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PicoI2C
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This commit is contained in:
Ulysse Cura 2026-01-16 19:21:09 +01:00
commit 983b422ddd
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master/build
slave/build

33
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{
"env": {
"myDefaultIncludePath": [
"${workspaceFolder}/src/include/",
"${env:PICO_SDK_PATH}/src/**/include/",
"${env:PICO_SDK_PATH}/lib/**/include/",
"${workspaceFolder}/build/generated/pico_base/"
],
"myCompilerPath": "/usr/bin/arm-none-eabi-gcc"
},
"configurations": [
{
"name": "Linux",
"intelliSenseMode": "linux-gcc-arm",
"includePath": [
"${myDefaultIncludePath}"
],
"compilerPath": "/usr/bin/arm-none-eabi-gcc",
"cStandard": "c11",
"cppStandard": "c++17",
"browse": {
"path": [
"${workspaceFolder}"
],
"limitSymbolsToIncludedHeaders": true,
"databaseFilename": ""
},
"configurationProvider": "ms-vscode.cmake-tools"
}
],
"version": 4
}

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{
"files.associations": {
"*.md": "markdown",
"binary_info.h": "c",
"i2c.h": "c",
"stdlib.h": "c",
"stdint.h": "c",
"gyro.h": "c",
"motors.h": "c",
"motion_control.h": "c",
"i2c_master.h": "c",
"udp_client.h": "c",
"udp_payload.h": "c",
"udp.h": "c",
"opt.h": "c",
"cyw43_arch.h": "c",
"wifi_operator.h": "c"
}
}

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{
"tasks": [
{
"type": "shell",
"command": "cd build; cmake -DPICO_BOARD=pico_w ..; make",
"label": "CMake in build/",
"problemMatcher": [],
"group": {
"kind": "build",
"isDefault": false
}
},
{
"type": "shell",
"command": "cd build; cmake -DPICO_BOARD=pico_w ..; make Flash",
"label": "CMake & Make & Flash",
"problemMatcher": [],
"group": {
"kind": "build",
"isDefault": true
}
}
],
"version": "2.0.0"
}

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cmake_minimum_required(VERSION 3.13)
include(pico_sdk_import.cmake)
project(main_controller C CXX ASM)
set(CMAKE_C_STANDARD 11)
set(CMAKE_CXX_STANDARD 17)
set(PICO_EXAMPLES_PATH ${PROJECT_SOURCE_DIR})
# Définir explicitement la carte comme Pico W
set(PICO_BOARD pico_w)
if(NOT DEFINED PICO_BOARD)
add_definitions(-DPICO_BOARD=${PICO_BOARD})
endif()
pico_sdk_init()
add_executable(main_controller
src/main.c
src/i2c_master.c
)
target_include_directories(main_controller PRIVATE
${CMAKE_CURRENT_LIST_DIR}/src
${CMAKE_CURRENT_LIST_DIR}/src/include
)
target_link_libraries(main_controller
hardware_i2c
hardware_pwm
hardware_uart
pico_stdlib
)
pico_enable_stdio_usb(main_controller 1)
pico_enable_stdio_uart(main_controller 1)
pico_add_extra_outputs(main_controller)
add_custom_target(Flash
DEPENDS main_controller
COMMAND sudo picotool load -f ${PROJECT_BINARY_DIR}/main_controller.uf2
)

