Staging For Transfer
This commit is contained in:
parent
3dcfee3804
commit
a6fd4104b9
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@ -47166,29 +47166,37 @@
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|
@ -47196,23 +47204,15 @@
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|
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|
|
@ -47236,7 +47236,7 @@
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(width 0.3)
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(segment
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||||
(start 260.5 170)
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||||
|
|
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|||
|
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@ -5,7 +5,7 @@
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|||
"auto_track_width": true,
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||||
"hidden_netclasses": [],
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||||
"hidden_nets": [],
|
||||
"high_contrast_mode": 0,
|
||||
"high_contrast_mode": 1,
|
||||
"net_color_mode": 1,
|
||||
"opacity": {
|
||||
"images": 0.6,
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||||
|
|
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|||
|
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@ -1,24 +1,18 @@
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|||
{
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||||
"env": {
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"myDefaultIncludePath": [
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"${workspaceFolder}/src/include/",
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||||
"${env:PICO_SDK_PATH}/src/**/include/",
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||||
"${env:PICO_SDK_PATH}/lib/**/include/",
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||||
"${workspaceFolder}/build/generated/pico_base/"
|
||||
],
|
||||
"myCompilerPath": "/usr/bin/arm-none-eabi-gcc"
|
||||
},
|
||||
|
||||
"configurations": [
|
||||
{
|
||||
"name": "Linux",
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||||
"intelliSenseMode": "linux-gcc-arm",
|
||||
"includePath": [
|
||||
"${myDefaultIncludePath}"
|
||||
"${env:PICO_SDK_PATH}/src/**/include/",
|
||||
"${env:PICO_SDK_PATH}/lib/**/include/",
|
||||
"${env:PICO_SDK_PATH}/lib/**/src/",
|
||||
"${workspaceFolder}/build/generated/pico_base/",
|
||||
"${workspaceFolder}/src/",
|
||||
"${workspaceFolder}/src/wifi/headers/"
|
||||
],
|
||||
"compilerPath": "/usr/bin/arm-none-eabi-gcc",
|
||||
"cStandard": "c11",
|
||||
"cppStandard": "c++17",
|
||||
"browse": {
|
||||
"path": [
|
||||
"${workspaceFolder}"
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||||
|
|
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|||
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@ -1,23 +1,35 @@
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|||
{
|
||||
"tasks": [
|
||||
{
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||||
"label": "CMake & Make",
|
||||
"type": "shell",
|
||||
"command": "cd build; cmake -DPICO_BOARD=pico_w ..; make",
|
||||
"label": "CMake in build/",
|
||||
"problemMatcher": [],
|
||||
"group": {
|
||||
"kind": "build",
|
||||
"isDefault": false
|
||||
"group": "build",
|
||||
|
||||
"command": "mkdir -p build && cd build && cmake ../ && make",
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||||
|
||||
"presentation": {
|
||||
"echo": true,
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||||
"reveal": "always",
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||||
"focus": true,
|
||||
"panel": "shared",
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||||
"showReuseMessage": true,
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||||
"clear": true
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||||
}
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||||
},
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||||
{
|
||||
"type": "shell",
|
||||
"command": "cd build; cmake -DPICO_BOARD=pico_w ..; make Flash",
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||||
"label": "CMake & Make & Flash",
|
||||
"problemMatcher": [],
|
||||
"group": {
|
||||
"kind": "build",
|
||||
"isDefault": true
|
||||
"type": "shell",
|
||||
"group": "build",
|
||||
|
||||
"command": "mkdir -p build && cd build && cmake ../ && make Flash",
|
||||
|
||||
"presentation": {
|
||||
"echo": true,
|
||||
"reveal": "always",
|
||||
"focus": true,
|
||||
"panel": "shared",
|
||||
"showReuseMessage": true,
|
||||
"clear": true
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||||
}
|
||||
}
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||||
],
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@ -6,7 +6,7 @@ project(main_controller C CXX ASM)
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set(CMAKE_C_STANDARD 11)
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set(CMAKE_CXX_STANDARD 17)
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set(PICO_EXAMPLES_PATH ${PROJECT_SOURCE_DIR})
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#set(PICO_EXAMPLES_PATH ${PROJECT_SOURCE_DIR})
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# Définir explicitement la carte comme Pico W
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set(PICO_BOARD pico_w)
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@ -19,18 +19,19 @@ pico_sdk_init()
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add_executable(main_controller
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src/main.c
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src/robot.c
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src/motors.c
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src/gyro.c
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src/i2c/motors.c
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src/i2c/gyro.c
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src/motion_control.c
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src/i2c_master.c
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src/wifi_operator.c
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src/udp_client.c
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src/udp_payload.c
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src/i2c/i2c_master.c
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src/i2c/mcp23017.c
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src/wifi/wifi_operator.c
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src/wifi/udp_client.c
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src/wifi/udp_payload.c
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)
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target_include_directories(main_controller PRIVATE
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${CMAKE_CURRENT_LIST_DIR}/src
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${CMAKE_CURRENT_LIST_DIR}/src/include
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${CMAKE_CURRENT_LIST_DIR}/src/
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${CMAKE_CURRENT_LIST_DIR}/src/wifi/headers/
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)
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target_link_libraries(main_controller
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@ -0,0 +1,10 @@
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// AUTOGENERATED FROM PICO_CONFIG_HEADER_FILES and then PICO_<PLATFORM>_CONFIG_HEADER_FILES
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// DO NOT EDIT!
