diff options
37 files changed, 403 insertions, 344 deletions
diff --git a/client/cmd.cpp b/client/cmd.cpp index 10d53e3..062fefa 100644 --- a/client/cmd.cpp +++ b/client/cmd.cpp @@ -28,7 +28,7 @@ void cmd_test(char*) { void cmd_help(char*) { printf("List of available commands:\n"); for (size_t i = 0; i < cmds_length; i++) { - struct cmd cmd = cmds[i]; + cmd_t cmd = cmds[i]; printf(" %-*s", 10, cmd.name); if (cmd.info != NULL) printf(" %s", cmd.info); diff --git a/client/cmd.h b/client/cmd.h index a3cc44a..4f77d50 100644 --- a/client/cmd.h +++ b/client/cmd.h @@ -2,8 +2,13 @@ /** * \ingroup pbc - * \defgroup pbc_cmd cmd + * \defgroup pbc_cmd Commands * \brief Commands within \ref pbc + * + * \note A manpage is available containing end-user usage instructions inside + * the \ref client folder in the source code repository. This page contains the + * internal code documentation for the commands defined in \c pbc. + * * \{ */ diff --git a/client/i2c.h b/client/i2c.h index 87f33c9..d2cfa9a 100644 --- a/client/i2c.h +++ b/client/i2c.h @@ -5,7 +5,7 @@ /** * \ingroup pbc - * \defgroup pbc_i2c i2c + * \defgroup pbc_i2c I2C * \brief I2C abstraction functions * \{ */ diff --git a/client/parse.h b/client/parse.h index 8b7d235..1beb714 100644 --- a/client/parse.h +++ b/client/parse.h @@ -4,8 +4,8 @@ /** * \ingroup pbc - * \defgroup pbc_parse parse - * \brief Debug send command parser utilities + * \defgroup pbc_parse Parse + * \brief Debug \c send command parser utilities * \{ */ diff --git a/client/rl.cpp b/client/rl.cpp index f839d96..2e74e5f 100644 --- a/client/rl.cpp +++ b/client/rl.cpp @@ -57,7 +57,7 @@ static char* rl_completion_entries(const char *text, int state) { if (state == 0) i = 0; while (i < cmds_length) { - struct cmd cmd = cmds[i]; + cmd_t cmd = cmds[i]; i++; if (strncmp(text, cmd.name, strlen(text)) == 0) { return strdup(cmd.name); diff --git a/client/sock.cpp b/client/sock.cpp index 3490586..e33a3dc 100644 --- a/client/sock.cpp +++ b/client/sock.cpp @@ -101,7 +101,7 @@ void PBSocket::sock_task() { if (ret > 0) continue; // message read completely! - i2c_recv(input.addr, input.data, input.length); + i2c_recv(input.data, input.length); free(input.data); } diff --git a/client/sock.h b/client/sock.h index c124e45..792123e 100644 --- a/client/sock.h +++ b/client/sock.h @@ -5,7 +5,7 @@ /** * \ingroup pbc - * \defgroup pbc_sock sock + * \defgroup pbc_sock Socket * \brief TCP socket handling * \{ */ diff --git a/lib/pbdrv/CMakeLists.txt b/lib/pbdrv/CMakeLists.txt index 998ed4d..903a3b4 100644 --- a/lib/pbdrv/CMakeLists.txt +++ b/lib/pbdrv/CMakeLists.txt @@ -23,7 +23,7 @@ add_library(pbdrv STATIC pb-buf.c ) target_include_directories(pbdrv SYSTEM INTERFACE .) -target_link_libraries(pbdrv mpack) +target_link_libraries(pbdrv PRIVATE mpack) # puzzle bus *module* specific code add_library(pbdrv-mod OBJECT @@ -32,9 +32,9 @@ add_library(pbdrv-mod OBJECT pb-route.c ) target_include_directories(pbdrv-mod SYSTEM INTERFACE .) -target_link_libraries(pbdrv-mod pbdrv) +target_link_libraries(pbdrv-mod PUBLIC pbdrv) # puzzle bus drivers include(drv/arduino/include.cmake) -# include(drv/rp2040/include.cmake) # please see /main/pbdrv.h +include(drv/rp2040/include.cmake) diff --git a/lib/pbdrv/drv/arduino/include.cmake b/lib/pbdrv/drv/arduino/include.cmake index 1e2ff08..5ec1124 100644 --- a/lib/pbdrv/drv/arduino/include.cmake +++ b/lib/pbdrv/drv/arduino/include.cmake @@ -3,7 +3,7 @@ if(NOT DEFINED ARDUINO) endif() target_sources(pbdrv-mod PRIVATE "${CMAKE_CURRENT_LIST_DIR}/mod.cpp") -target_link_arduino_libraries(pbdrv-mod core Wire) +target_link_arduino_libraries(pbdrv-mod PRIVATE core Wire) # freertos is used to defer the handling of i2c messages outside the receive # interrupt service routine diff --git a/lib/pbdrv/drv/arduino/index.dox b/lib/pbdrv/drv/arduino/index.dox index 4c74222..03510dd 100644 --- a/lib/pbdrv/drv/arduino/index.dox +++ b/lib/pbdrv/drv/arduino/index.dox @@ -2,18 +2,24 @@ /** \ingroup pb_drv \defgroup pb_drv_arduino Arduino -\brief Arduino (Arduino-CMake-Toolchain) driver - -This driver is automatically enabled if the variable \c ARDUINO is defined in -your CMakeLists.txt (it is by default when using Arduino-CMake-Toolchain). - -\note This driver automatically includes the -\ref pb_ext_freertos "FreeRTOS extension" for deferring calls to \c -pb_i2c_recv() from the I2C ISR. +\brief Arduino ATmega (w/ Arduino-CMake-Toolchain) driver This driver is known to work with the following MCUs: - ATmega328P (Arduino Uno) - ATmega2560 (Arduino Mega) +\par Usage +- Link the \c pbdrv-mod library with your main executable + +\note This driver is automatically enabled if the variable \c ARDUINO is +defined in your CMakeLists.txt (it is by default when using +Arduino-CMake-Toolchain). + +\note This driver automatically includes the \ref pb_ext_freertos +"FreeRTOS extension" for deferring calls to \c pb_i2c_recv() from the I2C ISR. + +A complete example for this driver is available in the \ref puzzle/dummy +folder. + */ diff --git a/lib/pbdrv/drv/arduino/mod.cpp b/lib/pbdrv/drv/arduino/mod.cpp index 2eef8d5..c381077 100644 --- a/lib/pbdrv/drv/arduino/mod.cpp +++ b/lib/pbdrv/drv/arduino/mod.cpp @@ -1,7 +1,3 @@ -#ifndef ARDUINO -#error This driver only works on the Arduino platform! -#endif - #include <Arduino.h> #include <Wire.h> #include <avr/delay.h> @@ -42,8 +38,17 @@ static void pb_setup() { Wire.onReceive(recv_event); } -/// \ingroup pb_drv_arduino +/** + * \ingroup pb_drv_arduino + * \warning This function includes a hard-coded 10ms delay before sending. This + * is to work around a weird issue where the Arduino pulls both SDA and SCL low + * while attempting to initiate an I2C transmission. We were able to verify + * that the Arduino correctly handles bus arbitration under a test scenario + * with 2 Uno's, but ran into issues while integrating the Arduino's with the + * RP2040. + */ __weak void pb_i2c_send(i2c_addr_t addr, const uint8_t * buf, size_t sz) { + vTaskDelay(10 / portTICK_PERIOD_MS); // prevent bus collisions Wire.beginTransmission((int) addr); Wire.write(buf, sz); Wire.endTransmission(true); @@ -69,6 +74,10 @@ void loop_task() { * \ingroup pb_drv_arduino * \brief Application entrypoint * + * This function overrides the default (weak) implementation of the \c main() + * function in the Arduino framework. No additional setup is required to use + * this driver. + * * \note I should really be able to use Arduino's initVariant function for * this, but I can't seem to get it to link properly using the CMake setup in * this repository. Overriding the main() function seems to work, and the diff --git a/lib/pbdrv/drv/index.dox b/lib/pbdrv/drv/index.dox index 1fe09e2..89b9247 100644 --- a/lib/pbdrv/drv/index.dox +++ b/lib/pbdrv/drv/index.dox @@ -7,19 +7,6 @@ Like \ref pb_ext "extensions", drivers provide platform-specific implementations for various functions used in \ref pbdrv-mod. -Drivers are automatically included based on your build configuration, and you -only need to ensure \c pbdrv-mod is linked with your final executable in order -to use one of the available drivers: - -```cmake -# include pbdrv -add_subdirectory(lib/pbdrv) - -# link pbdrv-mod -target_link_libraries(main pbdrv-mod) - -``` - If there is no existing driver for your target, you may implement the following in order to use \ref pbdrv-mod: diff --git a/lib/pbdrv/drv/rp2040/include.cmake b/lib/pbdrv/drv/rp2040/include.cmake new file mode 100644 index 0000000..6d25e96 --- /dev/null +++ b/lib/pbdrv/drv/rp2040/include.cmake @@ -0,0 +1,11 @@ +if(NOT PICO_PLATFORM STREQUAL "rp2040") + return() +endif() + +target_sources(pbdrv-mod PRIVATE "${CMAKE_CURRENT_LIST_DIR}/mod.c") +target_link_libraries(pbdrv-mod PRIVATE hardware_i2c_headers pico_i2c_slave_headers) +target_include_directories(pbdrv-mod INTERFACE "${CMAKE_CURRENT_LIST_DIR}") + +# pico-stdlib is