Merge branch 'master' into wip/handover

16 files changed, 212 insertions, 266 deletions

diff --git a/main/CMakeLists.txt b/main/CMakeLists.txt
index cf23839..7a0b136 100644
--- a/main/CMakeLists.txt
+++ b/main/CMakeLists.txt
@@ -7,8 +7,9 @@ set(PICO_BOARD pico_w)
 
 include(lib/pico-sdk/pico_sdk_init.cmake)
 include(lib/FreeRTOS-Kernel/portable/ThirdParty/GCC/RP2040/FreeRTOS_Kernel_import.cmake)
-include(../i2ctcp/include.cmake)
-include(../shared/include.cmake)
+add_subdirectory(lib/mpack)
+add_subdirectory(lib/i2ctcp)
+add_subdirectory(lib/pbdrv)
 
 project(puzzlebox_main C CXX ASM)
 
@@ -19,6 +20,9 @@ add_executable(main
 	init.c
 	sock.c
 	i2c.c
+	mod.c
+	tasks.c
+	blink.c
 	)
 
 pico_enable_stdio_usb(main 1)
@@ -27,7 +31,7 @@ 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
@@ -36,5 +40,6 @@ target_link_libraries(main
 	FreeRTOS-Kernel-Heap4
 	i2ctcp
 	mpack
+	pbdrv-mod
 	)
 
diff --git a/main/blink.c b/main/blink.c
new file mode 100644
index 0000000..956e910
--- /dev/null
+++ b/main/blink.c
@@ -0,0 +1,16 @@
+#include <FreeRTOS.h>
+#include <task.h>
+#include <pico/cyw43_arch.h>
+
+#include "blink.h"
+#include "config.h"
+
+void blink_task() {
+	while (true) {
+		cyw43_arch_gpio_put(CFG_LED_PIN, 1);
+		vTaskDelay(50 / portTICK_PERIOD_MS);
+		cyw43_arch_gpio_put(CFG_LED_PIN, 0);
+		vTaskDelay(1000 / portTICK_PERIOD_MS);
+	}
+}
+
diff --git a/main/blink.h b/main/blink.h
new file mode 100644
index 0000000..51c5f32
--- /dev/null
+++ b/main/blink.h
@@ -0,0 +1,4 @@
+#pragma once
+
+void blink_task();
+
diff --git a/main/compile_commands.json b/main/compile_commands.json
deleted file mode 120000
index 25eb4b2..0000000
--- a/main/compile_commands.json
+++ /dev/null
@@ -1 +0,0 @@
-build/compile_commands.json
\ No newline at end of file
diff --git a/main/config.def.h b/main/config.def.h
index 7fcaed9..3d325fe 100644
--- a/main/config.def.h
+++ b/main/config.def.h
@@ -1,17 +1,72 @@
 #pragma once
 #include <pico/cyw43_arch.h>
+#include <cyw43_country.h>
 
-// wifi credentials
-#define CONF_NET_SSID "network name"
-#define CONF_NET_PASS "network password"
-#define CONF_NET_AUTH CYW43_AUTH_WPA2_AES_PSK
-// max duration (milliseconds) for establishing wifi connection
-#define CONF_NET_CONN_TIMEOUT 10e3
+/**
+ * \name Network (Wi-Fi) configuration
+ * \{
+ */
+#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
 
-#include <cyw43_country.h>
-#define CONF_NET_COUNTRY CYW43_COUNTRY_NETHERLANDS
+#ifndef CFG_NET_PASS
+//! network password
+#define CFG_NET_PASS ""
+#endif
+
+#ifndef CFG_NET_AUTH
+//! network security type
+#define CFG_NET_AUTH CYW43_AUTH_OPEN
+#endif
+
+#ifndef CFG_NET_CONN_TIMEOUT
+//! max duration (milliseconds) for establishing wifi connection
+#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
+/** \} */
+
+/**
+ * \name i2ctcp server configuration
+ * \{
+ */
+#ifndef CFG_SRV_PORT
+//! i2ctcp server port
+#define CFG_SRV_PORT 9191
+#endif
+
+#ifdef CFG_NET_DISABLE
+//! disable the i2ctcp server
+#define CFG_SRV_DISABLE
+#endif
+/** \} */
 
