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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

2 Commits
stone-disp ... main

Author SHA1 Message Date
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
266 changed files with 140906 additions and 14 deletions
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1
i2c-hub/circuit/external/KiCad-RP-Pico vendored Submodule

Submodule i2c-hub/circuit/external/KiCad-RP-Pico added at dc6f9b9f21

1
i2c-hub/circuit/external/RP_Silicon_KiCad vendored Submodule

Submodule i2c-hub/circuit/external/RP_Silicon_KiCad added at 8ab84dd99d

1
i2c-hub/circuit/i2c-hub/#auto_saved_files# Normal file
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/home/alexander/Projects/gobot/i2c-hub/circuit/i2c-hub/_autosave-i2c-hub.kicad_sch

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i2c-hub/circuit/i2c-hub/i2c-hub-backups/i2c-hub-2024-12-30_211118.zip (Stored with Git LFS) Normal file
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i2c-hub/circuit/i2c-hub/i2c-hub.kicad_pcb (Stored with Git LFS) Normal file
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i2c-hub/circuit/i2c-hub/i2c-hub.kicad_pro (Stored with Git LFS) Normal file
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i2c-hub/circuit/i2c-hub/i2c-hub.kicad_sch (Stored with Git LFS) Normal file
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4
i2c-hub/circuit/i2c-hub/sym-lib-table Normal file
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(sym_lib_table
(version 7)
(lib (name "MCU_RaspberryPi_and_Boards")(type "KiCad")(uri "/home/alexander/Projects/gobot/i2c-hub/circuit/external/KiCad-RP-Pico/RP-Pico Libraries/MCU_RaspberryPi_and_Boards.kicad_sym")(options "")(descr ""))
)

1
i2c-hub/circuit/i2c-hub/~i2c-hub.kicad_sch.lck Normal file
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{"hostname":"hal","username":"alexander"}

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23
i2c-hub/firmware/i2c-hub-firmware/.vscode/c_cpp_properties.json vendored Normal file
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{
"configurations": [
{
"name": "Pico",
"includePath": [
"${workspaceFolder}/**",
"${userHome}/.pico-sdk/sdk/2.1.0/**"
],
"forcedInclude": [
"${userHome}/.pico-sdk/sdk/2.1.0/src/common/pico_base_headers/include/pico.h",
"${workspaceFolder}/build/generated/pico_base/pico/config_autogen.h"
],
"defines": [],
"compilerPath": "${userHome}/.pico-sdk/toolchain/13_3_Rel1/bin/arm-none-eabi-gcc",
"compileCommands": "${workspaceFolder}/build/compile_commands.json",
"cStandard": "c17",
"cppStandard": "c++14",
"intelliSenseMode": "linux-gcc-arm",
"configurationProvider": "ms-vscode.cmake-tools"
}
],
"version": 4
}

15
i2c-hub/firmware/i2c-hub-firmware/.vscode/cmake-kits.json vendored Normal file
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@@ -0,0 +1,15 @@
[
{
"name": "Pico",
"compilers": {
"C": "${command:raspberry-pi-pico.getCompilerPath}",
"CXX": "${command:raspberry-pi-pico.getCxxCompilerPath}"
},
"environmentVariables": {
"PATH": "${command:raspberry-pi-pico.getEnvPath};${env:PATH}"
},
"cmakeSettings": {
"Python3_EXECUTABLE": "${command:raspberry-pi-pico.getPythonPath}"
}
}
]

9
i2c-hub/firmware/i2c-hub-firmware/.vscode/extensions.json vendored Normal file
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@@ -0,0 +1,9 @@
{
"recommendations": [
"marus25.cortex-debug",
"ms-vscode.cpptools",
"ms-vscode.cpptools-extension-pack",
"ms-vscode.vscode-serial-monitor",
"raspberry-pi.raspberry-pi-pico"
]
}

70
i2c-hub/firmware/i2c-hub-firmware/.vscode/launch.json vendored Normal file
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@@ -0,0 +1,70 @@
{
"version": "0.2.0",
"configurations": [
{
"name": "Pico Debug (Cortex-Debug)",
"cwd": "${userHome}/.pico-sdk/openocd/0.12.0+dev/scripts",
"executable": "${command:raspberry-pi-pico.launchTargetPath}",
"request": "launch",
"type": "cortex-debug",
"servertype": "openocd",
"serverpath": "${userHome}/.pico-sdk/openocd/0.12.0+dev/openocd.exe",
"gdbPath": "${command:raspberry-pi-pico.getGDBPath}",
"device": "${command:raspberry-pi-pico.getChipUppercase}",
"configFiles": [
"interface/cmsis-dap.cfg",
"target/${command:raspberry-pi-pico.getTarget}.cfg"
],
"svdFile": "${userHome}/.pico-sdk/sdk/2.1.0/src/${command:raspberry-pi-pico.getChip}/hardware_regs/${command:raspberry-pi-pico.getChipUppercase}.svd",
"runToEntryPoint": "main",
// Fix for no_flash binaries, where monitor reset halt doesn't do what is expected
// Also works fine for flash binaries
"overrideLaunchCommands": [
"monitor reset init",
"load \"${command:raspberry-pi-pico.launchTargetPath}\""
],
"openOCDLaunchCommands": [
"adapter speed 5000"
]
},
{
"name": "Pico Debug (Cortex-Debug with external OpenOCD)",
"cwd": "${workspaceRoot}",
"executable": "${command:raspberry-pi-pico.launchTargetPath}",
"request": "launch",
"type": "cortex-debug",
"servertype": "external",
"gdbTarget": "localhost:3333",
"gdbPath": "${command:raspberry-pi-pico.getGDBPath}",
"device": "${command:raspberry-pi-pico.getChipUppercase}",
"svdFile": "${userHome}/.pico-sdk/sdk/2.1.0/src/${command:raspberry-pi-pico.getChip}/hardware_regs/${command:raspberry-pi-pico.getChipUppercase}.svd",
"runToEntryPoint": "main",
// Fix for no_flash binaries, where monitor reset halt doesn't do what is expected
// Also works fine for flash binaries
"overrideLaunchCommands": [
"monitor reset init",
"load \"${command:raspberry-pi-pico.launchTargetPath}\""
]
},
{
"name": "Pico Debug (C++ Debugger)",
"type": "cppdbg",
"request": "launch",
"cwd": "${workspaceRoot}",
"program": "${command:raspberry-pi-pico.launchTargetPath}",
"MIMode": "gdb",
"miDebuggerPath": "${command:raspberry-pi-pico.getGDBPath}",
"miDebuggerServerAddress": "localhost:3333",
"debugServerPath": "${userHome}/.pico-sdk/openocd/0.12.0+dev/openocd.exe",
"debugServerArgs": "-f interface/cmsis-dap.cfg -f target/${command:raspberry-pi-pico.getTarget}.cfg -c \"adapter speed 5000\"",
"serverStarted": "Listening on port .* for gdb connections",
"filterStderr": true,
"hardwareBreakpoints": {
"require": true,
"limit": 4
},
"preLaunchTask": "Flash",
"svdPath": "${userHome}/.pico-sdk/sdk/2.1.0/src/${command:raspberry-pi-pico.getChip}/hardware_regs/${command:raspberry-pi-pico.getChipUppercase}.svd"
},
]
}

87
i2c-hub/firmware/i2c-hub-firmware/.vscode/settings.json vendored Normal file
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@@ -0,0 +1,87 @@
{
"cmake.options.statusBarVisibility": "hidden",
"cmake.options.advanced": {
"build": {
"statusBarVisibility": "hidden"
},
"launch": {
"statusBarVisibility": "hidden"
},
"debug": {
"statusBarVisibility": "hidden"
}
},
"cmake.configureOnEdit": true,
"cmake.automaticReconfigure": true,
"cmake.configureOnOpen": true,
"cmake.generator": "Ninja",
"cmake.cmakePath": "${userHome}/.pico-sdk/cmake/v3.29.9/bin/cmake",
"C_Cpp.debugShortcut": false,
"terminal.integrated.env.windows": {
"PICO_SDK_PATH": "${env:USERPROFILE}/.pico-sdk/sdk/2.1.0",
"PICO_TOOLCHAIN_PATH": "${env:USERPROFILE}/.pico-sdk/toolchain/13_3_Rel1",
"Path": "${env:USERPROFILE}/.pico-sdk/toolchain/13_3_Rel1/bin;${env:USERPROFILE}/.pico-sdk/picotool/2.1.0/picotool;${env:USERPROFILE}/.pico-sdk/cmake/v3.29.9/bin;${env:USERPROFILE}/.pico-sdk/ninja/v1.12.1;${env:PATH}"
},
"terminal.integrated.env.osx": {
"PICO_SDK_PATH": "${env:HOME}/.pico-sdk/sdk/2.1.0",
"PICO_TOOLCHAIN_PATH": "${env:HOME}/.pico-sdk/toolchain/13_3_Rel1",
"PATH": "${env:HOME}/.pico-sdk/toolchain/13_3_Rel1/bin:${env:HOME}/.pico-sdk/picotool/2.1.0/picotool:${env:HOME}/.pico-sdk/cmake/v3.29.9/bin:${env:HOME}/.pico-sdk/ninja/v1.12.1:${env:PATH}"
},
"terminal.integrated.env.linux": {
"PICO_SDK_PATH": "${env:HOME}/.pico-sdk/sdk/2.1.0",
"PICO_TOOLCHAIN_PATH": "${env:HOME}/.pico-sdk/toolchain/13_3_Rel1",
"PATH": "${env:HOME}/.pico-sdk/toolchain/13_3_Rel1/bin:${env:HOME}/.pico-sdk/picotool/2.1.0/picotool:${env:HOME}/.pico-sdk/cmake/v3.29.9/bin:${env:HOME}/.pico-sdk/ninja/v1.12.1:${env:PATH}"
},
"raspberry-pi-pico.cmakeAutoConfigure": false,
"raspberry-pi-pico.useCmakeTools": true,
"raspberry-pi-pico.cmakePath": "${HOME}/.pico-sdk/cmake/v3.29.9/bin/cmake",
"raspberry-pi-pico.ninjaPath": "${HOME}/.pico-sdk/ninja/v1.12.1/ninja",
"files.associations": {
"uart.h": "c",
"freertos.h": "c",
"array": "cpp",
"atomic": "cpp",
"bit": "cpp",
"*.tcc": "cpp",
"cctype": "cpp",
"clocale": "cpp",
"cmath": "cpp",
"compare": "cpp",
"concepts": "cpp",
"cstdarg": "cpp",
"cstddef": "cpp",
"cstdint": "cpp",
"cstdio": "cpp",
"cstdlib": "cpp",
"cwchar": "cpp",
"cwctype": "cpp",
"deque": "cpp",
"map": "cpp",
"string": "cpp",
"unordered_map": "cpp",
"vector": "cpp",
"exception": "cpp",
"algorithm": "cpp",
"functional": "cpp",
"iterator": "cpp",
"memory": "cpp",
"memory_resource": "cpp",
"numeric": "cpp",
"optional": "cpp",
"random": "cpp",
"string_view": "cpp",
"system_error": "cpp",
"tuple": "cpp",
"type_traits": "cpp",
"utility": "cpp",
"initializer_list": "cpp",
"iosfwd": "cpp",
"limits": "cpp",
"new": "cpp",
"numbers": "cpp",
"ostream": "cpp",
"stdexcept": "cpp",
"streambuf": "cpp",
"typeinfo": "cpp"
}
}

