diff options
Diffstat (limited to 'main')
| -rw-r--r-- | main/CMakeLists.txt | 4 | ||||
| -rw-r--r-- | main/blink.h | 12 | ||||
| -rw-r--r-- | main/config.def.h | 95 | ||||
| -rw-r--r-- | main/i2c.c | 35 | ||||
| -rw-r--r-- | main/i2c.h | 15 | ||||
| -rw-r--r-- | main/index.dox | 13 | ||||
| -rw-r--r-- | main/init.c | 14 | ||||
| -rw-r--r-- | main/init.h | 12 | ||||
| -rw-r--r-- | main/mod.c | 3 | ||||
| -rw-r--r-- | main/pbdrv.c | 95 | ||||
| -rw-r--r-- | main/pbdrv.h | 52 | ||||
| -rw-r--r-- | main/readme.md | 15 | ||||
| -rw-r--r-- | main/sock.h | 15 | ||||
| -rw-r--r-- | main/tasks.h | 9 |
14 files changed, 188 insertions, 201 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/blink.h b/main/blink.h index 51c5f32..f8262d0 100644 --- a/main/blink.h +++ b/main/blink.h @@ -1,4 +1,16 @@ #pragma once +/** + * \ingroup main_tasks + * \{ + */ + +/** + * \brief Status LED blink task + * + * This task is started after initialization is complete, and blinks the + * on-board LED to indicate the Pico has completed initialization successfully. + */ void blink_task(); +/// \} diff --git a/main/config.def.h b/main/config.def.h index e9503ed..cb6e8b4 100644 --- a/main/config.def.h +++ b/main/config.def.h @@ -3,31 +3,69 @@ #include <cyw43_country.h> /** + * \ingroup main + * \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. + * + * \{ + */ + +/** * \name Network (Wi-Fi) configuration * \{ */ #ifndef CFG_NET_SSID -//! network name (SSID) +/** + * \brief Network name (SSID) + * \note Not defining \c CFG_NET_SSID will implicitly enable \c CFG_NET_DISABLE + */ #define CFG_NET_SSID "" #ifndef CFG_NET_DISABLE -//! disable network communication +/** + * \brief Disable network communication completely + * \note Enabling this option will implicitly enable \c CFG_SRV_DISABLE + */ #define CFG_NET_DISABLE #warning No SSID defined! Disabling network communication! #endif #endif #ifndef CFG_NET_PASS -//! network password +//! Network password #define CFG_NET_PASS "" #endif #ifndef CFG_NET_AUTH -//! network security type +//! Network security type #define CFG_NET_AUTH CYW43_AUTH_OPEN #endif #ifndef CFG_NET_CONN_TIMEOUT -//! max duration (milliseconds) for establishing wifi connection +//! Max duration (milliseconds) for establishing Wi-Fi connection #define CFG_NET_CONN_TIMEOUT 10e3 #endif @@ -36,47 +74,60 @@ #define CFG_NET_COUNTRY CYW43_COUNTRY_WORLDWIDE #endif #ifndef CFG_NET_COUNTRY -//! radio communications country +//! Radio communications country #define CFG_NET_COUNTRY CYW43_COUNTRY_NETHERLANDS #endif -/** \} */ +/// \} /** - * \name i2ctcp server configuration + * \name TCP server configuration * \{ */ #ifndef CFG_SRV_PORT -//! i2ctcp server port +//! TCP server port #define CFG_SRV_PORT 9191 #endif - #ifdef CFG_NET_DISABLE -//! disable the i2ctcp server +//! Disable the TCP server #define CFG_SRV_DISABLE #endif -/** \} */ +/// \} /** * \name I2C configuration * \{ */ -#ifndef CFG_SDA_PIN -//! I^2^C SDA pin -#define CFG_SDA_PIN 16 +#ifndef CFG_SDA0_PIN +//! I2C 0 SDA pin +#define CFG_SDA0_PIN 16 +#endif +#ifndef CFG_SCL0_PIN +//! I2C 0 SCL pin +#define CFG_SCL0_PIN 17 #endif -#ifndef CFG_SCL_PIN -//! I^2^C SCL pin -#define CFG_SCL_PIN 17 +#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 +/// \} +/** + * \name Auxiliary options + * \{ + */ #ifndef CFG_LED_PIN -//! status LED pin +//! Status LED pin #define CFG_LED_PIN CYW43_WL_GPIO_LED_PIN #endif - #ifndef CFG_PB_MOD_MAX -//! maximum number of simultaniously connected puzzle modules +//! Maximum number of simultaniously connected puzzle modules #define CFG_PB_MOD_MAX 8 #endif +/// \} + +/// \} @@ -8,15 +8,31 @@ #include "i2c.h" #include "pb-mod.h" -#include "pbdrv.h" #include "config.h" #include "pb-buf.h" #include "pb-send.h" 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 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 state_exchange() { @@ -74,19 +90,26 @@ 