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alexander:dev-gobot-rpc-overhall alexander:main alexander:board-vision alexander:i2c-helpere alexander:stone-dispenser-v2 alexander:can-interface-firmware alexander:motor-ctrl-firmware alexander:rpi-fan-control

5 Commits
db464efa36 ... dev-gobot-

Author SHA1 Message Date
AlexanderHD27
33d3dc0608 Started with gobotrpc autogenerated parser and ctest (not working) 2025-01-19 11:45:41 +01:00
AlexanderHD27
346e6a52b7 Started implementing cpp 
generation
 2025-01-12 15:57:29 +01:00
AlexanderHD27
33e7f4afac Implemented basic parser from .ods into internal format 2025-01-12 14:53:37 +01:00
AlexanderHD27
b5c7e5b4c1 Merged i2c-helper in Main 2025-01-12 00:16:00 +01:00
AlexanderHD27
f4792de050 Added Kicad Backups 2 gitignore 2024-10-03 19:53:27 +02:00
123 changed files with 4411 additions and 1892 deletions
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{
// See https://go.microsoft.com/fwlink/?LinkId=733558
// for the documentation about the tasks.json format
"version": "2.0.0",
"tasks": [
{
"taskName": "Run Main",
"command": "python3 generator/main.py",
"type": "shell",
"group": {
"kind": "build",
"isDefault": true
},
"presentation": {
"reveal": "always",
"panel": "dedicated",
"focus": true,
"clear": true
},
},
]
}

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gobotrpc/generator/templates/CMakeLists.txt.j2 Normal file
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add_libary(gobotrpc STATIC)
target_sources(gobotrpc
PRIVATE
{%- for n in cpp_files %}
{{ n }}
{%- endfor %}
)
target_include_directories(gobotrpc
PUBLIC
include
)

12
gobotrpc/generator/templates/enum_template.hpp.j2 Normal file
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#pragma once
/**
* This Header file was auto-generated by the GobotRPC-Protocol-Generator-Tool
*/
{% for enum in enum_list -%}
enum class {{ enum.name }} {{ "{" }}
{% for key in enum.map -%}
{{ "\t" }}{{ key }} = {{ enum.map[key] }},
{% endfor %}{{ "}" }};
{% endfor %}

29
gobotrpc/generator/templates/package_struct_template.hpp.j2 Normal file
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#pragma once
/**
* This Header file was auto-generated by the GobotRPC-Protocol-Generator-Tool
*/
#include {{ "<stdint.h>" }}
#include "{{ enum_header_file }}"
enum {{ prefix }}RPCNames {{"{"}}
{%- for n in rpcNames %}
{{ n }} = {{ rpcNames[n] }},
{%- endfor %}
{{"}"}};
enum {{ prefix }}RPCTypes {{"{"}}
{%- for n in rpcTypes %}
{{ n }} = {{ rpcTypes[n] }},
{%- endfor %}
{{"}"}};
int getPackageSize(uint8_t data);
{% for struct in package_list %}
struct {{ struct.name }} {{ "{" }}
{% for field in struct.fields -%}
{{ "\t" }}{{ field.type }} {{ field.name }} : {{ field.size_bits }};
{% endfor -%}
{{ "}" }};
{% endfor %}

20
gobotrpc/generator/templates/package_util.cpp.j2 Normal file
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#pragma once
/**
* This Header file was auto-generated by the GobotRPC-Protocol-Generator-Tool
*/
#include {{ "<stdint.h>" }}
{%- for h in headers %}
#include {{ "\"" + h + "\"" }}
{%- endfor %}
int getPackageSize(uint8_t data) {
switch(data) {
{%- for n in rpcSizes %}
case {{ prefix }}RPCNames::{{ n }}:
return {{ rpcSizes[n] }};
{%- endfor %}
default:
return -1;
}
};

25
gobotrpc/out/cpp/.vscode/tasks.json vendored Normal file
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{
"version": "2.0.0",
"tasks": [
{
"type": "cmake",
"label": "CMake: build",
"command": "build",
"targets": [
"all"
],
"group": "build",
"problemMatcher": [],
"detail": "CMake template build task",
"presentation": {
"echo": true,
"reveal": "always",
"focus": false,
"panel": "dedicated",
"showReuseMessage": true,
"clear": true
}
},
]
}

