diff options
Diffstat (limited to 'main')
| -rw-r--r-- | main/CMakeLists.txt | 4 | ||||
| -rw-r--r-- | main/config.def.h | 20 | ||||
| -rw-r--r-- | main/i2c.c | 19 | ||||
| -rw-r--r-- | main/init.c | 14 | ||||
| -rw-r--r-- | main/mod.c | 3 | ||||
| -rw-r--r-- | main/pbdrv.c | 95 | ||||
| -rw-r--r-- | main/pbdrv.h | 64 |
7 files changed, 40 insertions, 179 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/config.def.h b/main/config.def.h index 0dae608..b3be5ed 100644 --- a/main/config.def.h +++ b/main/config.def.h @@ -72,13 +72,21 @@ * \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 /// \} @@ -8,7 +8,6 @@ #include "i2c.h" #include "pb-mod.h" -#include "pbdrv.h" #include "config.h" #include "pb-buf.h" #include "pb-send.h" @@ -16,6 +15,18 @@ i2c_addr_t modules[CFG_PB_MOD_MAX]; size_t modules_size = 0; +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++) { + pb_i2c_send(addr, (uint8_t *) buf.data, buf.size); + } + + pb_buf_free(&buf); +} + static void state_exchange() { for (size_t i = 0; i < modules_size; i++) { pb_buf_t buf = pb_send_state_req(); @@ -28,16 +39,12 @@ 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); } } 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 - |