WIP raspberry pi pico pbdrv

13 files changed, 157 insertions, 133 deletions

diff --git a/lib/pbdrv/CMakeLists.txt b/lib/pbdrv/CMakeLists.txt
index dfaac01..e70cb5b 100644
--- a/lib/pbdrv/CMakeLists.txt
+++ b/lib/pbdrv/CMakeLists.txt
@@ -12,34 +12,17 @@ project(pbdrv C CXX)
 
 add_subdirectory(../mpack ${CMAKE_CURRENT_BINARY_DIR}/mpack)
 
-if(DEFINED ARDUINO)
-	set(PBDRV_ARDUINO true)
-endif()
-
-include_directories(.)
-add_library(pbdrv STATIC
-	pb-read.c
-	pb-write.c
-	)
-target_link_libraries(pbdrv
-	mpack
-	)
+# generic puzzle bus (de)serializer library
+add_library(pbdrv STATIC pb-read.c pb-write.c)
+target_link_libraries(pbdrv mpack)
 target_include_directories(pbdrv SYSTEM INTERFACE .)
 
-list(APPEND PBDRV_SRCS pb-mod.c)
-
-if(PBDRV_ARDUINO)
-	list(APPEND PBDRV_SRCS drv/arduino/mod.cpp)
-endif()
-
-add_library(pbdrv-mod STATIC ${PBDRV_SRCS})
+# puzzle bus module specific code (superset of pbdrv)
+add_library(pbdrv-mod STATIC pb-mod.c)
 target_link_libraries(pbdrv-mod pbdrv)
-# add_dependencies(pbdrv-mod pbdrv)
-
-if(PBDRV_ARDUINO)
-	target_link_arduino_libraries(pbdrv-mod
-		core
-		Wire
-		)
-endif()
+target_include_directories(pbdrv-mod SYSTEM INTERFACE .)
+
+# supported puzzle bus drivers
+include(drv/arduino/cfg.cmake)
+include(drv/rp2040/cfg.cmake)
 
diff --git a/lib/pbdrv/drv/arduino/cfg.cmake b/lib/pbdrv/drv/arduino/cfg.cmake
new file mode 100644
index 0000000..36716e3
--- /dev/null
+++ b/lib/pbdrv/drv/arduino/cfg.cmake
@@ -0,0 +1,7 @@
+if(NOT DEFINED ARDUINO)
+	return()
+endif()
+
+target_sources(pbdrv-mod PRIVATE "${CMAKE_CURRENT_LIST_DIR}/mod.cpp")
+target_link_arduino_libraries(pbdrv-mod core Wire)
+
diff --git a/lib/pbdrv/drv/arduino/mod.h b/lib/pbdrv/drv/arduino/mod.h
index e545d9b..079941a 100644
--- a/lib/pbdrv/drv/arduino/mod.h
+++ b/lib/pbdrv/drv/arduino/mod.h
@@ -1,7 +1,5 @@
 #pragma once
 
