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

12 Commits
db464efa36 ... i2c-helper

Author SHA1 Message Date
AlexanderHD27
2824bdac6e Build text base interface 2025-01-09 03:10:03 +01:00
AlexanderHD27
b040662551 Implemented RPCs for CoreXY 2025-01-08 21:19:03 +01:00
AlexanderHD27
0b620a76ca Got GoRPC on Head working 2025-01-08 01:00:13 +01:00
AlexanderHD27
89f494ba58 Removed Pycach files and added RPC Packages for drop and mov z-axis 2025-01-07 23:59:21 +01:00
AlexanderHD27
c73a9212eb Fixed further issues 2025-01-07 23:33:01 +01:00
AlexanderHD27
9ab6cbe097 Fixed Issue: emptyQueue in Hub was not filled correctly 2025-01-07 21:13:38 +01:00
AlexanderHD27
2a038367a8 Fixed Python Interface 2025-01-07 17:10:28 +01:00
AlexanderHD27
1f5148dcdd Got Hub to read from Node on interrupt 2025-01-06 04:17:59 +01:00
AlexanderHD27
1e317adedd Implemented RX on Node 2025-01-06 03:28:10 +01:00
AlexanderHD27
caf7586b5b Few minor changes 2025-01-04 13:32:23 +01:00
AlexanderHD27
08154454fa moved controll interface to seperate folder 2025-01-04 04:14:03 +01:00
AlexanderHD27
7dd6686b01 Update PinConfig (BUild Board) 2025-01-04 04:08:43 +01:00
98 changed files with 3972 additions and 1890 deletions
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2
i2c-hub/firmware/i2c-hub-firmware/.vscode/tasks.json vendored
View File