compatible with C stdlib +include("${CMAKE_CURRENT_LIST_DIR}/../../ext/stdlib/include.cmake") + diff --git a/lib/pbdrv/drv/rp2040/index.dox b/lib/pbdrv/drv/rp2040/index.dox new file mode 100644 index 0000000..eb01d15 --- /dev/null +++ b/lib/pbdrv/drv/rp2040/index.dox @@ -0,0 +1,31 @@ +// vim:ft=doxygen +/** +\ingroup pb_drv +\defgroup pb_drv_rp2040 RP2040 +\brief Raspberry Pi Pico and Pico W driver + +This driver is known to work with the following MCUs: +- Raspberry Pi Pico W + +\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. + +\note This driver includes a workaround that uses both I2C peripherals on the +RP2040. To use this driver, make sure you initialize both I2C peripherals, and +connect their respective SDA and SCL pins to the same I2C bus. + +\par Usage +- Link the \c pbdrv-mod library with your main executable +- Call the \c pb_setup() function (from \c <pb-mod.h>) during setup + +\note This driver is automatically enabled if the variable \c PICO_PLATFORM is +equal to \c "rp2040" in your CMakeLists.txt (it is by default when using the +pico-sdk CMake library). + +\note This driver automatically includes the \ref pb_ext_stdlib +"stdlib extension" as the pico-sdk implements the C standard library. + +*/ + diff --git a/lib/pbdrv/drv/rp2040/mod.c b/lib/pbdrv/drv/rp2040/mod.c new file mode 100644 index 0000000..1535da9 --- /dev/null +++ b/lib/pbdrv/drv/rp2040/mod.c @@ -0,0 +1,49 @@ +#include "pb.h" + +#include "pb.h" +#include "pb-types.h" +#include "pb-mod.h" +#include "pb-send.h" +#include "pb-buf.h" + +#include <hardware/i2c.h> +#include <hardware/gpio.h> +#include <pico/i2c_slave.h> + +#define PB_I2C_S i2c0 +#define PB_I2C_M i2c1 + +#define BUF_SIZE 256 + +uint8_t i2c_msg_buf[BUF_SIZE]; +size_t i2c_msg_buf_sz = 0; + +// This function is called from the I2C ISR +static void recv_event(i2c_inst_t *i2c, i2c_slave_event_t event) { + switch (event) { + case I2C_SLAVE_RECEIVE: { + if (i2c_msg_buf_sz == BUF_SIZE) return; + i2c_msg_buf[i2c_msg_buf_sz++] = i2c_read_byte_raw(PB_I2C_S); + break; + } + case I2C_SLAVE_FINISH: { + pb_i2c_recv(i2c_msg_buf, i2c_msg_buf_sz); + i2c_msg_buf_sz = 0; + 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); +} + diff --git a/lib/pbdrv/drv/rp2040/pb-mod.h b/lib/pbdrv/drv/rp2040/pb-mod.h new file mode 100644 index 0000000..96edc70 --- /dev/null +++ b/lib/pbdrv/drv/rp2040/pb-mod.h @@ -0,0 +1,21 @@ +#pragma once + +#ifdef __cplusplus +extern "C" { +#endif + +/** + * \ingroup pb_drv_rp2040 + * \brief Puzzle bus driver setup + * + * This function must be called from a setup/init function to initialize the + * I2C peripherals used by this driver. + */ +void pb_setup(); + +#ifdef __cplusplus +} +#endif + +#include "../../pb-mod.h" + diff --git a/lib/pbdrv/ext/freertos/include.cmake b/lib/pbdrv/ext/freertos/include.cmake index e7ab7fd..e205c8f 100644 --- a/lib/pbdrv/ext/freertos/include.cmake +++ b/lib/pbdrv/ext/freertos/include.cmake @@ -1,9 +1,7 @@ target_sources(pbdrv PRIVATE "${CMAKE_CURRENT_LIST_DIR}/pb-mem.c") -target_link_libraries(pbdrv +target_link_libraries(pbdrv PUBLIC freertos_kernel freertos_kernel_include freertos_config ) -target_sources(pbdrv-mod PRIVATE "${CMAKE_CURRENT_LIST_DIR}/pb-mod.c") - diff --git a/lib/pbdrv/ext/freertos/index.dox b/lib/pbdrv/ext/freertos/index.dox index dfa45ff..7d72918 100644 --- a/lib/pbdrv/ext/freertos/index.dox +++ b/lib/pbdrv/ext/freertos/index.dox @@ -2,5 +2,5 @@ /** \ingroup pb_ext \defgroup pb_ext_freertos FreeRTOS -\brief FreeRTOS memory management and scheduler-based delay +\brief FreeRTOS memory management */ diff --git a/lib/pbdrv/ext/freertos/pb-mod.c b/lib/pbdrv/ext/freertos/pb-mod.c deleted file mode 100644 index 5c0aa36..0000000 --- a/lib/pbdrv/ext/freertos/pb-mod.c +++ /dev/null @@ -1,10 +0,0 @@ -#include <FreeRTOS.h> -#include <task.h> - -#include "../../pb-types.h" - -/// \ingroup pb_ext_freertos -__weak void pb_mod_blocking_delay_ms(unsigned long ms) { - vTaskDelay(ms / portTICK_PERIOD_MS); -} - diff --git a/lib/pbdrv/index.dox b/lib/pbdrv/index.dox index eb0fd63..8ddcb6a 100644 --- a/lib/pbdrv/index.dox +++ b/lib/pbdrv/index.dox @@ -11,8 +11,9 @@ themselves. For a complete puzzle module driver, please see \ref pbdrv-mod. If you order to use \ref pbdrv, you need to include this folder in your CMakeLists.txt file, include the \ref pb_ext "extension" for your target -platform, and link the \c pbdrv library with your executable: +platform, and link the \c pbdrv library with your executable. +\par Example ```cmake # include pbdrv add_subdirectory(lib/pbdrv) @@ -35,14 +36,10 @@ using an existing \ref pb_drv "driver", or (partially) implementing the driver functions. Like \ref pbdrv, \ref pbdrv-mod can be used by including this folder in your -CMakeLists.txt file and linking the library with your executable. A notable -difference with \ref pbdrv-mod is that you do not need to include an extension. -\ref pb_ext "Extensions" are still used by \ref pbdrv-mod, but they are -included automatically by the target platform's \ref pb_drv "driver". The -appropriate \ref pb_drv "driver" to load is also automatically detected. - -Example: +CMakeLists.txt file and linking the library with your executable. Please see +the \ref pb_drv "drivers" page for target-specific usage instructions. +\par Example ```cmake # include pbdrv add_subdirectory(lib/pbdrv) diff --git a/lib/pbdrv/pb-mod.h b/lib/pbdrv/pb-mod.h index 3869e55..91e1d1f 100644 --- a/lib/pbdrv/pb-mod.h +++ b/lib/pbdrv/pb-mod.h @@ -24,14 +24,6 @@ extern const char * PB_MOD_NAME; */ extern const i2c_addr_t PB_MOD_ADDR; -/** - * \brief Platform-specific blocking delay function - * - * FIXME: this entire function should be removed (see handover: RP2040 I2C - * limitations) - */ -void pb_mod_blocking_delay_ms(unsigned long ms); - /// \} /** diff --git a/lib/pbdrv/pb-route.c b/lib/pbdrv/pb-route.c index f5c32d6..5a7bd67 100644 --- a/lib/pbdrv/pb-route.c +++ b/lib/pbdrv/pb-route.c @@ -93,9 +93,6 @@ __weak void pb_route_cmd_magic_req(pb_msg_t * msg) { // // return early if magic doesn't match if (pb_memcmp(cmd->magic, pb_cmd_magic_req, sizeof(pb_cmd_magic_req)) != 0) return; - // FIXME: this should be removed (see handover: RP2040 I2C limitations) - pb_mod_blocking_delay_ms(2000); - pb_buf_t buf = pb_send_magic_res(); pb_send_reply(msg, &buf); pb_buf_free(&buf); diff --git a/lib/pbdrv/pb-types.h b/lib/pbdrv/pb-types.h index ef3df54..44b590b 100644 --- a/lib/pbdrv/pb-types.h +++ b/lib/pbdrv/pb-types.h @@ -131,6 +131,12 @@ typedef struct { pb_global_state_t state; //!< global state } pb_cmd_state_t; +//! PB_MOD_STATE data +typedef struct { + i2c_addr_t sender; //!< i2c address of sender + pb_global_state_t state; //!< global state +} pb_puzzle_module_t; + //! \ref PB_CMD_MAGIC data typedef struct { char * magic; //!< magic value 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/config.def.h b/main/config.def.h index 0dae608..cb6e8b4 100644 --- a/main/config.def.h +++ b/main/config.def.h @@ -4,8 +4,33 @@ /** * \ingroup main - * \defgroup main_config config + * \defgroup main_config Config * \brief Configuration options + * + * The main controller firmware is configured statically (i.e. through + * compile-time defined options). Because the configuration is likely to + * contain Wi-Fi credentials, this file is not tracked under version control. + * + * Before compiling the main controller fimrware, a file (`config.h`) must be + * created by the user with the following format: + * + * ```c + * #pragma once + * + * // define non-default options here + * + * #include "config.def.h" + * ``` + * + * \note `config.def.h` contains preprocessor logic that tries to ensure a + * correct configuration. The default configuration has the following settings: + * - Wi-Fi is disabled (prints a warning during compilation because it was not + * explicitly disabled by the user) + * - The TCP server is disabled (due to Wi-Fi being disabled) + * + * \note The exact default values of each configuration option, and all + * available options are listed below. + * * \{ */ @@ -72,13 +97,21 @@ * \name I2C configuration * \{ */ -#ifndef CFG_SDA_PIN -//! I2C SDA pin -#define CFG_SDA_PIN 16 +#ifndef CFG_SDA0_PIN +//! I2C 0 SDA pin +#define CFG_SDA0_PIN 16 #endif -#ifndef CFG_SCL_PIN -//! I2C SCL pin -#define CFG_SCL_PIN 17 +#ifndef CFG_SCL0_PIN +//! I2C 0 SCL pin +#define CFG_SCL0_PIN 17 +#endif +#ifndef CFG_SDA1_PIN +//! I2C 1 SDA pin +#define CFG_SDA1_PIN 18 +#endif +#ifndef CFG_SCL1_PIN +//! I2C 1 SCL pin +#define CFG_SCL1_PIN 19 #endif /// \} @@ -8,36 +8,82 @@ #include "i2c.h" #include "pb-mod.h" -#include "pbdrv.h" #include "config.h" #include "pb-buf.h" #include "pb-send.h" -i2c_addr_t modules[CFG_PB_MOD_MAX]; +static pb_global_state_t _global_state = PB_GS_IDLE; +pb_puzzle_module_t modules[CFG_PB_MOD_MAX]; +// stolen from lib/pico-sdk/src/rp2_common/hardware_i2c/i2c.c +#define i2c_reserved_addr(addr) (((addr) & 0x78) == 0 || ((addr) & 0x78) == 0x78) size_t modules_size = 0; -static void state_exchange() { +static void bus_scan() { + pb_buf_t buf = pb_send_magic_req(); + + // check for all 7-bit addresses + uint16_t addr_max = 1 << 7; + for (uint16_t addr = 0x00; addr < addr_max; addr++) { + if (i2c_reserved_addr(addr)) continue; + if (addr == PB_MOD_ADDR) continue; + + pb_i2c_send(addr, (uint8_t *) buf.data, buf.size); + } + + pb_buf_free(&buf); +} + +static void update_state() { + int idle = 0, playing = 0, solved = 0; + + // count # of modules in each state for (size_t i = 0; i < modules_size; i++) { - pb_buf_t buf = pb_send_state_req(); - - pb_buf_free(&buf); + pb_global_state_t state = modules[i].state; + if (state == PB_GS_IDLE) idle++; + else if (state == PB_GS_PLAYING) playing++; + else if (state == PB_GS_SOLVED) solved++; + } + + if (idle == modules_size) { // if all modules are in PB_GS_IDLE + pb_hook_mod_state_write(PB_GS_IDLE); + } else if (solved == modules_size) { // if all modules are in PB_GS_SOLVED + pb_hook_mod_state_write(PB_GS_SOLVED); + } else { + pb_hook_mod_state_write(PB_GS_PLAYING); } + + // if a module is still playing, don't promote a next one to playing module + if (playing > 0) return; + + for (size_t i = 0; i < modules_size; i++) { + // find first module that is idle + pb_global_state_t module_state = modules[i].state; + if (module_state != PB_GS_IDLE) continue; + + pb_buf_t buff = pb_send_state_set(PB_GS_PLAYING); + pb_i2c_send(modules[i].sender, (uint8_t*)buff.data, buff.size); + pb_buf_free(&buff); + } +} + +static void state_exchange() { + update_state(); + pb_buf_t buf = pb_send_state_req(); + for (size_t i = 0; i < modules_size; i++) + pb_i2c_send(modules[i].sender, (uint8_t *) buf.data, buf.size); + pb_buf_free(&buf); } void bus_task() { // do a scan of the bus bus_scan(); - // FIXME: this should be removed (see handover: RP2040 I2C limitations) - // wait for 5 seconds until all handshake responses are received - pb_mod_blocking_delay_ms(5e3); - while(1) { // send my state to all puzzle modules state_exchange(); // wait 1 second - pb_mod_blocking_delay_ms(1e3); + vTaskDelay(1e3 / portTICK_PERIOD_MS); } } @@ -54,7 +100,25 @@ void bus_task() { */ void pb_route_cmd_magic_res(pb_msg_t * msg) { if (modules_size == CFG_PB_MOD_MAX) return; - modules[modules_size++] = msg->sender; + pb_puzzle_module_t tmp_module = {msg->sender, PB_GS_NOINIT}; + modules[modules_size++] = tmp_module; printf("i2c: registered puzzle module w/ address 0x%02x\n", msg->sender); } +void pb_route_cmd_state_res(pb_msg_t * msg) { + pb_cmd_state_t * cmd = msg->cmd; + i2c_addr_t sender = msg->sender; + + for (size_t i = 0; i < modules_size; i++) { + if (modules[i].sender != sender) continue; + modules[i].state = cmd->state; + } +} + +pb_global_state_t pb_hook_mod_state_read() { + return _global_state; +} + +void pb_hook_mod_state_write(pb_global_state_t state) { + _global_state = state; +} diff --git a/main/index.dox b/main/index.dox index 0fee58a..54c5b15 100644 --- a/main/index.dox +++ b/main/index.dox @@ -1,13 +1,13 @@ // vim:ft=doxygen /** \ingroup main -\defgroup main_tasks tasks -\brief Tasks +\defgroup main_tasks Tasks +\brief FreeRTOS tasks */ /** \ingroup main -\defgroup main_pb_override overrides +\defgroup main_pb_override Overrides \brief Override functions from \ref pbdrv-mod */ diff --git a/main/init.c b/main/init.c index 6d29d19..