|
||||
],
|
||||
"windows": {
|
||||
"command": "${config:idf.pythonBinPathWin}",
|
||||
"options": {
|
||||
"env": {
|
||||
"PATH": "${env:PATH};${config:idf.customExtraPaths}",
|
||||
"PYTHONPATH": "${command:espIdf.getExtensionPath}/esp_debug_adapter/debug_adapter"
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
]
|
||||
}
|
||||
6
stone-dispencer/CMakeLists.txt
Executable file
6
stone-dispencer/CMakeLists.txt
Executable file
@@ -0,0 +1,6 @@
|
||||
# The following lines of boilerplate have to be in your project's
|
||||
# CMakeLists in this exact order for cmake to work correctly
|
||||
cmake_minimum_required(VERSION 3.16)
|
||||
|
||||
include($ENV{IDF_PATH}/tools/cmake/project.cmake)
|
||||
project(stone-dispencer)
|
||||
BIN
stone-dispencer/README.md
(Stored with Git LFS)
Executable file
BIN
stone-dispencer/README.md
(Stored with Git LFS)
Executable file
Binary file not shown.
BIN
stone-dispencer/circuit/stone-dispencer/stone-dispencer-backups/stone-dispencer-2024-11-30_000515.zip
(Stored with Git LFS)
Normal file
BIN
stone-dispencer/circuit/stone-dispencer/stone-dispencer-backups/stone-dispencer-2024-11-30_000515.zip
(Stored with Git LFS)
Normal file
Binary file not shown.
BIN
stone-dispencer/circuit/stone-dispencer/stone-dispencer-backups/stone-dispencer-2024-11-30_012246.zip
(Stored with Git LFS)
Normal file
BIN
stone-dispencer/circuit/stone-dispencer/stone-dispencer-backups/stone-dispencer-2024-11-30_012246.zip
(Stored with Git LFS)
Normal file
Binary file not shown.
BIN
stone-dispencer/circuit/stone-dispencer/stone-dispencer-backups/stone-dispencer-2024-11-30_162859.zip
(Stored with Git LFS)
Normal file
BIN
stone-dispencer/circuit/stone-dispencer/stone-dispencer-backups/stone-dispencer-2024-11-30_162859.zip
(Stored with Git LFS)
Normal file
Binary file not shown.
BIN
stone-dispencer/circuit/stone-dispencer/stone-dispencer-backups/stone-dispencer-2024-12-21_233822.zip
(Stored with Git LFS)
Normal file
BIN
stone-dispencer/circuit/stone-dispencer/stone-dispencer-backups/stone-dispencer-2024-12-21_233822.zip
(Stored with Git LFS)
Normal file
Binary file not shown.
BIN
stone-dispencer/circuit/stone-dispencer/stone-dispencer.kicad_pcb
(Stored with Git LFS)
Normal file
BIN
stone-dispencer/circuit/stone-dispencer/stone-dispencer.kicad_pcb
(Stored with Git LFS)
Normal file
Binary file not shown.
BIN
stone-dispencer/circuit/stone-dispencer/stone-dispencer.kicad_prl
(Stored with Git LFS)
Normal file
BIN
stone-dispencer/circuit/stone-dispencer/stone-dispencer.kicad_prl
(Stored with Git LFS)
Normal file
Binary file not shown.
BIN
stone-dispencer/circuit/stone-dispencer/stone-dispencer.kicad_pro
(Stored with Git LFS)
Normal file
BIN
stone-dispencer/circuit/stone-dispencer/stone-dispencer.kicad_pro
(Stored with Git LFS)
Normal file
Binary file not shown.
BIN
stone-dispencer/circuit/stone-dispencer/stone-dispencer.kicad_sch
(Stored with Git LFS)
Normal file
BIN
stone-dispencer/circuit/stone-dispencer/stone-dispencer.kicad_sch
(Stored with Git LFS)
Normal file
Binary file not shown.