106
i2c-hub/firmware/i2c-hub-firmware/.vscode/tasks.json vendored Normal file
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{
"version": "2.0.0",
"tasks": [
{
"label": "Compile Project",
"type": "process",
"isBuildCommand": true,
"command": "${userHome}/.pico-sdk/ninja/v1.12.1/ninja",
"args": ["-C", "${workspaceFolder}/build"],
"group": "build",
"presentation": {
"echo": true,
"reveal": "always",
"focus": true,
"panel": "dedicated",
"showReuseMessage": true,
"clear": true
},
"problemMatcher": "$gcc",
"windows": {
"command": "${env:USERPROFILE}/.pico-sdk/ninja/v1.12.1/ninja.exe"
}
},
{
"label": "Run Project",
"type": "process",
"command": "${env:HOME}/.pico-sdk/picotool/2.1.0/picotool/picotool",
"args": [
"load",
"${command:raspberry-pi-pico.launchTargetPath}",
"-fx"
],
"presentation": {
"echo": true,
"reveal": "always",
"focus": true,
"panel": "shared",
"showReuseMessage": true,
"clear": true
},
"problemMatcher": [],
"windows": {
"command": "${env:USERPROFILE}/.pico-sdk/picotool/2.1.0/picotool/picotool.exe"
}
},
{
"label": "Flash",
"type": "process",
"command": "${userHome}/.pico-sdk/openocd/0.12.0+dev/openocd.exe",
"args": [
"-s",
"${userHome}/.pico-sdk/openocd/0.12.0+dev/scripts",
"-f",
"interface/cmsis-dap.cfg",
"-f",
"target/${command:raspberry-pi-pico.getTarget}.cfg",
"-c", "adapter speed 5000; program \"${command:raspberry-pi-pico.launchTargetPath}\" verify",
"-c", "reset halt",
"-c", "rp2040.core1 arp_reset assert 0",
"-c", "rp2040.core0 arp_reset assert 0",
"-c", "exit"
],
"presentation": {
"echo": true,
"reveal": "always",
"focus": true,
"panel": "shared",
"showReuseMessage": true,
"clear": true
},
"dependsOn": ["Compile Project"],
"problemMatcher": [],
"windows": {
"command": "${env:USERPROFILE}/.pico-sdk/openocd/0.12.0+dev/openocd.exe",
}
},
{
"label": "Reset",
"type": "process",
"command": "${userHome}/.pico-sdk/openocd/0.12.0+dev/openocd.exe",
"args": [
"-s",
"${userHome}/.pico-sdk/openocd/0.12.0+dev/scripts",
"-f",
"interface/cmsis-dap.cfg",
"-f", "target/${command:raspberry-pi-pico.getTarget}.cfg",
"-c", "adapter speed 5000; init; reset halt;",
"-c", "rp2040.core1 arp_reset assert 0",
"-c", "rp2040.core0 arp_reset assert 0",
"-c", "exit"
],
"presentation": {
"echo": true,
"reveal": "always",
"focus": true,
"panel": "shared",
"showReuseMessage": true,
"clear": true
},
"problemMatcher": [],
"windows": {
"command": "${env:USERPROFILE}/.pico-sdk/openocd/0.12.0+dev/openocd.exe",
}
}
]
}

75
i2c-hub/firmware/i2c-hub-firmware/CMakeLists.txt Normal file
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# Generated Cmake Pico project file
set(CMAKE_VERBOSE_MAKEFILE ON CACHE BOOL "ON")
cmake_minimum_required(VERSION 3.13)
set(CMAKE_C_STANDARD 11)
set(CMAKE_CXX_STANDARD 17)
set(CMAKE_EXPORT_COMPILE_COMMANDS ON)
# Initialise pico_sdk from installed location
# (note this can come from environment, CMake cache etc)
# == DO NOT EDIT THE FOLLOWING LINES for the Raspberry Pi Pico VS Code Extension to work ==
if(WIN32)
set(USERHOME $ENV{USERPROFILE})
else()
set(USERHOME $ENV{HOME})
endif()
set(sdkVersion 2.1.0)
set(toolchainVersion 13_3_Rel1)
set(picotoolVersion 2.1.0)
set(picoVscode ${USERHOME}/.pico-sdk/cmake/pico-vscode.cmake)
if (EXISTS ${picoVscode})
include(${picoVscode})
endif()
# ====================================================================================
set(PICO_BOARD pico CACHE STRING "Board type")
# Pull in Raspberry Pi Pico SDK (must be before project)
include(pico_sdk_import.cmake)
# Adding FreeRTOS
set(FREERTOS_KERNEL_PATH ../lib/FreeRTOS-Kernel)
include(cmake/FreeRTOS_Kernel_import.cmake)
include(src/gobotrpc/cmake/CMakeLists.txt)
project(i2c-hub-firmware C CXX ASM)
# Initialise the Raspberry Pi Pico SDK
pico_sdk_init()
# Add executable. Default name is the project name, version 0.1
add_executable(i2c-hub-firmware
src/main_core0.cpp
src/main_core1.cpp
#src/freeRTOS_impl.c
)
pico_set_program_name(i2c-hub-firmware "i2c-hub-firmware")
pico_set_program_version(i2c-hub-firmware "0.1")
# Modify the below lines to enable/disable output over UART/USB
pico_enable_stdio_uart(i2c-hub-firmware 1)
pico_enable_stdio_usb(i2c-hub-firmware 0)
# Add the standard library to the build
target_link_libraries(i2c-hub-firmware
FreeRTOS-Kernel-Heap4
GobotRPC
pico_stdlib
)
# Add the standard include files to the build
target_include_directories(i2c-hub-firmware PRIVATE
${CMAKE_CURRENT_LIST_DIR}
${CMAKE_CURRENT_LIST_DIR}/include
)
# Add any user requested libraries
target_link_libraries(i2c-hub-firmware
hardware_i2c
)
pico_add_extra_outputs(i2c-hub-firmware)

143
i2c-hub/firmware/i2c-hub-firmware/FreeRTOSConfig.h Normal file
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/*
* FreeRTOS V202111.00
* Copyright (C) 2020 Amazon.com, Inc. or its affiliates. All Rights Reserved.
*
* Permission is hereby granted, free of charge, to any person obtaining a copy of
* this software and associated documentation files (the "Software"), to deal in
* the Software without restriction, including without limitation the rights to
* use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of
* the Software, and to permit persons to whom the Software is furnished to do so,
* subject to the following conditions:
*
* The above copyright notice and this permission notice shall be included in all
* copies or substantial portions of the Software.
*
* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
* IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS
* FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR
* COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER
* IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN
* CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
*
* http://www.FreeRTOS.org
* http://aws.amazon.com/freertos
*
* 1 tab == 4 spaces!
*/
#ifndef FREERTOS_CONFIG_H
#define FREERTOS_CONFIG_H
/*-----------------------------------------------------------
* Application specific definitions.
*
* These definitions should be adjusted for your particular hardware and
* application requirements.
*
* THESE PARAMETERS ARE DESCRIBED WITHIN THE 'CONFIGURATION' SECTION OF THE
* FreeRTOS API DOCUMENTATION AVAILABLE ON THE FreeRTOS.org WEB SITE.
*
* See http://www.freertos.org/a00110.html
*----------------------------------------------------------*/
/* Scheduler Related */
#define configUSE_PREEMPTION 1
#define configUSE_TICKLESS_IDLE 0
#define configUSE_IDLE_HOOK 0
#define configUSE_TICK_HOOK 0
#define configTICK_RATE_HZ ( ( TickType_t ) 1000 )
#define configMAX_PRIORITIES 32
#define configMINIMAL_STACK_SIZE ( configSTACK_DEPTH_TYPE ) 256
#define configUSE_16_BIT_TICKS 0
#define configIDLE_SHOULD_YIELD 1
/* Synchronization Related */
#define configUSE_MUTEXES 1
#define configUSE_RECURSIVE_MUTEXES 1
#define configUSE_APPLICATION_TASK_TAG 0
#define configUSE_COUNTING_SEMAPHORES 1
#define configQUEUE_REGISTRY_SIZE 8
#define configUSE_QUEUE_SETS 1
#define configUSE_TIME_SLICING 1
#define configUSE_NEWLIB_REENTRANT 0
// todo need this for lwip FreeRTOS sys_arch to compile
#define configENABLE_BACKWARD_COMPATIBILITY 1
#define configNUM_THREAD_LOCAL_STORAGE_POINTERS 5
/* System */
#define configSTACK_DEPTH_TYPE uint32_t
#define configMESSAGE_BUFFER_LENGTH_TYPE size_t
/* Memory allocation related definitions. */
#define configSUPPORT_STATIC_ALLOCATION 0
#define configSUPPORT_DYNAMIC_ALLOCATION 1
#define configTOTAL_HEAP_SIZE (1024 * 128)
#define configAPPLICATION_ALLOCATED_HEAP (1024 * 84)
/* Hook function related definitions. */
#define configCHECK_FOR_STACK_OVERFLOW 0
#define configUSE_MALLOC_FAILED_HOOK 0
#define configUSE_DAEMON_TASK_STARTUP_HOOK 0
/* Run time and task stats gathering related definitions. */
#define configGENERATE_RUN_TIME_STATS 0
#define configUSE_TRACE_FACILITY 1
#define configUSE_STATS_FORMATTING_FUNCTIONS 0
/* Co-routine related definitions. */
#define configUSE_CO_ROUTINES 0
#define configMAX_CO_ROUTINE_PRIORITIES 1
/* Software timer related definitions. */
#define configUSE_TIMERS 1
#define configTIMER_TASK_PRIORITY ( configMAX_PRIORITIES - 1 )
#define configTIMER_QUEUE_LENGTH 10
#define configTIMER_TASK_STACK_DEPTH 1024
/* Interrupt nesting behaviour configuration. */
/*
#define configKERNEL_INTERRUPT_PRIORITY [dependent of processor]
#define configMAX_SYSCALL_INTERRUPT_PRIORITY [dependent on processor and application]
#define configMAX_API_CALL_INTERRUPT_PRIORITY [dependent on processor and application]
*/
#if FREE_RTOS_KERNEL_SMP // set by the RP2040 SMP port of FreeRTOS
/* SMP port only */
#define configNUMBER_OF_CORES 2
#define configTICK_CORE 0
#define configRUN_MULTIPLE_PRIORITIES 1
#define configUSE_CORE_AFFINITY 1
#define configUSE_PASSIVE_IDLE_HOOK 0
#endif
/* RP2040 specific */
#define configSUPPORT_PICO_SYNC_INTEROP 1
#define configSUPPORT_PICO_TIME_INTEROP 1
#include <assert.h>
/* Define to trap errors during development. */
#define configASSERT(x) assert(x)
/* Set the following definitions to 1 to include the API function, or zero
to exclude the API function. */
#define INCLUDE_vTaskPrioritySet 1
#define INCLUDE_uxTaskPriorityGet 1
#define INCLUDE_vTaskDelete 1
#define INCLUDE_vTaskSuspend 1
#define INCLUDE_vTaskDelayUntil 1
#define INCLUDE_vTaskDelay 1
#define INCLUDE_xTaskGetSchedulerState 1
#define INCLUDE_xTaskGetCurrentTaskHandle 1
#define INCLUDE_uxTaskGetStackHighWaterMark 1
#define INCLUDE_xTaskGetIdleTaskHandle 1
#define INCLUDE_eTaskGetState 1
#define INCLUDE_xTimerPendFunctionCall 1
#define INCLUDE_xTaskAbortDelay 1
#define INCLUDE_xTaskGetHandle 1
#define INCLUDE_xTaskResumeFromISR 1
#define INCLUDE_xQueueGetMutexHolder 1
/* A header file that defines trace macro can be included here. */
#endif /* FREERTOS_CONFIG_H */