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

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

@@ -1,5 +1,5 @@
# Generated Cmake Pico project file # Generated Cmake Pico project file
set(CMAKE_VERBOSE_MAKEFILE ON CACHE BOOL "ON")
cmake_minimum_required(VERSION 3.13) cmake_minimum_required(VERSION 3.13)
set(CMAKE_C_STANDARD 11) set(CMAKE_C_STANDARD 11)
@@ -63,6 +63,7 @@ target_link_libraries(i2c-hub-firmware
# Add the standard include files to the build # Add the standard include files to the build
target_include_directories(i2c-hub-firmware PRIVATE target_include_directories(i2c-hub-firmware PRIVATE
${CMAKE_CURRENT_LIST_DIR} ${CMAKE_CURRENT_LIST_DIR}
${CMAKE_CURRENT_LIST_DIR}/include
) )
# Add any user requested libraries # 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_STATIC_ALLOCATION 0
#define configSUPPORT_DYNAMIC_ALLOCATION 1 #define configSUPPORT_DYNAMIC_ALLOCATION 1
#define configTOTAL_HEAP_SIZE (1024 * 128) #define configTOTAL_HEAP_SIZE (1024 * 128)
#define configAPPLICATION_ALLOCATED_HEAP (1024 * 64) #define configAPPLICATION_ALLOCATED_HEAP (1024 * 84)
/* Hook function related definitions. */ /* Hook function related definitions. */
#define configCHECK_FOR_STACK_OVERFLOW 0 #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 #pragma once
#define LED1_PIN 8
#define LED2_PIN 9
#define LED3_PIN 25
#define GOBOTRPC_CI_UART_RX 0 #define GOBOTRPC_CI_UART_RX 0
#define GOBOTRPC_CI_UART_TX 1 #define GOBOTRPC_CI_UART_TX 1
@@ -9,11 +13,11 @@
#define GOBOTRPC_TI_INT_PIN_START 10 #define GOBOTRPC_TI_INT_PIN_START 10
#define GOBOTRPC_TI_INT_NUM 4 #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 GOBOTRPC_HEARTBEAT_INTERVAL 3000
#define UART_CORE_MASK 0b01 #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 target_include_directories(GobotRPC PUBLIC
${CMAKE_CURRENT_LIST_DIR}/../include ${CMAKE_CURRENT_LIST_DIR}/../include
${CMAKE_CURRENT_LIST_DIR}/../include/util
${CMAKE_CURRENT_LIST_DIR}/../include/ti ${CMAKE_CURRENT_LIST_DIR}/../include/ti
${CMAKE_CURRENT_LIST_DIR}/../../.. ${CMAKE_CURRENT_LIST_DIR}/../../..
${CMAKE_CURRENT_LIST_DIR}/../../../include
) )
target_link_libraries(GobotRPC 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 #define POLY 0x8408
/* /*
// 16 12 5 // 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 "pinConfig.hpp"
#include "protocol.hpp"
#include "pico/stdlib.h"
#include "hardware/watchdog.h"
#include "FreeRTOSConfig.h" #include "FreeRTOSConfig.h"
#include "FreeRTOS.h" #include "FreeRTOS.h"
#include "task.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->ciInstructionQueue = ciInstructionQueue;
this->ciInstructionReverseQueue = ciInstructionReverseQueue;
this->hardware = hardware; this->hardware = hardware;
this->hardware->registerCB_RxData(GobotRPC_CI_rxData_cb, this); 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_heartBeatTaskFn, "Heartbeat Task", 2048, this, 2, core, &this->heartBeatTaskHandle);
xTaskCreateAffinitySet(GobotRPC_CI_txCIInstructionTaskFn, "Tx CI Instruction Task", 2048, this, 3, core, &this->txCIInstructionTaskHandle); 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); this->cb_TxPacket(this->cb_TxPacket_args, data+6, len-6, addr);
} }
break; 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: default:
break; break;
} }
@@ -42,6 +67,11 @@ void GobotRPC_CI::registerCB_TxPacket(callback_TxPacket cb, void *args) {
this->cb_TxPacket_args = 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) { void GobotRPC_CI::send_RxPacket(char *data, size_t len, uint32_t addr) {
data[0] = RX_CI_PACKET; data[0] = RX_CI_PACKET;
data[1] = len + CI_RX_PACKAGE_DATA_OFFSET; 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 "FreeRTOS.h"
#include "task.h" #include "task.h"
@@ -23,11 +23,19 @@ void GobotRPC_CI::txCIInstructionTask() {
send_ErrorTransmission(rx, addr); send_ErrorTransmission(rx, addr);
break; break;
} }
case CI_INSTRUCTION_SEND_TRANMISSION_SUCCESS: { 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); send_SuccessTransmission(addr);
break; 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; successPacket[5] = addr & 0xff;
this->hardware->send(successPacket, 6); 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 "pinConfig.hpp"
#include "pico/stdlib.h" #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 "pico/stdlib.h"
#include <string.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); this->cb_rxData(this->cb_rxData_args, inputBuffer->data, inputBuffer->len);
} }
xQueueSend(emptyInputBuffersQueue, &inputBuffer, portMAX_DELAY);
vTaskDelay(1000); 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 #pragma once
#include "ctrl_interface_hardware.hpp" #include "ci/hardware.hpp"
#include <strings.h> #include <strings.h>
enum GobotRPC_CI_CMD { enum GobotRPC_CI_CMD {
TX_CI_PACKET = 0x01, TX_CI_PACKET = 0x01,
RX_CI_PACKET = 0x02, RX_CI_PACKET = 0x02,
PERFORM_SCAN_CI_PACKET = 0x03, SET_ADDR_PORT_MAP = 0x03,
SCAN_RESULT_CI_PACKET = 0x04,
SUCESS_TRANMISSION = 0xfc, SUCESS_TRANMISSION = 0xfc,
ERROR_TRANMISSION = 0xfd, ERROR_TRANMISSION = 0xfd,
HEARTBEAT = 0xff HEARTBEAT = 0xff,
RESET_CI_PACKET = 0xcc,
RESET_INFO_CI_PACKET = 0xcd
}; };
#define CI_TX_PACKAGE_DATA_OFFSET 6 #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) #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_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_rxData_cb(void * args, char *data, size_t len);
void GobotRPC_CI_heartBeatTaskFn(void *args); void GobotRPC_CI_heartBeatTaskFn(void *args);
void GobotRPC_CI_txCIInstructionTaskFn(void *args); void GobotRPC_CI_txCIInstructionTaskFn(void *args);
@@ -30,14 +35,20 @@ private:
callback_TxPacket cb_TxPacket; callback_TxPacket cb_TxPacket;
void * cb_TxPacket_args; void * cb_TxPacket_args;
callback_SetAddress cb_SetAddressMap;
void * cb_SetAddressMap_args;
TaskHandle_t heartBeatTaskHandle; TaskHandle_t heartBeatTaskHandle;
TaskHandle_t txCIInstructionTaskHandle; TaskHandle_t txCIInstructionTaskHandle;
QueueHandle_t ciInstructionQueue; QueueHandle_t ciInstructionQueue;
QueueHandle_t ciInstructionReverseQueue;
public: 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_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 send_RxPacket(char *data, size_t len, uint32_t addr);
void onRxData(char *data, size_t len); void onRxData(char *data, size_t len);
@@ -45,7 +56,9 @@ public:
void heartBeartTaskFn(); void heartBeartTaskFn();
// CI Instruction Stuff // CI Instruction Stuff
void send_rev_SetAddrMap(uint32_t addr, uint8_t port);
void txCIInstructionTask(); void txCIInstructionTask();
void send_ErrorTransmission(bool rx, uint64_t addr); void send_ErrorTransmission(bool rx, uint64_t addr);
void send_SuccessTransmission(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]; inputBuffers_t inputBufferPool[NUM_INPUT_BUFFERS];
TaskHandle_t rxProcessingTaskHandle; TaskHandle_t rxProcessingTaskHandle;
SemaphoreHandle_t rxSignalSemaphore; SemaphoreHandle_t rxSignalSemaphore;
QueueHandle_t emptyInputBuffersQueue; QueueHandle_t emptyInputBuffersQueue;
QueueHandle_t filledInputBuffersQueue; QueueHandle_t filledInputBuffersQueue;
@@ -67,7 +67,6 @@ public:
void onRx_ISR(); void onRx_ISR();
void rxBufferingTaskFn(); void rxBufferingTaskFn();
void rxProcessingTaskFn(); void rxProcessingTaskFn();
}; };
extern GobotRPC_CI_Hardware_RP2040_UART * g_GobotRPC_CI_Hardware_RP2040_UART; 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 { enum CI_Instruction_Type {
CI_INSTRUCTION_SEND_TRANMISSION_ERROR, 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 { 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 txQueue;
QueueHandle_t rxQueue; QueueHandle_t rxQueue;
QueueHandle_t ciInstructionQueue; QueueHandle_t ciInstructionQueue;
QueueHandle_t ciInstructionReverseQueue;
}; };
void main_core2(void * pvParameters); 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 "pinConfig.hpp"
#include "ctrl_interface_instructions.hpp" #include "ci/instructions.hpp"
struct GoRPCPackage_Transport { struct GoRPCPackage_Transport {
uint32_t addr; uint32_t addr;
@@ -30,6 +30,10 @@ public:
virtual void registerPushPackageCB(callback_pushPackage cb, void *args) = 0; virtual void registerPushPackageCB(callback_pushPackage cb, void *args) = 0;
virtual void registerPushCIInstructionCB(callback_pushCIInstruction cb, void *args) = 0; virtual void registerPushCIInstructionCB(callback_pushCIInstruction cb, void *args) = 0;
virtual void setAddrMap(uint32_t addr, int intNum) = 0; virtual void setAddrMap(uint32_t addr, int intNum) = 0;
void raiseTranmissionError(bool rx, uint32_t addr);
void raiseTransmissionSuceess(uint32_t addr);
void raiseInfoReset();
}; };
void i2cRxTaskFn(void * args); void i2cRxTaskFn(void * args);
@@ -51,8 +55,14 @@ private:
SemaphoreHandle_t i2cMutex; SemaphoreHandle_t i2cMutex;
SemaphoreHandle_t i2cRXSemaphore; SemaphoreHandle_t i2cRXSemaphore;
TaskHandle_t i2cRxTaskHandle; TaskHandle_t i2cRxTaskHandle;
TaskHandle_t i2cTxTaskHandle; TaskHandle_t i2cTxTaskHandle;
TaskHandle_t i2cIntTaskHandle;
TaskHandle_t revCIInstructionTaskHandle;
QueueHandle_t revCIInstructionQueue;
UBaseType_t core; UBaseType_t core;
i2c_inst_t * i2c; i2c_inst_t * i2c;
@@ -63,7 +73,7 @@ private:
bool readI2C(GoRPCPackage_Transport * pkg, uint32_t addr); bool readI2C(GoRPCPackage_Transport * pkg, uint32_t addr);
public: 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 registerPullPackageCB(callback_pullPackage cb, void *args);
void registerPushPackageCB(callback_pushPackage cb, void *args); void registerPushPackageCB(callback_pushPackage cb, void *args);
@@ -73,11 +83,15 @@ public:
void i2cRxTask(); void i2cRxTask();
void i2cTxTask(); void i2cTxTask();
void manualTriggerIntTask();
void intPinISR(BaseType_t * xHigherPriorityTaskWoken); void intPinISR(BaseType_t * xHigherPriorityTaskWoken);
uint32_t readIntPins(); uint32_t readIntPins();
void raiseTranmissionError(bool rx, uint32_t addr); void raiseTranmissionError(bool rx, uint32_t addr);
void raiseTransmissionSuceess(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> #include <strings.h>
enum GobotRPCNumber { 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 { enum GobotRPCTypes {
@@ -12,6 +22,10 @@ enum GobotRPCTypes {
ERROR = 0b10 ERROR = 0b10
}; };
struct GobotRPCPackage_Req_Vacum {
uint8_t enable : 8;
};
#define GobotRPC_Package_DATA_OFFSET 2 #define GobotRPC_Package_DATA_OFFSET 2
#define CALC_SIZE_GobotRPC_PACKAGE(data_len) (data_len + 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 assembleGobotRPCHeader(char * buffer, GobotRPCNumber number, GobotRPCTypes data_size, size_t);
void assembleCRC(char * buffer, size_t data_len); 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 <stdint.h>
#include "pico/stdlib.h" #include "pico/stdlib.h"
#include "hardware/watchdog.h"
#include "crc16.hpp" #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); 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 + 1] = crc & 0xff;
buffer[GobotRPC_Package_DATA_OFFSET + data_len + 0] = (crc >> 8) & 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; ciInstruction.data[3] = (addr >> 24) & 0xff;
this->pushCIInstructionCB(&ciInstruction, pushCIInstructionCBArgs); 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 "transmission_interface.hpp"
#include "hardware/i2c.h" #include "hardware/i2c.h"
#include <string.h>
#include "pinConfig.hpp" #include "pinConfig.hpp"
GobotRPC_TI_Hardware_RP2040_I2C * g_GobotRPC_TI_Hardware_RP2040_I2C; 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->core = core;
this->i2c = i2c0; this->i2c = i2c0;
this->revCIInstructionQueue = revCIInstructionQueue;
g_GobotRPC_TI_Hardware_RP2040_I2C = this; 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++) { for(int i=0; i<GOBOTRPC_TI_INT_NUM; i++) {
intAddressMap[i] = 0xffffffff; intAddressMap[i] = 0xffffffff;
gpio_init(GOBOTRPC_TI_INT_PIN_START + i); gpio_init(GOBOTRPC_TI_INT_PIN_START + i);
gpio_set_dir(GOBOTRPC_TI_INT_PIN_START< + i, GPIO_IN); gpio_set_dir(GOBOTRPC_TI_INT_PIN_START + i, GPIO_IN);
gpio_pull_down(GOBOTRPC_TI_INT_PIN_START + i); //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(); initTasks();
gpio_init(GOBOTRPC_TI_COMBINED_INT_PIN); //gpio_init(GOBOTRPC_TI_COMBINED_INT_PIN);
gpio_set_dir(GOBOTRPC_TI_COMBINED_INT_PIN, GPIO_IN); //gpio_set_dir(GOBOTRPC_TI_COMBINED_INT_PIN, GPIO_IN);
gpio_pull_down(GOBOTRPC_TI_COMBINED_INT_PIN); //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);
} }
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() { void GobotRPC_TI_Hardware_RP2040_I2C::initTasks() {
i2cMutex = xSemaphoreCreateMutex(); i2cMutex = xSemaphoreCreateMutex();
i2cRXSemaphore = xSemaphoreCreateBinary(); i2cRXSemaphore = xSemaphoreCreateBinary();
@@ -49,6 +62,8 @@ void GobotRPC_TI_Hardware_RP2040_I2C::initTasks() {
xTaskCreateAffinitySet(i2cRxTaskFn, "i2c Rx Task", 4096, this, 3, core, &i2cRxTaskHandle); xTaskCreateAffinitySet(i2cRxTaskFn, "i2c Rx Task", 4096, this, 3, core, &i2cRxTaskHandle);
xTaskCreateAffinitySet(i2cTxTaskFn, "i2c Tx Task", 4096, this, 3, core, &i2cTxTaskHandle); 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) { 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); 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 "transmission_interface.hpp"
#include "ci/base.hpp"
void i2cRxTaskFn(void * args) { void i2cRxTaskFn(void * args) {
GobotRPC_TI_Hardware_RP2040_I2C * hw = (GobotRPC_TI_Hardware_RP2040_I2C *)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); xSemaphoreTake(i2cRXSemaphore, portMAX_DELAY);
uint32_t done_mask = 0xffffffff; uint32_t done_mask = 0xffffffff;
uint32_t pinStates = readIntPins(); uint32_t pinStates = readIntPins();
do { do {
@@ -17,42 +19,50 @@ void GobotRPC_TI_Hardware_RP2040_I2C::i2cRxTask() {
if((pinStates & done_mask) & (1 << i)) { if((pinStates & done_mask) & (1 << i)) {
done_mask &= ~(1 << i); done_mask &= ~(1 << i);
uint32_t addr = intAddressMap[i]; uint32_t addr = intAddressMap[i];
if(addr > 0xff)
continue;
GoRPCPackage_Transport pkg; GoRPCPackage_Transport pkg;
xSemaphoreTake(i2cMutex, portMAX_DELAY); xSemaphoreTake(i2cMutex, portMAX_DELAY);
bool read_res = readI2C(&pkg, addr); bool read_res = readI2C(&pkg, addr);
xSemaphoreGive(i2cMutex); xSemaphoreGive(i2cMutex);
if(read_res) { if(!read_res)
if(pushPackageCB != NULL) continue;
pushPackageCB(&pkg, pushPackageCBArgs);
} pkg.addr |= (i) << 8;
if(pushPackageCB != NULL)
pushPackageCB(&pkg, pushPackageCBArgs);
break; break;
} }
} }
pinStates = readIntPins(); pinStates = readIntPins();
} while(pinStates & done_mask); } while(pinStates & done_mask);
} }
} }
bool GobotRPC_TI_Hardware_RP2040_I2C::readI2C(GoRPCPackage_Transport * pkg, uint32_t addr) { bool GobotRPC_TI_Hardware_RP2040_I2C::readI2C(GoRPCPackage_Transport * pkg, uint32_t addr) {
unsigned int res;
uint res = i2c_read_burst_blocking(i2c, addr, (uint8_t *)pkg->data, 2); //uint res = i2c_read_blocking(i2c, addr, (uint8_t *)pkg->data, 2, true);
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);
if(res == PICO_ERROR_GENERIC) i2c_read_blocking(i2c, addr, (uint8_t *)pkg->data + CI_RX_PACKAGE_DATA_OFFSET, 2, true);
return false; // I2C error
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; pkg->addr = addr;
return true; 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); pullPackageCB(&pkg, pullPackageCBArgs);
xSemaphoreTake(i2cMutex, portMAX_DELAY); 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); xSemaphoreGive(i2cMutex);
if(res != PICO_ERROR_GENERIC) { if(res == PICO_ERROR_GENERIC) {
raiseTranmissionError(false, pkg.addr); raiseTranmissionError(false, pkg.addr);
} else { } else {
raiseTransmissionSuceess(pkg.addr); raiseTransmissionSuceess(pkg.addr);