20
gobotrpc/out/cpp/CMakeLists.txt Normal file
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cmake_minimum_required(VERSION 3.28.3)
project(TestingGobotRPCParser)
# GoogleTest requires at least C++23
set(CMAKE_CXX_STANDARD 23)
set(CMAKE_CXX_STANDARD_REQUIRED ON)
# Adding gtest
include(FetchContent)
FetchContent_Declare(
googletest
gcov
URL https://github.com/google/googletest/archive/03597a01ee50ed33e9dfd640b249b4be3799d395.zip
)
FetchContent_MakeAvailable(googletest)
add_executable(TestingGobotRPCParser test/main.cpp)
target_link_libraries(TestingGobotRPCParser gtest_main)

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11
gobotrpc/out/cpp/gobotrpc.cmake Normal file
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add_libary(gobotrpc STATIC)
target_sources(gobotrpc
PRIVATE
src/package_util.cpp
)
target_include_directories(gobotrpc
PUBLIC
include
)

33
gobotrpc/out/cpp/include/enums.hpp Normal file
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#pragma once
/**
* This Header file was auto-generated by the GobotRPC-Protocol-Generator-Tool
*/
enum class GOBOTRPC_ENUM_NodeType {
kHub = 0,
kHead = 1,
kCorexy = 2,
kVacun = 3,
};
enum class GOBOTRPC_ENUM_NodeStatus {
kReady = 0,
kWorking = 1,
kBusy = 2,
kError = 3,
};
enum class GOBOTRPC_ENUM_ErrorCode {
};
enum class GOBOTRPC_ENUM_HeadPos {
kUp = 0,
kDown = 1,
};
enum class GOBOTRPC_ENUM_StoneStatus {
kEmpty = 0,
kLow = 1,
kFill = 2,
};

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gobotrpc/out/cpp/include/package_structs.hpp Normal file
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#pragma once
/**
* This Header file was auto-generated by the GobotRPC-Protocol-Generator-Tool
*/
#include <stdint.h>
#include "enums.hpp"
enum GOBOTRPC_RPCNames {
kInvalid = 255,
kGetInfo = 1,
kReset = 2,
kResetInfo = 3,
kStatusUpdate = 4,
kError = 5,
kHome = 7,
kGoto = 9,
kSetBoardCorner = 11,
kSetVacumOffset = 13,
kReleaseMotors = 15,
kDrop = 17,
kStoneStatus = 19,
kMoveZAxis = 21,
kSetVacum = 23,
};
enum GOBOTRPC_RPCTypes {
kReq = 0,
kRes = 1,
};
int getPackageSize(uint8_t data);
struct GOBOTRPC_GetInfoReq {
};
struct GOBOTRPC_GetInfoRes {
int32_t addr : 32;
GOBOTRPC_ENUM_NodeType type : 8;
GOBOTRPC_ENUM_NodeStatus status : 8;
};
struct GOBOTRPC_ResetReq {
};
struct GOBOTRPC_ResetInfoRes {
GOBOTRPC_ENUM_NodeStatus status : 8;
};
struct GOBOTRPC_StatusUpdateRes {
GOBOTRPC_ENUM_NodeStatus status : 8;
};
struct GOBOTRPC_ErrorRes {
GOBOTRPC_ENUM_ErrorCode error : 8;
};
struct GOBOTRPC_HomeReq {
};
struct GOBOTRPC_HomeRes {
int32_t x : 32;
int32_t y : 32;
};
struct GOBOTRPC_GotoReq {
int8_t x : 8;
int8_t y : 8;
bool offset : 8;
};
struct GOBOTRPC_GotoRes {
};
struct GOBOTRPC_SetBoardCornerReq {
int32_t x1 : 32;
int32_t y1 : 32;
int32_t x2 : 32;
int32_t y2 : 32;
};
struct GOBOTRPC_SetBoardCornerRes {
};
struct GOBOTRPC_SetVacumOffsetReq {
int32_t x : 32;
int32_t y : 32;
};
struct GOBOTRPC_SetVacumOffsetRes {
};
struct GOBOTRPC_ReleaseMotorsReq {
bool enable : 8;
};
struct GOBOTRPC_ReleaseMotorsRes {
};
struct GOBOTRPC_DropReq {
};
struct GOBOTRPC_DropRes {
GOBOTRPC_ENUM_StoneStatus status : 8;
};
struct GOBOTRPC_StoneStatusReq {
};
struct GOBOTRPC_StoneStatusRes {
GOBOTRPC_ENUM_StoneStatus status : 8;
};
struct GOBOTRPC_MoveZAxisReq {
GOBOTRPC_ENUM_HeadPos pos : 8;
};
struct GOBOTRPC_MoveZAxisRes {
};
struct GOBOTRPC_SetVacumReq {
bool enable : 8;
};
struct GOBOTRPC_SetVacumRes {
};