-#define CONF_SRV_PORT 9191
+#ifndef CFG_LED_PIN
+//! status LED pin
+#define CFG_LED_PIN CYW43_WL_GPIO_LED_PIN
+#endif
 
-#define LED_PIN CYW43_WL_GPIO_LED_PIN
+#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 5ce0507..b0a0d11 100644
--- a/main/i2c.c
+++ b/main/i2c.c
@@ -1,8 +1,5 @@
-#include "i2c.h"
-#include "init.h"
-#include "sock.h"
-#include "pb/types.h"
-
+#include <FreeRTOS.h>
+#include <task.h>
 #include <stdio.h>
 #include <stddef.h>
 #include <stdint.h>
@@ -10,129 +7,65 @@
 #include <pico/stdlib.h>
 #include <hardware/i2c.h>
 
-#include <lwip/opt.h>
-#include <lwip/sys.h>
-#include <lwip/api.h>
-#include <string.h>
-
-uint8_t found[MAX_SLAVES];
-extern struct netconn* current_connection;
-
-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;
-	}
-}
-
-int write_read_i2c(uint8_t addr, uint8_t *input, size_t input_len, uint8_t *output, size_t output_len){
-	// herhaalde start conditie voor direct lezen na i2c write (?)
-	int ret = write_i2c(addr, input, input_len);
-	if (ret < 0) {
-		printf("Write failure while writing data to bus.\n");
-		return ret;
-	}
-
-	// wait for response
-	absolute_time_t start_time = get_absolute_time();
-	while ( absolute_time_diff_us(start_time, get_absolute_time()) / 1000 < MAX_TIMEOUT_TIME ){
-		ret = read_i2c(addr, output, output_len);
-		if( ret > 0 ) {
-			return ret;
-		}
-		sleep_ms(1);
-	}
-
-	printf("Timeout occurred while waiting for slave response.\n");
-	return -1;
-}
-
-// Make sure that current addresses are checked (modules), and invalid addresses are ignore (neotrellis slave)
-uint8_t* scan_bus(uint8_t *array) {
-	int ret;
-	int i = 0;
-	uint8_t * rxdata;
-	uint8_t * handshake_data;
-	init_addr_array(array, MAX_SLAVES);
-
-	for(int addr = 1; addr < (1<<7); addr++) {	
-		// fix handshake
-		ret = read_i2c(addr, rxdata, 1);
-
-		if ( ret <= 0 )
-			continue;
-
-		char buf[80];
-		size_t s = snprintf(buf, 80,"found i2c puzzle module at address: 0x%02x\n", addr);
-		netconn_write(current_connection, buf, s, NETCONN_COPY);
-		printf("%.*s", s, buf);
-			
-		// do handshake
-		ret = write_read_i2c(addr, (uint8_t*)pb_magic_msg, sizeof(pb_magic_msg), handshake_data, sizeof(pb_magic_res)); // fix data + length + everything	
-		
-		if ( ret != sizeof(pb_magic_res))
-			continue;
-		
-		if ( ret > 0 && (memcmp(handshake_data, pb_magic_res, sizeof(pb_magic_res)) == 0)) {
-			printf("this was an actual device!!!1111!\n");
-			char buf[80];
-			size_t s = snprintf(buf, 80,"found i2c puzzle module at address: 0x%02x\n");
-			netconn_write(current_connection, buf, s, NETCONN_COPY);
-
-			array[i] = addr;
-			i++;
-		}
-	}
-
-	return array;
+#include "i2c.h"
+#include "pb-mod.h"
+
+// uint8_t* scan_bus(uint8_t *array) {
+// 	int ret;
+// 	int i = 0;
+// 	uint8_t rxdata;
+// 
+// 	for(int addr = 0; addr < (1<<7); addr++) {
+// 		// ignore reserved addresses
+// 		// These are any addresses of the form 000 0xxx or 111 1xxx
+// 		// ret = i2c_read_blocking(I2C_PORT, addr, &rxdata, 1, false);
+// 
+// 		// if acknowledged -> ret == number of bytes sent
+// 		if(ret > 0){
+// 			printf("found i2c slave on addr: %d\n", addr);
+// 			array[i] = addr;
+// 			i++;
+// 		}
+// 	}
+// 
+// 	return array;
+// }
+
+void pbdrv_i2c_recv(const uint8_t * a, size_t b) {
+	printf("%.*s", b, a);
 }
 