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

@@ -2,8 +2,8 @@
#include <string.h> #include <string.h>
#include "pico/stdlib.h" #include "pico/stdlib.h"
#include "ctrl_interface.hpp" #include "ci/base.hpp"
#include "ctrl_interface_hardware.hpp" #include "ci/hardware.hpp"
#include "transmission_interface.hpp" #include "transmission_interface.hpp"
#include "main.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; GobotRPC_CI * gobotRPC_ci = (GobotRPC_CI *)args;
GoRPCPackage_Transport pkg; GoRPCPackage_Transport pkg;
memcpy(pkg.data, data, len); memcpy(pkg.data, data, len);
pkg.len = len; pkg.len = len;
pkg.addr = addr; 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); //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() { int main() {
gpio_init(LED_PIN); gpio_init(LED_PIN);
gpio_set_dir(LED_PIN, true); gpio_set_dir(LED_PIN, true);
appData.txQueue = xQueueCreate(5, sizeof(GoRPCPackage_Transport)); appData.txQueue = xQueueCreate(5, sizeof(GoRPCPackage_Transport));
appData.rxQueue = 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_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); gobotRPC_ci.registerCB_TxPacket(onTxPacket, &gobotRPC_ci);
TaskHandle_t taskHandleCore0; TaskHandle_t taskHandleCore0;
TaskHandle_t taskHandleCore1; TaskHandle_t taskHandleCore1;
TaskHandle_t taskRXFromI2CTask;
xTaskCreateAffinitySet(vTaskMain, "Main Task Core 0", 2048, &gobotRPC_ci, 1, UART_CORE_MASK, &taskHandleCore0); 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(); vTaskStartScheduler();

12
i2c-hub/firmware/i2c-hub-firmware/src/main_core1.cpp
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@@ -15,7 +15,7 @@ void pullPackageCB(GoRPCPackage_Transport * dest, void *args) {
xQueueReceive(queue, dest, portMAX_DELAY); xQueueReceive(queue, dest, portMAX_DELAY);
} }
void pushPackage(GoRPCPackage_Transport * src, void *args) { void pushPackageCB(GoRPCPackage_Transport * src, void *args) {
QueueHandle_t queue = appData.rxQueue; QueueHandle_t queue = appData.rxQueue;
xQueueSend(queue, src, portMAX_DELAY); xQueueSend(queue, src, portMAX_DELAY);
} }
@@ -26,13 +26,17 @@ void pushCIInstruction(CI_Instruction_Transport * src, void *args) {
} }
void main_core2(void * pvParameters) { void main_core2(void * pvParameters) {
AppData appData = *((AppData *)pvParameters); AppData appData1 = *(AppData *)pvParameters;
GobotRPC_TI_Hardware_RP2040_I2C gobotrpc_ti_hardware(I2C_CORE_MASK, i2c0);
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.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.registerPushCIInstructionCB(pushCIInstruction, appData.ciInstructionQueue);
gobotrpc_ti_hardware.raiseInfoReset();
while(1) { while(1) {
vTaskDelay(pdMS_TO_TICKS(10000)); 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": "${HOME}/.pico-sdk/cmake/v3.29.9/bin/cmake", "raspberry-pi-pico.cmakePath": "${HOME}/.pico-sdk/cmake/v3.29.9/bin/cmake",
"raspberry-pi-pico.ninjaPath": "${HOME}/.pico-sdk/ninja/v1.12.1/ninja", "raspberry-pi-pico.ninjaPath": "${HOME}/.pico-sdk/ninja/v1.12.1/ninja",
"files.associations": { "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 # Add FreeRTOS
include(cmake/FreeRTOS_Kernel_import.cmake) include(cmake/FreeRTOS_Kernel_import.cmake)
# Adding GobotRPC Node Library
include(lib/gobotrpc/cmake/gobotRPC_Node.cmake)
# Initialise the Raspberry Pi Pico SDK # Initialise the Raspberry Pi Pico SDK
pico_sdk_init() pico_sdk_init()
@@ -44,7 +47,6 @@ add_executable(core-xy-firmware
src/main.cpp src/main.cpp
src/motors.cpp src/motors.cpp
src/corexy/init.cpp src/corexy/init.cpp
src/corexy/tasks.cpp
src/corexy/motorFunctions.cpp src/corexy/motorFunctions.cpp
src/corexy/limitSwitches.cpp src/corexy/limitSwitches.cpp
src/corexy/position.cpp src/corexy/position.cpp
@@ -76,6 +78,7 @@ target_link_libraries(core-xy-firmware
tmc2209_driver tmc2209_driver
FreeRTOS-Kernel-Heap4 FreeRTOS-Kernel-Heap4
GobotRPC_Node_RP2040_I2C
) )
# Add the standard include files to the build # 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. */ /* Memory allocation related definitions. */
#define configSUPPORT_STATIC_ALLOCATION 0 #define configSUPPORT_STATIC_ALLOCATION 0
#define configSUPPORT_DYNAMIC_ALLOCATION 1 #define configSUPPORT_DYNAMIC_ALLOCATION 1
#define configTOTAL_HEAP_SIZE (1024 * 64) #define configTOTAL_HEAP_SIZE (1024 * 128)
#define configAPPLICATION_ALLOCATED_HEAP (1024 * 32) #define configAPPLICATION_ALLOCATED_HEAP (1024 * 64)
/* Hook function related definitions. */ /* Hook function related definitions. */
#define configCHECK_FOR_STACK_OVERFLOW 0 #define configCHECK_FOR_STACK_OVERFLOW 0
@@ -104,11 +104,11 @@
#if FREE_RTOS_KERNEL_SMP // set by the RP2040 SMP port of FreeRTOS #if FREE_RTOS_KERNEL_SMP // set by the RP2040 SMP port of FreeRTOS
/* SMP port only */ /* SMP port only */
#define configUSE_PASSIVE_IDLE_HOOK 0 #define configNUMBER_OF_CORES 2
#define configNUMBER_OF_CORES 1
#define configTICK_CORE 0 #define configTICK_CORE 0
#define configRUN_MULTIPLE_PRIORITIES 1 #define configRUN_MULTIPLE_PRIORITIES 1
//#define configUSE_CORE_AFFINITY 1 #define configUSE_CORE_AFFINITY 1
#define configUSE_PASSIVE_IDLE_HOOK 0
#endif #endif
/* RP2040 specific */ /* RP2040 specific */

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

@@ -52,12 +52,15 @@ struct BoardMessurements {
int x_num; int x_num;
int y_num; int y_num;
int x_offset;
int y_offset;
int cell_x; int cell_x;
int cell_y; int cell_y;
}; };
BoardMessurements calcBoardMessurements(MotorPosition p0, MotorPosition p1, int grid_x, int grid_y); BoardMessurements calcBoardMessurements(MotorPosition p0, MotorPosition p1, int grid_x, int grid_y, MotorPosition offset);
MotorPosition calcPosition(BoardMessurements * messurements, int x, int y); MotorPosition calcPosition(BoardMessurements * messurements, int x, int y, bool offset);
void vTaskInitMotorHome(void *pvParameters); void vTaskInitMotorHome(void *pvParameters);
@@ -81,9 +84,8 @@ private:
int untilNextHome = HOME_COUNT; int untilNextHome = HOME_COUNT;
public: 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 homeFast(MotorPosition * last_pos, bool ignoreMutex);
void home(MotorPosition * last_pos); void home(MotorPosition * last_pos);
@@ -95,7 +97,7 @@ public:
bool getMotorEnabled(); bool getMotorEnabled();
void setBoardMessurements(BoardMessurements messurements); 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); 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