63
gobotrpc/out/cpp/src/package_util.cpp Normal file
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#pragma once
/**
* This Header file was auto-generated by the GobotRPC-Protocol-Generator-Tool
*/
#include <stdint.h>
#include "package_structs.hpp"
#include "enums.hpp"
int getPackageSize(uint8_t data) {
switch(data) {
case RPCNames::GOBOTRPC_GetInfoReq:
return 0;
case RPCNames::GOBOTRPC_GetInfoRes:
return 6;
case RPCNames::GOBOTRPC_ResetReq:
return 0;
case RPCNames::GOBOTRPC_ResetInfoRes:
return 1;
case RPCNames::GOBOTRPC_StatusUpdateRes:
return 1;
case RPCNames::GOBOTRPC_ErrorRes:
return 1;
case RPCNames::GOBOTRPC_HomeReq:
return 0;
case RPCNames::GOBOTRPC_HomeRes:
return 8;
case RPCNames::GOBOTRPC_GotoReq:
return 3;
case RPCNames::GOBOTRPC_GotoRes:
return 0;
case RPCNames::GOBOTRPC_SetBoardCornerReq:
return 16;
case RPCNames::GOBOTRPC_SetBoardCornerRes:
return 0;
case RPCNames::GOBOTRPC_SetVacumOffsetReq:
return 8;
case RPCNames::GOBOTRPC_SetVacumOffsetRes:
return 0;
case RPCNames::GOBOTRPC_ReleaseMotorsReq:
return 1;
case RPCNames::GOBOTRPC_ReleaseMotorsRes:
return 0;
case RPCNames::GOBOTRPC_DropReq:
return 0;
case RPCNames::GOBOTRPC_DropRes:
return 1;
case RPCNames::GOBOTRPC_StoneStatusReq:
return 0;
case RPCNames::GOBOTRPC_StoneStatusRes:
return 1;
case RPCNames::GOBOTRPC_MoveZAxisReq:
return 1;
case RPCNames::GOBOTRPC_MoveZAxisRes:
return 0;
case RPCNames::GOBOTRPC_SetVacumReq:
return 1;
case RPCNames::GOBOTRPC_SetVacumRes:
return 0;
default:
return -1;
}
};

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gobotrpc/out/cpp/test/main.cpp Normal file
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#include <gtest/gtest.h>
TEST(DummyTest, BasicAssertions) {
// Expect two strings not to be equal.
EXPECT_STRNE("hello", "world");
// Expect equality.
EXPECT_EQ(7 * 6, 42);
}
int main(int argc, char * argv[]) {
testing::InitGoogleTest(&argc, argv);
return RUN_ALL_TESTS();
}

9
gobotrpc/requirements.txt Normal file
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defusedxml==0.7.1
ezodf==0.3.2
Jinja2==3.1.5
lxml==5.3.0
MarkupSafe==3.0.2
mkl-service==2.4.0
odfpy==1.4.1
setuptools==75.1.0
wheel==0.44.0

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2
i2c-hub/firmware/i2c-hub-firmware/.vscode/tasks.json vendored
View File

@@ -12,7 +12,7 @@
"echo": true,
"reveal": "always",
"focus": true,
"panel": "shared",
"panel": "dedicated",
"showReuseMessage": true,
"clear": true
},

3
i2c-hub/firmware/i2c-hub-firmware/CMakeLists.txt
View File

@@ -1,5 +1,5 @@
# Generated Cmake Pico project file
set(CMAKE_VERBOSE_MAKEFILE ON CACHE BOOL "ON")
cmake_minimum_required(VERSION 3.13)
set(CMAKE_C_STANDARD 11)
@@ -63,6 +63,7 @@ target_link_libraries(i2c-hub-firmware
# 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