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Motion controler code for the RPI Pico (RP2040)
===============================================
This project is the main controller firmware for the RPI Pico (RP2040), designed for the Eurobot 2025 Cup.
I2C description
-----------------------------------------------
The robot’s I2C communication works as follows:
* Send the device address + R/W bit (to select read or write mode).
* Send the target register address (to read from or write to).
* Read or write the register data. Multiple registers can be read/written sequentially, with the address auto-incrementing after each operation.
This code is designed to be the master in the i2c communication.
|Register |R/W|Description |Encoding |
|---------|:-:|-------------------------------|:-----------------:|
| 0x00 | W | Speed motor 1 |**-128** - **127** |
| 0x01 | W | Speed motor 2 |**-128** - **127** |
| 0x02 | W | Speed motor 3 |**-128** - **127** |
| 0x03 | W | Speed motor 4 |**-128** - **127** |
| 0x04 | W | Servo 1 position selection | **0** - **1** |
| 0x05 | W | Servo 2 position selection | **0** - **1** |
| 0x06 | W | Servo 3 position selection | **0** - **1** |
| 0x07 | W | Servo 4 position selection | **0** - **1** |
Motors communication description
-----------------------------------------------
Motors are «connected» to their respective I2C buffer address.
To control a motor you need to write data to its adress of the form :
>```C
>int8_t speed;
>```
Value goes from **-128** to **127**.
Servo motors communication description
-----------------------------------------------
Servo motors are «connected» to their respective I2C buffer address.
To control a servo motor you need to write data to its adress of the form :
>```C
>uint8_t close;
>```
Value is 0 or 1 for the open or the close pos.
Internet communication description
-----------------------------------------------
The robot main_controller is a client connected to the wireless controller which is an udp server host. A buffer is used to store data received from host.
Speed on X and Y axis are not depending of the robot orientation.
Servo motors keep the same byte address in i2c buffer and udp payload.
|Byte |Description |Encoding |
|---------|-------------------------------------------------|:-----------------:|
| 0x00-01 | Robot angle (0x00 is the last significant byte) |**-180** - **180** |
| 0x02 | Speed x axis |**-128** - **127** |
| 0x03 | Speed y axis |**-128** - **127** |
| 0x04 | Servo 1 position selection | **0** - **1** |
| 0x05 | Servo 2 position selection | **0** - **1** |
| 0x06 | Servo 3 position selection | **0** - **1** |
| 0x07 | Servo 4 position selection | **0** - **1** |
Pinout description
-----------------------------------------------
|Pin |Description |GPIO Type |
|----|----------------------------------|-----------|
| 4 | I2C Bus SDA | I2C |
| 5 | I2C Bus SCL | I2C |
Motors placement
-----------------------------------------------
,-~***~-,
/1 2\
| |
| |
| |
\3 4/
`-.....-'