4
stone-dispencer/circuit/stone-dispencer/sym-lib-table
Normal file
4
stone-dispencer/circuit/stone-dispencer/sym-lib-table
Normal file
@@ -0,0 +1,4 @@
|
||||
(sym_lib_table
|
||||
(version 7)
|
||||
(lib (name "ESP32-DEVKIT-V1")(type "KiCad")(uri "/home/alexander/Projects/gobot/can-interface/circuit/gobot-can-interface/external/ESP32-DEVKIT-V1/ESP32-DEVKIT-V1.kicad_sym")(options "")(descr ""))
|
||||
)
|
||||
1
stone-dispencer/components/gobot_rpc
Symbolic link
1
stone-dispencer/components/gobot_rpc
Symbolic link
@@ -0,0 +1 @@
|
||||
/home/alexander/Projects/gobot/common-libaries/gobot_rpc
|
||||
1
stone-dispencer/components/mcp2521
Symbolic link
1
stone-dispencer/components/mcp2521
Symbolic link
@@ -0,0 +1 @@
|
||||
/home/alexander/Projects/gobot/common-libaries/mcp2521
|
||||
1
stone-dispencer/components/mcp2521_hardware_interface
Symbolic link
1
stone-dispencer/components/mcp2521_hardware_interface
Symbolic link
@@ -0,0 +1 @@
|
||||
/home/alexander/Projects/gobot/common-libaries/mcp2521_hardware_interface
|
||||
5
stone-dispencer/main/CMakeLists.txt
Executable file
5
stone-dispencer/main/CMakeLists.txt
Executable file
@@ -0,0 +1,5 @@
|
||||
idf_component_register(SRCS "hello_world_main.cpp"
|
||||
REQUIRES mcp2521
|
||||
REQUIRES mcp2521_hardware_interface
|
||||
REQUIRES driver
|
||||
INCLUDE_DIRS "")
|
||||
315
stone-dispencer/main/hello_world_main.cpp
Executable file
315
stone-dispencer/main/hello_world_main.cpp
Executable file
@@ -0,0 +1,315 @@
|
||||
/*
|
||||
* SPDX-FileCopyrightText: 2010-2022 Espressif Systems (Shanghai) CO LTD
|
||||
*
|
||||
* SPDX-License-Identifier: CC0-1.0
|
||||
*/
|
||||
|
||||
#include <stdio.h>
|
||||
#include <inttypes.h>
|
||||
#include "sdkconfig.h"
|
||||
#include "freertos/FreeRTOS.h"
|
||||
#include "freertos/task.h"
|
||||
|
||||
#include "driver/gpio.h"
|
||||
#include "driver/ledc.h"
|
||||
#include "time.h"
|
||||
|
||||
#include "mcp2521.hpp"
|
||||
#include "mcp2521_hardware_handle.hpp"
|
||||
|
||||
#define MCP2521_PIN_INT GPIO_NUM_5
|
||||
#define MCP2521_PIN_SCLK GPIO_NUM_18
|
||||
#define MCP2521_PIN_MISO GPIO_NUM_26
|
||||
#define MCP2521_PIN_MOSI GPIO_NUM_23
|
||||
#define MCP2521_PIN_CS GPIO_NUM_25
|
||||
|
||||
#define SERVO_0_PIN GPIO_NUM_2
|
||||
#define SERVO_1_PIN GPIO_NUM_4
|
||||
#define SERVO_2_PIN GPIO_NUM_19
|
||||
#define SERVO_3_PIN GPIO_NUM_21
|
||||
|
||||
#define LED_PIN GPIO_NUM_22
|
||||
|
||||
#define DETECTOR_PIN GPIO_NUM_32
|
||||
#define Z_AXIS_DETECT_PIN GPIO_NUM_35
|
||||
#define BUTTON_PIN GPIO_NUM_33
|
||||
|
||||