-#include "../../pb-mod.h"
-
 #ifdef __cplusplus
 extern "C" {
 #endif
diff --git a/lib/pbdrv/drv/rp2040/cfg.cmake b/lib/pbdrv/drv/rp2040/cfg.cmake
new file mode 100644
index 0000000..0fbad18
--- /dev/null
+++ b/lib/pbdrv/drv/rp2040/cfg.cmake
@@ -0,0 +1,7 @@
+if(NOT PICO_PLATFORM STREQUAL "rp2040")
+	return()
+endif()
+
+target_sources(pbdrv-mod PRIVATE "${CMAKE_CURRENT_LIST_DIR}/mod.c")
+target_link_libraries(pbdrv-mod hardware_i2c pico_i2c_slave)
+
diff --git a/lib/pbdrv/drv/rp2040/mod.c b/lib/pbdrv/drv/rp2040/mod.c
new file mode 100644
index 0000000..26882f7
--- /dev/null
+++ b/lib/pbdrv/drv/rp2040/mod.c
@@ -0,0 +1,50 @@
+#include "mod.h"
+
+#include "../../pb.h"
+#include "../../pb-types.h"
+#include "../../pb-mod.h"
+
+#include <hardware/i2c.h>
+#include <hardware/gpio.h>
+#include <pico/i2c_slave.h>
+
+#define PBDRV_I2C i2c0
+#define BUF_SIZE 256
+
+// NOTE: this function is called from the I2C ISR, and should return as quickly
+// as possible.
+static void recv_event(i2c_inst_t *i2c, i2c_slave_event_t event) {
+	uint8_t data[BUF_SIZE];
+	size_t size = 0;
+	// pbdrv_i2c_recv(NULL, 0);
+
+	switch (event) {
+		case I2C_SLAVE_RECEIVE: {
+			if (size == BUF_SIZE) return;
+			data[size++] = i2c_read_byte_raw(PBDRV_I2C);
+			break;
+		}
+		case I2C_SLAVE_FINISH: {
+			// TODO: handle this w/ queue mechanism instead?
+			pbdrv_i2c_recv(data, size);
+			size = 0;
+			break;
+		}
+		default: break;
+	}
+}
+
+void pbdrv_setup() {
+	i2c_init(PBDRV_I2C, PB_CLOCK_SPEED_HZ);
+	i2c_slave_init(PBDRV_I2C, PBDRV_MOD_ADDR, &recv_event);
+}
+
+__weak void pbdrv_i2c_send(i2c_addr_t addr, const uint8_t * buf, size_t sz) {
+	i2c_set_slave_mode(PBDRV_I2C, false, PBDRV_MOD_ADDR);
+
+	// false to write stop condition to i2c bus
+	i2c_write_timeout_us(PBDRV_I2C, addr, buf, sz, false, PB_TIMEOUT_US);
+
+	i2c_set_slave_mode(PBDRV_I2C, true, PBDRV_MOD_ADDR);
+}
+
diff --git a/lib/pbdrv/drv/rp2040/mod.h b/lib/pbdrv/drv/rp2040/mod.h
new file mode 100644
index 0000000..0cf2e63
--- /dev/null
+++ b/lib/pbdrv/drv/rp2040/mod.h
@@ -0,0 +1,13 @@
+#pragma once
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+//! puzzle bus driver setup
+void pbdrv_setup();
+
+#ifdef __cplusplus
+}
+#endif
+
diff --git a/main/CMakeLists.txt b/main/CMakeLists.txt
index 4c17fba..04e612d 100644
--- a/main/CMakeLists.txt
+++ b/main/CMakeLists.txt
@@ -20,6 +20,7 @@ add_executable(main
 	init.c
 	sock.c
 	i2c.c
+	mod.c
 	)
 
 pico_enable_stdio_usb(main 1)
@@ -28,7 +29,7 @@ pico_add_extra_outputs(main)
 
 include_directories(lib/pico-sdk/lib/lwip/contrib/ports/freertos/include)
 
-target_include_directories(main PRIVATE ${CMAKE_CURRENT_LIST_DIR})
+target_include_directories(main PRIVATE .)
 target_link_libraries(main
 	pico_cyw43_arch_lwip_sys_freertos
 	pico_stdlib
diff --git a/main/config.def.h b/main/config.def.h
index 11612eb..3d325fe 100644
--- a/main/config.def.h
+++ b/main/config.def.h
@@ -6,15 +6,15 @@
  * \name Network (Wi-Fi) configuration
  * \{
  */
-#ifndef CFG_NET_DISABLE
-
 #ifndef CFG_NET_SSID
 //! network name (SSID)
 #define CFG_NET_SSID ""
+#ifndef CFG_NET_DISABLE
 //! disable network communication
 #define CFG_NET_DISABLE
 #warning No SSID defined! Disabling network communication!
 #endif
+#endif
 
 #ifndef CFG_NET_PASS
 //! network password
@@ -31,17 +31,14 @@
 #define CFG_NET_CONN_TIMEOUT 10e3
 #endif
 
+#ifdef CFG_NET_DISABLE
+#undef CFG_NET_COUNTRY
+#define CFG_NET_COUNTRY CYW43_COUNTRY_WORLDWIDE
+#endif
 #ifndef CFG_NET_COUNTRY
 //! radio communications country
 #define CFG_NET_COUNTRY CYW43_COUNTRY_NETHERLANDS
 #endif
-
-#else // ifndef CFG_NET_DISABLE
-
-#undef CFG_NET_COUNTRY
-#define CFG_NET_COUNTRY CYW43_COUNTRY_WORLDWIDE
-
-#endif // ifndef CFG_NET_DISABLE
 /** \} */
 