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(); @@ -29,11 +29,15 @@ static void init_wifi() { } static void init_i2c() { - gpio_set_function(CFG_SDA_PIN, GPIO_FUNC_I2C); - gpio_set_function(CFG_SCL_PIN, GPIO_FUNC_I2C); + gpio_set_function(CFG_SDA0_PIN, GPIO_FUNC_I2C); + gpio_set_function(CFG_SCL0_PIN, GPIO_FUNC_I2C); + gpio_set_function(CFG_SDA1_PIN, GPIO_FUNC_I2C); + gpio_set_function(CFG_SCL1_PIN, GPIO_FUNC_I2C); - gpio_pull_up(CFG_SDA_PIN); - gpio_pull_up(CFG_SCL_PIN); + gpio_pull_up(CFG_SDA0_PIN); + gpio_pull_up(CFG_SCL0_PIN); + gpio_pull_up(CFG_SDA1_PIN); + gpio_pull_up(CFG_SCL1_PIN); pb_setup(); } @@ -1,3 +1,6 @@ +#include <FreeRTOS.h> +#include <task.h> + #include "pb.h" #include "pb-mod.h" diff --git a/main/pbdrv.c b/main/pbdrv.c deleted file mode 100644 index 0624897..0000000 --- a/main/pbdrv.c +++ /dev/null @@ -1,95 +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 i2c0 -#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) { - // 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); - break; - } - case I2C_SLAVE_FINISH: { - msg_complete(msg); - break; - } - default: break; - } -} - -void pb_setup() { - i2c_init(PB_I2C, PB_CLOCK_SPEED_HZ); - i2c_slave_init(PB_I2C, PB_MOD_ADDR, &recv_event); -} - -__weak void pb_i2c_send(i2c_addr_t addr, const uint8_t * buf, size_t sz) { - i2c_set_slave_mode(PB_I2C, false, PB_MOD_ADDR); - - // false to write stop condition to i2c bus - i2c_write_timeout_us(PB_I2C, addr, buf, sz, false, PB_TIMEOUT_US); - - i2c_set_slave_mode(PB_I2C, true, PB_MOD_ADDR); -} - -void bus_scan() { - i2c_set_slave_mode(PB_I2C, false, PB_MOD_ADDR); - - pb_buf_t buf = pb_send_magic_req(); - - // check for all 7-bit addresses - uint16_t addr_max = 1 << 7; - for (uint16_t addr = 0x00; addr < addr_max; addr++) { - i2c_write_timeout_us(PB_I2C, addr, (uint8_t *) buf.data, buf.size, false, PB_TIMEOUT_US); - } - - pb_buf_free(&buf); - - i2c_set_slave_mode(PB_I2C, true, PB_MOD_ADDR); -} - -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 9496aa9..0000000 --- a/main/pbdrv.h +++ /dev/null @@ -1,64 +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); - -/** - * \brief Scan the bus for I2C slaves, and send handshake messages to ACK-ing - * slaves. - * - * \note As a result of the RP2040 hardware limitations, this function is also - * implemented in this file, even though it does not belong to the puzzle bus - * driver. - * - * \warning In order to not miss any handshake responses, the bus should remain - * busy during the entire scan. The \c nostop parameter of the \c - * i2c_write_timeout_us() function from the pico-sdk does not seem to keep the - * bus busy. - */ -void bus_scan(); - -/// \} - -#ifdef __cplusplus -} -#endif - diff --git a/main/readme.md b/main/readme.md index 85a3fca..97150eb 100644 --- a/main/readme.md +++ b/main/readme.md @@ -8,17 +8,7 @@ This directory contains the software for the main controller of the Puzzle Box. ## building 1. make sure the submodules are initialized -2. create a `config.h` file and define some options (see `config.def.h` for all - options): - ```c - #pragma once - - #define CFG_NET_SSID "network name" - #define CFG_NET_PASS "network password" - #define CFG_NET_AUTH CYW43_AUTH_WPA2_AES_PSK - - #include "config.def.h" - ``` +2. create a `config.h` file (see \ref main_config "config") 3. use CMake to build ## flashing diff --git a/puzzle/dummy/CMakeLists.txt b/puzzle/dummy/CMakeLists.txt index 63c4449..7edce2b 