2
i2c-hub/firmware/i2c-hub-firmware/FreeRTOSConfig.h
View File

@@ -73,7 +73,7 @@
#define configSUPPORT_STATIC_ALLOCATION 0
#define configSUPPORT_DYNAMIC_ALLOCATION 1
#define configTOTAL_HEAP_SIZE (1024 * 128)
#define configAPPLICATION_ALLOCATED_HEAP (1024 * 64)
#define configAPPLICATION_ALLOCATED_HEAP (1024 * 84)
/* Hook function related definitions. */
#define configCHECK_FOR_STACK_OVERFLOW 0

1732
i2c-hub/firmware/i2c-hub-firmware/docs/.$NetworkStack.drawio.bkp
View File

File diff suppressed because it is too large Load Diff

1739
i2c-hub/firmware/i2c-hub-firmware/docs/NetworkStack.drawio
View File

File diff suppressed because it is too large Load Diff

10
i2c-hub/firmware/i2c-hub-firmware/src/gobotrpc/include/pinConfig.hpp → i2c-hub/firmware/i2c-hub-firmware/include/pinConfig.hpp
View File

@@ -1,5 +1,9 @@
#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
@@ -9,11 +13,11 @@
#define GOBOTRPC_TI_INT_PIN_START 10
#define GOBOTRPC_TI_INT_NUM 4
#define GOBOTRPC_TI_COMBINED_INT_PIN 2
#define GOBOTRPC_TI_COMBINED_INT_PIN 18
#define GOBOTRPC_TI_EXTERNAL_PULLUP 0
#define GOBOTRPC_TI_EXTERNAL_PULLUP 1
#define GOBOTRPC_HEARTBEAT_INTERVAL 3000
#define UART_CORE_MASK 0b01
#define I2C_CORE_MASK 0b10
#define I2C_CORE_MASK 0b01

2
i2c-hub/firmware/i2c-hub-firmware/src/gobotrpc/cmake/CMakeLists.txt
View File

@@ -14,8 +14,10 @@ add_library(GobotRPC STATIC
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

19
i2c-hub/firmware/i2c-hub-firmware/src/gobotrpc/cmake/gobotRPC_Node.cmake Normal file
View File

@@ -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
)

2
i2c-hub/firmware/i2c-hub-firmware/src/gobotrpc/crc16.cpp
View File

@@ -1,3 +1,5 @@
#include "crc16.hpp"
#define POLY 0x8408
/*
// 16 12 5

34
i2c-hub/firmware/i2c-hub-firmware/src/gobotrpc/ctrl_interface/base.cpp
View File

@@ -1,17 +1,28 @@
#include "ctrl_interface.hpp"
#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) {
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);
}
@@ -32,6 +43,20 @@ void GobotRPC_CI::onRxData(char *data, size_t len) {
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;
}
@@ -42,6 +67,11 @@ void GobotRPC_CI::registerCB_TxPacket(callback_TxPacket cb, void *args) {
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;

36
i2c-hub/firmware/i2c-hub-firmware/src/gobotrpc/ctrl_interface/ci_instruction.cpp
View File

@@ -1,6 +1,6 @@
#include "ctrl_interface.hpp"
#include "ci/base.hpp"
#include "ctrl_interface_instructions.hpp"
#include "ci/instructions.hpp"
#include "FreeRTOS.h"
#include "task.h"
@@ -23,11 +23,19 @@ void GobotRPC_CI::txCIInstructionTask() {
send_ErrorTransmission(rx, addr);
break;
}
case CI_INSTRUCTION_SEND_TRANMISSION_SUCCESS: {
uint32_t addr = ciInstruction.data[1] | (ciInstruction.data[2] << 8) | (ciInstruction.data[3] << 16) | (ciInstruction.data[4] << 24);
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;
}
}
}
@@ -57,4 +65,26 @@ void GobotRPC_CI::send_SuccessTransmission(uint64_t addr) {
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);
}

2
i2c-hub/firmware/i2c-hub-firmware/src/gobotrpc/ctrl_interface/uart_rp2040/hardware_rp2040_uart.cpp
View File

@@ -1,4 +1,4 @@
#include "ctrl_interface_hardware.hpp"
#include "ci/hardware.hpp"
#include "pinConfig.hpp"
#include "pico/stdlib.h"

3
i2c-hub/firmware/i2c-hub-firmware/src/gobotrpc/ctrl_interface/uart_rp2040/rx.cpp
View File