#define MOTOR_PERIOD_US 20000
|
||||
#define MOTOR_MIN_PULSE_US 500
|
||||
#define MOTOR_MAX_PULSE_US 2500
|
||||
|
||||
#define MOTOR_MG996R_US 20000
|
||||
#define MOTOR_MG996R_MIN_PULSE_US 500
|
||||
#define MOTOR_MG996R_MAX_PULSE_US 2500
|
||||
|
||||
#define PWM_RESOLUTION 18
|
||||
|
||||
#define PWM_MAX_VALUE (1 << PWM_RESOLUTION)
|
||||
#define MOTOR_MAX_VALUE (MOTOR_MAX_PULSE_US * PWM_MAX_VALUE / MOTOR_PERIOD_US)
|
||||
#define MOTOR_MIN_VALUE (MOTOR_MIN_PULSE_US * PWM_MAX_VALUE / MOTOR_PERIOD_US)
|
||||
#define MOTOR_CENTER_VALUE ((MOTOR_MAX_VALUE + MOTOR_MIN_VALUE) / 2)
|
||||
|
||||
#define MOTOR_MG996R_MAX_VALUE (MOTOR_MG996R_MAX_PULSE_US * PWM_MAX_VALUE / MOTOR_MG996R_US)
|
||||
#define MOTOR_MG996R_MIN_VALUE (MOTOR_MG996R_MIN_PULSE_US * PWM_MAX_VALUE / MOTOR_MG996R_US)
|
||||
#define MOTOR_MG996R_CENTER_VALUE ((MOTOR_MG996R_MAX_VALUE + MOTOR_MG996R_MIN_VALUE) / 2)
|
||||
|
||||
#define MOTOR_RANGE (MOTOR_MAX_VALUE - MOTOR_MIN_VALUE)
|
||||
#define MOTOR_HALF_RANGE (MOTOR_RANGE / 2)
|
||||
|
||||
#define MOTOR_MG996R_RANGE (MOTOR_MG996R_MAX_VALUE - MOTOR_MG996R_MIN_VALUE)
|
||||
#define MOTOR_MG996R_HALF_RANGE (MOTOR_MG996R_RANGE / 2)
|
||||
|
||||
#define CHOPPER_0_CLOSED (MOTOR_CENTER_VALUE - 1000)
|
||||
#define CHOPPER_1_CLOSED (MOTOR_CENTER_VALUE + 900)
|
||||
#define CHOPPER_0_OPEN (MOTOR_CENTER_VALUE - MOTOR_HALF_RANGE*0.75)
|
||||
#define CHOPPER_1_OPEN (MOTOR_CENTER_VALUE + MOTOR_HALF_RANGE*0.75)
|
||||
|
||||
#define HEAD_MOVE_UP_TIME 250
|
||||
#define HEAD_MOVE_UP (MOTOR_MG996R_CENTER_VALUE + MOTOR_MG996R_HALF_RANGE*0.5)
|
||||
#define HEAD_MOVE_STOP (MOTOR_MG996R_CENTER_VALUE)
|
||||
#define HEAD_MOVE_DOWN_TIME 750
|
||||
#define HEAD_MOVE_DOWN (MOTOR_MG996R_CENTER_VALUE - MOTOR_MG996R_HALF_RANGE*0.5)
|
||||
|
||||
// Z-Axis Motor
|
||||
bool motor_stop_up_flag = false;
|
||||
SemaphoreHandle_t motor_stop_down_semaphore;
|
||||
SemaphoreHandle_t motor_stop_up_semaphore;
|
||||
|
||||
static void IRAM_ATTR isr_motor_stop_up(void *args) {
|
||||
if(motor_stop_up_flag) {
|
||||
motor_stop_up_flag = false;
|
||||
xSemaphoreGiveFromISR(motor_stop_up_semaphore, NULL);
|
||||
}
|
||||
}
|
||||
|
||||
static void task_fn_motor_stop_up(void *args) {
|
||||
while(true) {
|
||||
xSemaphoreTake(motor_stop_up_semaphore, portMAX_DELAY);
|
||||
vTaskDelay(HEAD_MOVE_UP_TIME / portTICK_PERIOD_MS);
|
||||
ledc_set_duty(LEDC_LOW_SPEED_MODE, LEDC_CHANNEL_2, HEAD_MOVE_STOP);
|
||||
ledc_update_duty(LEDC_LOW_SPEED_MODE, LEDC_CHANNEL_2);
|
||||
}
|
||||
}
|
||||
|
||||
static void task_fn_motor_stop_down(void *args) {