100644 --- a/puzzle/dummy/CMakeLists.txt +++ b/puzzle/dummy/CMakeLists.txt @@ -11,10 +11,10 @@ add_compile_definitions(DEBUG) # arduino set(CMAKE_TOOLCHAIN_FILE ${CMAKE_SOURCE_DIR}/lib/Arduino-CMake-Toolchain/Arduino-toolchain.cmake) -# set(ARDUINO_BOARD "Arduino Uno [avr.uno]") -set(ARDUINO_BOARD "Arduino Mega or Mega 2560 [avr.mega]") +set(ARDUINO_BOARD "Arduino Uno [avr.uno]") +# set(ARDUINO_BOARD "Arduino Mega or Mega 2560 [avr.mega]") -# freertos +# freertos (used for memory management only) add_library(freertos_config INTERFACE) target_include_directories(freertos_config SYSTEM INTERFACE .) set(FREERTOS_PORT GCC_ATMEGA) @@ -28,6 +28,7 @@ set(FREERTOS_HEAP 4) project(pb_mod_dummy C CXX) add_subdirectory(lib/pbdrv) +include(lib/pbdrv/ext/freertos/include.cmake) add_subdirectory(lib/FreeRTOS-Kernel) add_executable(main diff --git a/puzzle/dummy/FreeRTOSConfig.h b/puzzle/dummy/FreeRTOSConfig.h index 1cfdd71..1d98f78 100644 --- a/puzzle/dummy/FreeRTOSConfig.h +++ b/puzzle/dummy/FreeRTOSConfig.h @@ -17,8 +17,8 @@ #define configSTACK_DEPTH_TYPE uint16_t #define configSUPPORT_STATIC_ALLOCATION 0 #define configSUPPORT_DYNAMIC_ALLOCATION 1 -// #define configTOTAL_HEAP_SIZE (1024) -#define configTOTAL_HEAP_SIZE (7 * 1024) +#define configTOTAL_HEAP_SIZE (1024) +// #define configTOTAL_HEAP_SIZE (7 * 1024) #define configCHECK_FOR_STACK_OVERFLOW 0 #define configUSE_MALLOC_FAILED_HOOK 0 #define configUSE_DAEMON_TASK_STARTUP_HOOK 0 diff --git a/puzzle/dummy/makefile b/puzzle/dummy/makefile index 26e9157..6b8341b 100644 --- a/puzzle/dummy/makefile +++ b/puzzle/dummy/makefile @@ -3,6 +3,6 @@ TARGET = $(BUILD_DIR)/main.elf include ../../lazy.mk export SERIAL_PORT ?= /dev/ttyACM0 -flash: upload-main; -upload-main: $(TARGET) +flash: upload; +upload: $(TARGET) diff --git a/puzzle/vault/main.cpp b/puzzle/vault/main.cpp index 76e5f65..88d5b35 100644 --- a/puzzle/vault/main.cpp +++ b/puzzle/vault/main.cpp @@ -1,6 +1,7 @@ #include <Arduino.h> -#include <Wire.h> #include <TM1637Display.h> +#include "lib/pbdrv/pb-types.h" +#include "lib/pbdrv/pb-mod.h" #define TOTAL_LEVELS 5 #define ROWS 4 @@ -17,36 +18,50 @@ const int ROW_PINS[ROWS] = {7, 6, 5, 4}; const int COL_PINS[COLS] = {10, 9, 8}; const char* validButtons[TOTAL_LEVELS] = {"A2", "B1", "D3", "C2", "C3"}; const char bombCode[] = "1234"; +const uint8_t SEGMENT_MAP[] = { + 0b00111111, // 0 + 0b00000110, // 1 + 0b01011011, // 2 + 0b01001111, // 3 + 0b01100110, // 4 + 0b01101101, // 5 + 0b01111101, // 6 + 0b00000111, // 7 + 0b01111111, // 8 + 0b01101111, // 9 + 0b01110111, // A + 0b01111100, // B + 0b00111001, // C + 0b01011110, // D + 0b01111001, // E + 0b01110001 // F + // Add other letters if needed +}; + +// This array of level codes matches the codes you might display per level. +const char* levelCodes[TOTAL_LEVELS] = {"A1", "B2", "D1", "C3", "A2"}; + + +// Puzzle state +pb_global_state_t puzzleState = PB_GS_NOINIT; TM1637Display display(CLK, DIO); -typedef enum { - STATE_UNINITIALIZED = 0x00, - STATE_RESET = 0x01, - STATE_PLAYING = 0x02, - STATE_SOLVED = 0x03, - STATE_ERROR = 0x04 -} PuzzleState; - -PuzzleState puzzleState = STATE_UNINITIALIZED; int currentLevel = 0; -void requestEvent() { - if (puzzleState == STATE_PLAYING) { - uint8_t responseData[] = HANDSHAKE_SEND; - Wire.write(responseData, sizeof(responseData)); - Serial.println("Handshake response sent."); +void blink_display(int num) { + if (num == 1) { + // Display "1111" with leading zeros shown if necessary + display.showNumberDecEx(1111, 0b11111111, true); + } else if (num == 0) { + // Display "0000" with leading zeros shown if necessary + display.showNumberDecEx(0, 0b11111111, true); } + delay(500); + display.clear(); + delay(500); } -void blink_display(char num) { - while(puzzleState == STATE_UNINITIALIZED || puzzleState == STATE_ERROR) { - display.showNumberDecEx(0, 0b11111111, true); // Display "0000" with all digits on - delay(500); - display.clear(); - delay(500); - } -} void