@@ -1,4 +1,4 @@
#include "ctrl_interface_hardware.hpp"
#include "ci/hardware.hpp"
#include "pico/stdlib.h"
#include <string.h>
@@ -116,6 +116,7 @@ void GobotRPC_CI_Hardware_RP2040_UART::rxProcessingTaskFn() {
this->cb_rxData(this->cb_rxData_args, inputBuffer->data, inputBuffer->len);
}
xQueueSend(emptyInputBuffersQueue, &inputBuffer, portMAX_DELAY);
vTaskDelay(1000);
}
}

23
i2c-hub/firmware/i2c-hub-firmware/src/gobotrpc/include/ctrl_interface.hpp → i2c-hub/firmware/i2c-hub-firmware/src/gobotrpc/include/ci/base.hpp
View File

@@ -1,15 +1,18 @@
#pragma once
#include "ctrl_interface_hardware.hpp"
#include "ci/hardware.hpp"
#include <strings.h>
enum GobotRPC_CI_CMD {
TX_CI_PACKET = 0x01,
RX_CI_PACKET = 0x02,
PERFORM_SCAN_CI_PACKET = 0x03,
SCAN_RESULT_CI_PACKET = 0x04,
SET_ADDR_PORT_MAP = 0x03,
SUCESS_TRANMISSION = 0xfc,
ERROR_TRANMISSION = 0xfd,
HEARTBEAT = 0xff
HEARTBEAT = 0xff,
RESET_CI_PACKET = 0xcc,
RESET_INFO_CI_PACKET = 0xcd
};
#define CI_TX_PACKAGE_DATA_OFFSET 6
@@ -19,6 +22,8 @@ enum GobotRPC_CI_CMD {
#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);
@@ -30,14 +35,20 @@ private:
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);
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);
@@ -45,7 +56,9 @@ public:
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();
};

3
i2c-hub/firmware/i2c-hub-firmware/src/gobotrpc/include/ctrl_interface_hardware.hpp → i2c-hub/firmware/i2c-hub-firmware/src/gobotrpc/include/ci/hardware.hpp
View File

@@ -45,7 +45,7 @@ private:
inputBuffers_t inputBufferPool[NUM_INPUT_BUFFERS];
TaskHandle_t rxProcessingTaskHandle;
SemaphoreHandle_t rxSignalSemaphore;
QueueHandle_t emptyInputBuffersQueue;
QueueHandle_t filledInputBuffersQueue;
@@ -67,7 +67,6 @@ public:
void onRx_ISR();
void rxBufferingTaskFn();
void rxProcessingTaskFn();
};
extern GobotRPC_CI_Hardware_RP2040_UART * g_GobotRPC_CI_Hardware_RP2040_UART;

4
i2c-hub/firmware/i2c-hub-firmware/src/gobotrpc/include/ctrl_interface_instructions.hpp → i2c-hub/firmware/i2c-hub-firmware/src/gobotrpc/include/ci/instructions.hpp
View File

@@ -1,6 +1,8 @@
enum CI_Instruction_Type {
CI_INSTRUCTION_SEND_TRANMISSION_ERROR,
CI_INSTRUCTION_SEND_TRANMISSION_SUCCESS
CI_INSTRUCTION_SEND_TRANMISSION_SUCCESS,
CI_INSTRUCTION_SEND_INFO_RESET,
CI_INSTRUCTION_REV_SEND_SET_ADDR_MAP,
};
struct CI_Instruction_Transport {

1
i2c-hub/firmware/i2c-hub-firmware/src/gobotrpc/include/main.hpp
View File

@@ -9,6 +9,7 @@ struct AppData {
QueueHandle_t txQueue;
QueueHandle_t rxQueue;
QueueHandle_t ciInstructionQueue;
QueueHandle_t ciInstructionReverseQueue;
};
void main_core2(void * pvParameters);

18
i2c-hub/firmware/i2c-hub-firmware/src/gobotrpc/include/ti/transmission_interface.hpp
View File

@@ -12,7 +12,7 @@
#include "pinConfig.hpp"
#include "ctrl_interface_instructions.hpp"
#include "ci/instructions.hpp"
struct GoRPCPackage_Transport {
uint32_t addr;
@@ -30,6 +30,10 @@ public:
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);
@@ -51,8 +55,14 @@ private:
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;
@@ -63,7 +73,7 @@ private:
bool readI2C(GoRPCPackage_Transport * pkg, uint32_t addr);
public:
GobotRPC_TI_Hardware_RP2040_I2C(UBaseType_t core, i2c_inst_t *i2c);
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);
@@ -73,11 +83,15 @@ public:
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();
};