61
i2c-hub/firmware/i2c-hub-firmware/cmake/FreeRTOS_Kernel_import.cmake Normal file
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# This is a copy of <FREERTOS_KERNEL_PATH>/portable/ThirdParty/GCC/RP2040/FREERTOS_KERNEL_import.cmake
# This can be dropped into an external project to help locate the FreeRTOS kernel
# It should be include()ed prior to project(). Alternatively this file may
# or the CMakeLists.txt in this directory may be included or added via add_subdirectory
# respectively.
if (DEFINED ENV{FREERTOS_KERNEL_PATH} AND (NOT FREERTOS_KERNEL_PATH))
set(FREERTOS_KERNEL_PATH $ENV{FREERTOS_KERNEL_PATH})
message("Using FREERTOS_KERNEL_PATH from environment ('${FREERTOS_KERNEL_PATH}')")
endif ()
set(FREERTOS_KERNEL_RP2040_RELATIVE_PATH "portable/ThirdParty/GCC/RP2040")
# undo the above
set(FREERTOS_KERNEL_RP2040_BACK_PATH "../../../..")
if (NOT FREERTOS_KERNEL_PATH)
# check if we are inside the FreeRTOS kernel tree (i.e. this file has been included directly)
get_filename_component(_ACTUAL_PATH ${CMAKE_CURRENT_LIST_DIR} REALPATH)
get_filename_component(_POSSIBLE_PATH ${CMAKE_CURRENT_LIST_DIR}/${FREERTOS_KERNEL_RP2040_BACK_PATH}/${FREERTOS_KERNEL_RP2040_RELATIVE_PATH} REALPATH)
if (_ACTUAL_PATH STREQUAL _POSSIBLE_PATH)
get_filename_component(FREERTOS_KERNEL_PATH ${CMAKE_CURRENT_LIST_DIR}/${FREERTOS_KERNEL_RP2040_BACK_PATH} REALPATH)
endif()
if (_ACTUAL_PATH STREQUAL _POSSIBLE_PATH)
get_filename_component(FREERTOS_KERNEL_PATH ${CMAKE_CURRENT_LIST_DIR}/${FREERTOS_KERNEL_RP2040_BACK_PATH} REALPATH)
message("Setting FREERTOS_KERNEL_PATH to ${FREERTOS_KERNEL_PATH} based on location of FreeRTOS-Kernel-import.cmake")
elseif (PICO_SDK_PATH AND EXISTS "${PICO_SDK_PATH}/../FreeRTOS-Kernel")
set(FREERTOS_KERNEL_PATH ${PICO_SDK_PATH}/../FreeRTOS-Kernel)
message("Defaulting FREERTOS_KERNEL_PATH as sibling of PICO_SDK_PATH: ${FREERTOS_KERNEL_PATH}")
endif()
endif ()
if (NOT FREERTOS_KERNEL_PATH)
foreach(POSSIBLE_SUFFIX Source FreeRTOS-Kernel FreeRTOS/Source)
# check if FreeRTOS-Kernel exists under directory that included us
set(SEARCH_ROOT ${CMAKE_CURRENT_SOURCE_DIR})
get_filename_component(_POSSIBLE_PATH ${SEARCH_ROOT}/${POSSIBLE_SUFFIX} REALPATH)
if (EXISTS ${_POSSIBLE_PATH}/${FREERTOS_KERNEL_RP2040_RELATIVE_PATH}/CMakeLists.txt)
get_filename_component(FREERTOS_KERNEL_PATH ${_POSSIBLE_PATH} REALPATH)
message("Setting FREERTOS_KERNEL_PATH to '${FREERTOS_KERNEL_PATH}' found relative to enclosing project")
break()
endif()
endforeach()
endif()
if (NOT FREERTOS_KERNEL_PATH)
message(FATAL_ERROR "FreeRTOS location was not specified. Please set FREERTOS_KERNEL_PATH.")
endif()
set(FREERTOS_KERNEL_PATH "${FREERTOS_KERNEL_PATH}" CACHE PATH "Path to the FreeRTOS Kernel")
get_filename_component(FREERTOS_KERNEL_PATH "${FREERTOS_KERNEL_PATH}" REALPATH BASE_DIR "${CMAKE_BINARY_DIR}")
if (NOT EXISTS ${FREERTOS_KERNEL_PATH})
message(FATAL_ERROR "Directory '${FREERTOS_KERNEL_PATH}' not found")
endif()
if (NOT EXISTS ${FREERTOS_KERNEL_PATH}/${FREERTOS_KERNEL_RP2040_RELATIVE_PATH}/CMakeLists.txt)
message(FATAL_ERROR "Directory '${FREERTOS_KERNEL_PATH}' does not contain an RP2040 port here: ${FREERTOS_KERNEL_RP2040_RELATIVE_PATH}")
endif()
set(FREERTOS_KERNEL_PATH ${FREERTOS_KERNEL_PATH} CACHE PATH "Path to the FreeRTOS_KERNEL" FORCE)
add_subdirectory(${FREERTOS_KERNEL_PATH}/${FREERTOS_KERNEL_RP2040_RELATIVE_PATH} FREERTOS_KERNEL)

1708
i2c-hub/firmware/i2c-hub-firmware/docs/.$NetworkStack.drawio.bkp Normal file
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1708
i2c-hub/firmware/i2c-hub-firmware/docs/NetworkStack.drawio Normal file
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File diff suppressed because it is too large Load Diff

23
i2c-hub/firmware/i2c-hub-firmware/include/pinConfig.hpp Normal file
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#pragma once
#define LED1_PIN 8
#define LED2_PIN 9
#define LED3_PIN 25
#define GOBOTRPC_CI_UART_RX 0
#define GOBOTRPC_CI_UART_TX 1
#define GOBOTRPC_TI_I2C_SDA 4
#define GOBOTRPC_TI_I2C_SCL 5
#define GOBOTRPC_TI_CLOCK_SPEED 10000
#define GOBOTRPC_TI_INT_PIN_START 10
#define GOBOTRPC_TI_INT_NUM 4
#define GOBOTRPC_TI_COMBINED_INT_PIN 18
#define GOBOTRPC_TI_EXTERNAL_PULLUP 1
#define GOBOTRPC_HEARTBEAT_INTERVAL 3000
#define UART_CORE_MASK 0b01
#define I2C_CORE_MASK 0b01

1
i2c-hub/firmware/i2c-hub-firmware/lib/FreeRTOS-Kernel Submodule

Submodule i2c-hub/firmware/i2c-hub-firmware/lib/FreeRTOS-Kernel added at dbf70559b2