 void bus_task() {
 	// scan bus for slaves
 	// send updates at regular intervals
-	await_init();
+	vTaskDelay(1000 / portTICK_PERIOD_MS);
 	
-	scan_bus(found);
-
-	while(1) {
-		// add check if bus is in use
-
-		uint8_t data;
-		for(int i = 0; i < MAX_SLAVES; i++){
-			if( found[i] == 0x00 )
-				continue;
-			
-			read_i2c(found[i], &data, 2);
-			if(data > 0) {
-				printf("Data: %d", data);
-			}
-
-		}
-
-		sleep_ms(1000); // wait for one second before next loop
+	// int i = 0;
+	// uint8_t found[MAX_SLAVES];
+	// init_addr_array(found, MAX_SLAVES);
+	
+	while (true) {
+		vTaskDelay(10 / portTICK_PERIOD_MS);
+		pbdrv_i2c_send(0x69, (uint8_t *) "bbbbbbbb", 9);
 	}
+
+	// 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 fcfa23b..6625756 100644
--- a/main/i2c.h
+++ b/main/i2c.h
@@ -2,52 +2,9 @@
 // https://github.com/raspberrypi/pico-examples/tree/master/i2c
 // https://www.raspberrypi.com/documentation/microcontrollers/raspberry-pi-pico.html
 
-#include <stddef.h>
-#include <stdint.h>
-#include <hardware/i2c.h>
-
-#define SDA_PIN 16
-#define SCL_PIN 17
-#define I2C_PORT i2c0
 #define MAX_SLAVES 10
 #define MAX_TIMEOUT_TIME 50 //ms
 
-/**
- * \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
-*/
-int write_read_i2c(uint8_t addr, uint8_t *input, size_t input_len, uint8_t *output, size_t output_len);
-
-uint8_t* scan_bus(uint8_t *array);
-
-/** \brief looking for slave addresses and requesting updates */
+//! looking for slave addresses and requesting updates
 void bus_task();
+
diff --git a/main/init.c b/main/init.c
index 4ab373e..bd00c04 100644
--- a/main/init.c
+++ b/main/init.c
@@ -1,22 +1,20 @@
-#include "config.h"
-#include "init.h"
-#include "i2c.h"
-
 #include <FreeRTOS.h>
 #include <task.h>
-#include <event_groups.h>
 
 #include <pico/stdio.h>
 #include <pico/cyw43_arch.h>
 
-EventGroupHandle_t init_complete;
+#include "config.h"
+#include "init.h"
+#include "tasks.h"
+#include "drv/rp2040/mod.h"
 
 static void init_stdio() {
 	stdio_init_all();
 }
 
 static void init_cyw34() {
-	if (cyw43_arch_init_with_country(CONF_NET_COUNTRY))
+	if (cyw43_arch_init_with_country(CFG_NET_COUNTRY))
 		panic("cyw43_arch_init_with_country failed\n");
 }
 
@@ -24,30 +22,32 @@ static void init_wifi() {
 	// enable 'station' mode (connect to an access point instead of acting like one)
 	cyw43_arch_enable_sta_mode();
 