0
i2c-hub/firmware/i2c-hub-firmware/src/gobotrpc/include/crc16.hpp → i2c-hub/firmware/i2c-hub-firmware/src/gobotrpc/include/util/crc16.hpp
View File

21
i2c-hub/firmware/i2c-hub-firmware/src/gobotrpc/include/protocol.hpp → i2c-hub/firmware/i2c-hub-firmware/src/gobotrpc/include/util/protocol.hpp
View File

@@ -3,7 +3,17 @@
#include <strings.h>
enum GobotRPCNumber {
VACUM = 0x8
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 {
@@ -12,6 +22,10 @@ enum GobotRPCTypes {
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)
@@ -24,5 +38,8 @@ public:
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);
GobotRPCHeaderInfo extractGobotRPCHeader(char * buffer);
void softwareReset();

45
i2c-hub/firmware/i2c-hub-firmware/src/gobotrpc/node_interface/include/node_interface.hpp Normal file
View File

@@ -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();
};

78
i2c-hub/firmware/i2c-hub-firmware/src/gobotrpc/node_interface/include/node_interface_hardware.hpp Normal file
View File

@@ -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;

73
i2c-hub/firmware/i2c-hub-firmware/src/gobotrpc/node_interface/init.cpp Normal file
View File

@@ -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;
}

127
i2c-hub/firmware/i2c-hub-firmware/src/gobotrpc/node_interface/rp2040/i2c/init.cpp Normal file
View File

@@ -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);
}

99
i2c-hub/firmware/i2c-hub-firmware/src/gobotrpc/node_interface/rp2040/i2c/rx_tx.cpp Normal file
View File

@@ -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);
}
}

12
i2c-hub/firmware/i2c-hub-firmware/src/gobotrpc/protocol_base.cpp
View File

@@ -2,6 +2,7 @@
#include <stdint.h>
#include "pico/stdlib.h"
#include "hardware/watchdog.h"
#include "crc16.hpp"
@@ -22,4 +23,15 @@ 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);
}

26
i2c-hub/firmware/i2c-hub-firmware/src/gobotrpc/transmission_interface/rp2040_i2c_ci_instructions.cpp
View File

@@ -24,4 +24,30 @@ void GobotRPC_TI_Hardware_RP2040_I2C::raiseTransmissionSuceess(uint32_t addr) {
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;
}
}
}
}

29
i2c-hub/firmware/i2c-hub-firmware/src/gobotrpc/transmission_interface/rp2040_i2c_init.cpp
View File

@@ -1,13 +1,16 @@
#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) {
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;
@@ -23,19 +26,29 @@ GobotRPC_TI_Hardware_RP2040_I2C::GobotRPC_TI_Hardware_RP2040_I2C(UBaseType_t cor
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_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);
gpio_set_irq_enabled_with_callback(GOBOTRPC_TI_COMBINED_INT_PIN, GPIO_IRQ_EDGE_RISE , true, &intPin_ISR);
//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();
@@ -49,6 +62,8 @@ void GobotRPC_TI_Hardware_RP2040_I2C::initTasks() {
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) {

15
i2c-hub/firmware/i2c-hub-firmware/src/gobotrpc/transmission_interface/rp2040_i2c_int.cpp
View File

@@ -31,4 +31,19 @@ void GobotRPC_TI_Hardware_RP2040_I2C::intPinISR(BaseType_t * xHigherPriorityTask
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);
}
}

42
i2c-hub/firmware/i2c-hub-firmware/src/gobotrpc/transmission_interface/rp2040_i2c_rx.cpp
View File

@@ -1,4 +1,5 @@
#include "transmission_interface.hpp"
#include "ci/base.hpp"
void i2cRxTaskFn(void * args) {
GobotRPC_TI_Hardware_RP2040_I2C * hw = (GobotRPC_TI_Hardware_RP2040_I2C *)args;
@@ -10,6 +11,7 @@ void GobotRPC_TI_Hardware_RP2040_I2C::i2cRxTask() {
xSemaphoreTake(i2cRXSemaphore, portMAX_DELAY);
uint32_t done_mask = 0xffffffff;
uint32_t pinStates = readIntPins();
do {
@@ -17,42 +19,50 @@ void GobotRPC_TI_Hardware_RP2040_I2C::i2cRxTask() {
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) {
if(pushPackageCB != NULL)
pushPackageCB(&pkg, pushPackageCBArgs);
}
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) {
uint res = i2c_read_burst_blocking(i2c, addr, (uint8_t *)pkg->data, 2);
if(res == PICO_ERROR_GENERIC)
return false; // I2C error
size_t len = pkg->data[1];
res = i2c_read_burst_blocking(i2c, addr, ((uint8_t *)pkg->data) + 2, len);
unsigned int res;
//uint res = i2c_read_blocking(i2c, addr, (uint8_t *)pkg->data, 2, true);
if(res == PICO_ERROR_GENERIC)
return false; // I2C error
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;