84
i2c-hub/firmware/i2c-hub-firmware/pico_sdk_import.cmake Normal file
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# This is a copy of <PICO_SDK_PATH>/external/pico_sdk_import.cmake
# This can be dropped into an external project to help locate this SDK
# It should be include()ed prior to project()
if (DEFINED ENV{PICO_SDK_PATH} AND (NOT PICO_SDK_PATH))
set(PICO_SDK_PATH $ENV{PICO_SDK_PATH})
message("Using PICO_SDK_PATH from environment ('${PICO_SDK_PATH}')")
endif ()
if (DEFINED ENV{PICO_SDK_FETCH_FROM_GIT} AND (NOT PICO_SDK_FETCH_FROM_GIT))
set(PICO_SDK_FETCH_FROM_GIT $ENV{PICO_SDK_FETCH_FROM_GIT})
message("Using PICO_SDK_FETCH_FROM_GIT from environment ('${PICO_SDK_FETCH_FROM_GIT}')")
endif ()
if (DEFINED ENV{PICO_SDK_FETCH_FROM_GIT_PATH} AND (NOT PICO_SDK_FETCH_FROM_GIT_PATH))
set(PICO_SDK_FETCH_FROM_GIT_PATH $ENV{PICO_SDK_FETCH_FROM_GIT_PATH})
message("Using PICO_SDK_FETCH_FROM_GIT_PATH from environment ('${PICO_SDK_FETCH_FROM_GIT_PATH}')")
endif ()
if (DEFINED ENV{PICO_SDK_FETCH_FROM_GIT_TAG} AND (NOT PICO_SDK_FETCH_FROM_GIT_TAG))
set(PICO_SDK_FETCH_FROM_GIT_TAG $ENV{PICO_SDK_FETCH_FROM_GIT_TAG})
message("Using PICO_SDK_FETCH_FROM_GIT_TAG from environment ('${PICO_SDK_FETCH_FROM_GIT_TAG}')")
endif ()
if (PICO_SDK_FETCH_FROM_GIT AND NOT PICO_SDK_FETCH_FROM_GIT_TAG)
set(PICO_SDK_FETCH_FROM_GIT_TAG "master")
message("Using master as default value for PICO_SDK_FETCH_FROM_GIT_TAG")
endif()
set(PICO_SDK_PATH "${PICO_SDK_PATH}" CACHE PATH "Path to the Raspberry Pi Pico SDK")
set(PICO_SDK_FETCH_FROM_GIT "${PICO_SDK_FETCH_FROM_GIT}" CACHE BOOL "Set to ON to fetch copy of SDK from git if not otherwise locatable")
set(PICO_SDK_FETCH_FROM_GIT_PATH "${PICO_SDK_FETCH_FROM_GIT_PATH}" CACHE FILEPATH "location to download SDK")
set(PICO_SDK_FETCH_FROM_GIT_TAG "${PICO_SDK_FETCH_FROM_GIT_TAG}" CACHE FILEPATH "release tag for SDK")
if (NOT PICO_SDK_PATH)
if (PICO_SDK_FETCH_FROM_GIT)
include(FetchContent)
set(FETCHCONTENT_BASE_DIR_SAVE ${FETCHCONTENT_BASE_DIR})
if (PICO_SDK_FETCH_FROM_GIT_PATH)
get_filename_component(FETCHCONTENT_BASE_DIR "${PICO_SDK_FETCH_FROM_GIT_PATH}" REALPATH BASE_DIR "${CMAKE_SOURCE_DIR}")
endif ()
# GIT_SUBMODULES_RECURSE was added in 3.17
if (${CMAKE_VERSION} VERSION_GREATER_EQUAL "3.17.0")
FetchContent_Declare(
pico_sdk
GIT_REPOSITORY https://github.com/raspberrypi/pico-sdk
GIT_TAG ${PICO_SDK_FETCH_FROM_GIT_TAG}
GIT_SUBMODULES_RECURSE FALSE
)
else ()
FetchContent_Declare(
pico_sdk
GIT_REPOSITORY https://github.com/raspberrypi/pico-sdk
GIT_TAG ${PICO_SDK_FETCH_FROM_GIT_TAG}
)
endif ()
if (NOT pico_sdk)
message("Downloading Raspberry Pi Pico SDK")
FetchContent_Populate(pico_sdk)
set(PICO_SDK_PATH ${pico_sdk_SOURCE_DIR})
endif ()
set(FETCHCONTENT_BASE_DIR ${FETCHCONTENT_BASE_DIR_SAVE})
else ()
message(FATAL_ERROR
"SDK location was not specified. Please set PICO_SDK_PATH or set PICO_SDK_FETCH_FROM_GIT to on to fetch from git."
)
endif ()
endif ()
get_filename_component(PICO_SDK_PATH "${PICO_SDK_PATH}" REALPATH BASE_DIR "${CMAKE_BINARY_DIR}")
if (NOT EXISTS ${PICO_SDK_PATH})
message(FATAL_ERROR "Directory '${PICO_SDK_PATH}' not found")
endif ()
set(PICO_SDK_INIT_CMAKE_FILE ${PICO_SDK_PATH}/pico_sdk_init.cmake)
if (NOT EXISTS ${PICO_SDK_INIT_CMAKE_FILE})
message(FATAL_ERROR "Directory '${PICO_SDK_PATH}' does not appear to contain the Raspberry Pi Pico SDK")
endif ()
set(PICO_SDK_PATH ${PICO_SDK_PATH} CACHE PATH "Path to the Raspberry Pi Pico SDK" FORCE)
include(${PICO_SDK_INIT_CMAKE_FILE})

29
i2c-hub/firmware/i2c-hub-firmware/src/gobotrpc/cmake/CMakeLists.txt Normal file
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@@ -0,0 +1,29 @@
add_library(GobotRPC STATIC
${CMAKE_CURRENT_LIST_DIR}/../ctrl_interface/base.cpp
${CMAKE_CURRENT_LIST_DIR}/../ctrl_interface/ci_instruction.cpp
${CMAKE_CURRENT_LIST_DIR}/../ctrl_interface/uart_rp2040/hardware_rp2040_uart.cpp
${CMAKE_CURRENT_LIST_DIR}/../ctrl_interface/uart_rp2040/rx.cpp
${CMAKE_CURRENT_LIST_DIR}/../crc16.cpp
${CMAKE_CURRENT_LIST_DIR}/../protocol_base.cpp
${CMAKE_CURRENT_LIST_DIR}/../transmission_interface/rp2040_i2c_init.cpp
${CMAKE_CURRENT_LIST_DIR}/../transmission_interface/rp2040_i2c_tx.cpp
${CMAKE_CURRENT_LIST_DIR}/../transmission_interface/rp2040_i2c_rx.cpp
${CMAKE_CURRENT_LIST_DIR}/../transmission_interface/rp2040_i2c_int.cpp
${CMAKE_CURRENT_LIST_DIR}/../transmission_interface/rp2040_i2c_ci_instructions.cpp
)
target_include_directories(GobotRPC PUBLIC
${CMAKE_CURRENT_LIST_DIR}/../include
${CMAKE_CURRENT_LIST_DIR}/../include/util
${CMAKE_CURRENT_LIST_DIR}/../include/ti
${CMAKE_CURRENT_LIST_DIR}/../../..
${CMAKE_CURRENT_LIST_DIR}/../../../include
)
target_link_libraries(GobotRPC
FreeRTOS-Kernel-Heap4
pico_stdlib
hardware_uart
hardware_irq
hardware_i2c
)

19
i2c-hub/firmware/i2c-hub-firmware/src/gobotrpc/cmake/gobotRPC_Node.cmake Normal file
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add_library(GobotRPC_Node_RP2040_I2C STATIC
${CMAKE_CURRENT_LIST_DIR}/../node_interface/rp2040/i2c/init.cpp
${CMAKE_CURRENT_LIST_DIR}/../node_interface/rp2040/i2c/rx_tx.cpp
${CMAKE_CURRENT_LIST_DIR}/../crc16.cpp
${CMAKE_CURRENT_LIST_DIR}/../protocol_base.cpp
${CMAKE_CURRENT_LIST_DIR}/../node_interface/init.cpp
)
target_include_directories(GobotRPC_Node_RP2040_I2C PUBLIC
${CMAKE_CURRENT_LIST_DIR}/../node_interface/include
${CMAKE_CURRENT_LIST_DIR}/../include/util
${CMAKE_CURRENT_LIST_DIR}/../../..
)
target_link_libraries(GobotRPC_Node_RP2040_I2C
FreeRTOS-Kernel-Heap4
pico_stdlib
hardware_i2c
hardware_irq
)

39
i2c-hub/firmware/i2c-hub-firmware/src/gobotrpc/crc16.cpp Normal file
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#include "crc16.hpp"
#define POLY 0x8408
/*
// 16 12 5
// this is the CCITT CRC 16 polynomial X + X + X + 1.
// This works out to be 0x1021, but the way the algorithm works
// lets us use 0x8408 (the reverse of the bit pattern). The high
// bit is always assumed to be set, thus we only use 16 bits to
// represent the 17 bit value.
*/
unsigned short crc16(char *data_p, unsigned short length)
{
unsigned char i;
unsigned int data;
unsigned int crc = 0xffff;
if (length == 0)
return (~crc);
do
{
for (i=0, data=(unsigned int)0xff & *data_p++;
i < 8;
i++, data >>= 1)
{
if ((crc & 0x0001) ^ (data & 0x0001))
crc = (crc >> 1) ^ POLY;
else crc >>= 1;
}
} while (--length);
crc = ~crc;
data = crc;
crc = (crc << 8) | (data >> 8 & 0xff);
return (crc);
}

100
i2c-hub/firmware/i2c-hub-firmware/src/gobotrpc/ctrl_interface/base.cpp Normal file
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@@ -0,0 +1,100 @@
#include "ci/base.hpp"
#include "pinConfig.hpp"
#include "protocol.hpp"
#include "pico/stdlib.h"
#include "hardware/watchdog.h"
#include "FreeRTOSConfig.h"
#include "FreeRTOS.h"
#include "task.h"
GobotRPC_CI::GobotRPC_CI(I_GobotRPC_CI_Hardware *hardware, UBaseType_t core, QueueHandle_t ciInstructionQueue, QueueHandle_t ciInstructionReverseQueue) {
this->ciInstructionQueue = ciInstructionQueue;
this->ciInstructionReverseQueue = ciInstructionReverseQueue;
this->hardware = hardware;
this->hardware->registerCB_RxData(GobotRPC_CI_rxData_cb, this);
this->cb_TxPacket = NULL;
this->cb_TxPacket_args = NULL;
this->cb_SetAddressMap = NULL;
this->cb_SetAddressMap_args = NULL;
xTaskCreateAffinitySet(GobotRPC_CI_heartBeatTaskFn, "Heartbeat Task", 2048, this, 2, core, &this->heartBeatTaskHandle);
xTaskCreateAffinitySet(GobotRPC_CI_txCIInstructionTaskFn, "Tx CI Instruction Task", 2048, this, 3, core, &this->txCIInstructionTaskHandle);
}
// Rx Side
void GobotRPC_CI_rxData_cb(void * args, char *data, size_t len) {
GobotRPC_CI *gobotRPC = (GobotRPC_CI *)args;
gobotRPC->onRxData(data, len);
}
void GobotRPC_CI::onRxData(char *data, size_t len) {
GobotRPC_CI_CMD cmd = (GobotRPC_CI_CMD)data[0];
switch (cmd) {
case TX_CI_PACKET:
if(this->cb_TxPacket != NULL) {
uint32_t addr = (data[2] << 24) | (data[3] << 16) | (data[4] << 8) | data[5];
this->cb_TxPacket(this->cb_TxPacket_args, data+6, len-6, addr);
}
break;
case RESET_CI_PACKET:
//softwareReset();
break;
case SET_ADDR_PORT_MAP: {
if(this->cb_SetAddressMap != NULL) {
uint32_t addr = (data[2] << 24) | (data[3] << 16) | (data[4] << 8) | data[5];
uint8_t port = data[6];
this->cb_SetAddressMap(cb_SetAddressMap_args, addr, port);
}
break;
}
default:
break;
}
}
void GobotRPC_CI::registerCB_TxPacket(callback_TxPacket cb, void *args) {
this->cb_TxPacket = cb;
this->cb_TxPacket_args = args;
}
void GobotRPC_CI::registerCB_SetAddress(callback_SetAddress cb, void *args) {
this->cb_SetAddressMap = cb;
this->cb_SetAddressMap_args = args;
}
void GobotRPC_CI::send_RxPacket(char *data, size_t len, uint32_t addr) {
data[0] = RX_CI_PACKET;
data[1] = len + CI_RX_PACKAGE_DATA_OFFSET;
data[2] = (addr >> 24) & 0xff;
data[3] = (addr >> 16) & 0xff;
data[4] = (addr >> 8) & 0xff;
data[5] = addr & 0xff;
this->hardware->send(data, len+6);
}
// Heartbeat Task
void GobotRPC_CI_heartBeatTaskFn(void *args) {
GobotRPC_CI *gobotRPC = (GobotRPC_CI *)args;
gobotRPC->heartBeartTaskFn();
}
void GobotRPC_CI::heartBeartTaskFn() {
char heartBeatPacket[] = {HEARTBEAT, 0x02};
while(1) {
this->hardware->send(heartBeatPacket, 2);
vTaskDelay(GOBOTRPC_HEARTBEAT_INTERVAL / portTICK_PERIOD_MS);
}
}