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# This is a copy of <PICO_SDK_PATH>/external/pico_sdk_import.cmake
# This can be dropped into an external project to help locate this SDK
# It should be include()ed prior to project()
if (DEFINED ENV{PICO_SDK_PATH} AND (NOT PICO_SDK_PATH))
set(PICO_SDK_PATH $ENV{PICO_SDK_PATH})
message("Using PICO_SDK_PATH from environment ('${PICO_SDK_PATH}')")
endif ()
if (DEFINED ENV{PICO_SDK_FETCH_FROM_GIT} AND (NOT PICO_SDK_FETCH_FROM_GIT))
set(PICO_SDK_FETCH_FROM_GIT $ENV{PICO_SDK_FETCH_FROM_GIT})
message("Using PICO_SDK_FETCH_FROM_GIT from environment ('${PICO_SDK_FETCH_FROM_GIT}')")
endif ()
if (DEFINED ENV{PICO_SDK_FETCH_FROM_GIT_PATH} AND (NOT PICO_SDK_FETCH_FROM_GIT_PATH))
set(PICO_SDK_FETCH_FROM_GIT_PATH $ENV{PICO_SDK_FETCH_FROM_GIT_PATH})
message("Using PICO_SDK_FETCH_FROM_GIT_PATH from environment ('${PICO_SDK_FETCH_FROM_GIT_PATH}')")
endif ()
set(PICO_SDK_PATH "${PICO_SDK_PATH}" CACHE PATH "Path to the Raspberry Pi Pico SDK")
set(PICO_SDK_FETCH_FROM_GIT "${PICO_SDK_FETCH_FROM_GIT}" CACHE BOOL "Set to ON to fetch copy of SDK from git if not otherwise locatable")
set(PICO_SDK_FETCH_FROM_GIT_PATH "${PICO_SDK_FETCH_FROM_GIT_PATH}" CACHE FILEPATH "location to download SDK")
if (NOT PICO_SDK_PATH)
if (PICO_SDK_FETCH_FROM_GIT)
include(FetchContent)
set(FETCHCONTENT_BASE_DIR_SAVE ${FETCHCONTENT_BASE_DIR})
if (PICO_SDK_FETCH_FROM_GIT_PATH)
get_filename_component(FETCHCONTENT_BASE_DIR "${PICO_SDK_FETCH_FROM_GIT_PATH}" REALPATH BASE_DIR "${CMAKE_SOURCE_DIR}")
endif ()
FetchContent_Declare(
pico_sdk
GIT_REPOSITORY https://github.com/raspberrypi/pico-sdk
GIT_TAG master
)
if (NOT pico_sdk)
message("Downloading Raspberry Pi Pico SDK")
FetchContent_Populate(pico_sdk)
set(PICO_SDK_PATH ${pico_sdk_SOURCE_DIR})
endif ()
set(FETCHCONTENT_BASE_DIR ${FETCHCONTENT_BASE_DIR_SAVE})
else ()
message(FATAL_ERROR
"SDK location was not specified. Please set PICO_SDK_PATH or set PICO_SDK_FETCH_FROM_GIT to on to fetch from git."
)
endif ()
endif ()
get_filename_component(PICO_SDK_PATH "${PICO_SDK_PATH}" REALPATH BASE_DIR "${CMAKE_BINARY_DIR}")
if (NOT EXISTS ${PICO_SDK_PATH})
message(FATAL_ERROR "Directory '${PICO_SDK_PATH}' not found")
endif ()
set(PICO_SDK_INIT_CMAKE_FILE ${PICO_SDK_PATH}/pico_sdk_init.cmake)
if (NOT EXISTS ${PICO_SDK_INIT_CMAKE_FILE})
message(FATAL_ERROR "Directory '${PICO_SDK_PATH}' does not appear to contain the Raspberry Pi Pico SDK")
endif ()
set(PICO_SDK_PATH ${PICO_SDK_PATH} CACHE PATH "Path to the Raspberry Pi Pico SDK" FORCE)
include(${PICO_SDK_INIT_CMAKE_FILE})

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#include "include/i2c_master.h"
#include <pico/stdlib.h>
#include <hardware/i2c.h>
void i2c_master_init(void)
{
gpio_set_function(I2C_MASTER_SDA_PIN, GPIO_FUNC_I2C);
gpio_set_function(I2C_MASTER_SCL_PIN, GPIO_FUNC_I2C);
gpio_pull_up(I2C_MASTER_SDA_PIN);
gpio_pull_up(I2C_MASTER_SCL_PIN);
i2c_init(I2C_MASTER_INSTANCE, I2C_MASTER_BAUD_RATE);
}
void i2c_master_deinit(void)
{
i2c_deinit(I2C_MASTER_INSTANCE);
}
inline int i2c_master_write(uint8_t address, const uint8_t *src, size_t len)
{
return i2c_write_blocking(I2C_MASTER_INSTANCE, address, src, len, false);
}
inline void i2c_master_read(uint8_t address, uint8_t *dst, size_t len)
{
i2c_read_blocking(I2C_MASTER_INSTANCE, address, dst, len, false);
}
inline void i2c_master_read_reg(uint8_t address, uint8_t reg, uint8_t *dst, size_t len)
{
i2c_master_write(address, &reg, 1);
i2c_master_read(address, dst, len);
}

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#ifndef I2C_MASTER_H
#define I2C_MASTER_H
#include <hardware/i2c.h>
#define I2C_MASTER_SDA_PIN 16
#define I2C_MASTER_SCL_PIN 17
#define I2C_MASTER_INSTANCE i2c0
#define I2C_MASTER_BAUD_RATE 100 * 1000
// Init master i2c
void i2c_master_init(void);
// Deinit master i2c
void i2c_master_deinit(void);
// Send [src] of [len] to [address] and close communication
int i2c_master_write(uint8_t address, const uint8_t *src, size_t len);
// Receive [dst] of [len] from [address] and close communication
void i2c_master_read(uint8_t address, uint8_t *dst, size_t len);
// Send [reg] and receive data in [dst] and close communition
void i2c_master_read_reg(uint8_t address, uint8_t reg, uint8_t *dst, size_t len);
#endif // I2C_MASTER_H