 /**
@@ -53,7 +50,7 @@
 #define CFG_SRV_PORT 9191
 #endif
 
-#ifndef CFG_NET_DISABLE
+#ifdef CFG_NET_DISABLE
 //! disable the i2ctcp server
 #define CFG_SRV_DISABLE
 #endif
@@ -64,3 +61,12 @@
 #define CFG_LED_PIN CYW43_WL_GPIO_LED_PIN
 #endif
 
+#ifndef CFG_SDA_PIN
+//! I^2^C SDA pin
+#define CFG_SDA_PIN 16
+#endif
+#ifndef CFG_SCL_PIN
+//! I^2^C SCL pin
+#define CFG_SCL_PIN 17
+#endif
+
diff --git a/main/i2c.c b/main/i2c.c
index b324124..43d17bf 100644
--- a/main/i2c.c
+++ b/main/i2c.c
@@ -1,43 +1,14 @@
 #include "i2c.h"
 #include "init.h"
 
+#include "pb-mod.h"
+
 #include <stdio.h>
 #include <stddef.h>
 #include <stdint.h>
 #include <pico/stdlib.h>
 #include <hardware/i2c.h>
 
-void init_i2c() {
-	i2c_init(I2C_PORT, 100 * 1000); // currently at 100kHz
-
-	// Initialize I2C pins - sda(16), scl(17)
-	gpio_set_function(SDA_PIN, GPIO_FUNC_I2C);
-	gpio_set_function(SCL_PIN, GPIO_FUNC_I2C);
-
-	gpio_pull_up(SDA_PIN);
-	gpio_pull_up(SCL_PIN);
-}
-
-int read_i2c(uint8_t addr, uint8_t *output, size_t len) {
-	// false - finished with bus
-	return i2c_read_blocking (I2C_PORT, addr, output, len, false);
-}
-
-int write_i2c(uint8_t addr, uint8_t *input, size_t len) {
-	// true to keep master control of bus
-	return i2c_write_blocking (I2C_PORT, addr, input, len, true);
-}
-
-bool reserved_addr(uint8_t addr) {
-	return (addr & 0x78) == 0 || (addr & 0x78) == 0x78;
-}
-
-void init_addr_array(uint8_t array[], int size) {
-	for(int i = 0; i < size; i++){
-		array[i] = 0x00;
-	}
-}
-
 uint8_t* scan_bus(uint8_t *array) {
 	int ret;
 	int i = 0;
@@ -46,11 +17,7 @@ uint8_t* scan_bus(uint8_t *array) {
 	for(int addr = 0; addr < (1<<7); addr++) {
 		// ignore reserved addresses
 		// These are any addresses of the form 000 0xxx or 111 1xxx
-		if( reserved_addr(addr) ){
-			ret = PICO_ERROR_GENERIC;
-		}else{
-			ret = i2c_read_blocking(I2C_PORT, addr, &rxdata, 1, false);
-		}
+		// ret = i2c_read_blocking(I2C_PORT, addr, &rxdata, 1, false);
 
 		// if acknowledged -> ret == number of bytes sent
 		if(ret > 0){
@@ -67,27 +34,38 @@ void bus_task() {
 	// scan bus for slaves
 	// send updates at regular intervals
 	await_init();
-	
-	int i = 0;
-	uint8_t found[MAX_SLAVES];
-	init_addr_array(found, MAX_SLAVES);
-
-	while(1) {
-		// printf("Bus scan!");
-		scan_bus(found);
 
-		for(int i = 0; i < MAX_SLAVES; i++){
-			if( found[i] == 0x00 )
-				break;
-			
-			uint8_t data = 0x01;
-			// send data to found slave address
-			write_i2c(found[i], &data, 1);
+	vTaskDelay(1000 / portTICK_PERIOD_MS);
+	
+	// int i = 0;
+	// uint8_t found[MAX_SLAVES];
+	// init_addr_array(found, MAX_SLAVES);
+	
+	while (true) {
+		vTaskDelay(9 / portTICK_PERIOD_MS);
+		pbdrv_i2c_send(0x69, (uint8_t *) "bbbbbbbb", 9);
 