90
i2c-hub/firmware/i2c-hub-firmware/src/gobotrpc/ctrl_interface/ci_instruction.cpp Normal file
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#include "ci/base.hpp"
#include "ci/instructions.hpp"
#include "FreeRTOS.h"
#include "task.h"
#include "queue.h"
void GobotRPC_CI_txCIInstructionTaskFn(void *args) {
GobotRPC_CI *gobotRPC = (GobotRPC_CI *)args;
gobotRPC->txCIInstructionTask();
}
void GobotRPC_CI::txCIInstructionTask() {
while(1) {
CI_Instruction_Transport ciInstruction;
xQueueReceive(ciInstructionQueue, &ciInstruction, portMAX_DELAY);
switch (ciInstruction.type) {
case CI_INSTRUCTION_SEND_TRANMISSION_ERROR: {
uint32_t addr = ciInstruction.data[1] | (ciInstruction.data[2] << 8) | (ciInstruction.data[3] << 16) | (ciInstruction.data[4] << 24);
uint8_t rx = ciInstruction.data[0];
send_ErrorTransmission(rx, addr);
break;
}
case CI_INSTRUCTION_SEND_TRANMISSION_SUCCESS: {
uint32_t addr = ciInstruction.data[0] \
| (ciInstruction.data[1] << 8) \
| (ciInstruction.data[2] << 16) \
| (ciInstruction.data[3] << 24);
send_SuccessTransmission(addr);
break;
}
case CI_INSTRUCTION_SEND_INFO_RESET:
send_InfoReset();
break;
}
}
}
void GobotRPC_CI::send_ErrorTransmission(bool rx, uint64_t addr) {
char errorPacket[7];
errorPacket[0] = ERROR_TRANMISSION;
errorPacket[1] = 7;
errorPacket[2] = rx ? 0x01 : 0x00;
errorPacket[3] = (addr >> 24) & 0xff;
errorPacket[4] = (addr >> 16) & 0xff;
errorPacket[5] = (addr >> 8) & 0xff;
errorPacket[6] = addr & 0xff;
this->hardware->send(errorPacket, 7);
}
void GobotRPC_CI::send_SuccessTransmission(uint64_t addr) {
char successPacket[6];
successPacket[0] = SUCESS_TRANMISSION;
successPacket[1] = 6;
successPacket[2] = (addr >> 24) & 0xff;
successPacket[3] = (addr >> 16) & 0xff;
successPacket[4] = (addr >> 8) & 0xff;
successPacket[5] = addr & 0xff;
this->hardware->send(successPacket, 6);
}
void GobotRPC_CI::send_InfoReset() {
char resetPacket[2];
resetPacket[0] = RESET_INFO_CI_PACKET;
resetPacket[1] = 2;
this->hardware->send(resetPacket, 2);
}
// CI Reverse Instructions (CI -> TI)
void GobotRPC_CI::send_rev_SetAddrMap(uint32_t addr, uint8_t port) {
CI_Instruction_Transport ciInstruction;
ciInstruction.type = CI_INSTRUCTION_REV_SEND_SET_ADDR_MAP;
ciInstruction.data[0] = addr & 0xff;
ciInstruction.data[1] = (addr >> 8) & 0xff;
ciInstruction.data[2] = (addr >> 16) & 0xff;
ciInstruction.data[3] = (addr >> 24) & 0xff;
ciInstruction.data[4] = port;
xQueueSend(ciInstructionReverseQueue, &ciInstruction, portMAX_DELAY);
}

54
i2c-hub/firmware/i2c-hub-firmware/src/gobotrpc/ctrl_interface/uart_rp2040/hardware_rp2040_uart.cpp Normal file
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#include "ci/hardware.hpp"
#include "pinConfig.hpp"
#include "pico/stdlib.h"
#include "hardware/uart.h"
#include "FreeRTOS.h"
#include "task.h"
#include "queue.h"
#include <string.h>
// Initialize stuff
GobotRPC_CI_Hardware_RP2040_UART * g_GobotRPC_CI_Hardware_RP2040_UART;
GobotRPC_CI_Hardware_RP2040_UART::GobotRPC_CI_Hardware_RP2040_UART(uart_inst_t *uart, uint baudrate, UBaseType_t core) {
g_GobotRPC_CI_Hardware_RP2040_UART = this;
this->core = core;
initRxTaskAndQueues();
uartTxMutex = xSemaphoreCreateMutex();
this->uart = uart;
uart_init(this->uart, baudrate);
gpio_set_function(GOBOTRPC_CI_UART_RX, UART_FUNCSEL_NUM(uart, GOBOTRPC_CI_UART_RX));
gpio_set_function(GOBOTRPC_CI_UART_TX, UART_FUNCSEL_NUM(uart, GOBOTRPC_CI_UART_TX));
uart_set_hw_flow(uart, false, false);
uart_set_format(uart, 8, 1, UART_PARITY_NONE);
uart_set_baudrate(uart, baudrate);
uart_set_fifo_enabled(uart, true);
int UART_IRQ = uart == uart0 ? UART0_IRQ : UART1_IRQ;
irq_set_exclusive_handler(UART_IRQ, GobotRPC_CI_Hardware_RP2040_UART_isr);
irq_set_enabled(UART_IRQ, true);
uart_set_irq_enables(uart, true, false);
}
void GobotRPC_CI_Hardware_RP2040_UART::registerCB_RxData(callback_rxData cb, void *args) {
this->cb_rxData = cb;
this->cb_rxData_args = args;
}
// Sending data
void GobotRPC_CI_Hardware_RP2040_UART::send(char *data, size_t len) {
xSemaphoreTake(uartTxMutex, portMAX_DELAY);
uart_write_blocking(this->uart, (uint8_t *)(data), len);
uart_tx_wait_blocking(this->uart);
xSemaphoreGive(uartTxMutex);
}

122
i2c-hub/firmware/i2c-hub-firmware/src/gobotrpc/ctrl_interface/uart_rp2040/rx.cpp Normal file
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#include "ci/hardware.hpp"
#include "pico/stdlib.h"
#include <string.h>
#include "FreeRTOS.h"
#include "FreeRTOSConfig.h"
// External Functions
void GobotRPC_CI_Hardware_RP2040_UART_isr() {
GobotRPC_CI_Hardware_RP2040_UART *uart = (GobotRPC_CI_Hardware_RP2040_UART *)g_GobotRPC_CI_Hardware_RP2040_UART;
uart->onRx_ISR();
};
void GobotRPC_CI_Hardware_RP2040_UART_Task_RXProcessing(void *args) {
GobotRPC_CI_Hardware_RP2040_UART *uart = (GobotRPC_CI_Hardware_RP2040_UART *)args;
uart->rxProcessingTaskFn();
}
// Init
void GobotRPC_CI_Hardware_RP2040_UART::initRxTaskAndQueues() {
emptyInputBuffersQueue = xQueueCreate(NUM_INPUT_BUFFERS, sizeof(inputBuffers_t *));
filledInputBuffersQueue = xQueueCreate(NUM_INPUT_BUFFERS, sizeof(inputBuffers_t *));
for(int i = 0; i < NUM_INPUT_BUFFERS; i++) {
inputBuffers_t * p = &inputBufferPool[i];
memset(p->data, 0xff, 256);
p->len = 0;
p->state = NEW;
p->expected_length = 0;
xQueueSend(emptyInputBuffersQueue, &p, portMAX_DELAY);
}
rxSignalSemaphore = xSemaphoreCreateBinary();
xTaskCreateAffinitySet(GobotRPC_CI_Hardware_RP2040_UART_Task_RXProcessing, "UART RX Processing", 1024, this, 3, core, &this->rxProcessingTaskHandle);
}
inputBufferRXState_t fillBuffer(inputBuffers_t * buffer, char data) {
switch(buffer->state) {
case NEW:
buffer->data[0] = data;
buffer->len = 1;
buffer->state = READ_SIZE;
break;
case READ_SIZE:
buffer->data[1] = data;
buffer->expected_length = data;
buffer->len += 1;
if(buffer->len == buffer->expected_length) {
buffer->state = FULL;
} else {
buffer->state = READ_DATA;
}
break;
case READ_DATA:
buffer->data[buffer->len] = data;
buffer->len += 1;
if(buffer->len == buffer->expected_length) {
buffer->state = FULL;
} else {
buffer->state = READ_DATA;
}
break;
case FULL:
break;
}
return buffer->state;
}
// real Task Fns
void GobotRPC_CI_Hardware_RP2040_UART::onRx_ISR() {
BaseType_t xHigherPriorityTaskWoken = pdFALSE;
static inputBuffers_t * inputBuffer = NULL;
while (uart_is_readable(this->uart)) {
if(inputBuffer == NULL) {
xQueueReceiveFromISR(emptyInputBuffersQueue, &inputBuffer, &xHigherPriorityTaskWoken);
if(inputBuffer == NULL) {
return; // No more buffers -> device overload
}
inputBuffer->state = NEW;
inputBuffer->len = 0;
inputBuffer->expected_length = 0;
}
inputBufferRXState_t state = fillBuffer(inputBuffer, uart_getc(this->uart));
if (state == FULL) {
xQueueSendFromISR(filledInputBuffersQueue, &inputBuffer, &xHigherPriorityTaskWoken);
inputBuffer = NULL;
}
}
portYIELD_FROM_ISR(xHigherPriorityTaskWoken);
}
void GobotRPC_CI_Hardware_RP2040_UART::rxProcessingTaskFn() {
inputBuffers_t * inputBuffer = NULL;
while(1) {
xQueueReceive(filledInputBuffersQueue, &inputBuffer, portMAX_DELAY);
if(this->cb_rxData != NULL) {
this->cb_rxData(this->cb_rxData_args, inputBuffer->data, inputBuffer->len);
}
xQueueSend(emptyInputBuffersQueue, &inputBuffer, portMAX_DELAY);
vTaskDelay(1000);
}
}