|
||||
while(true) {
|
||||
xSemaphoreTake(motor_stop_down_semaphore, portMAX_DELAY);
|
||||
vTaskDelay(HEAD_MOVE_DOWN_TIME / portTICK_PERIOD_MS);
|
||||
ledc_set_duty(LEDC_LOW_SPEED_MODE, LEDC_CHANNEL_2, HEAD_MOVE_STOP);
|
||||
ledc_update_duty(LEDC_LOW_SPEED_MODE, LEDC_CHANNEL_2);
|
||||
}
|
||||
}
|
||||
|
||||
void lower_head() {
|
||||
ledc_set_duty(LEDC_LOW_SPEED_MODE, LEDC_CHANNEL_2, HEAD_MOVE_DOWN);
|
||||
ledc_update_duty(LEDC_LOW_SPEED_MODE, LEDC_CHANNEL_2);
|
||||
xSemaphoreGive(motor_stop_down_semaphore);
|
||||
vTaskDelay(500 / portTICK_PERIOD_MS);
|
||||
}
|
||||
|
||||
void raise_head() {
|
||||
if(!gpio_get_level(Z_AXIS_DETECT_PIN)) {
|
||||
return;
|
||||
}
|
||||
|
||||
ledc_set_duty(LEDC_LOW_SPEED_MODE, LEDC_CHANNEL_2, HEAD_MOVE_UP);
|
||||
ledc_update_duty(LEDC_LOW_SPEED_MODE, LEDC_CHANNEL_2);
|
||||
motor_stop_up_flag = true;
|
||||
}
|
||||
|
||||
// Dispencing mechanism
|
||||
void set_copper(bool bottom, bool top) {
|
||||
ledc_set_duty(LEDC_LOW_SPEED_MODE, LEDC_CHANNEL_1, bottom ? CHOPPER_1_OPEN : CHOPPER_1_CLOSED);
|
||||
ledc_set_duty(LEDC_LOW_SPEED_MODE, LEDC_CHANNEL_0, top ? CHOPPER_0_OPEN : CHOPPER_0_CLOSED);
|
||||
ledc_update_duty(LEDC_LOW_SPEED_MODE, LEDC_CHANNEL_1);
|
||||
ledc_update_duty(LEDC_LOW_SPEED_MODE, LEDC_CHANNEL_0);
|
||||
}
|
||||
|
||||
enum DISPENSER_RESULT {
|
||||
SUCESS = 0,
|
||||
EMPTY_WARINING = 1,
|
||||
EMPTY = 2,
|
||||
};
|
||||
|
||||
bool load_stone() {
|
||||
if(!gpio_get_level(DETECTOR_PIN)) {
|
||||
// No stone loaded
|
||||
return true;
|
||||
}
|
||||
|
||||
set_copper(true, false);
|
||||
vTaskDelay(250 / portTICK_PERIOD_MS);
|
||||
set_copper(false, false);
|
||||
|
||||
if(!gpio_get_level(DETECTOR_PIN)) {
|
||||
return true;
|
||||
} else {
|
||||
return false;
|
||||
}
|
||||
}
|
||||
|
||||
enum DISPENSER_RESULT dispens_stone() {
|
||||
|
||||
if(!gpio_get_level(DETECTOR_PIN)) {
|
||||
// No stone loaded
|
||||
|
||||
set_copper(false, true);
|
||||
vTaskDelay(250 / portTICK_PERIOD_MS);
|
||||
set_copper(false, false);
|
||||
vTaskDelay(100 / portTICK_PERIOD_MS);
|
||||
|
||||
if(!gpio_get_level(DETECTOR_PIN)) {
|
||||
// No stone loaded again
|
||||
return EMPTY;
|
||||
}
|
||||
|
||||
}
|
||||
lower_head();
|
||||
set_copper(true, false);
|
||||
vTaskDelay(250 / portTICK_PERIOD_MS);
|
||||
set_copper(false, false);
|
||||
vTaskDelay(100 / portTICK_PERIOD_MS);
|
||||
set_copper(false, true);
|
||||
vTaskDelay(250 / portTICK_PERIOD_MS);
|
||||
set_copper(false, false);
|
||||
raise_head();
|
||||
|
||||
