place rp2040 back in pbdrv

6 files changed, 9 insertions, 135 deletions

diff --git a/main/CMakeLists.txt b/main/CMakeLists.txt
index d6cbf33..76b1244 100644
--- a/main/CMakeLists.txt
+++ b/main/CMakeLists.txt
@@ -10,7 +10,6 @@ include(lib/FreeRTOS-Kernel/portable/ThirdParty/GCC/RP2040/FreeRTOS_Kernel_impor
 add_subdirectory(lib/mpack)
 add_subdirectory(lib/i2ctcp)
 add_subdirectory(lib/pbdrv)
-include(lib/pbdrv/ext/stdlib/include.cmake) # pico-stdlib is compatible with C stdlib
 
 project(puzzlebox_main C CXX ASM)
 
@@ -24,7 +23,6 @@ add_executable(main
 	mod.c
 	tasks.c
 	blink.c
-	pbdrv.c
 	)
 
 pico_enable_stdio_usb(main 1)
@@ -34,7 +32,7 @@ pico_add_extra_outputs(main)
 # include_directories(lib/pico-sdk/lib/lwip/contrib/ports/freertos/include)
 
 target_include_directories(main PRIVATE .)
-target_link_libraries(main
+target_link_libraries(main PUBLIC
 	pico_cyw43_arch_lwip_sys_freertos
 	pico_stdlib
 	pico_i2c_slave
diff --git a/main/i2c.c b/main/i2c.c
index 0f23a13..db859d8 100644
--- a/main/i2c.c
+++ b/main/i2c.c
@@ -8,7 +8,6 @@
 
 #include "i2c.h"
 #include "pb-mod.h"
-#include "pbdrv.h"
 #include "config.h"
 #include "pb-buf.h"
 #include "pb-send.h"
diff --git a/main/init.c b/main/init.c
index d85c94d..25fa5e3 100644
--- a/main/init.c
+++ b/main/init.c
@@ -7,7 +7,7 @@
 #include "config.h"
 #include "init.h"
 #include "tasks.h"
-#include "pbdrv.h"
+#include "pb-mod.h"
 
 static void init_stdio() {
 	stdio_init_all();
diff --git a/main/mod.c b/main/mod.c
index 11a1bb7..ac9107d 100644
--- a/main/mod.c
+++ b/main/mod.c
@@ -1,6 +1,13 @@
+#include <FreeRTOS.h>
+#include <task.h>
+
 #include "pb.h"
 #include "pb-mod.h"
 
 const char * PB_MOD_NAME = "main controller";
 const i2c_addr_t PB_MOD_ADDR = PB_ADDR_MOD_MAIN;
 
+void pb_mod_blocking_delay_ms(unsigned long ms) {
+	vTaskDelay(ms / portTICK_PERIOD_MS);
+}
+
diff --git a/main/pbdrv.c b/main/pbdrv.c
deleted file mode 100644
index 6a89253..0000000
--- a/main/pbdrv.c
+++ /dev/null
@@ -1,81 +0,0 @@
-#include "pb.h"
-
-#include "pb.h"
-#include "pb-types.h"
-#include "pb-mod.h"
-#include "pb-send.h"
-
-#include <hardware/i2c.h>
-#include <hardware/gpio.h>
-#include <pico/i2c_slave.h>
-#include <pico/stdio.h>
-
-#include <FreeRTOS.h>
-#include <stdio.h>
-#include <timers.h>
-
-#define PB_I2C_S i2c0
-#define PB_I2C_M i2c1
-
-#define BUF_SIZE 256
-#define MSGS_MAX 4
-
-typedef struct {
-	uint8_t data[BUF_SIZE];
-	size_t size;
-} i2c_msg_buf_t;
-
-static i2c_msg_buf_t msgs[MSGS_MAX];
-static size_t msg_index = 0;
-
-static void async_pb_i2c_recv(void * _msg, uint32_t _) {
-	i2c_msg_buf_t * msg = _msg;
-	pb_i2c_recv(msg->data, msg->size);
-}
-
-static void msg_complete(i2c_msg_buf_t * msg) {
-	return pb_i2c_recv(msg->data, msg->size);
-
-	// defer pb_i2c_recv call to FreeRTOS scheduler as pb_i2c_recv takes
-	// too long to return from an ISR
-	xTimerPendFunctionCallFromISR(async_pb_i2c_recv, msg, 0, NULL);
-
-	// prepare next message for use
-	msg_index = (msg_index + 1) % MSGS_MAX;
-	msgs[msg_index].size = 0;
-}
-
-// This function is called from the I2C ISR
-static void recv_event(i2c_inst_t *i2c, i2c_slave_event_t event) {
-	i2c_msg_buf_t * msg = &msgs[msg_index];
-
-	switch (event) {
-		case I2C_SLAVE_RECEIVE: {
-			if (msg->size == BUF_SIZE) return;
-			msg->data[msg->size++] = i2c_read_byte_raw(PB_I2C_S);
-			break;
-		}
-		case I2C_SLAVE_FINISH: {
-			msg_complete(msg);
-			break;
-		}
-		default: break;
-	}
-}
-
-void pb_setup() {
-	i2c_init(PB_I2C_S, PB_CLOCK_SPEED_HZ);
-	i2c_init(PB_I2C_M, PB_CLOCK_SPEED_HZ);
-
-	i2c_slave_init(PB_I2C_S, PB_MOD_ADDR, &recv_event);
-}
-
-__weak void pb_i2c_send(i2c_addr_t addr, const uint8_t * buf, size_t sz) {
-	// false to write stop condition to i2c bus
-	i2c_write_timeout_us(PB_I2C_M, addr, buf, sz, false, PB_TIMEOUT_US);
-}
-
-void pb_mod_blocking_delay_ms(unsigned long ms) {
-	vTaskDelay(ms / portTICK_PERIOD_MS);
-}
-
diff --git a/main/pbdrv.h b/main/pbdrv.h
deleted file mode 100644
index 89a4870..0000000
--- a/main/pbdrv.h
+++ /dev/null
@@ -1,49 +0,0 @@
-#pragma once
-
-#include "pb-types.h"
-
-/**
- * \ingroup pb_drv
- * \defgroup pb_drv_rp2040 RP2040
- * \brief Raspberry Pi Pico and Pico W driver
- *
- * \note This file is no longer inside `lib/pbdrv/drv/rp2040` as it is tightly
- * coupled to both the pico-sdk and FreeRTOS functions. I have tried to get
- * FreeRTOS to play nicely with the CMake subproject layout, but the pico-sdk
- * and the RP2040 port of FreeRTOS both rely on CMake's import() functionality,
- * which makes using FreeRTOS in a libary context extremely messy.
- *
- * \warning The workaround implemented in this driver was already kind of
- * messy, and **a different microcontroller should be used for the main
- * controller instead**. Please see the handover document for more details.
- *
- * \{
- */
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-//! Puzzle bus driver setup
-void pb_setup();
-
-/**
- * \note While the RP2040's datasheet claims it supports multi-master
- * configurations by implementing bus arbitration, it does not natively support
- * a mode where it is configured as a (multi-)master with a slave address, such
- * that it can be addressed by other multi-masters. This function includes a
- * hacky workaround that teporarily sets the RP2040 to I2C master mode to send
- * a message, and then restores it back to slave mode.
- *
- * \warning This approach results in some received frames being (partially)
- * dropped in the time period between the invocation of this function and the
- * bus becoming idle (and the message is sent).
- */
-void pb_i2c_send(i2c_addr_t addr, const uint8_t * buf, size_t sz);
-
-/// \}
-
-#ifdef __cplusplus
-}
-#endif
-