display_final_code(const char* code) { uint8_t segs[4] = {0, 0, 0, 0}; @@ -73,12 +88,10 @@ void check_button_press() { if (strcmp(keyPress, validButtons[currentLevel]) == 0) { currentLevel++; if (currentLevel >= TOTAL_LEVELS) { - puzzleState = STATE_SOLVED; + pb_hook_mod_state_write(PB_GS_SOLVED); Serial.println("Puzzle solved!"); display.showNumberDec(currentLevel + 1, true); digitalWrite(SOLVED_PIN, HIGH); - } else { - puzzleState = STATE_PLAYING; } } else { currentLevel = 0; @@ -102,64 +115,77 @@ void initialize_system() { Serial.println("GPIO and display initialized."); } -void receiveEvent(int howMany) { - if (howMany == 6) { - uint8_t expectedBytes[] = HANDSHAKE_RECEIVED; - uint8_t receivedBytes[6]; - bool match = true; - - for (int i = 0; i < 6; i++) { - receivedBytes[i] = Wire.read(); - if (receivedBytes[i] != expectedBytes[i]) { - match = false; - break; - } - } +void display_code_for_level(int level) { + char code[3] = {0}; // Temp storage for level code + strncpy(code, levelCodes[level], 2); // Copy the level-specific code - if (match) { - Serial.println("Correct handshake data received."); - puzzleState = STATE_PLAYING; - initialize_system(); + uint8_t segs[4] = {0}; // Segments to send to the display + + // Check if the first character is a letter and map it + if (isalpha(code[0])) { + if (code[0] >= 'A' && code[0] <= 'F') { + segs[0] = SEGMENT_MAP[code[0] - 'A' + 10]; // Maps A-F to their segment patterns } else { - Serial.println("Incorrect handshake data received."); - puzzleState = STATE_ERROR; + // Handle unexpected characters or extend SEGMENT_MAP for more letters + segs[0] = 0; // Display nothing for undefined letters } } else { - Serial.print("Received wrong number of bytes: "); - Serial.println(howMany); - puzzleState = STATE_ERROR; + // Assume it's a number and map directly + segs[0] = SEGMENT_MAP[code[0] - '0']; } + + // Check if the second character is a digit and map it + if (isdigit(code[1])) { + segs[1] = SEGMENT_MAP[code[1] - '0']; + } else { + // Handle unexpected characters + segs[1] = 0; // Display nothing for undefined digits + } + + // Set only the first two segments, leave others blank + display.setSegments(segs, 2, 0); // Display on leftmost two digits } +pb_global_state_t pb_hook_mod_state_read() { + return puzzleState; +} + +void pb_hook_mod_state_write(pb_global_state_t state) { + puzzleState = state; +} + +void pb_hook_ev_main_state_update(pb_global_state_t state){ + Serial.println("WE IN BOISS"); +} + void setup() { Serial.begin(115200); pinMode(SOLVED_PIN, OUTPUT); digitalWrite(SOLVED_PIN, LOW); - display.setBrightness(0x0f); - - Wire.begin(I2C_MODULE_ADDRESS); - Wire.onRequest(requestEvent); - Wire.onReceive(receiveEvent); - - // Initialize display with blinking zeros to indicate no connection or initialization state - blink_display('0'); + display.setBrightness(0x0f); + initialize_system(); } void loop() { switch(puzzleState) { - case STATE_PLAYING: + case PB_GS_PLAYING: + display_code_for_level(currentLevel); check_button_press(); delay(100); break; - case STATE_SOLVED: + case PB_GS_SOLVED: + Serial.println("STATE = PB_GS_SOLVED"); display_final_code(bombCode); digitalWrite(SOLVED_PIN, HIGH); - Serial.println("Final display shown. Puzzle complete."); break; - case STATE_ERROR: - case STATE_UNINITIALIZED: - blink_display('0'); + case PB_GS_NOINIT: + Serial.println("STATE = PB_GS_NOINIT"); + blink_display(0); + break; + case PB_GS_IDLE: + Serial.println("STATE = PB_GS_IDLE"); + blink_display(1); break; } -}
\ No newline at end of file +} diff --git a/puzzle/vault/makefile b/puzzle/vault/makefile index 26e9157..f33ca7e 100644 --- a/puzzle/vault/makefile +++ b/puzzle/vault/makefile @@ -2,7 +2,7 @@ TARGET = $(BUILD_DIR)/main.elf include ../../lazy.mk -export SERIAL_PORT ?= /dev/ttyACM0 -flash: upload-main; -upload-main: $(TARGET) +export SERIAL_PORT ?= /dev/ttyUSB0 +flash: upload; +upload: $(TARGET) |