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/* *\
Copyrights 2025
Riombotique
\* */
/* * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * *\
* Code du RPI Pico principale gérant les differentes entrées-sorties. *
* Ce Pico est un maitre pilotant le gyroscope, l'internet et le motion controller.*
\* * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * */
#include "include/i2c_master.h"
#include <stdio.h>
#include <pico/stdlib.h>
int main(void)
{
stdio_init_all();
sleep_ms(5000);
puts("STDIO INIT DONE");
printf("Initialisation des broches\n");
for(int i=0; i++; i<=28){
if(gpio_get_function(i) == GPIO_FUNC_I2C){
printf("Borche I2C : %d\n", i);
gpio_set_function(i, GPIO_FUNC_NULL);
}
}
printf("%d et %d en I2C\n", I2C_MASTER_SDA_PIN, I2C_MASTER_SCL_PIN);
gpio_set_function(I2C_MASTER_SDA_PIN, GPIO_FUNC_I2C);
gpio_set_function(I2C_MASTER_SCL_PIN, GPIO_FUNC_I2C);
i2c_master_init();
puts("I2C MASTER INIT DONE");
bool led_state = false;
while(true)
{
uint8_t data[] = {0x00, led_state};
int ret = i2c_master_write(0x09, data, 2);
if(ret = PICO_ERROR_GENERIC)
puts("I2C ERROR GENERIC");
else
printf("Written %d bytes\n", ret);
led_state = !led_state;
sleep_ms(50);
}
return 0;
}

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{
"env": {
"myDefaultIncludePath": [
"${env:PICO_SDK_PATH}/src/**/include/",
"${workspaceFolder}/build/generated/pico_base/"
],
"myCompilerPath": "/usr/bin/arm-none-eabi-gcc"
},
"configurations": [
{
"name": "Linux",
"intelliSenseMode": "linux-gcc-arm",
"includePath": [
"${myDefaultIncludePath}",
"${workspaceFolder}/build/"
],
"compilerPath": "/usr/bin/arm-none-eabi-gcc",
"cStandard": "c11",
"cppStandard": "c++17",
"browse": {
"path": [
"${workspaceFolder}"
],
"limitSymbolsToIncludedHeaders": true,
"databaseFilename": ""
},
"configurationProvider": "ms-vscode.cmake-tools"
}
],
"version": 4
}

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{
"files.associations": {
"*.md": "markdown",
"binary_info.h": "c",
"i2c.h": "c",
"time.h": "c",
"stdlib.h": "c",
"robot.h": "c",
"stdio.h": "c",
"i2c_buffer.h": "c",
"motors.h": "c"
}
}

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{
"tasks": [
{
"type": "shell",
"command": "cd build; cmake ../; make",
"label": "CMake in build/",
"problemMatcher": [],
"group": {
"kind": "build",
"isDefault": false
}
},
{
"type": "shell",
"command": "cd build; cmake ../; make Flash",
"label": "CMake & Make & Flash",
"problemMatcher": [],
"group": {
"kind": "build",
"isDefault": true
}
}
],
"version": "2.0.0"
}

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cmake_minimum_required(VERSION 3.13)
include(pico_sdk_import.cmake)
project(motion_controller C CXX ASM)
set(CMAKE_C_STNDARD 11)
set(CMAKE_CXX_STANDARD 17)
set(PICO_EXAMPLES_PATH ${PROJECT_SOURCE_DIR})
pico_sdk_init()
add_executable(motion_controller
src/main.c
src/i2c_slave.c
src/i2c_buffer.c
)
target_link_libraries(motion_controller
hardware_i2c
hardware_pwm
hardware_uart
pico_stdlib
)
pico_enable_stdio_usb(motion_controller 1)
pico_enable_stdio_uart(motion_controller 1)
pico_add_extra_outputs(motion_controller)
add_custom_target(Flash
DEPENDS motion_controller
COMMAND sudo picotool load -f ${PROJECT_BINARY_DIR}/motion_controller.uf2
)