1
motor-control/core-xy-firmware/lib/gobotrpc Symbolic link
View File

@@ -0,0 +1 @@
/home/alexander/Projects/gobot/i2c-hub/firmware/i2c-hub-firmware/src/gobotrpc

2
motor-control/core-xy-firmware/src/corexy/init.cpp
View File

@@ -3,7 +3,7 @@
#include <math.h> #include <math.h>
CoreXYMaschine::CoreXYMaschine(TMC2209_UART * uart_driver0, TMC2209_UART * uart_driver1, TMC2209_step_dual * step_driver) { CoreXYMaschine::CoreXYMaschine(TMC2209_UART * uart_driver0, TMC2209_UART * uart_driver1, TMC2209_step_dual * step_driver, uint core) {
this->uart_driver0 = uart_driver0; this->uart_driver0 = uart_driver0;
this->uart_driver1 = uart_driver1; this->uart_driver1 = uart_driver1;
this->step_driver = step_driver; this->step_driver = step_driver;

7
motor-control/core-xy-firmware/src/corexy/motorFunctions.cpp
View File

@@ -28,9 +28,10 @@ void CoreXYMaschine::home(MotorPosition * last_pos) {
xSemaphoreTake(xMoveMutex, portMAX_DELAY); xSemaphoreTake(xMoveMutex, portMAX_DELAY);
MotorPosition res = {0, 0}; MotorPosition res = {0, 0};
homeXY(step_driver, ORIGIN, HOME_SPEED_FAST, 0, &res); homeXY(step_driver, ORIGIN, HOME_SPEED_FAST, 0, last_pos);
homeXY(step_driver, ORIGIN, HOME_SPEED_SLOW, 500, &res); homeXY(step_driver, ORIGIN, HOME_SPEED_SLOW, 500, &res);
posUnknow = false; posUnknow = false;
current_pos = {x:0, y:0}; current_pos = {x:0, y:0};
untilNextHome = HOME_COUNT; untilNextHome = HOME_COUNT;
xSemaphoreGive(xMoveMutex); xSemaphoreGive(xMoveMutex);
@@ -40,9 +41,9 @@ void CoreXYMaschine::setBoardMessurements(BoardMessurements messurements) {
this->boardMessurements = messurements; this->boardMessurements = messurements;
} }
void CoreXYMaschine::gotoPosition(int x, int y) { void CoreXYMaschine::gotoPosition(int x, int y, bool offset) {
xSemaphoreTake(xMoveMutex, portMAX_DELAY); xSemaphoreTake(xMoveMutex, portMAX_DELAY);
MotorPosition pos = calcPosition(&this->boardMessurements, x, y); MotorPosition pos = calcPosition(&this->boardMessurements, x, y, offset);
if(posUnknow || untilNextHome == 0) { if(posUnknow || untilNextHome == 0) {
homeFast(&current_pos, true); homeFast(&current_pos, true);

12
motor-control/core-xy-firmware/src/corexy/position.cpp
View File

@@ -2,7 +2,7 @@
#include <math.h> #include <math.h>
BoardMessurements calcBoardMessurements(MotorPosition p0, MotorPosition p1, int grid_x, int grid_y) { BoardMessurements calcBoardMessurements(MotorPosition p0, MotorPosition p1, int grid_x, int grid_y, MotorPosition offset) {
BoardMessurements res; BoardMessurements res;
MotorPosition * smaller; MotorPosition * smaller;
@@ -16,6 +16,9 @@ BoardMessurements calcBoardMessurements(MotorPosition p0, MotorPosition p1, int
bigger = &p0; bigger = &p0;
} }
res.x_offset = smaller->x - offset.x;
res.y_offset = smaller->y - offset.y;
res.x_num = grid_x; res.x_num = grid_x;
res.y_num = grid_y; res.y_num = grid_y;
@@ -31,11 +34,16 @@ BoardMessurements calcBoardMessurements(MotorPosition p0, MotorPosition p1, int
return res; return res;
} }
MotorPosition calcPosition(BoardMessurements * messurements, int x, int y) { MotorPosition calcPosition(BoardMessurements * messurements, int x, int y, bool offset) {
MotorPosition res; MotorPosition res;
res.x = messurements->x_padding + (x * messurements->cell_x); res.x = messurements->x_padding + (x * messurements->cell_x);
res.y = messurements->y_padding + (y * messurements->cell_y); res.y = messurements->y_padding + (y * messurements->cell_y);
if(offset) {
res.x -= messurements->x_offset;
res.y -= messurements->y_offset;
}
return res; return res;
} }

67
motor-control/core-xy-firmware/src/corexy/tasks.cpp
View File

@@ -1,67 +0,0 @@
#include "CoreXY.hpp"
#include "FreeRTOS.h"
#include "task.h"
#include "stdio.h"
void waitForUserInput() {
getchar();
}
void performGridCall(CoreXYMaschine * machine) {
MotorPosition p0;
MotorPosition p1;
machine->homeFast(&p0, false);
printf("First Position\n");
machine->setMotorEnabled(false);
waitForUserInput();
machine->setMotorEnabled(true);
machine->homeFast(&p0, false);
printf("Second Position\n");
machine->setMotorEnabled(false);
waitForUserInput();
machine->setMotorEnabled(true);
machine->homeFast(&p1, false);
printf("First Position: %d, %d\n", p0.x, p0.y);
printf("Second Position: %d, %d\n", p1.x, p1.y);
BoardMessurements messurements = calcBoardMessurements(p0, p1, 19, 19);
machine->setBoardMessurements(messurements);
machine->gotoPosition(15, 15);
vTaskDelay(100 / portTICK_PERIOD_MS);
//machine->gotoPosition(7, 6);
//for(int i = 0; i < 19; i++) {
// for(int j = 0; j < 19; j++) {
// machine->gotoPosition(i, j);
// vTaskDelay(100 / portTICK_PERIOD_MS);
// }
//}
//machine->home(NULL);
}
void vTaskInitMotorHome(void *pvParameters) {
CoreXYMaschine * machine = (CoreXYMaschine *)pvParameters;
vTaskDelay(500 / portTICK_PERIOD_MS);
MotorPosition res;
machine->home(&res);
performGridCall(machine);
vTaskDelete(NULL);
}
void CoreXYMaschine::runTasks() {
xTaskCreate(vTaskInitMotorHome, "Initial Motor Home", 1024, this, 5, NULL);
vTaskStartScheduler();
while(1) {
tight_loop_contents();
}
}