64
i2c-hub/firmware/i2c-hub-firmware/src/gobotrpc/include/ci/base.hpp Normal file
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#pragma once
#include "ci/hardware.hpp"
#include <strings.h>
enum GobotRPC_CI_CMD {
TX_CI_PACKET = 0x01,
RX_CI_PACKET = 0x02,
SET_ADDR_PORT_MAP = 0x03,
SUCESS_TRANMISSION = 0xfc,
ERROR_TRANMISSION = 0xfd,
HEARTBEAT = 0xff,
RESET_CI_PACKET = 0xcc,
RESET_INFO_CI_PACKET = 0xcd
};
#define CI_TX_PACKAGE_DATA_OFFSET 6
#define CI_TX_PACKAGE_SIZE(data_len) (data_len + CI_TX_PACKAGE_SIZE)
#define CI_RX_PACKAGE_DATA_OFFSET 6
#define CI_RX_PACKAGE_SIZE(data_len) (data_len + CI_RX_PACKAGE_DATA_OFFSET)
typedef void (*callback_TxPacket)(void * args, char *data, size_t len, uint32_t addr);
typedef void (*callback_SetAddress)(void * args, uint32_t addr, uint8_t port);
void GobotRPC_CI_rxData_cb(void * args, char *data, size_t len);
void GobotRPC_CI_heartBeatTaskFn(void *args);
void GobotRPC_CI_txCIInstructionTaskFn(void *args);
class GobotRPC_CI {
private:
I_GobotRPC_CI_Hardware *hardware;
callback_TxPacket cb_TxPacket;
void * cb_TxPacket_args;
callback_SetAddress cb_SetAddressMap;
void * cb_SetAddressMap_args;
TaskHandle_t heartBeatTaskHandle;
TaskHandle_t txCIInstructionTaskHandle;
QueueHandle_t ciInstructionQueue;
QueueHandle_t ciInstructionReverseQueue;
public:
GobotRPC_CI(I_GobotRPC_CI_Hardware *hardware, UBaseType_t core, QueueHandle_t ciInstructionQueue, QueueHandle_t ciInstructionReverseQueue);
void registerCB_TxPacket(callback_TxPacket cb, void *args);
void registerCB_SetAddress(callback_SetAddress cb, void *args);
void send_RxPacket(char *data, size_t len, uint32_t addr);
void onRxData(char *data, size_t len);
void heartBeartTaskFn();
// CI Instruction Stuff
void send_rev_SetAddrMap(uint32_t addr, uint8_t port);
void txCIInstructionTask();
void send_ErrorTransmission(bool rx, uint64_t addr);
void send_SuccessTransmission(uint64_t addr);
void send_InfoReset();
};

73
i2c-hub/firmware/i2c-hub-firmware/src/gobotrpc/include/ci/hardware.hpp Normal file
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#pragma once
#include <strings.h>
#include "FreeRTOSConfig.h"
#include "FreeRTOS.h"
#include "task.h"
#include "semphr.h"
#include "queue.h"
typedef void (*callback_rxData)(void * args, char *data, size_t len);
class I_GobotRPC_CI_Hardware {
public:
virtual void send(char *data, size_t len) = 0;
virtual void registerCB_RxData(callback_rxData cb, void *args) = 0;
};
#include "hardware/uart.h"
void GobotRPC_CI_Hardware_RP2040_UART_isr();
void GobotRPC_CI_Hardware_RP2040_UART_Task_RXBuffering(void *args);
void GobotRPC_CI_Hardware_RP2040_UART_Task_RXProcessing(void *args);
#define NUM_INPUT_BUFFERS 16
enum inputBufferRXState_t {
NEW,
READ_SIZE,
READ_DATA,
FULL
};
struct inputBuffers_t {
char data[256];
size_t expected_length;
size_t len;
inputBufferRXState_t state;
};
class GobotRPC_CI_Hardware_RP2040_UART : public I_GobotRPC_CI_Hardware {
private:
uart_inst_t *uart;
inputBuffers_t inputBufferPool[NUM_INPUT_BUFFERS];
TaskHandle_t rxProcessingTaskHandle;
SemaphoreHandle_t rxSignalSemaphore;
QueueHandle_t emptyInputBuffersQueue;
QueueHandle_t filledInputBuffersQueue;
callback_rxData cb_rxData;
void * cb_rxData_args;
SemaphoreHandle_t uartTxMutex;
UBaseType_t core;
public:
GobotRPC_CI_Hardware_RP2040_UART(uart_inst_t *uart, uint baudrate, UBaseType_t core);
void send(char *data, size_t len) override;
void registerCB_RxData(callback_rxData cb, void *args);
void initRxTaskAndQueues();
void onRx_ISR();
void rxBufferingTaskFn();
void rxProcessingTaskFn();
};
extern GobotRPC_CI_Hardware_RP2040_UART * g_GobotRPC_CI_Hardware_RP2040_UART;

17
i2c-hub/firmware/i2c-hub-firmware/src/gobotrpc/include/ci/instructions.hpp Normal file
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enum CI_Instruction_Type {
CI_INSTRUCTION_SEND_TRANMISSION_ERROR,
CI_INSTRUCTION_SEND_TRANMISSION_SUCCESS,
CI_INSTRUCTION_SEND_INFO_RESET,
CI_INSTRUCTION_REV_SEND_SET_ADDR_MAP,
};
struct CI_Instruction_Transport {
CI_Instruction_Type type;
uint32_t addr;
char data[16];
};
struct CI_Instruction_Data_SEND_TRANMISSION_ERROR {
bool rx;
uint32_t addr;
};

15
i2c-hub/firmware/i2c-hub-firmware/src/gobotrpc/include/main.hpp Normal file
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#pragma once
#include "FreeRTOSConfig.h"
#include "FreeRTOS.h"
#include "task.h"
#include "queue.h"
struct AppData {
QueueHandle_t txQueue;
QueueHandle_t rxQueue;
QueueHandle_t ciInstructionQueue;
QueueHandle_t ciInstructionReverseQueue;
};
void main_core2(void * pvParameters);

98
i2c-hub/firmware/i2c-hub-firmware/src/gobotrpc/include/ti/transmission_interface.hpp Normal file
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#pragma once
#include "FreeRTOS.h"
#include "task.h"
#include "semphr.h"
#include <stdint.h>
#include <strings.h>
#include "pico/stdlib.h"
#include "hardware/i2c.h"
#include "pinConfig.hpp"
#include "ci/instructions.hpp"
struct GoRPCPackage_Transport {
uint32_t addr;
uint32_t len;
char data[256];
};
typedef void (*callback_pullPackage)(GoRPCPackage_Transport *src, void *args);
typedef void (*callback_pushPackage)(GoRPCPackage_Transport *dest, void *args);
typedef void (*callback_pushCIInstruction)(CI_Instruction_Transport *src, void *args);
class GobotRPC_TI_Hardware {
public:
virtual void registerPullPackageCB(callback_pullPackage cb, void *args) = 0;
virtual void registerPushPackageCB(callback_pushPackage cb, void *args) = 0;
virtual void registerPushCIInstructionCB(callback_pushCIInstruction cb, void *args) = 0;
virtual void setAddrMap(uint32_t addr, int intNum) = 0;
void raiseTranmissionError(bool rx, uint32_t addr);
void raiseTransmissionSuceess(uint32_t addr);
void raiseInfoReset();
};
void i2cRxTaskFn(void * args);
void i2cTxTaskFn(void * args);
void intPin_ISR(uint gpio, uint32_t events);
class GobotRPC_TI_Hardware_RP2040_I2C : public GobotRPC_TI_Hardware {
private:
callback_pullPackage pullPackageCB;
void *pullPackageCBArgs;
callback_pushPackage pushPackageCB;
void *pushPackageCBArgs;
callback_pushCIInstruction pushCIInstructionCB;
void *pushCIInstructionCBArgs;
SemaphoreHandle_t i2cMutex;
SemaphoreHandle_t i2cRXSemaphore;
TaskHandle_t i2cRxTaskHandle;
TaskHandle_t i2cTxTaskHandle;
TaskHandle_t i2cIntTaskHandle;
TaskHandle_t revCIInstructionTaskHandle;
QueueHandle_t revCIInstructionQueue;
UBaseType_t core;
i2c_inst_t * i2c;
uint32_t intAddressMap[GOBOTRPC_TI_INT_NUM];
void initTasks();
bool readI2C(GoRPCPackage_Transport * pkg, uint32_t addr);
public:
GobotRPC_TI_Hardware_RP2040_I2C(UBaseType_t core, i2c_inst_t *i2c, QueueHandle_t revCIInstructionQueue);
void registerPullPackageCB(callback_pullPackage cb, void *args);
void registerPushPackageCB(callback_pushPackage cb, void *args);
void registerPushCIInstructionCB(callback_pushCIInstruction cb, void *args);
void setAddrMap(uint32_t addr, int intNum);
void i2cRxTask();
void i2cTxTask();
void manualTriggerIntTask();
void intPinISR(BaseType_t * xHigherPriorityTaskWoken);
uint32_t readIntPins();
void raiseTranmissionError(bool rx, uint32_t addr);
void raiseTransmissionSuceess(uint32_t addr);
void raiseInfoReset();
void revCIInstructionTask();
};
extern GobotRPC_TI_Hardware_RP2040_I2C * g_GobotRPC_TI_Hardware_RP2040_I2C;

2
i2c-hub/firmware/i2c-hub-firmware/src/gobotrpc/include/util/crc16.hpp Normal file
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#pragma once
unsigned short crc16(char *data_p, unsigned short length);