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Motion controler code for the RPI Pico (RP2040)
===============================================
This project is a motion controller firmware for the RPI Pico (RP2040), designed for plug-and-play use with modular code and a clear architecture.
I2C description
-----------------------------------------------
The robot’s I2C communication works as follows:
* Send the device address + R/W bit (to select read or write mode).
* Send the target register address (to read from or write to).
* Read or write the register data. Multiple registers can be read/written sequentially, with the address auto-incrementing after each operation.
This firmware is coded to be a slave when adressed. Its address is **0x09** which you can change if there is any conflict whit other hardware.
|Adress |R/W|Description |Encoding |
|-------|:-:|-------------------------------|:-----------------:|
| 0x00 | W | Speed motor 1 |**-128** - **127** |
| 0x01 | W | Speed motor 2 |**-128** - **127** |
| 0x02 | W | Speed motor 3 |**-128** - **127** |
| 0x03 | W | Speed motor 4 |**-128** - **127** |
| 0x04 | W | Servo 1 position selection | **0** - **1** |
| 0x05 | W | Servo 2 position selection | **0** - **1** |
| 0x06 | W | Servo 3 position selection | **0** - **1** |
| 0x07 | W | Servo 4 position selection | **0** - **1** |
Motors communication description
-----------------------------------------------
Motors are «connected» to their respective I2C buffer address.
To control a motor you need to write data to its adress of the form :
>```C
>int8_t speed;
>```
Value goes from **-128** to **127**.
Servo motors communication description
-----------------------------------------------
Servo motors are «connected» to their respective I2C buffer address.
To control a servo motor you need to write data to its adress of the form :
>```C
>uint8_t close;
>```
Value is 0 or 1 for the open pos or the close pos.
Pinout description
-----------------------------------------------
|Pin |Description |GPIO Type |
|----|----------------------------------|-----------|
| 0 | Motor1 Speed | PWM |
| 1 | Motor2 Speed | PWM |
| 2 | Motor3 Speed | PWM |
| 3 | Motor4 Speed | PWM |
| 4 | Motor1 Dir1 | OUTPUT |
| 5 | Motor1 Dir2 | OUTPUT |
| 6 | Motor2 Dir1 | OUTPUT |
| 7 | Motor2 Dir2 | OUTPUT |
| 8 | Motor3 Dir1 | OUTPUT |
| 9 | Motor3 Dir2 | OUTPUT |
| 10 | Motor4 Dir1 | OUTPUT |
| 11 | Motor5 Dir2 | OUTPUT |
| 12 | Servo1 Angle | PWM |
| 13 | Servo2 Angle | PWM |
| 14 | Servo3 Angle | PWM |
| 15 | Servo4 Angle | PWM |
| 21 | I2C Bus SDA | I2C |
| 20 | I2C Bus SCL | I2C |