if(!gpio_get_level(DETECTOR_PIN)) {
|
||||
return SUCESS;
|
||||
} else {
|
||||
return EMPTY_WARINING;
|
||||
}
|
||||
}
|
||||
|
||||
extern "C" void app_main(void)
|
||||
{
|
||||
printf("Hello world!\n");
|
||||
|
||||
gpio_set_direction(LED_PIN, GPIO_MODE_OUTPUT);
|
||||
gpio_set_direction(DETECTOR_PIN, GPIO_MODE_INPUT);
|
||||
gpio_set_direction(Z_AXIS_DETECT_PIN, GPIO_MODE_INPUT);
|
||||
gpio_set_direction(BUTTON_PIN, GPIO_MODE_INPUT);
|
||||
|
||||
motor_stop_up_semaphore = xSemaphoreCreateBinary();
|
||||
motor_stop_down_semaphore = xSemaphoreCreateBinary();
|
||||
xTaskCreatePinnedToCore(task_fn_motor_stop_up, "motor_stop_up", 2048, NULL, 4, NULL, 0);
|
||||
xTaskCreatePinnedToCore(task_fn_motor_stop_down, "motor_stop_down", 2048, NULL, 4, NULL, 0);
|
||||
|
||||
gpio_set_intr_type(Z_AXIS_DETECT_PIN, GPIO_INTR_ANYEDGE);
|
||||
gpio_install_isr_service(0);
|
||||
gpio_isr_handler_add(Z_AXIS_DETECT_PIN, isr_motor_stop_up, NULL);
|
||||
|
||||
spi_bus_config_t bus_config;
|
||||
MCP2521_HardwareHandle_ESP MCP2521_HardwareHandle_ESP(
|
||||
VSPI_HOST,
|
||||
&bus_config,
|
||||
MCP2521_PIN_MOSI,
|
||||
MCP2521_PIN_MISO,
|
||||
MCP2521_PIN_SCLK,
|
||||
MCP2521_PIN_CS,
|
||||
MCP2521_PIN_INT
|
||||
);
|
||||
|
||||
if(0) {
|
||||
gpio_set_direction(MCP2521_PIN_SCLK, GPIO_MODE_OUTPUT);
|
||||
gpio_set_direction(MCP2521_PIN_MISO, GPIO_MODE_OUTPUT);
|
||||
gpio_set_direction(MCP2521_PIN_MOSI, GPIO_MODE_OUTPUT);
|
||||
gpio_set_direction(MCP2521_PIN_CS, GPIO_MODE_OUTPUT);
|
||||
gpio_set_level(MCP2521_PIN_SCLK, 1);
|
||||
gpio_set_level(MCP2521_PIN_MISO, 1);
|
||||
gpio_set_level(MCP2521_PIN_MOSI, 1);
|
||||
gpio_set_level(MCP2521_PIN_CS, 1);
|
||||
vTaskDelay(50 / portTICK_PERIOD_MS);
|
||||
gpio_set_level(MCP2521_PIN_SCLK, 0);
|
||||
vTaskDelay(50 / portTICK_PERIOD_MS);
|
||||
gpio_set_level(MCP2521_PIN_MOSI, 0);
|
||||
vTaskDelay(50 / portTICK_PERIOD_MS);
|
||||
gpio_set_level(MCP2521_PIN_MISO, 0);
|
||||
vTaskDelay(50 / portTICK_PERIOD_MS);
|
||||
gpio_set_level(MCP2521_PIN_CS, 0); // Works
|
||||
}
|
||||
|
||||
MCP2521 mcp2521(&MCP2521_HardwareHandle_ESP);
|
||||
mcp2521.reset();
|
||||
mcp2521.set_mode_of_operation(MCP2521_OPERATION_MODE::NORMAL, true);
|
||||
printf("CANSTAT: %x\n", mcp2521.read_reg(MCP2521_CANCTRL));
|
||||
printf("MCP2521 initialized\n");
|
||||
|
||||
ledc_timer_config_t ledc_timer = {
|
||||
.speed_mode = ledc_mode_t::LEDC_LOW_SPEED_MODE,
|
||||
.duty_resolution = LEDC_TIMER_18_BIT,
|
||||
.timer_num = LEDC_TIMER_0,
|
||||
.freq_hz = 50,
|
||||
.clk_cfg = LEDC_AUTO_CLK
|
||||
};
|
||||
|
||||