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); } } +/** + * \ingroup main_pb_override + * \anchor main_route_cmd_magic_res + * + * This function registers the I2C address of the puzzle module that replied to + * the \c MAGIC \c REQ command into a list of "known puzzle modules", which are + * then periodically updated during gameplay. + * + * \note Up to \ref CFG_PB_MOD_MAX puzzle modules can be registered + * simultaniously. + */ void pb_route_cmd_magic_res(pb_msg_t * msg) { if (modules_size == CFG_PB_MOD_MAX) return; pb_puzzle_module_t tmp_module = {msg->sender, PB_GS_NOINIT}; @@ -1,5 +1,18 @@ #pragma once -//! looking for slave addresses and requesting updates +/** + * \ingroup main_tasks + * \{ + */ + +/** + * \brief I2C bus activity task + * + * This function does an initial bus scan for puzzle modules, and then goes + * into an infinite loop that periodically polls all puzzle modules for their + * global state. + */ void bus_task(); +/// \} + diff --git a/main/index.dox b/main/index.dox new file mode 100644 index 0000000..54c5b15 --- /dev/null +++ b/main/index.dox @@ -0,0 +1,13 @@ +// vim:ft=doxygen +/** +\ingroup main +\defgroup main_tasks Tasks +\brief FreeRTOS tasks +*/ + +/** +\ingroup main +\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(); } diff --git a/main/init.h b/main/init.h index 73d2773..a24977d 100644 --- a/main/init.h +++ b/main/init.h @@ -1,11 +1,17 @@ #pragma once /** - * \brief initialize the main controller + * \ingroup main + * \{ + */ + +/** + * \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. + * for \c printf() and \c panic()), and queues all other types of + * initialization in the \c async_init() task using FreeRTOS. */ void init(); +/// \} @@ -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 a751000..0000000 --- a/main/pbdrv.h +++ /dev/null @@ -1,52 +0,0 @@ -#pragma once - -#include "pb-types.h" - -/** - * This is the RP2040 puzzle bus driver. This file is no longer inside - * lib/pb//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. - * - * The workaround implemented in this driver was already kind of messy, and a - * different microcontroller should be used for the main controller instead. - */ - -#ifdef __cplusplus -extern "C" { -#endif - -//! puzzle bus driver setup -void pb_setup(); - -/** - * 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. - * - * 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. - * - * As a result of the RP2040 hardware limitations detailed at the top of this - * file, this function is also implemented in this file, even through it does - * not belong to the puzzle bus driver. In order to not miss any handshake - * responses, the bus should remain busy during the entire scan. - */ -void bus_scan(); - -#ifdef __cplusplus -} -#endif - diff --git a/main/readme.md b/main/readme.md index 28fcfad..97150eb 100644 --- a/main/readme.md +++ b/main/readme.md @@ -1,3 +1,6 @@ +\defgroup main main +\brief Main controller software + # main controller firmware This directory contains the software for the main controller of the Puzzle Box. @@ -5,17 +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/main/sock.h b/main/sock.h index 38fca01..a151973 100644 --- a/main/sock.h +++ b/main/sock.h @@ -1,8 +1,17 @@ #pragma once -#include <stdint.h> -#include <stddef.h> +/** + * \ingroup main_tasks + * \{ + */ -//! start listening for TCP socket requests +/** + * \brief Listen for TCP socket messages + * + * This task starts a TCP server that listens for messages using \ref i2ctcp, + * and sends any received I2C messages (also using \ref i2ctcp). + */ void serve_task(); +/// \} + diff --git a/main/tasks.h b/main/tasks.h index 002f830..ac77a9e 100644 --- a/main/tasks.h +++ b/main/tasks.h @@ -1,4 +1,13 @@ #pragma once +/** + * \ingroup main + * \{ + */ + +/** + * \brief Register \ref main_tasks "all tasks" in FreeRTOS + */ void init_tasks(); +/// \} |