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# This is a copy of <PICO_SDK_PATH>/external/pico_sdk_import.cmake
# This can be dropped into an external project to help locate this SDK
# It should be include()ed prior to project()
if (DEFINED ENV{PICO_SDK_PATH} AND (NOT PICO_SDK_PATH))
set(PICO_SDK_PATH $ENV{PICO_SDK_PATH})
message("Using PICO_SDK_PATH from environment ('${PICO_SDK_PATH}')")
endif ()
if (DEFINED ENV{PICO_SDK_FETCH_FROM_GIT} AND (NOT PICO_SDK_FETCH_FROM_GIT))
set(PICO_SDK_FETCH_FROM_GIT $ENV{PICO_SDK_FETCH_FROM_GIT})
message("Using PICO_SDK_FETCH_FROM_GIT from environment ('${PICO_SDK_FETCH_FROM_GIT}')")
endif ()
if (DEFINED ENV{PICO_SDK_FETCH_FROM_GIT_PATH} AND (NOT PICO_SDK_FETCH_FROM_GIT_PATH))
set(PICO_SDK_FETCH_FROM_GIT_PATH $ENV{PICO_SDK_FETCH_FROM_GIT_PATH})
message("Using PICO_SDK_FETCH_FROM_GIT_PATH from environment ('${PICO_SDK_FETCH_FROM_GIT_PATH}')")
endif ()
set(PICO_SDK_PATH "${PICO_SDK_PATH}" CACHE PATH "Path to the Raspberry Pi Pico SDK")
set(PICO_SDK_FETCH_FROM_GIT "${PICO_SDK_FETCH_FROM_GIT}" CACHE BOOL "Set to ON to fetch copy of SDK from git if not otherwise locatable")
set(PICO_SDK_FETCH_FROM_GIT_PATH "${PICO_SDK_FETCH_FROM_GIT_PATH}" CACHE FILEPATH "location to download SDK")
if (NOT PICO_SDK_PATH)
if (PICO_SDK_FETCH_FROM_GIT)
include(FetchContent)
set(FETCHCONTENT_BASE_DIR_SAVE ${FETCHCONTENT_BASE_DIR})
if (PICO_SDK_FETCH_FROM_GIT_PATH)
get_filename_component(FETCHCONTENT_BASE_DIR "${PICO_SDK_FETCH_FROM_GIT_PATH}" REALPATH BASE_DIR "${CMAKE_SOURCE_DIR}")
endif ()
FetchContent_Declare(
pico_sdk
GIT_REPOSITORY https://github.com/raspberrypi/pico-sdk
GIT_TAG master
)
if (NOT pico_sdk)
message("Downloading Raspberry Pi Pico SDK")
FetchContent_Populate(pico_sdk)
set(PICO_SDK_PATH ${pico_sdk_SOURCE_DIR})
endif ()
set(FETCHCONTENT_BASE_DIR ${FETCHCONTENT_BASE_DIR_SAVE})
else ()
message(FATAL_ERROR
"SDK location was not specified. Please set PICO_SDK_PATH or set PICO_SDK_FETCH_FROM_GIT to on to fetch from git."
)
endif ()
endif ()
get_filename_component(PICO_SDK_PATH "${PICO_SDK_PATH}" REALPATH BASE_DIR "${CMAKE_BINARY_DIR}")
if (NOT EXISTS ${PICO_SDK_PATH})
message(FATAL_ERROR "Directory '${PICO_SDK_PATH}' not found")
endif ()
set(PICO_SDK_INIT_CMAKE_FILE ${PICO_SDK_PATH}/pico_sdk_init.cmake)
if (NOT EXISTS ${PICO_SDK_INIT_CMAKE_FILE})
message(FATAL_ERROR "Directory '${PICO_SDK_PATH}' does not appear to contain the Raspberry Pi Pico SDK")
endif ()
set(PICO_SDK_PATH ${PICO_SDK_PATH} CACHE PATH "Path to the Raspberry Pi Pico SDK" FORCE)
include(${PICO_SDK_INIT_CMAKE_FILE})

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#include "include/i2c_buffer.h"
#include <pico/stdlib.h>
extern i2c_buffer_t i2c_buffer;
void __not_in_flash_func(i2c_slave_buffer_handler)(i2c_slave_event_t event)
{
switch(event)
{
case I2C_SLAVE_RECEIVE: // master has written some data
gpio_put(PICO_DEFAULT_LED_PIN, 1);
if(!i2c_buffer.buffer_reg_written)
{
// writes always start with the memory address
i2c_buffer.buffer_reg = i2c_slave_read_byte();
i2c_buffer.buffer_reg_written = true;
}
else
{
// save into memory
i2c_buffer.buffer[i2c_buffer.buffer_reg] = i2c_slave_read_byte();
i2c_buffer.buffer_reg++;
}
break;
case I2C_SLAVE_REQUEST: // master is requesting data
// load from memory
i2c_slave_write_byte(i2c_buffer.buffer[i2c_buffer.buffer_reg]);
i2c_buffer.buffer_reg++;
break;
case I2C_SLAVE_FINISH: // master has signalled Stop / Restart
i2c_buffer.buffer_reg_written = false;
break;
default:
break;
}
}