45
i2c-hub/firmware/i2c-hub-firmware/src/gobotrpc/include/util/protocol.hpp Normal file
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#pragma once
#include <stdint.h>
#include <strings.h>
enum GobotRPCNumber {
HOME_XY = 0x1,
SET_PADDING = 0x2,
GOTO = 0x3,
RELEASE_MOTORS = 0x4,
DROP_STONE = 0x5,
MOVE_Z_AXIS = 0x7,
VACUM = 0x8,
RESET = 0xc,
GET_INFO = 0xd
};
enum GobotRPCTypes {
REQUEST = 0b00,
RESPONSE = 0b01,
ERROR = 0b10
};
struct GobotRPCPackage_Req_Vacum {
uint8_t enable : 8;
};
#define GobotRPC_Package_DATA_OFFSET 2
#define CALC_SIZE_GobotRPC_PACKAGE(data_len) (data_len + GobotRPC_Package_DATA_OFFSET + 2)
struct GobotRPCHeaderInfo {
public:
GobotRPCNumber number;
GobotRPCTypes type;
size_t len;
};
void assembleGobotRPCHeader(char * buffer, GobotRPCNumber number, GobotRPCTypes data_size, size_t);
void assembleCRC(char * buffer, size_t data_len);
bool checkCRC(char * buffer, size_t data_len);
GobotRPCHeaderInfo extractGobotRPCHeader(char * buffer);
void softwareReset();

45
i2c-hub/firmware/i2c-hub-firmware/src/gobotrpc/node_interface/include/node_interface.hpp Normal file
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#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
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#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
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#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
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#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
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#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);
}
}

37
i2c-hub/firmware/i2c-hub-firmware/src/gobotrpc/protocol_base.cpp Normal file
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#include "protocol.hpp"
#include <stdint.h>
#include "pico/stdlib.h"
#include "hardware/watchdog.h"
#include "crc16.hpp"
void assembleGobotRPCHeader(char * buffer, GobotRPCNumber number, GobotRPCTypes type, size_t len) {
buffer[0] = ((number & 0b1111) << 4) | ((type & 0b11) << 2);
buffer[1] = (len + 4) & 0xff;
}
GobotRPCHeaderInfo extractGobotRPCHeader(char * buffer) {
GobotRPCHeaderInfo info;
info.number = (GobotRPCNumber)((buffer[0] >> 4) & 0b1111);
info.type = (GobotRPCTypes)((buffer[0] >> 2) & 0b11);
info.len = buffer[1];
return info;
}
void assembleCRC(char * buffer, size_t data_len) {
unsigned short crc = crc16(buffer, data_len + GobotRPC_Package_DATA_OFFSET);
buffer[GobotRPC_Package_DATA_OFFSET + data_len + 1] = crc & 0xff;
buffer[GobotRPC_Package_DATA_OFFSET + data_len + 0] = (crc >> 8) & 0xff;
}
bool checkCRC(char * buffer, size_t data_len) {
unsigned short crc = crc16(buffer, data_len - 2);
unsigned short crc_received = buffer[data_len - GobotRPC_Package_DATA_OFFSET + 1] | (buffer[data_len - GobotRPC_Package_DATA_OFFSET + 0] << 8);
return crc == crc_received;
}
void softwareReset() {
watchdog_enable(1, 1);
while(1);
}

53
i2c-hub/firmware/i2c-hub-firmware/src/gobotrpc/transmission_interface/rp2040_i2c_ci_instructions.cpp Normal file
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#include "transmission_interface.hpp"
#include "FreeRTOS.h"
#include "queue.h"
void GobotRPC_TI_Hardware_RP2040_I2C::raiseTranmissionError(bool rx, uint32_t addr) {
CI_Instruction_Transport ciInstruction;
ciInstruction.type = CI_INSTRUCTION_SEND_TRANMISSION_ERROR;
ciInstruction.data[0] = rx;
ciInstruction.data[1] = addr & 0xff;
ciInstruction.data[2] = (addr >> 8) & 0xff;
ciInstruction.data[3] = (addr >> 16) & 0xff;
ciInstruction.data[4] = (addr >> 24) & 0xff;
this->pushCIInstructionCB(&ciInstruction, pushCIInstructionCBArgs);
}
void GobotRPC_TI_Hardware_RP2040_I2C::raiseTransmissionSuceess(uint32_t addr) {
CI_Instruction_Transport ciInstruction;
ciInstruction.type = CI_INSTRUCTION_SEND_TRANMISSION_SUCCESS;
ciInstruction.data[0] = addr & 0xff;
ciInstruction.data[1] = (addr >> 8) & 0xff;
ciInstruction.data[2] = (addr >> 16) & 0xff;
ciInstruction.data[3] = (addr >> 24) & 0xff;
this->pushCIInstructionCB(&ciInstruction, pushCIInstructionCBArgs);
}
void GobotRPC_TI_Hardware_RP2040_I2C::raiseInfoReset() {
CI_Instruction_Transport ciInstruction;
ciInstruction.type = CI_INSTRUCTION_SEND_INFO_RESET;
this->pushCIInstructionCB(&ciInstruction, pushCIInstructionCBArgs);
}
void GobotRPC_TI_Hardware_RP2040_I2C::revCIInstructionTask() {
CI_Instruction_Transport ciInstruction;
while(1) {
xQueueReceive(revCIInstructionQueue, &ciInstruction, portMAX_DELAY);
switch (ciInstruction.type) {
case CI_INSTRUCTION_REV_SEND_SET_ADDR_MAP: {
uint32_t addr = ciInstruction.data[0] |\
(ciInstruction.data[1] << 8) |\
(ciInstruction.data[2] << 16) |\
(ciInstruction.data[3] << 24);
uint8_t port = ciInstruction.data[4];
this->setAddrMap(addr, port);
break;
}
}
}
}

87
i2c-hub/firmware/i2c-hub-firmware/src/gobotrpc/transmission_interface/rp2040_i2c_init.cpp Normal file
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#include "transmission_interface.hpp"
#include "hardware/i2c.h"
#include <string.h>
#include "pinConfig.hpp"
GobotRPC_TI_Hardware_RP2040_I2C * g_GobotRPC_TI_Hardware_RP2040_I2C;
GobotRPC_TI_Hardware_RP2040_I2C::GobotRPC_TI_Hardware_RP2040_I2C(UBaseType_t core, i2c_inst_t *i2c, QueueHandle_t revCIInstructionQueue) {
this->core = core;
this->i2c = i2c0;
this->revCIInstructionQueue = revCIInstructionQueue;
g_GobotRPC_TI_Hardware_RP2040_I2C = this;
i2c_init(i2c, GOBOTRPC_TI_CLOCK_SPEED);
gpio_set_function(GOBOTRPC_TI_I2C_SDA, GPIO_FUNC_I2C);
gpio_set_function(GOBOTRPC_TI_I2C_SCL, GPIO_FUNC_I2C);
if(!GOBOTRPC_TI_EXTERNAL_PULLUP) {
gpio_pull_up(GOBOTRPC_TI_I2C_SDA);
gpio_pull_up(GOBOTRPC_TI_I2C_SCL);
}
for(int i=0; i<GOBOTRPC_TI_INT_NUM; i++) {
intAddressMap[i] = 0xffffffff;
gpio_init(GOBOTRPC_TI_INT_PIN_START + i);
gpio_set_dir(GOBOTRPC_TI_INT_PIN_START + i, GPIO_IN);
//gpio_pull_down(GOBOTRPC_TI_INT_PIN_START + i);
gpio_set_irq_enabled_with_callback(GOBOTRPC_TI_INT_PIN_START + i, GPIO_IRQ_EDGE_RISE, true, intPin_ISR);
}
initTasks();
//gpio_init(GOBOTRPC_TI_COMBINED_INT_PIN);
//gpio_set_dir(GOBOTRPC_TI_COMBINED_INT_PIN, GPIO_IN);
//gpio_pull_down(GOBOTRPC_TI_COMBINED_INT_PIN);
}
static void i2cIntTaskFn(void * pvParameters) {
GobotRPC_TI_Hardware_RP2040_I2C * hw = (GobotRPC_TI_Hardware_RP2040_I2C *)pvParameters;
hw->manualTriggerIntTask();
}
static void revCIInstructionTaskFn(void * pvParameters) {
GobotRPC_TI_Hardware_RP2040_I2C * hw = (GobotRPC_TI_Hardware_RP2040_I2C *)pvParameters;
hw->revCIInstructionTask();
}
void GobotRPC_TI_Hardware_RP2040_I2C::initTasks() {
i2cMutex = xSemaphoreCreateMutex();
i2cRXSemaphore = xSemaphoreCreateBinary();
pushPackageCB = NULL;
pullPackageCB = NULL;
pushPackageCBArgs = NULL;
pullPackageCBArgs = NULL;
volatile int a = xPortGetFreeHeapSize();
xTaskCreateAffinitySet(i2cRxTaskFn, "i2c Rx Task", 4096, this, 3, core, &i2cRxTaskHandle);
xTaskCreateAffinitySet(i2cTxTaskFn, "i2c Tx Task", 4096, this, 3, core, &i2cTxTaskHandle);
xTaskCreateAffinitySet(i2cIntTaskFn, "i2c Int Task", 4096, this, 3, core, &i2cIntTaskHandle);
xTaskCreateAffinitySet(revCIInstructionTaskFn, "Rev CI Instruction Task", 4096, this, 3, core, &revCIInstructionTaskHandle);
}
void GobotRPC_TI_Hardware_RP2040_I2C::registerPullPackageCB(callback_pullPackage cb, void *args) {
pullPackageCB = cb;
pullPackageCBArgs = args;
}
void GobotRPC_TI_Hardware_RP2040_I2C::registerPushPackageCB(callback_pushPackage cb, void *args) {
pushPackageCB = cb;
pushPackageCBArgs = args;
}
void GobotRPC_TI_Hardware_RP2040_I2C::registerPushCIInstructionCB(callback_pushCIInstruction cb, void *args) {
pushCIInstructionCB = cb;
pushCIInstructionCBArgs = args;
}
void GobotRPC_TI_Hardware_RP2040_I2C::setAddrMap(uint32_t addr, int intNum) {
intAddressMap[intNum] = addr;
}