313
motor-control/core-xy-firmware/src/main.cpp
View File

@@ -24,6 +24,12 @@
#include "FreeRTOSConfig.h" #include "FreeRTOSConfig.h"
#include "FreeRTOS.h" #include "FreeRTOS.h"
#include "task.h" #include "task.h"
#include "queue.h"
#include "pinConfigNode.hpp"
#include "node_interface_hardware.hpp"
#include "node_interface.hpp"
#include "protocol.hpp"
#define LED_PIN 25 #define LED_PIN 25
@@ -55,83 +61,20 @@ enum SYSTEM_STATE {
SYSTEM_STATE system_state = STARTUP; SYSTEM_STATE system_state = STARTUP;
/* struct AppData {
void homeMotors0(TMC2209_step_dual * driver) { xQueueHandle txQueue;
xQueueHandle rxQueue;
GobotRPC_NI * gobotrpc_ni;
CoreXYMaschine * machine;
};
driver->set_conf0(10000, 1); AppData g_appData;
driver->pulse0(10000);
driver->wait0(0);
driver->set_conf0(10000, 0);
driver->pulse0(100000);
while(!gpio_get(LIMIT2_PIN)) {
sleep_ms(1);
}
driver->pulse0(0);
sleep_ms(500);
// Second Run
driver->set_conf0(5000, 1);
driver->pulse0(200);
driver->wait0(0);
driver->set_conf0(500, 0);
driver->pulse0(5000);
while(!gpio_get(LIMIT2_PIN)) {
sleep_ms(1);
}
driver->pulse0(0);
sleep_ms(1);
}
void homeMotors1(TMC2209_step_dual * driver) {
driver->set_conf1(10000, 1);
driver->pulse1(5000);
driver->wait1(0);
driver->set_conf1(10000, 0);
driver->pulse1(100000);
while(!gpio_get(LIMIT3_PIN)) {
sleep_ms(1);
}
driver->pulse1(0);
sleep_ms(500);
// Second Run
driver->set_conf1(5000, 1);
driver->pulse1(200);
driver->wait1(0);
driver->set_conf1(500, 0);
driver->pulse1(5000);
while(!gpio_get(LIMIT3_PIN)) {
sleep_ms(1);
}
driver->pulse1(0);
sleep_ms(1);
}
void task_home0(void *pvParameters) {
TMC2209_step_dual * driver = (TMC2209_step_dual *)pvParameters;
vTaskDelay(500);
homeMotors0(driver);
}
void task_home1(void *pvParameters) {
TMC2209_step_dual * driver = (TMC2209_step_dual *)pvParameters;
homeMotors1(driver);
}
*/
void MainTaskMotors(void * pvParameters) {
AppData * appData = (AppData *) pvParameters;
// Initing Motors
int main() {
stdio_init_all();
printf("Hello, World!\n");
TMC2209_step_dual step_driver = TMC2209_step_dual( TMC2209_step_dual step_driver = TMC2209_step_dual(
STEP0_PIN, STEP1_PIN, STEP0_PIN, STEP1_PIN,
DIR0_PIN, DIR1_PIN, DIR0_PIN, DIR1_PIN,
@@ -142,123 +85,139 @@ int main() {
TMC2209_UART uart_driver0 = TMC2209_UART(uart0, 0, 19200, 0, 1); TMC2209_UART uart_driver0 = TMC2209_UART(uart0, 0, 19200, 0, 1);
TMC2209_UART uart_driver1 = TMC2209_UART(uart1, 0, 19200, 4, 5); TMC2209_UART uart_driver1 = TMC2209_UART(uart1, 0, 19200, 4, 5);
CoreXYMaschine machine = CoreXYMaschine(&uart_driver0, &uart_driver1, &step_driver); CoreXYMaschine machine = CoreXYMaschine(&uart_driver0, &uart_driver1, &step_driver, CORE_MASK_MOTOR);
appData->machine = &machine;
volatile uint8_t a = uart_driver0.read(REG_ADDR_CHOPPER_CHOPCONF); volatile uint8_t a = uart_driver0.read(REG_ADDR_CHOPPER_CHOPCONF);
volatile uint8_t b = uart_driver1.read(REG_ADDR_CHOPPER_CHOPCONF); volatile uint8_t b = uart_driver1.read(REG_ADDR_CHOPPER_CHOPCONF);
machine.runTasks(); appData->machine->home(NULL);
vTaskSuspend(NULL);
}
/* void onRxPackage(void * args, char *data, uint16_t len, GobotRPCTypes type, GobotRPCNumber number) {
gpio_init(LIMIT0_PIN); AppData * appData = (AppData *) args;
gpio_set_dir(LIMIT0_PIN, GPIO_IN); char txBuffer[32];
gpio_pull_up(LIMIT0_PIN);
gpio_set_input_hysteresis_enabled(LIMIT0_PIN, true);
gpio_init(LIMIT1_PIN); switch (number) {
gpio_set_dir(LIMIT1_PIN, GPIO_IN); case GobotRPCNumber::GET_INFO: {
gpio_pull_up(LIMIT1_PIN); InfoData info = appData->gobotrpc_ni->getInfo();
gpio_set_input_hysteresis_enabled(LIMIT1_PIN, true); txBuffer[0] = (info.addr >> 24) & 0xFF;
txBuffer[1] = (info.addr >> 16) & 0xFF;
txBuffer[2] = (info.addr >> 8) & 0xFF;
txBuffer[3] = info.addr & 0xFF;
txBuffer[4] = info.type;
gpio_init(LIMIT2_PIN); g_appData.gobotrpc_ni->sendPackage(txBuffer, 5, GobotRPCTypes::RESPONSE, GobotRPCNumber::GET_INFO);
gpio_set_dir(LIMIT2_PIN, GPIO_IN); break;
gpio_pull_up(LIMIT2_PIN);
gpio_set_input_hysteresis_enabled(LIMIT2_PIN, true);
gpio_init(LIMIT3_PIN);
gpio_set_dir(LIMIT3_PIN, GPIO_IN);
gpio_pull_up(LIMIT3_PIN);
gpio_set_input_hysteresis_enabled(LIMIT3_PIN, true);
gpio_set_irq_enabled_with_callback(
LIMIT0_PIN,
GPIO_IRQ_EDGE_RISE,
true,
isr_LimitSwitch
);
gpio_set_irq_enabled_with_callback(
LIMIT1_PIN,
GPIO_IRQ_EDGE_RISE,
true,
isr_LimitSwitch
);
gpio_set_irq_enabled_with_callback(
LIMIT2_PIN,
GPIO_IRQ_EDGE_RISE,
true,
isr_LimitSwitch
);
gpio_set_irq_enabled_with_callback(
LIMIT3_PIN,
GPIO_IRQ_EDGE_RISE,
true,
isr_LimitSwitch
);
gpio_init(RGB2_B_PIN);
gpio_init(RGB2_G_PIN);
gpio_init(RGB2_R_PIN);
gpio_set_dir(RGB2_B_PIN, GPIO_OUT);
gpio_set_dir(RGB2_G_PIN, GPIO_OUT);
gpio_set_dir(RGB2_R_PIN, GPIO_OUT);
gpio_init(RGB1_B_PIN);
gpio_init(RGB1_G_PIN);
gpio_set_dir(RGB1_B_PIN, GPIO_OUT);
gpio_set_dir(RGB1_G_PIN, GPIO_OUT);
gpio_put(RGB1_B_PIN, 1);
gpio_put(RGB1_G_PIN, 1);
gpio_put(RGB2_B_PIN, 1);
gpio_put(RGB2_G_PIN, 1);
gpio_put(RGB2_R_PIN, 1);
gpio_init(LED_PIN);
gpio_set_dir(LED_PIN, GPIO_OUT);
//step_driver.set_conf0(10000, 0);
//step_driver.pulse0(1000000);
homeMotors0(&step_driver);
printf("Home0 done\n");
homeMotors1(&step_driver);
printf("Home1 done\n");
*/
//xTaskCreate(task_home0, "Home0", 1024, &step_driver, 5, NULL);
//xTaskCreate(task_home1, "Home1", 1024, &step_driver, 5, NULL);
/*
while (true) {
sleep_ms(50);
gpio_put(LED_PIN, 0);
sleep_ms(50);
gpio_put(LED_PIN, 1);
if(gpio_get(LIMIT1_PIN)) {
gpio_put(RGB1_B_PIN, 0);
} else {
gpio_put(RGB1_B_PIN, 1);
} }
if(gpio_get(LIMIT3_PIN)) { case GobotRPCNumber::RESET: {
gpio_put(RGB1_G_PIN, 0); softwareReset();
} else { break;
gpio_put(RGB1_G_PIN, 1);
} }
if(gpio_get(LIMIT0_PIN)) { case GobotRPCNumber::HOME_XY: {
gpio_put(RGB2_B_PIN, 0); MotorPosition pos;
} else { appData->machine->home(&pos);
gpio_put(RGB2_B_PIN, 1); txBuffer[0] = (pos.x >> 24) & 0xFF;
txBuffer[1] = (pos.x >> 16) & 0xFF;
txBuffer[2] = (pos.x >> 8) & 0xFF;
txBuffer[3] = pos.x & 0xFF;
txBuffer[4] = (pos.y >> 24) & 0xFF;
txBuffer[5] = (pos.y >> 16) & 0xFF;
txBuffer[6] = (pos.y >> 8) & 0xFF;
txBuffer[7] = pos.y & 0xFF;
g_appData.gobotrpc_ni->sendPackage(txBuffer, 8, GobotRPCTypes::RESPONSE, GobotRPCNumber::HOME_XY);
break;
} }
if(gpio_get(LIMIT2_PIN)) { case GobotRPCNumber::RELEASE_MOTORS: {
gpio_put(RGB2_G_PIN, 0); bool enable = data[0];
} else { appData->machine->setMotorEnabled(enable);
gpio_put(RGB2_G_PIN, 1); g_appData.gobotrpc_ni->sendPackage(txBuffer, 0, GobotRPCTypes::RESPONSE, GobotRPCNumber::RELEASE_MOTORS);
break;
}
case GobotRPCNumber::SET_PADDING: {
MotorPosition p1;
MotorPosition p2;
MotorPosition p3;
p1.x = (data[0] << 24) | (data[1] << 16) | (data[2] << 8) | data[3];
p1.y = (data[4] << 24) | (data[5] << 16) | (data[6] << 8) | data[7];
p2.x = (data[8] << 24) | (data[9] << 16) | (data[10] << 8) | data[11];
p2.y = (data[12] << 24) | (data[13] << 16) | (data[14] << 8) | data[15];
p3.x = (data[16] << 24) | (data[17] << 16) | (data[18] << 8) | data[19];
p3.y = (data[20] << 24) | (data[21] << 16) | (data[22] << 8) | data[23];
uint8_t cellX = data[24];
uint8_t cellY = data[25];
BoardMessurements messurements = calcBoardMessurements(p1, p2, cellX, cellY, p3);
appData->machine->setBoardMessurements(messurements);
g_appData.gobotrpc_ni->sendPackage(txBuffer, 0, GobotRPCTypes::RESPONSE, GobotRPCNumber::SET_PADDING);
break;
}
case GobotRPCNumber::GOTO: {
int x = (data[0] << 24) | (data[1] << 16) | (data[2] << 8) | data[3];
int y = (data[4] << 24) | (data[5] << 16) | (data[6] << 8) | data[7];
bool offset = data[8] > 0;
appData->machine->gotoPosition(x, y, offset);
g_appData.gobotrpc_ni->sendPackage(txBuffer, 0, GobotRPCTypes::RESPONSE, GobotRPCNumber::GOTO);
break;
}
default: {
break;
} }
} }
*/ }
return 0; void MainTaskGobotRPC(void * pvParameters) {
AppData * appData = (AppData *) pvParameters;
GobotRPC_NI_Hardware_RP2040_I2C gobotrpc_ni_hardware(
appData->txQueue, appData->rxQueue, CORE_MASK_GOBOTRPC,
i2c1, I2C_ADDR, GORPC_SDA_PIN, GORPC_SCL_PIN, GORPC_INT_PIN
);
while (true) {
gpio_put(LED1_PIN, 0);
vTaskDelay(500 / portTICK_PERIOD_MS);
gpio_put(LED1_PIN, 1);
vTaskDelay(500 / portTICK_PERIOD_MS);
}
}
int main() {
stdio_init_all();
printf("Hello, World!\n");
gpio_init(LED_PIN);
gpio_set_dir(LED1_PIN, GPIO_OUT);
gpio_put(LED_PIN, 1);
// Creating Queues
g_appData.txQueue = xQueueCreate(16, sizeof(GobotRPC_NI_Package_Transport));
g_appData.rxQueue = xQueueCreate(16, sizeof(GobotRPC_NI_Package_Transport));
// Setting up GobotRPC
InfoData info = {.addr=I2C_ADDR, .type=NODE_TYPE_COREXY};
GobotRPC_NI gobotrpc_ni(CORE_MASK_MOTOR, g_appData.txQueue, g_appData.rxQueue, info);
gobotrpc_ni.registerOnPackageRxCallback(onRxPackage, &g_appData);
g_appData.gobotrpc_ni = &gobotrpc_ni;
// Starting Tasks
xTaskCreateAffinitySet(MainTaskMotors, "Main Task Motors", 1024, &g_appData, 5, CORE_MASK_MOTOR, NULL);
xTaskCreateAffinitySet(MainTaskGobotRPC, "Main Task GobotRPC", 1024, &g_appData, 5, CORE_MASK_GOBOTRPC, NULL);
vTaskStartScheduler();
while(1) {
tight_loop_contents();
}
} }