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/*
* Copyright (c) 2021 Valentin Milea <valentin.milea@gmail.com>
*
* SPDX-License-Identifier: MIT
*/
#include "include/i2c_slave.h"
#include <pico/stdlib.h>
#include <hardware/irq.h>
#include "include/i2c_buffer.h"
#include <stdio.h>
static bool transfer_in_progress;
static inline void finish_transfer(void)
{
if(transfer_in_progress)
{
i2c_slave_buffer_handler(I2C_SLAVE_FINISH);
transfer_in_progress = false;
}
}
static void __not_in_flash_func(i2c_slave_irq_handler)(void)
{
i2c_hw_t *hw = i2c_get_hw(I2C_SLAVE_INSTANCE);
uint32_t intr_stat = hw->intr_stat;
if(intr_stat == 0)
{
return;
}
if(intr_stat & I2C_IC_INTR_STAT_R_TX_ABRT_BITS)
{
hw->clr_tx_abrt;
finish_transfer();
}
if(intr_stat & I2C_IC_INTR_STAT_R_START_DET_BITS)
{
hw->clr_start_det;
finish_transfer();
}
if(intr_stat & I2C_IC_INTR_STAT_R_STOP_DET_BITS)
{
hw->clr_stop_det;
i2c_slave_buffer_handler(I2C_SLAVE_RECEIVE);
finish_transfer();
}
if(intr_stat & I2C_IC_INTR_STAT_R_RX_FULL_BITS)
{
transfer_in_progress = true;
i2c_slave_buffer_handler(I2C_SLAVE_RECEIVE);
}
if(intr_stat & I2C_IC_INTR_STAT_R_RD_REQ_BITS)
{
hw->clr_rd_req;
transfer_in_progress = true;
i2c_slave_buffer_handler(I2C_SLAVE_REQUEST);
}
}
void i2c_slave_init(void)
{
// Init GPIO pins
gpio_set_function(I2C_SLAVE_SDA_PIN, GPIO_FUNC_I2C);
gpio_set_function(I2C_SLAVE_SCL_PIN, GPIO_FUNC_I2C);
// Note: The I2C slave does clock stretching implicitly after a RD_REQ, while the Tx FIFO is empty.
// There is also an option to enable clock stretching while the Rx FIFO is full, but we leave it
// disabled since the Rx FIFO should never fill up (unless i2c_slave.handler() is way too slow).
i2c_set_slave_mode(I2C_SLAVE_INSTANCE, true, I2C_SLAVE_ADDRESS);
i2c_hw_t *hw = i2c_get_hw(I2C_SLAVE_INSTANCE);
// unmask necessary interrupts
hw->intr_mask = I2C_IC_INTR_MASK_M_RX_FULL_BITS | I2C_IC_INTR_MASK_M_RD_REQ_BITS | I2C_IC_RAW_INTR_STAT_TX_ABRT_BITS | I2C_IC_INTR_MASK_M_STOP_DET_BITS | I2C_IC_INTR_MASK_M_START_DET_BITS;
// enable interrupt for current core
uint num = I2C0_IRQ + i2c_get_index(I2C_SLAVE_INSTANCE);
irq_set_exclusive_handler(num, i2c_slave_irq_handler);
irq_set_enabled(num, true);
}
void i2c_slave_deinit(void)
{
uint num = I2C0_IRQ + i2c_get_index(I2C_SLAVE_INSTANCE);
irq_set_enabled(num, false);
irq_remove_handler(num, i2c_slave_irq_handler);
i2c_set_slave_mode(I2C_SLAVE_INSTANCE, false, 0);
transfer_in_progress = false;
i2c_hw_t *hw = i2c_get_hw(I2C_SLAVE_INSTANCE);
hw->intr_mask = I2C_IC_INTR_MASK_RESET;
}