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// based on PICO_CONFIG_HEADER_FILES:
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#include "/home/ulysse-cura/.local/share/pico-sdk/src/boards/include/boards/pico_w.h"
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#include "/home/ulysse-cura/.local/share/pico-sdk/src/rp2_common/cmsis/include/cmsis/rename_exceptions.h"
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// based on PICO_RP2040_CONFIG_HEADER_FILES:
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@ -0,0 +1,19 @@
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/*
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* Copyright (c) 2020 Raspberry Pi (Trading) Ltd.
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*
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||||
* SPDX-License-Identifier: BSD-3-Clause
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||||
*/
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||||
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// ---------------------------------------
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// THIS FILE IS AUTOGENERATED; DO NOT EDIT
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// ---------------------------------------
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#ifndef _PICO_VERSION_H
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#define _PICO_VERSION_H
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#define PICO_SDK_VERSION_MAJOR 2
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#define PICO_SDK_VERSION_MINOR 2
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||||
#define PICO_SDK_VERSION_REVISION 0
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#define PICO_SDK_VERSION_STRING "2.2.0"
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#endif
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@ -0,0 +1,117 @@
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// THIS HEADER FILE IS AUTOMATICALLY GENERATED -- DO NOT EDIT
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||||
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||||
/**
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||||
* Copyright (c) 2024 Raspberry Pi Ltd.
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||||
*
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||||
* SPDX-License-Identifier: BSD-3-Clause
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||||
*/
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#ifndef _DREQ_H
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#define _DREQ_H
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/**
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* \file rp2040/dreq.h
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*/
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#ifdef __ASSEMBLER__
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#define DREQ_PIO0_TX0 0
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#define DREQ_PIO0_TX1 1
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#define DREQ_PIO0_TX2 2
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#define DREQ_PIO0_TX3 3
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#define DREQ_PIO0_RX0 4
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#define DREQ_PIO0_RX1 5
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#define DREQ_PIO0_RX2 6
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#define DREQ_PIO0_RX3 7
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#define DREQ_PIO1_TX0 8
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#define DREQ_PIO1_TX1 9
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#define DREQ_PIO1_TX2 10
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#define DREQ_PIO1_TX3 11
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#define DREQ_PIO1_RX0 12
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#define DREQ_PIO1_RX1 13
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#define DREQ_PIO1_RX2 14
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#define DREQ_PIO1_RX3 15
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#define DREQ_SPI0_TX 16
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#define DREQ_SPI0_RX 17
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#define DREQ_SPI1_TX 18
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#define DREQ_SPI1_RX 19
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#define DREQ_UART0_TX 20
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#define DREQ_UART0_RX 21
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#define DREQ_UART1_TX 22
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#define DREQ_UART1_RX 23
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#define DREQ_PWM_WRAP0 24
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#define DREQ_PWM_WRAP1 25
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#define DREQ_PWM_WRAP2 26
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#define DREQ_PWM_WRAP3 27
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#define DREQ_PWM_WRAP4 28
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#define DREQ_PWM_WRAP5 29
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#define DREQ_PWM_WRAP6 30
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#define DREQ_PWM_WRAP7 31
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#define DREQ_I2C0_TX 32
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#define DREQ_I2C0_RX 33
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#define DREQ_I2C1_TX 34
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#define DREQ_I2C1_RX 35
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#define DREQ_ADC 36
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#define DREQ_XIP_STREAM 37
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#define DREQ_XIP_SSITX 38
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#define DREQ_XIP_SSIRX 39
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#define DREQ_DMA_TIMER0 59
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#define DREQ_DMA_TIMER1 60