-	/* WERKT GEWOON NIET MET DEZE LIJNEN CODE */
-	if (cyw43_arch_wifi_connect_timeout_ms(CONF_NET_SSID, CONF_NET_PASS, CONF_NET_AUTH, CONF_NET_CONN_TIMEOUT))
+	if (cyw43_arch_wifi_connect_timeout_ms(CFG_NET_SSID, CFG_NET_PASS, CFG_NET_AUTH, CFG_NET_CONN_TIMEOUT))
 		panic("cyw43_arch_wifi_connect failed\n");
-	/* WERKT GEWOON NIET MET DEZE LIJNEN CODE */
-
-	printf("connected to Wi-Fi\n");
 
 	// 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();
+}
+
 static void async_init() {
 	init_cyw34();
 	init_i2c();
+#ifndef CFG_NET_DISABLE
 	init_wifi();
-
-	xEventGroupSetBits(init_complete, 1);
+#endif
+	init_tasks();
 
 	// delete self
 	vTaskDelete(NULL);
 }
 
 void init() {
-	init_complete = xEventGroupCreate();
-
 	// used for debug `printf` and `panic` on errors
 	init_stdio();
 
@@ -55,7 +55,3 @@ void init() {
 	xTaskCreate((TaskFunction_t) async_init, "init", configMINIMAL_STACK_SIZE, NULL, tskIDLE_PRIORITY + 4, NULL);
 }
 
-void await_init() {
-	xEventGroupWaitBits(init_complete, 1, pdFALSE, pdFALSE, portMAX_DELAY);
-}
-
diff --git a/main/init.h b/main/init.h
index de9023c..73d2773 100644
--- a/main/init.h
+++ b/main/init.h
@@ -1,38 +1,11 @@
 #pragma once
 
-#include <FreeRTOS.h>
-#include <event_groups.h>
-
-/**
- * \brief init function complete event group handle
- *
- * This is required to make sure the main task waits until initialization is
- * complete. Due to the combination of FreeRTOS + lwIP, the initialization
- * should be done while the task scheduler is running. Specifically the
- * cyw43_arch_init functions make the pico hang indefinitely when used while
- * the task scheduler is not running.
- *
- * \note `init_complete` only utilizes LSB, so `uxBitsToWaitFor` should always
- * be set to *1*
- */
-extern EventGroupHandle_t init_complete;
-
 /**
- * \brief initialize all peripherals on the pico
+ * \brief initialize the main controller
  *
  * This function only synchronously initializes the standard input/output (used
  * for `printf` and `panic`), and queues all other types of initialization in
  * the `init` task using FreeRTOS.
- *
- * \note Tasks dependent on the wifi being initialized should use the
- * `init_complete` event group to wait for initialization to complete!
  */
 void init();
 
-/**
- * \brief block task until all initialization is complete
- *
- * utility function, see above comments
- */
-void await_init();
-
diff --git a/main/main.c b/main/main.c
index 7558a0b..7c1bb6a 100644
--- a/main/main.c
+++ b/main/main.c
@@ -1,32 +1,10 @@
 #include <FreeRTOS.h>
 #include <task.h>
 
-#include <pico/stdlib.h>
-#include <pico/time.h>
-
-#include "config.h"
 #include "init.h"
-#include "sock.h"
-#include "i2c.h"
-
-void blink_task() {
-	await_init(); // `blink_task` uses GPIO
-
-	while (true) {
-		cyw43_arch_gpio_put(LED_PIN, 0);
-		vTaskDelay(250 / portTICK_PERIOD_MS);
-		cyw43_arch_gpio_put(LED_PIN, 1);
-		vTaskDelay(250 / portTICK_PERIOD_MS);
-	}
-}
 
 int main() {
 	init();
-
-	xTaskCreate((TaskFunction_t) blink_task, "blink", configMINIMAL_STACK_SIZE, NULL, tskIDLE_PRIORITY + 2, NULL);
-	xTaskCreate((TaskFunction_t) serve_task, "serve", configMINIMAL_STACK_SIZE, NULL, tskIDLE_PRIORITY + 2, NULL);
-	xTaskCreate((TaskFunction_t) bus_task, "bus", configMINIMAL_STACK_SIZE, NULL, tskIDLE_PRIORITY + 2, NULL);
-
 	vTaskStartScheduler();
 
 	while(1) {
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;
+
diff --git a/main/readme.md b/main/readme.md
index 425a00b..28fcfad 100644
--- a/main/readme.md
+++ b/main/readme.md
@@ -5,17 +5,23 @@ This directory contains the software for the main controller of the Puzzle Box.
 ## building
 