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slave/src/include/i2c_buffer.h Normal file
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#ifndef I2C_BUFFER_H
#define I2C_BUFFER_H
#include <stdint.h>
#include "i2c_slave.h"
typedef struct i2c_buffer_t {
uint8_t buffer[256];
uint8_t buffer_reg;
bool buffer_reg_written;
} i2c_buffer_t;
// I2c slave buffer handler for writing and reading data to the buffer
void __not_in_flash_func(i2c_slave_buffer_handler)(i2c_slave_event_t event);
// Update motors from the data in the i2c buffer
void update_motors_from_buffer(void);
// Update servo motors from the data in the i2c buffer
void update_servo_motors_from_buffer(void);
#endif // I2C_BUFFER_H

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slave/src/include/i2c_slave.h Normal file
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/*
* Copyright (c) 2021 Valentin Milea <valentin.milea@gmail.com>
*
* SPDX-License-Identifier: MIT
*/
#ifndef I2C_SLAVE_H
#define I2C_SLAVE_H
#include <hardware/i2c.h>
#define I2C_SLAVE_SDA_PIN 16
#define I2C_SLAVE_SCL_PIN 17
#define I2C_SLAVE_INSTANCE i2c0
#define I2C_SLAVE_ADDRESS 0x09
typedef enum i2c_slave_event_t {
I2C_SLAVE_RECEIVE, // < Data from master is available for reading. Slave must read from Rx FIFO.
I2C_SLAVE_REQUEST, // < Master is requesting data. Slave must write into Tx FIFO.
I2C_SLAVE_FINISH, // < Master has sent a Stop or Restart signal. Slave may prepare for the next transfer.
} i2c_slave_event_t;
static inline uint8_t i2c_slave_read_byte(void)
{
i2c_hw_t *hw = i2c_get_hw(I2C_SLAVE_INSTANCE);
assert(hw->status & I2C_IC_STATUS_RFNE_BITS); // Rx FIFO must not be empty
return (uint8_t)hw->data_cmd;
}
static inline void i2c_slave_write_byte(uint8_t value)
{
i2c_hw_t *hw = i2c_get_hw(I2C_SLAVE_INSTANCE);
assert(hw->status & I2C_IC_STATUS_TFNF_BITS); // Tx FIFO must not be full
hw->data_cmd = value;
}
// Init I2C with default parameters
void i2c_slave_init(void);
// Deinit I2C with default parameters
void i2c_slave_deinit(void);
#endif // I2C_SLAVE_H

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slave/src/main.c Normal file
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/* *\
Copyrights 2025
Riombotique
\* */
/* * * * * * * * * * * * * * * * * * * * * * * * * * * * * *\
* Code du RPI Pico gérant les different Actionneurs. *
* Ce Pico est un esclave piloté par le Pico Principal. *
\* * * * * * * * * * * * * * * * * * * * * * * * * * * * * */
#include <pico/stdlib.h>
#include "include/i2c_slave.h"
#include "include/i2c_buffer.h"
#include <stdio.h>
i2c_buffer_t i2c_buffer;
int main(void)
{
stdio_init_all();
sleep_ms(1000);
puts("STDIO INIT ALL DONE");
i2c_slave_init();
puts("SLAVE INIT DONE");
gpio_init(PICO_DEFAULT_LED_PIN);
gpio_set_dir(PICO_DEFAULT_LED_PIN, GPIO_OUT);
puts("DEFAULT LED INIT DONE");
while(true)
{
gpio_put(PICO_DEFAULT_LED_PIN, 0);
printf("BUFFER[0]:%d\n", i2c_buffer.buffer[0]);
sleep_ms(300);
}
return 0;
}