4
i2c-hub/firmware/i2c-hub-firmware/src/gobotrpc/transmission_interface/rp2040_i2c_tx.cpp
View File

@@ -17,10 +17,10 @@ void GobotRPC_TI_Hardware_RP2040_I2C::i2cTxTask() {
pullPackageCB(&pkg, pullPackageCBArgs);
xSemaphoreTake(i2cMutex, portMAX_DELAY);
unsigned int res = i2c_write_burst_blocking(i2c, pkg.addr & 0x7f, (uint8_t *)(&pkg.data), pkg.len);
unsigned int res = i2c_write_blocking(i2c, pkg.addr & 0x7f, (uint8_t * )(pkg.data), pkg.len, false);
xSemaphoreGive(i2cMutex);
if(res != PICO_ERROR_GENERIC) {
if(res == PICO_ERROR_GENERIC) {
raiseTranmissionError(false, pkg.addr);
} else {
raiseTransmissionSuceess(pkg.addr);

32
i2c-hub/firmware/i2c-hub-firmware/src/main_core0.cpp
View File

@@ -2,8 +2,8 @@
#include <string.h>
#include "pico/stdlib.h"
#include "ctrl_interface.hpp"
#include "ctrl_interface_hardware.hpp"
#include "ci/base.hpp"
#include "ci/hardware.hpp"
#include "transmission_interface.hpp"
#include "main.hpp"
@@ -32,6 +32,7 @@ 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;
@@ -41,24 +42,43 @@ void onTxPacket(void * args, char *data, size_t len, uint32_t addr) {
//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(5, sizeof(CI_Instruction_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, 0b01, appData.ciInstructionQueue);
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, &gobotRPC_ci, 1, I2C_CORE_MASK, &taskHandleCore1);
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();

12
i2c-hub/firmware/i2c-hub-firmware/src/main_core1.cpp
View File

@@ -15,7 +15,7 @@ void pullPackageCB(GoRPCPackage_Transport * dest, void *args) {
xQueueReceive(queue, dest, portMAX_DELAY);
}
void pushPackage(GoRPCPackage_Transport * src, void *args) {
void pushPackageCB(GoRPCPackage_Transport * src, void *args) {
QueueHandle_t queue = appData.rxQueue;
xQueueSend(queue, src, portMAX_DELAY);
}
@@ -26,13 +26,17 @@ void pushCIInstruction(CI_Instruction_Transport * src, void *args) {
}
void main_core2(void * pvParameters) {
AppData appData = *((AppData *)pvParameters);
GobotRPC_TI_Hardware_RP2040_I2C gobotrpc_ti_hardware(I2C_CORE_MASK, i2c0);
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(pushPackage, appData.rxQueue);
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));
}

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i2c-hub/uart-adapter/cache/boardpos_1736386482.json vendored Normal file
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@@ -0,0 +1 @@
{"pos1": {"x": 1026, "y": 2096}, "pos2": {"x": 16651, "y": 18856}, "pos3": {"x": 1901, "y": 131}}

1
i2c-hub/uart-adapter/cache/scan_result.json vendored Normal file
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@@ -0,0 +1 @@
{"corexy_available": true, "head_available": true, "vacuum_available": true, "corexy_port": 0, "head_port": 2, "vacuum_port": 1}

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motor-control/core-xy-firmware/.vscode/settings.json vendored
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@@ -37,6 +37,9 @@
"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": {
"cstdint": "cpp"
"cstdint": "cpp",
"array": "cpp",
"string": "cpp",
"string_view": "cpp"
}
}