ledc_channel_config_t servo0_channel_config = {
|
||||
.gpio_num = SERVO_0_PIN,
|
||||
.speed_mode = ledc_mode_t::LEDC_LOW_SPEED_MODE,
|
||||
.channel = LEDC_CHANNEL_0,
|
||||
.intr_type = LEDC_INTR_DISABLE,
|
||||
.timer_sel = LEDC_TIMER_0,
|
||||
.duty = 0,
|
||||
.hpoint = 0,
|
||||
.flags = {
|
||||
.output_invert = 1
|
||||
}
|
||||
};
|
||||
|
||||
ledc_channel_config_t servo1_channel_config = {
|
||||
.gpio_num = SERVO_1_PIN,
|
||||
.speed_mode = ledc_mode_t::LEDC_LOW_SPEED_MODE,
|
||||
.channel = LEDC_CHANNEL_1,
|
||||
.intr_type = LEDC_INTR_DISABLE,
|
||||
.timer_sel = LEDC_TIMER_0,
|
||||
.duty = 0,
|
||||
.hpoint = 0,
|
||||
.flags = {
|
||||
.output_invert = 1
|
||||
}
|
||||
};
|
||||
|
||||
ledc_channel_config_t servo2_channel_config = {
|
||||
.gpio_num = SERVO_2_PIN,
|
||||
.speed_mode = ledc_mode_t::LEDC_LOW_SPEED_MODE,
|
||||
.channel = LEDC_CHANNEL_2,
|
||||
.intr_type = LEDC_INTR_DISABLE,
|
||||
.timer_sel = LEDC_TIMER_0,
|
||||
.duty = 0,
|
||||
.hpoint = 0,
|
||||
.flags = {
|
||||
.output_invert = 1
|
||||
}
|
||||
};
|
||||
|
||||
ledc_channel_config_t servo3_channel_config = {
|
||||
.gpio_num = SERVO_3_PIN,
|
||||
.speed_mode = ledc_mode_t::LEDC_LOW_SPEED_MODE,
|
||||
.channel = LEDC_CHANNEL_3,
|
||||
.intr_type = LEDC_INTR_DISABLE,
|
||||
.timer_sel = LEDC_TIMER_0,
|
||||
.duty = 0,
|
||||
.hpoint = 0,
|
||||
.flags = {
|
||||
.output_invert = 1
|
||||
}
|
||||
};
|
||||
|
||||
ledc_timer_config(&ledc_timer);
|
||||
ledc_channel_config(&servo0_channel_config);
|
||||
ledc_channel_config(&servo1_channel_config);
|
||||
ledc_channel_config(&servo2_channel_config);
|
||||
ledc_channel_config(&servo3_channel_config);
|
||||
|
||||
raise_head();
|
||||
set_copper(false, false);
|
||||
|
||||
while (true) {
|
||||
while (!gpio_get_level(BUTTON_PIN)) {
|
||||
vTaskDelay(50 / portTICK_PERIOD_MS);
|
||||
}
|
||||
printf("Sucess: %d\n", dispens_stone());
|
||||
}
|
||||
|
||||
|
||||
}
|
||||
BIN
stone-dispencer/pytest_hello_world.py
(Stored with Git LFS)
Executable file
BIN
stone-dispencer/pytest_hello_world.py
(Stored with Git LFS)
Executable file
Binary file not shown.
2029
stone-dispencer/sdkconfig
Normal file
2029
stone-dispencer/sdkconfig
Normal file
File diff suppressed because it is too large
Load Diff
0
stone-dispencer/sdkconfig.ci
Executable file
0
stone-dispencer/sdkconfig.ci
Executable file
2008
stone-dispencer/sdkconfig.old
Normal file
2008
stone-dispencer/sdkconfig.old
Normal file
File diff suppressed because it is too large
Load Diff
Reference in New Issue
Block a user