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#define DREQ_DMA_TIMER2 61
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#define DREQ_DMA_TIMER3 62
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#define DREQ_FORCE 63
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#else
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/**
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* \brief DREQ numbers for DMA pacing on RP2040 (used as typedef \ref dreq_num_t)
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* \ingroup hardware_dma
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*/
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typedef enum dreq_num_rp2040 {
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DREQ_PIO0_TX0 = 0, ///< Select PIO0's TX FIFO 0 as DREQ
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DREQ_PIO0_TX1 = 1, ///< Select PIO0's TX FIFO 1 as DREQ
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DREQ_PIO0_TX2 = 2, ///< Select PIO0's TX FIFO 2 as DREQ
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DREQ_PIO0_TX3 = 3, ///< Select PIO0's TX FIFO 3 as DREQ
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DREQ_PIO0_RX0 = 4, ///< Select PIO0's RX FIFO 0 as DREQ
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DREQ_PIO0_RX1 = 5, ///< Select PIO0's RX FIFO 1 as DREQ
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DREQ_PIO0_RX2 = 6, ///< Select PIO0's RX FIFO 2 as DREQ
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DREQ_PIO0_RX3 = 7, ///< Select PIO0's RX FIFO 3 as DREQ
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DREQ_PIO1_TX0 = 8, ///< Select PIO1's TX FIFO 0 as DREQ
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DREQ_PIO1_TX1 = 9, ///< Select PIO1's TX FIFO 1 as DREQ
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DREQ_PIO1_TX2 = 10, ///< Select PIO1's TX FIFO 2 as DREQ
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DREQ_PIO1_TX3 = 11, ///< Select PIO1's TX FIFO 3 as DREQ
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DREQ_PIO1_RX0 = 12, ///< Select PIO1's RX FIFO 0 as DREQ
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DREQ_PIO1_RX1 = 13, ///< Select PIO1's RX FIFO 1 as DREQ
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DREQ_PIO1_RX2 = 14, ///< Select PIO1's RX FIFO 2 as DREQ
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DREQ_PIO1_RX3 = 15, ///< Select PIO1's RX FIFO 3 as DREQ
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DREQ_SPI0_TX = 16, ///< Select SPI0's TX FIFO as DREQ
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DREQ_SPI0_RX = 17, ///< Select SPI0's RX FIFO as DREQ
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DREQ_SPI1_TX = 18, ///< Select SPI1's TX FIFO as DREQ
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DREQ_SPI1_RX = 19, ///< Select SPI1's RX FIFO as DREQ
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DREQ_UART0_TX = 20, ///< Select UART0's TX FIFO as DREQ
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DREQ_UART0_RX = 21, ///< Select UART0's RX FIFO as DREQ
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||||
DREQ_UART1_TX = 22, ///< Select UART1's TX FIFO as DREQ
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||||
DREQ_UART1_RX = 23, ///< Select UART1's RX FIFO as DREQ
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DREQ_PWM_WRAP0 = 24, ///< Select PWM Counter 0's Wrap Value as DREQ
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||||
DREQ_PWM_WRAP1 = 25, ///< Select PWM Counter 1's Wrap Value as DREQ
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||||
DREQ_PWM_WRAP2 = 26, ///< Select PWM Counter 2's Wrap Value as DREQ
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||||
DREQ_PWM_WRAP3 = 27, ///< Select PWM Counter 3's Wrap Value as DREQ
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||||
DREQ_PWM_WRAP4 = 28, ///< Select PWM Counter 4's Wrap Value as DREQ
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||||
DREQ_PWM_WRAP5 = 29, ///< Select PWM Counter 5's Wrap Value as DREQ
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||||
DREQ_PWM_WRAP6 = 30, ///< Select PWM Counter 6's Wrap Value as DREQ
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||||
DREQ_PWM_WRAP7 = 31, ///< Select PWM Counter 7's Wrap Value as DREQ
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||||
DREQ_I2C0_TX = 32, ///< Select I2C0's TX FIFO as DREQ
|
||||
DREQ_I2C0_RX = 33, ///< Select I2C0's RX FIFO as DREQ
|
||||
DREQ_I2C1_TX = 34, ///< Select I2C1's TX FIFO as DREQ
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DREQ_I2C1_RX = 35, ///< Select I2C1's RX FIFO as DREQ
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DREQ_ADC = 36, ///< Select the ADC as DREQ
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DREQ_XIP_STREAM = 37, ///< Select the XIP Streaming FIFO as DREQ
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||||
DREQ_XIP_SSITX = 38, ///< Select the XIP SSI TX FIFO as DREQ
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DREQ_XIP_SSIRX = 39, ///< Select the XIP SSI RX FIFO as DREQ
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DREQ_DMA_TIMER0 = 59, ///< Select DMA_TIMER0 as DREQ
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DREQ_DMA_TIMER1 = 60, ///< Select DMA_TIMER0 as DREQ
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DREQ_DMA_TIMER2 = 61, ///< Select DMA_TIMER1 as DREQ
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DREQ_DMA_TIMER3 = 62, ///< Select DMA_TIMER3 as DREQ
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||||
DREQ_FORCE = 63, ///< Select FORCE as DREQ
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DREQ_COUNT
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} dreq_num_t;
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#endif
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#endif // _DREQ_H
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@ -0,0 +1,124 @@
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// THIS HEADER FILE IS AUTOMATICALLY GENERATED -- DO NOT EDIT
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||||
|
||||
/**
|
||||
* Copyright (c) 2024 Raspberry Pi Ltd.