5
motor-control/core-xy-firmware/CMakeLists.txt
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@@ -34,6 +34,9 @@ project(core-xy-firmware C CXX ASM)
# Add FreeRTOS
include(cmake/FreeRTOS_Kernel_import.cmake)
# Adding GobotRPC Node Library
include(lib/gobotrpc/cmake/gobotRPC_Node.cmake)
# Initialise the Raspberry Pi Pico SDK
pico_sdk_init()
@@ -44,7 +47,6 @@ add_executable(core-xy-firmware
src/main.cpp
src/motors.cpp
src/corexy/init.cpp
src/corexy/tasks.cpp
src/corexy/motorFunctions.cpp
src/corexy/limitSwitches.cpp
src/corexy/position.cpp
@@ -76,6 +78,7 @@ target_link_libraries(core-xy-firmware
tmc2209_driver
FreeRTOS-Kernel-Heap4
GobotRPC_Node_RP2040_I2C
)
# Add the standard include files to the build

10
motor-control/core-xy-firmware/FreeRTOSConfig.h
View File

@@ -72,8 +72,8 @@
/* Memory allocation related definitions. */
#define configSUPPORT_STATIC_ALLOCATION 0
#define configSUPPORT_DYNAMIC_ALLOCATION 1
#define configTOTAL_HEAP_SIZE (1024 * 64)
#define configAPPLICATION_ALLOCATED_HEAP (1024 * 32)
#define configTOTAL_HEAP_SIZE (1024 * 128)
#define configAPPLICATION_ALLOCATED_HEAP (1024 * 64)
/* Hook function related definitions. */
#define configCHECK_FOR_STACK_OVERFLOW 0
@@ -104,11 +104,11 @@
#if FREE_RTOS_KERNEL_SMP // set by the RP2040 SMP port of FreeRTOS
/* SMP port only */
#define configUSE_PASSIVE_IDLE_HOOK 0
#define configNUMBER_OF_CORES 1
#define configNUMBER_OF_CORES 2
#define configTICK_CORE 0
#define configRUN_MULTIPLE_PRIORITIES 1
//#define configUSE_CORE_AFFINITY 1
#define configUSE_CORE_AFFINITY 1
#define configUSE_PASSIVE_IDLE_HOOK 0
#endif
/* RP2040 specific */

12
motor-control/core-xy-firmware/include/CoreXY.hpp
View File

@@ -52,12 +52,15 @@ struct BoardMessurements {
int x_num;
int y_num;
int x_offset;
int y_offset;
int cell_x;
int cell_y;
};
BoardMessurements calcBoardMessurements(MotorPosition p0, MotorPosition p1, int grid_x, int grid_y);
MotorPosition calcPosition(BoardMessurements * messurements, int x, int y);
BoardMessurements calcBoardMessurements(MotorPosition p0, MotorPosition p1, int grid_x, int grid_y, MotorPosition offset);
MotorPosition calcPosition(BoardMessurements * messurements, int x, int y, bool offset);
void vTaskInitMotorHome(void *pvParameters);
@@ -81,9 +84,8 @@ private:
int untilNextHome = HOME_COUNT;
public:
CoreXYMaschine(TMC2209_UART * uart_driver0, TMC2209_UART * uart_driver1, TMC2209_step_dual * step_driver);
CoreXYMaschine(TMC2209_UART * uart_driver0, TMC2209_UART * uart_driver1, TMC2209_step_dual * step_driver, uint core);
void runTasks();
void homeFast(MotorPosition * last_pos, bool ignoreMutex);
void home(MotorPosition * last_pos);
@@ -95,7 +97,7 @@ public:
bool getMotorEnabled();
void setBoardMessurements(BoardMessurements messurements);
void gotoPosition(int x, int y);
void gotoPosition(int x, int y, bool offset);
};
void homeXY(TMC2209_step_dual * driver, HOME_AXIS_DIRECTION direction, unsigned int speed, unsigned int backupSpace, MotorPosition * last_pos);

17
motor-control/core-xy-firmware/include/pinConfigNode.hpp Normal file
View File

@@ -0,0 +1,17 @@
#pragma once
#define CORE_MASK_GOBOTRPC 0b01
#define CORE_MASK_MOTOR 0b01
#define LED1_PIN 25
#define LED2_PIN 16
#define RELAY_PIN 15
#define GORPC_INT_PIN 17
#define GORPC_SDA_PIN 18
#define GORPC_SCL_PIN 19
#define INTERRUPTION_DURATION ((int)(2.5 * 1000))
#define INTERRUPTION_DELAY 5 * 1000
#define I2C_ADDR 0x23

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