49
i2c-hub/firmware/i2c-hub-firmware/src/gobotrpc/transmission_interface/rp2040_i2c_int.cpp Normal file
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#include "transmission_interface.hpp"
#include "FreeRTOSConfig.h"
#include "FreeRTOS.h"
#include "task.h"
uint32_t GobotRPC_TI_Hardware_RP2040_I2C::readIntPins() {
uint32_t intPinsStates = 0;
for(int i=0; i<GOBOTRPC_TI_INT_NUM; i++) {
intPinsStates |= gpio_get(GOBOTRPC_TI_INT_PIN_START + i) << i;
}
return intPinsStates;
}
void intPin_ISR(uint gpio, uint32_t events) {
GobotRPC_TI_Hardware_RP2040_I2C * hw = g_GobotRPC_TI_Hardware_RP2040_I2C;
uint32_t intPinsStates = hw->readIntPins();
if(intPinsStates == 0) {
return;
}
BaseType_t xHigherPriorityTaskWoken = pdFALSE;
hw->intPinISR(&xHigherPriorityTaskWoken);
portYIELD_FROM_ISR(xHigherPriorityTaskWoken);
}
void GobotRPC_TI_Hardware_RP2040_I2C::intPinISR(BaseType_t * xHigherPriorityTaskWoken) {
xSemaphoreGiveFromISR(i2cRXSemaphore, xHigherPriorityTaskWoken);
}
void GobotRPC_TI_Hardware_RP2040_I2C::manualTriggerIntTask() {
while (1) {
uint32_t intPinsStates = readIntPins();
if(intPinsStates == 0) {
vTaskDelay(500 / portTICK_PERIOD_MS);
continue;
}
vTaskDelay(500 / portTICK_PERIOD_MS);
xSemaphoreGive(i2cRXSemaphore);
}
}

69
i2c-hub/firmware/i2c-hub-firmware/src/gobotrpc/transmission_interface/rp2040_i2c_rx.cpp Normal file
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#include "transmission_interface.hpp"
#include "ci/base.hpp"
void i2cRxTaskFn(void * args) {
GobotRPC_TI_Hardware_RP2040_I2C * hw = (GobotRPC_TI_Hardware_RP2040_I2C *)args;
hw->i2cRxTask();
}
void GobotRPC_TI_Hardware_RP2040_I2C::i2cRxTask() {
while (1) {
xSemaphoreTake(i2cRXSemaphore, portMAX_DELAY);
uint32_t done_mask = 0xffffffff;
uint32_t pinStates = readIntPins();
do {
for(int i=0; i<GOBOTRPC_TI_INT_NUM; i++) {
if((pinStates & done_mask) & (1 << i)) {
done_mask &= ~(1 << i);
uint32_t addr = intAddressMap[i];
if(addr > 0xff)
continue;
GoRPCPackage_Transport pkg;
xSemaphoreTake(i2cMutex, portMAX_DELAY);
bool read_res = readI2C(&pkg, addr);
xSemaphoreGive(i2cMutex);
if(!read_res)
continue;
pkg.addr |= (i) << 8;
if(pushPackageCB != NULL)
pushPackageCB(&pkg, pushPackageCBArgs);
break;
}
}
pinStates = readIntPins();
} while(pinStates & done_mask);
}
}
bool GobotRPC_TI_Hardware_RP2040_I2C::readI2C(GoRPCPackage_Transport * pkg, uint32_t addr) {
unsigned int res;
//uint res = i2c_read_blocking(i2c, addr, (uint8_t *)pkg->data, 2, true);
i2c_read_blocking(i2c, addr, (uint8_t *)pkg->data + CI_RX_PACKAGE_DATA_OFFSET, 2, true);
size_t len = pkg->data[CI_RX_PACKAGE_DATA_OFFSET + 1];
if(len > 64) {
return false;
}
res = i2c_read_blocking(i2c, addr, ((uint8_t *)pkg->data) + CI_RX_PACKAGE_DATA_OFFSET, len, false);
pkg->len = len;
pkg->addr = addr;
return true;
}

29
i2c-hub/firmware/i2c-hub-firmware/src/gobotrpc/transmission_interface/rp2040_i2c_tx.cpp Normal file
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#include "transmission_interface.hpp"
void i2cTxTaskFn(void * args) {
GobotRPC_TI_Hardware_RP2040_I2C * hw = (GobotRPC_TI_Hardware_RP2040_I2C *)args;
hw->i2cTxTask();
}
void GobotRPC_TI_Hardware_RP2040_I2C::i2cTxTask() {
while (1) {
GoRPCPackage_Transport pkg;
if(pullPackageCB == NULL) {
vTaskDelay(pdMS_TO_TICKS(100));
continue;
}
pullPackageCB(&pkg, pullPackageCBArgs);
xSemaphoreTake(i2cMutex, portMAX_DELAY);
unsigned int res = i2c_write_blocking(i2c, pkg.addr & 0x7f, (uint8_t * )(pkg.data), pkg.len, false);
xSemaphoreGive(i2cMutex);
if(res == PICO_ERROR_GENERIC) {
raiseTranmissionError(false, pkg.addr);
} else {
raiseTransmissionSuceess(pkg.addr);
}
}
}

86
i2c-hub/firmware/i2c-hub-firmware/src/main_core0.cpp Normal file
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#include <stdio.h>
#include <string.h>
#include "pico/stdlib.h"
#include "ci/base.hpp"
#include "ci/hardware.hpp"
#include "transmission_interface.hpp"
#include "main.hpp"
#include "FreeRTOSConfig.h"
#include "FreeRTOS.h"
#include "task.h"
#include "message_buffer.h"
#include "protocol.hpp"
#define LED_PIN 25
AppData appData;
void vTaskMain(void * pvParameters) {
while(1) {
gpio_put(LED_PIN, 1);
vTaskDelay(pdMS_TO_TICKS(500));
gpio_put(LED_PIN, 0);
vTaskDelay(pdMS_TO_TICKS(500));
}
}
void onTxPacket(void * args, char *data, size_t len, uint32_t addr) {
GobotRPC_CI * gobotRPC_ci = (GobotRPC_CI *)args;
GoRPCPackage_Transport pkg;
memcpy(pkg.data, data, len);
pkg.len = len;
pkg.addr = addr;
xQueueSend(appData.txQueue, &pkg, portMAX_DELAY);
//gobotRPC_ci->send_RxPacket(pkg.data, CALC_SIZE_GobotRPC_PACKAGE(0), addr);
}
void onRXFromI2CTask(void * pvParameters) {
GobotRPC_CI * gobotRPC_ci = (GobotRPC_CI *)pvParameters;
GoRPCPackage_Transport pkg;
while (true) {
xQueueReceive(appData.rxQueue, &pkg, portMAX_DELAY);
gobotRPC_ci->send_RxPacket(pkg.data, pkg.len, pkg.addr);
}
}
static void onSetAddrMap(void * args, uint32_t addr, uint8_t port) {
GobotRPC_CI * gobotrpc_ci = (GobotRPC_CI *)args;
gobotrpc_ci->send_rev_SetAddrMap(addr, port);
}
int main() {
gpio_init(LED_PIN);
gpio_set_dir(LED_PIN, true);
appData.txQueue = xQueueCreate(5, sizeof(GoRPCPackage_Transport));
appData.rxQueue = xQueueCreate(5, sizeof(GoRPCPackage_Transport));
appData.ciInstructionQueue = xQueueCreate(3, sizeof(CI_Instruction_Transport));
appData.ciInstructionReverseQueue = xQueueCreate(3, sizeof(CI_Instruction_Transport));
GobotRPC_CI_Hardware_RP2040_UART gobotrpc_ci_hardware(uart0, 115200, UART_CORE_MASK);
GobotRPC_CI gobotRPC_ci(&gobotrpc_ci_hardware, UART_CORE_MASK, appData.ciInstructionQueue, appData.ciInstructionReverseQueue);
gobotRPC_ci.registerCB_SetAddress(onSetAddrMap, &gobotRPC_ci);
gobotRPC_ci.registerCB_TxPacket(onTxPacket, &gobotRPC_ci);
TaskHandle_t taskHandleCore0;
TaskHandle_t taskHandleCore1;
TaskHandle_t taskRXFromI2CTask;
xTaskCreateAffinitySet(vTaskMain, "Main Task Core 0", 2048, &gobotRPC_ci, 1, UART_CORE_MASK, &taskHandleCore0);
xTaskCreateAffinitySet(main_core2, "Main Task Core 1", 2048, &appData, 1, UART_CORE_MASK, &taskHandleCore1);
xTaskCreateAffinitySet(onRXFromI2CTask, "RX From I2C Task", 2048, &gobotRPC_ci, 3, UART_CORE_MASK, &taskRXFromI2CTask);
vTaskStartScheduler();
while(1) {}
}

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i2c-hub/firmware/i2c-hub-firmware/src/main_core1.cpp Normal file
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#include "main.hpp"
#include "transmission_interface.hpp"
#include "FreeRTOSConfig.h"
#include "FreeRTOS.h"
#include "task.h"
#include "queue.h"
#include "pinConfig.hpp"
extern AppData appData;
void pullPackageCB(GoRPCPackage_Transport * dest, void *args) {
QueueHandle_t queue = appData.txQueue;
xQueueReceive(queue, dest, portMAX_DELAY);
}
void pushPackageCB(GoRPCPackage_Transport * src, void *args) {
QueueHandle_t queue = appData.rxQueue;
xQueueSend(queue, src, portMAX_DELAY);
}
void pushCIInstruction(CI_Instruction_Transport * src, void *args) {
QueueHandle_t queue = appData.ciInstructionQueue;
xQueueSend(queue, src, portMAX_DELAY);
}
void main_core2(void * pvParameters) {
AppData appData1 = *(AppData *)pvParameters;
GobotRPC_TI_Hardware_RP2040_I2C gobotrpc_ti_hardware(UART_CORE_MASK, i2c0, appData1.ciInstructionReverseQueue);
//gobotrpc_ti_hardware.setAddrMap(0x21, 0);
gobotrpc_ti_hardware.registerPullPackageCB(pullPackageCB, appData.txQueue);
gobotrpc_ti_hardware.registerPushPackageCB(pushPackageCB, appData.rxQueue);
gobotrpc_ti_hardware.registerPushCIInstructionCB(pushCIInstruction, appData.ciInstructionQueue);
gobotrpc_ti_hardware.raiseInfoReset();
while(1) {
vTaskDelay(pdMS_TO_TICKS(10000));
}
}

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{
// Use IntelliSense to learn about possible attributes.
// Hover to view descriptions of existing attributes.
// For more information, visit: https://go.microsoft.com/fwlink/?linkid=830387
"version": "0.2.0",
"configurations": [
{
"name": "Python Debugger: Current File",
"type": "debugpy",
"request": "launch",
"program": "${file}",
"console": "integratedTerminal"
}
]
}

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{"pos1": {"x": 1026, "y": 2096}, "pos2": {"x": 16651, "y": 18856}, "pos3": {"x": 1901, "y": 131}}

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{"corexy_available": true, "head_available": true, "vacuum_available": true, "corexy_port": 0, "head_port": 2, "vacuum_port": 1}

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