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#include <Arduino.h>
#include <Wire.h>
#include <avr/delay.h>
#include <FreeRTOS.h>
#include <timers.h>
#include <task.h>
#include "../../pb.h"
#include "../../pb-mod.h"
#include "../../pb-types.h"
#include "../../pb-buf.h"
#include "../../pb-mem.h"
static void async_pb_i2c_recv(void * _msg, uint32_t _) {
pb_buf_t * msg = (pb_buf_t *) _msg;
pb_i2c_recv((uint8_t *) msg->data, msg->size);
pb_buf_free(msg);
pb_free(msg);
}
static void recv_event(int bytes) {
pb_buf_t * msg = (pb_buf_t *) pb_malloc(sizeof(pb_buf_t));
msg->data = (char *) pb_malloc(bytes);
msg->size = 0;
while (Wire.available())
msg->data[msg->size++] = Wire.read();
// defer pb_i2c_recv call
xTimerPendFunctionCallFromISR(async_pb_i2c_recv, msg, 0, NULL);
}
static void pb_setup() {
Wire.begin((int) PB_MOD_ADDR);
Wire.setWireTimeout(PB_TIMEOUT_US, true);
Wire.setClock(PB_CLOCK_SPEED_HZ);
// TODO: check if onReceive replaces or appends a handler function
Wire.onReceive(recv_event);
}
/**
* \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);
Wire.setWireTimeout(PB_TIMEOUT_US, true);
}
//! Arduino setup function
extern void setup(void);
//! Arduino loop function
extern void loop(void);
//! Arduino internal initialization
void init(void);
//! FreeRTOS loop task
void loop_task() {
for(;;) {
loop();
if (serialEventRun) serialEventRun();
}
}
/**
* \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
* USBCON thing in the default Arduino main() function isn't needed because
* puzzle modules are likely not using USB.
*/
int main(void) {
init(); // call arduino internal setup
setup(); // call regular arduino setup
pb_setup(); // call pbdrv-mod setup
xTaskCreate((TaskFunction_t) loop_task, "loop", configMINIMAL_STACK_SIZE, NULL, tskIDLE_PRIORITY + 1, NULL);
vTaskStartScheduler(); // start freertos scheduler
return 0;
}
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