4
motor-control/core-xy-firmware/src/tmc2209/step.cpp
View File

@@ -54,7 +54,7 @@ void TMC2209_step_dual::init_gpio() {
gpio_set_dir(this->enable1_pin, GPIO_OUT); gpio_set_dir(this->enable1_pin, GPIO_OUT);
gpio_put(this->enable0_pin, 0); gpio_put(this->enable0_pin, 0);
gpio_put(this->enable1_pin, 0); gpio_put(this->enable1_pin, 0);
sleep_ms(1); vTaskDelay(1 / portTICK_PERIOD_MS);
gpio_init(this->dir0_pin); gpio_init(this->dir0_pin);
gpio_init(this->dir1_pin); gpio_init(this->dir1_pin);
@@ -62,7 +62,7 @@ void TMC2209_step_dual::init_gpio() {
gpio_set_dir(this->dir1_pin, GPIO_OUT); gpio_set_dir(this->dir1_pin, GPIO_OUT);
gpio_put(this->dir0_pin, 1); gpio_put(this->dir0_pin, 1);
gpio_put(this->dir1_pin, 1); gpio_put(this->dir1_pin, 1);
sleep_ms(1); vTaskDelay(1 / portTICK_PERIOD_MS);
}; };
void TMC2209_step_dual::init_pio() { void TMC2209_step_dual::init_pio() {

4
stone-dispencer-control/firmware-stone-dispencer/CMakeLists.txt
View File

@@ -34,6 +34,9 @@ project(firmware-stone-dispencer C CXX ASM)
set(FREERTOS_KERNEL_PATH ${CMAKE_CURRENT_LIST_DIR}/lib/FreeRTOS-Kernel) set(FREERTOS_KERNEL_PATH ${CMAKE_CURRENT_LIST_DIR}/lib/FreeRTOS-Kernel)
include(cmake/FreeRTOS_Kernel_import.cmake) include(cmake/FreeRTOS_Kernel_import.cmake)
# Adding GobotRPC Node Library
include(lib/gobotrpc/cmake/gobotRPC_Node.cmake)
# Initialise the Raspberry Pi Pico SDK # Initialise the Raspberry Pi Pico SDK
pico_sdk_init() pico_sdk_init()
@@ -59,6 +62,7 @@ target_link_libraries(firmware-stone-dispencer
pico_stdlib pico_stdlib
hardware_pwm hardware_pwm
FreeRTOS-Kernel-Heap4 FreeRTOS-Kernel-Heap4
GobotRPC_Node_RP2040_I2C
) )
target_include_directories(firmware-stone-dispencer PUBLIC target_include_directories(firmware-stone-dispencer PUBLIC

10
stone-dispencer-control/firmware-stone-dispencer/FreeRTOSConfig.h
View File

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

9
stone-dispencer-control/firmware-stone-dispencer/include/headSystem.hpp
View File

@@ -1,5 +1,5 @@
#pragma once #pragma once
#include "pinConfig.hpp" #include "pinConfigNode.hpp"
#include "FreeRTOS.h" #include "FreeRTOS.h"
#include "queue.h" #include "queue.h"
#include "semphr.h" #include "semphr.h"
@@ -36,8 +36,5 @@ public:
STONE_STATE dropSequence(); STONE_STATE dropSequence();
void vHeadTask(); void vHeadTask();
};
};

13
stone-dispencer-control/firmware-stone-dispencer/include/pinConfig.hpp → stone-dispencer-control/firmware-stone-dispencer/include/pinConfigNode.hpp
View File

@@ -12,10 +12,15 @@
#define LED2_PIN 16 #define LED2_PIN 16
#define BUTTON_PIN 20 #define BUTTON_PIN 20
#define GOBOTRPC_SCL_PIN 5 // GoRPC Config
#define GOBOTRPC_SDA_PIN 4 #define GORPC_INT_PIN 2
#define GOBOTRPC_INT_PIN 2 #define GORPC_SDA_PIN 4
#define GORPC_SCL_PIN 5
#define I2C_ADDR 0x22
#define CORE_MASK_GOBOTRPC 0b01
#define CORE_MASK_HEAD 0b01
// Pwm Config // Pwm Config
@@ -43,7 +48,7 @@
// Chopper States // Chopper States
#define CHOPPER1_OPEN MOTOR_MS18_MID - 400 #define CHOPPER1_OPEN MOTOR_MS18_MID - 400
#define CHOPPER1_CLOSE MOTOR_MS18_MID + 40 #define CHOPPER1_CLOSE MOTOR_MS18_MID + 20
#define CHOPPER2_OPEN MOTOR_MS18_MID + 375 #define CHOPPER2_OPEN MOTOR_MS18_MID + 375
#define CHOPPER2_CLOSE MOTOR_MS18_MID + 30 #define CHOPPER2_CLOSE MOTOR_MS18_MID + 30

1
stone-dispencer-control/firmware-stone-dispencer/lib/gobotrpc Symbolic link
View File

@@ -0,0 +1 @@
/home/alexander/Projects/gobot/i2c-hub/firmware/i2c-hub-firmware/src/gobotrpc