-			data = 0x02;
-			write_i2c(found[i], &data, 1);
-			// request update from slave addr at found[i]
-			//write_i2c();
-		}
+		// i2c_write_blocking(i2c0, 0x69, (uint8_t *) "bbbbbbbb", 9, false);
+		// pbdrv_i2c_recv(NULL, 0);
 	}
+
+	// while(1) {
+	// 	// printf("Bus scan!");
+	// 	scan_bus(found);
+
+	// 	for(int i = 0; i < MAX_SLAVES; i++){
+	// 		if( found[i] == 0x00 )
+	// 			break;
+	// 		
+	// 		uint8_t data = 0x01;
+	// 		// send data to found slave address
+	// 		write_i2c(found[i], &data, 1);
+
+	// 		data = 0x02;
+	// 		write_i2c(found[i], &data, 1);
+	// 		// request update from slave addr at found[i]
+	// 		//write_i2c();
+	// 	}
+	// }
 }
+
diff --git a/main/i2c.h b/main/i2c.h
index 5ad5cfb..e873fae 100644
--- a/main/i2c.h
+++ b/main/i2c.h
@@ -5,40 +5,8 @@
 #include <stdint.h>
 #include <hardware/i2c.h>
 
-#define SDA_PIN 16
-#define SCL_PIN 17
-#define I2C_PORT i2c0
 #define MAX_SLAVES 10
 
-/**
- * \brief initialize all required gpio for i2c usage on the pico
- * 
- * This functions only initializes the standard gpio required to start i2c
- * communications.
- *
- * \note Tasks shouldn't depend on any other module in the main controller
- */
-void init_i2c();
-
-/**
- * \brief read data from addr with length len from i2c bus.
- * 
- * This functions reads data from a specific address on the i2c bus,
- * the output var will hold the data which was read from said address with
- * length len.
- */
-int read_i2c(uint8_t addr, uint8_t *output, size_t len);
-
-/**
- * \brief write data to addr with length len from i2c bus.
- * \param addr
- * \param input
- * \param len
- * This functions writes data to a specific address on the i2c bus,
- * the input var holds the data which will be written to the given 
- * address with length len.
- */
-int write_i2c(uint8_t addr, uint8_t *input, size_t len);
-
 /** \brief looking for slave addresses and requesting updates */
 void bus_task();
+
diff --git a/main/init.c b/main/init.c
index 90f0b1e..9297093 100644
--- a/main/init.c
+++ b/main/init.c
@@ -1,6 +1,6 @@
 #include "config.h"
 #include "init.h"
-#include "i2c.h"
+#include "drv/rp2040/mod.h"
 
 #include <FreeRTOS.h>
 #include <task.h>
@@ -32,6 +32,14 @@ static void init_wifi() {
 	// TODO: announce hostname(?)
 }
 
+static void init_i2c() {
+	gpio_set_function(CFG_SDA_PIN, GPIO_FUNC_I2C);
+	gpio_set_function(CFG_SCL_PIN, GPIO_FUNC_I2C);
+
+	pbdrv_setup();
+	//printf("i2c setup\n");
+}
+
 static void async_init() {
 	init_cyw34();
 	init_i2c();
diff --git a/main/main.c b/main/main.c
index 9fefed5..5d2abd1 100644
--- a/main/main.c
+++ b/main/main.c
@@ -13,10 +13,10 @@ void blink_task() {
 	await_init(); // `blink_task` uses GPIO
 
 	while (true) {
-		cyw43_arch_gpio_put(CFG_LED_PIN, 0);
-		vTaskDelay(250 / portTICK_PERIOD_MS);
 		cyw43_arch_gpio_put(CFG_LED_PIN, 1);
-		vTaskDelay(250 / portTICK_PERIOD_MS);
+		vTaskDelay(50 / portTICK_PERIOD_MS);
+		cyw43_arch_gpio_put(CFG_LED_PIN, 0);
+		vTaskDelay(1000 / portTICK_PERIOD_MS);
 	}
 }
 
diff --git a/main/mod.c b/main/mod.c
new file mode 100644
index 0000000..b34bbc9
--- /dev/null
+++ b/main/mod.c
@@ -0,0 +1,5 @@
+#include "pb-mod.h"
+
+const char * PBDRV_MOD_NAME = "main controller";
+const i2c_addr_t PBDRV_MOD_ADDR = 0x20;
+