 1. make sure the submodules are initialized
-2. copy [`config.def.h`](./config.def.h) to `config.h` and edit the defaults
-3. `mkdir build`
-4. `cmake -B build`
-5. `make -C build` or `ninja -C build` (choose your preference)
+2. create a `config.h` file and define some options (see `config.def.h` for all
+   options):
+   ```c
+   #pragma once
 
-alternatively, a makefile is provided for convenience
+   #define CFG_NET_SSID "network name"
+   #define CFG_NET_PASS "network password"
+   #define CFG_NET_AUTH CYW43_AUTH_WPA2_AES_PSK
 
-## "flashing"
+   #include "config.def.h"
+   ```
+3. use CMake to build
 
-1. [build](#building)
-2. (re)connect the raspberry pi pico while holding the BOOTSEL button (this is
-   the only button)
+## flashing
+
+1. build
+2. hold the BOOTSEL button while resetting the pico (by power cycling or
+   pulling pin 30 (RUN) to GND)
 3. `picotool load build/main.uf2`
 
diff --git a/main/sock.c b/main/sock.c
index af25d97..5d75e8f 100644
--- a/main/sock.c
+++ b/main/sock.c
@@ -81,14 +81,12 @@ void accept_handler(struct netconn* conn) {
 }
 
 void serve_task() {
-	await_init();
-
 	printf("starting server...\n");
 	struct netconn* conn = netconn_new(NETCONN_TCP);
-	netconn_bind(conn, IP_ADDR_ANY, CONF_SRV_PORT);
+	netconn_bind(conn, IP_ADDR_ANY, CFG_SRV_PORT);
 	netconn_listen(conn);
 
-	printf("listening on %s:%d\n", ip4addr_ntoa(netif_ip4_addr(netif_list)), CONF_SRV_PORT);
+	printf("listening on %s:%d\n", ip4addr_ntoa(netif_ip4_addr(netif_list)), CFG_SRV_PORT);
 	while (1) {
 		struct netconn* incoming;
 		if (netconn_accept(conn, &incoming) == ERR_OK)
diff --git a/main/sock.h b/main/sock.h
index f2db35d..61828fb 100644
--- a/main/sock.h
+++ b/main/sock.h
@@ -3,7 +3,7 @@
 #include <stdint.h>
 #include <stddef.h>
 
-/** \brief start listening for TCP socket requests */
+//! start listening for TCP socket requests
 void serve_task();
 
 void i2c_send(uint16_t addr, const char * data, size_t data_size);
diff --git a/main/tasks.c b/main/tasks.c
new file mode 100644
index 0000000..253c47b
--- /dev/null
+++ b/main/tasks.c
@@ -0,0 +1,17 @@
+#include <FreeRTOS.h>
+#include <task.h>
+
+#include "config.h"
+#include "tasks.h"
+
+#include "blink.h"
+#include "i2c.h"
+#include "sock.h"
+
+void init_tasks() {
+	xTaskCreate((TaskFunction_t) blink_task, "blink", configMINIMAL_STACK_SIZE, NULL, tskIDLE_PRIORITY + 2, NULL);
+#ifndef CFG_SRV_DISABLE
+	xTaskCreate((TaskFunction_t) serve_task, "serve", configMINIMAL_STACK_SIZE, NULL, tskIDLE_PRIORITY + 2, NULL);
+#endif
+	xTaskCreate((TaskFunction_t) bus_task, "bus", configMINIMAL_STACK_SIZE, NULL, tskIDLE_PRIORITY + 2, NULL);
+}
diff --git a/main/tasks.h b/main/tasks.h
new file mode 100644
index 0000000..002f830
--- /dev/null
+++ b/main/tasks.h
@@ -0,0 +1,4 @@
+#pragma once
+
+void init_tasks();
+