102
stone-dispencer-control/firmware-stone-dispencer/src/main.cpp
View File

@@ -7,6 +7,76 @@
#include "hardware/pwm.h" #include "hardware/pwm.h"
#include "headSystem.hpp" #include "headSystem.hpp"
#include "node_interface_hardware.hpp"
#include "node_interface.hpp"
#include "protocol.hpp"
struct AppData {
xQueueHandle txQueue;
xQueueHandle rxQueue;
HeadSystem * headsystem;
GobotRPC_NI * gobotrpc_ni;
};
AppData g_appData;
void onRxPackage(void * args, char *data, uint16_t len, GobotRPCTypes type, GobotRPCNumber number) {
AppData * appData = (AppData *) args;
char txBuffer[32];
switch (number) {
case GobotRPCNumber::GET_INFO: {
InfoData info = appData->gobotrpc_ni->getInfo();
txBuffer[0] = (info.addr >> 24) & 0xFF;
txBuffer[1] = (info.addr >> 16) & 0xFF;
txBuffer[2] = (info.addr >> 8) & 0xFF;
txBuffer[3] = info.addr & 0xFF;
txBuffer[4] = info.type;
g_appData.gobotrpc_ni->sendPackage(txBuffer, 5, GobotRPCTypes::RESPONSE, GobotRPCNumber::GET_INFO);
break;
}
case GobotRPCNumber::DROP_STONE: {
STONE_STATE state = appData->headsystem->dropStone();
txBuffer[0] = state;
g_appData.gobotrpc_ni->sendPackage(txBuffer, 1, GobotRPCTypes::RESPONSE, GobotRPCNumber::DROP_STONE);
break;
}
case GobotRPCNumber::MOVE_Z_AXIS: {
bool up = data[0] > 0;
appData->headsystem->setHeadUp(up);
g_appData.gobotrpc_ni->sendPackage(txBuffer, 0, GobotRPCTypes::RESPONSE, GobotRPCNumber::MOVE_Z_AXIS);
break;
}
case GobotRPCNumber::RESET: {
softwareReset();
break;
}
default: {
break;
}
}
}
void vMainRPCHardwareTask(void *pvParameters) {
AppData * appData = (AppData *) pvParameters;
GobotRPC_NI_Hardware_RP2040_I2C gobotrpc_ni_hardware(
appData->txQueue, appData->rxQueue, CORE_MASK_GOBOTRPC,
i2c0, I2C_ADDR, GORPC_SDA_PIN, GORPC_SCL_PIN, GORPC_INT_PIN
);
while (1) {
vTaskDelay(500 / portTICK_PERIOD_MS);
gpio_put(LED1_PIN, 1);
vTaskDelay(500 / portTICK_PERIOD_MS);
gpio_put(LED1_PIN, 0);
}
}
void vMainTask(void *pvParameters) { void vMainTask(void *pvParameters) {
HeadSystem * headSystem = (HeadSystem *) pvParameters; HeadSystem * headSystem = (HeadSystem *) pvParameters;
@@ -14,18 +84,8 @@ void vMainTask(void *pvParameters) {
bool buttonLastState = false; bool buttonLastState = false;
headSystem->setHeadUp(true); headSystem->setHeadUp(true);
while (1) {
buttonState = !gpio_get(BUTTON_PIN);
if(buttonState) { vTaskSuspend(NULL);
STONE_STATE s = headSystem->dropSequence();
printf("Stone dropped: %d\n", s);
}
buttonLastState = buttonState;
vTaskDelay(pdMS_TO_TICKS(100));
}
} }
int main() int main()
@@ -33,9 +93,27 @@ int main()
stdio_init_all(); stdio_init_all();
HeadSystem headSystem; HeadSystem headSystem;
g_appData.headsystem = &headSystem;
printf("HeadSystem initialized\n"); printf("HeadSystem initialized\n");
xTaskCreate(vMainTask, "Button Task", 1024, &headSystem, 1, NULL); // Creating Queues
g_appData.txQueue = xQueueCreate(16, sizeof(GobotRPC_NI_Package_Transport));
g_appData.rxQueue = xQueueCreate(16, sizeof(GobotRPC_NI_Package_Transport));
// Setting GobotRPC Node Interface
InfoData info = {.addr=I2C_ADDR, .type=NODE_TYPE_HEAD};
GobotRPC_NI gobotrpc_ni(CORE_MASK_HEAD, g_appData.txQueue, g_appData.rxQueue, info);
gobotrpc_ni.registerOnPackageRxCallback(onRxPackage, &g_appData);
g_appData.gobotrpc_ni = &gobotrpc_ni;
// Sending Reset Notification
char txBuffer[8];
g_appData.gobotrpc_ni->sendPackage(txBuffer, 0, GobotRPCTypes::RESPONSE, GobotRPCNumber::RESET);
// Creating Tasks
xTaskCreate(vMainTask, "Main Head Task", 1024, &headSystem, 1, NULL);
xTaskCreate(vMainRPCHardwareTask, "Main GoboRPC Task", 2048, &g_appData, 1, NULL);
vTaskStartScheduler(); vTaskStartScheduler();
while (1) { while (1) {

6
vacum-control/vacum-control-firmware/.vscode/c_cpp_properties.json vendored
View File

@@ -7,8 +7,8 @@
"${userHome}/.pico-sdk/sdk/2.1.0/**" "${userHome}/.pico-sdk/sdk/2.1.0/**"
], ],
"forcedInclude": [ "forcedInclude": [
"${userHome}/.pico-sdk/sdk/2.1.0/src/common/pico_base_headers/include/pico.h", "${workspaceFolder}/build/generated/pico_base/pico/config_autogen.h",
"${workspaceFolder}/build/generated/pico_base/pico/config_autogen.h" "${userHome}/.pico-sdk/sdk/2.1.0/src/common/pico_base_headers/include/pico.h"
], ],
"defines": [], "defines": [],
"compilerPath": "${userHome}/.pico-sdk/toolchain/13_3_Rel1/bin/arm-none-eabi-gcc", "compilerPath": "${userHome}/.pico-sdk/toolchain/13_3_Rel1/bin/arm-none-eabi-gcc",
@@ -19,4 +19,4 @@
} }
], ],
"version": 4 "version": 4
} }

55
vacum-control/vacum-control-firmware/.vscode/tasks.json vendored
View File

@@ -9,8 +9,12 @@
"args": ["-C", "${workspaceFolder}/build"], "args": ["-C", "${workspaceFolder}/build"],
"group": "build", "group": "build",
"presentation": { "presentation": {
"echo": true,
"reveal": "always", "reveal": "always",
"panel": "dedicated" "focus": true,
"panel": "dedicated",
"showReuseMessage": true,
"clear": true
}, },
"problemMatcher": "$gcc", "problemMatcher": "$gcc",
"windows": { "windows": {
@@ -27,8 +31,12 @@
"-fx" "-fx"
], ],
"presentation": { "presentation": {
"echo": true,
"reveal": "always", "reveal": "always",
"panel": "dedicated" "focus": true,
"panel": "shared",
"showReuseMessage": true,
"clear": true
}, },
"problemMatcher": [], "problemMatcher": [],
"windows": { "windows": {
@@ -39,16 +47,51 @@
"label": "Flash", "label": "Flash",
"type": "process", "type": "process",
"command": "${userHome}/.pico-sdk/openocd/0.12.0+dev/openocd.exe", "command": "${userHome}/.pico-sdk/openocd/0.12.0+dev/openocd.exe",
"args": [
"-s",
"${userHome}/.pico-sdk/openocd/0.12.0+dev/scripts",
"-f", "interface/cmsis-dap.cfg",
"-f", "target/${command:raspberry-pi-pico.getTarget}.cfg",
"-c", "adapter speed 5000; program \"${command:raspberry-pi-pico.launchTargetPath}\" reset exit",
],
"presentation": {
"echo": true,
"reveal": "always",
"focus": true,
"panel": "shared",
"showReuseMessage": true,
"clear": true
},
"dependsOn": ["Compile Project"],
"problemMatcher": [],
"windows": {
"command": "${env:USERPROFILE}/.pico-sdk/openocd/0.12.0+dev/openocd.exe",
}
},
{
"label": "Reset",
"type": "process",
"command": "${userHome}/.pico-sdk/openocd/0.12.0+dev/openocd.exe",
"args": [ "args": [
"-s", "-s",
"${userHome}/.pico-sdk/openocd/0.12.0+dev/scripts", "${userHome}/.pico-sdk/openocd/0.12.0+dev/scripts",
"-f", "-f",
"interface/cmsis-dap.cfg", "interface/cmsis-dap.cfg",
"-f", "-f", "target/${command:raspberry-pi-pico.getTarget}.cfg",
"target/${command:raspberry-pi-pico.getTarget}.cfg", "-c", "adapter speed 5000; init; reset halt;",
"-c", "-c", "rp2040.core1 arp_reset assert 0",
"adapter speed 5000; program \"${command:raspberry-pi-pico.launchTargetPath}\" verify reset exit" "-c", "rp2040.core0 arp_reset assert 0",
"-c", "exit"
], ],
"presentation": {
"echo": true,
"reveal": "always",
"focus": true,
"panel": "shared",
"showReuseMessage": true,
"clear": true
},
"problemMatcher": [], "problemMatcher": [],
"windows": { "windows": {
"command": "${env:USERPROFILE}/.pico-sdk/openocd/0.12.0+dev/openocd.exe", "command": "${env:USERPROFILE}/.pico-sdk/openocd/0.12.0+dev/openocd.exe",

4
vacum-control/vacum-control-firmware/CMakeLists.txt
View File

@@ -34,6 +34,9 @@ project(vacum-control-firmware C CXX ASM)
set(FREERTOS_KERNEL_PATH ${CMAKE_CURRENT_LIST_DIR}/lib/FreeRTOS-Kernel) set(FREERTOS_KERNEL_PATH ${CMAKE_CURRENT_LIST_DIR}/lib/FreeRTOS-Kernel)
include(cmake/FreeRTOS_Kernel_import.cmake) include(cmake/FreeRTOS_Kernel_import.cmake)
# Adding GobotRPC Node Library
include(lib/gobotrpc/cmake/gobotRPC_Node.cmake)
# Initialise the Raspberry Pi Pico SDK # Initialise the Raspberry Pi Pico SDK
pico_sdk_init() pico_sdk_init()
@@ -54,6 +57,7 @@ pico_enable_stdio_usb(vacum-control-firmware 0)
# Add the standard library to the build # Add the standard library to the build
target_link_libraries(vacum-control-firmware target_link_libraries(vacum-control-firmware
pico_stdlib pico_stdlib
GobotRPC_Node_RP2040_I2C
FreeRTOS-Kernel-Heap4 FreeRTOS-Kernel-Heap4
) )

10
vacum-control/vacum-control-firmware/FreeRTOSConfig.h
View File

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

9
vacum-control/vacum-control-firmware/include/pinConfig.hpp → vacum-control/vacum-control-firmware/include/pinConfigNode.hpp
View File

@@ -1,14 +1,19 @@
#pragma once #pragma once
#define CORE_MASK_GOBOTRPC 0b10
#define CORE_MASK_VACUM 0b01
#define LED1_PIN 16 #define LED1_PIN 16
#define LED2_PIN 25 #define LED2_PIN 25
#define RELAY_PIN 15 #define RELAY_PIN 15
#define GORPC_INT_PIN 3 #define GORPC_INT_PIN 2
#define GORPC_SDA_PIN 4 #define GORPC_SDA_PIN 4
#define GORPC_SCL_PIN 5 #define GORPC_SCL_PIN 5
#define BUTTON_PIN 17 #define BUTTON_PIN 17
#define INTERRUPTION_DURATION ((int)(2.5 * 1000)) #define INTERRUPTION_DURATION ((int)(2.5 * 1000))
#define INTERRUPTION_DELAY 5 * 1000 #define INTERRUPTION_DELAY 5 * 1000
#define I2C_ADDR 0x21

5
vacum-control/vacum-control-firmware/include/vacum.hpp
View File

@@ -1,5 +1,5 @@
#pragma once #pragma once
#include "pinConfig.hpp" #include "pinConfigNode.hpp"
#include "FreeRTOS.h" #include "FreeRTOS.h"
#include "task.h" #include "task.h"
#include "semphr.h" #include "semphr.h"
@@ -9,6 +9,7 @@ void vButtonTaskFn(void *pvParameters);
class VacumControl { class VacumControl {
private: private:
uint coreMask;
bool state = false; bool state = false;
xSemaphoreHandle vacumMutex; xSemaphoreHandle vacumMutex;
xSemaphoreHandle interruptionSemaphore; xSemaphoreHandle interruptionSemaphore;
@@ -16,7 +17,7 @@ private:
xTaskHandle interruptionTask; xTaskHandle interruptionTask;
xTaskHandle buttonTask; xTaskHandle buttonTask;
public: public:
VacumControl(); VacumControl(uint coreMask);
void initVacumPins(); void initVacumPins();
void setState(bool on); void setState(bool on);

1
vacum-control/vacum-control-firmware/lib/gobotrpc Symbolic link
View File

@@ -0,0 +1 @@
/home/alexander/Projects/gobot/i2c-hub/firmware/i2c-hub-firmware/src/gobotrpc

9
vacum-control/vacum-control-firmware/src/base.cpp
View File

@@ -1,5 +1,5 @@
#include "vacum.hpp" #include "vacum.hpp"
#include "pinConfig.hpp" #include "pinConfigNode.hpp"
#include "FreeRTOS.h" #include "FreeRTOS.h"
#include "task.h" #include "task.h"
@@ -17,13 +17,14 @@ void vButtonTaskFn(void *pvParameters) {
vacumControl->buttonTaskFn(); vacumControl->buttonTaskFn();
} }
VacumControl::VacumControl() { VacumControl::VacumControl(uint coreMask) {
this->coreMask = coreMask;
initVacumPins(); initVacumPins();
state = false; state = false;
vacumMutex = xSemaphoreCreateMutex(); vacumMutex = xSemaphoreCreateMutex();
interruptionSemaphore = xSemaphoreCreateBinary(); interruptionSemaphore = xSemaphoreCreateBinary();
xTaskCreate(vInterruptionTaskFn, "Interruption Task", 1024, this, 3, &interruptionTask); xTaskCreateAffinitySet(vInterruptionTaskFn, "Interruption Task", 1024, this, 3, coreMask, &interruptionTask);
xTaskCreate(vButtonTaskFn, "Button Task", 1024, this, 2, &buttonTask); xTaskCreateAffinitySet(vButtonTaskFn, "Button Task", 1024, this, 2, coreMask, &buttonTask);
} }
void VacumControl::initVacumPins() { void VacumControl::initVacumPins() {

103
vacum-control/vacum-control-firmware/src/main.cpp
View File

@@ -1,4 +1,5 @@
#include <stdio.h> #include <stdio.h>
#include <string.h>
#include "pico/stdlib.h" #include "pico/stdlib.h"
#include "vacum.hpp" #include "vacum.hpp"
@@ -6,22 +7,110 @@
#include "FreeRTOSConfig.h" #include "FreeRTOSConfig.h"
#include "FreeRTOS.h" #include "FreeRTOS.h"
#include "task.h" #include "task.h"
#include "queue.h"
void vTaskFunction(void *pvParameters) { #include "hardware/i2c.h"
while (true) {
printf("Button: %d\n", gpio_get(BUTTON_PIN)); #include "pinConfigNode.hpp"
vTaskDelay(pdMS_TO_TICKS(1000)); #include "node_interface_hardware.hpp"
#include "node_interface.hpp"
#include "protocol.hpp"
struct AppData {
xQueueHandle txQueue;
xQueueHandle rxQueue;
VacumControl * vacumControl;
GobotRPC_NI * gobotrpc_ni;
};
AppData g_appData;
void onRxPackage(void * args, char *data, uint16_t len, GobotRPCTypes type, GobotRPCNumber number) {
AppData * appData = (AppData *) args;
char txBuffer[32];
switch (number) {
case GobotRPCNumber::VACUM: {
GobotRPCPackage_Req_Vacum * pkg = (GobotRPCPackage_Req_Vacum *) data;
appData->vacumControl->setState(pkg->enable);
g_appData.gobotrpc_ni->sendPackage(txBuffer, 0, GobotRPCTypes::RESPONSE, GobotRPCNumber::VACUM);
break;
}
case GobotRPCNumber::GET_INFO: {
InfoData info = appData->gobotrpc_ni->getInfo();
txBuffer[0] = (info.addr >> 24) & 0xFF;
txBuffer[1] = (info.addr >> 16) & 0xFF;
txBuffer[2] = (info.addr >> 8) & 0xFF;
txBuffer[3] = info.addr & 0xFF;
txBuffer[4] = info.type;
g_appData.gobotrpc_ni->sendPackage(txBuffer, 5, GobotRPCTypes::RESPONSE, GobotRPCNumber::GET_INFO);
break;
}
case GobotRPCNumber::RESET: {
softwareReset();
break;
}
default: {
break;
}
} }
} }
void core1_main(void *pvParameters) {
AppData * appData = (AppData *) pvParameters;
GobotRPC_NI_Hardware_RP2040_I2C gobotrpc_ni_hardware(
appData->txQueue, appData->rxQueue, CORE_MASK_VACUM,
i2c0, I2C_ADDR, GORPC_SDA_PIN, GORPC_SCL_PIN, GORPC_INT_PIN
);
while (true) {
gpio_put(LED2_PIN, 0);
vTaskDelay(500 / portTICK_PERIOD_MS);
gpio_put(LED2_PIN, 1);
vTaskDelay(500 / portTICK_PERIOD_MS);
}
}
TaskHandle_t xCore0TaskHandle = NULL;
TaskHandle_t xCore1TaskHandle = NULL;
int main() { int main() {
stdio_init_all(); stdio_init_all();
printf("Hello, world!\n"); printf("Hello, world!\n");
VacumControl vacumControl; gpio_init(LED1_PIN);
gpio_set_dir(LED1_PIN, GPIO_OUT);
gpio_put(LED1_PIN, 1);
gpio_init(LED2_PIN);
gpio_set_dir(LED2_PIN, GPIO_OUT);
gpio_put(LED2_PIN, 1);
g_appData.txQueue = xQueueCreate(16, sizeof(GobotRPC_NI_Package_Transport));
g_appData.rxQueue = xQueueCreate(16, sizeof(GobotRPC_NI_Package_Transport));
VacumControl vacumControl = VacumControl(CORE_MASK_VACUM);
vacumControl.setState(false); vacumControl.setState(false);
g_appData.vacumControl = &vacumControl;
xTaskCreate(vTaskFunction, "Main Task", 1024, NULL, tskIDLE_PRIORITY, NULL);
InfoData info = {.addr=I2C_ADDR, .type=NODE_TYPE_VACUM};
GobotRPC_NI gobotrpc_ni(CORE_MASK_VACUM, g_appData.txQueue, g_appData.rxQueue, info);
gobotrpc_ni.registerOnPackageRxCallback(onRxPackage, &g_appData);
g_appData.gobotrpc_ni = &gobotrpc_ni;
xTaskCreateAffinitySet(
core1_main, "Core 1 Main", 2048, &g_appData, 1, CORE_MASK_VACUM, &xCore1TaskHandle
);
char txBuffer[32];
g_appData.gobotrpc_ni->sendPackage(txBuffer, 0, GobotRPCTypes::RESPONSE, GobotRPCNumber::RESET);
vTaskStartScheduler(); vTaskStartScheduler();
while (true) { while (true) {