|
||||
*
|
||||
* SPDX-License-Identifier: BSD-3-Clause
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||||
*/
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#ifndef _INTCTRL_H
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||||
#define _INTCTRL_H
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|
||||
/**
|
||||
* \file rp2040/intctrl.h
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||||
*/
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||||
|
||||
#ifdef __ASSEMBLER__
|
||||
#define TIMER_IRQ_0 0
|
||||
#define TIMER_IRQ_1 1
|
||||
#define TIMER_IRQ_2 2
|
||||
#define TIMER_IRQ_3 3
|
||||
#define PWM_IRQ_WRAP 4
|
||||
#define USBCTRL_IRQ 5
|
||||
#define XIP_IRQ 6
|
||||
#define PIO0_IRQ_0 7
|
||||
#define PIO0_IRQ_1 8
|
||||
#define PIO1_IRQ_0 9
|
||||
#define PIO1_IRQ_1 10
|
||||
#define DMA_IRQ_0 11
|
||||
#define DMA_IRQ_1 12
|
||||
#define IO_IRQ_BANK0 13
|
||||
#define IO_IRQ_QSPI 14
|
||||
#define SIO_IRQ_PROC0 15
|
||||
#define SIO_IRQ_PROC1 16
|
||||
#define CLOCKS_IRQ 17
|
||||
#define SPI0_IRQ 18
|
||||
#define SPI1_IRQ 19
|
||||
#define UART0_IRQ 20
|
||||
#define UART1_IRQ 21
|
||||
#define ADC_IRQ_FIFO 22
|
||||
#define I2C0_IRQ 23
|
||||
#define I2C1_IRQ 24
|
||||
#define RTC_IRQ 25
|
||||
#define SPARE_IRQ_0 26
|
||||
#define SPARE_IRQ_1 27
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||||
#define SPARE_IRQ_2 28
|
||||
#define SPARE_IRQ_3 29
|
||||
#define SPARE_IRQ_4 30
|
||||
#define SPARE_IRQ_5 31
|
||||
#else
|
||||
/**
|
||||
* \brief Interrupt numbers on RP2040 (used as typedef \ref irq_num_t)
|
||||
* \ingroup hardware_irq
|
||||
*/
|
||||
typedef enum irq_num_rp2040 {
|
||||
TIMER_IRQ_0 = 0, ///< Select TIMER's IRQ 0 output
|
||||
TIMER_IRQ_1 = 1, ///< Select TIMER's IRQ 1 output
|
||||
TIMER_IRQ_2 = 2, ///< Select TIMER's IRQ 2 output
|
||||
TIMER_IRQ_3 = 3, ///< Select TIMER's IRQ 3 output
|
||||
PWM_IRQ_WRAP = 4, ///< Select PWM's IRQ_WRAP output
|
||||
USBCTRL_IRQ = 5, ///< Select USBCTRL's IRQ output
|
||||
XIP_IRQ = 6, ///< Select XIP's IRQ output
|
||||
PIO0_IRQ_0 = 7, ///< Select PIO0's IRQ 0 output
|
||||
PIO0_IRQ_1 = 8, ///< Select PIO0's IRQ 1 output
|
||||
PIO1_IRQ_0 = 9, ///< Select PIO1's IRQ 0 output
|
||||
PIO1_IRQ_1 = 10, ///< Select PIO1's IRQ 1 output
|
||||
DMA_IRQ_0 = 11, ///< Select DMA's IRQ 0 output
|
||||
DMA_IRQ_1 = 12, ///< Select DMA's IRQ 1 output
|
||||
IO_IRQ_BANK0 = 13, ///< Select IO_BANK0's IRQ output
|
||||
IO_IRQ_QSPI = 14, ///< Select IO_QSPI's IRQ output
|
||||
SIO_IRQ_PROC0 = 15, ///< Select SIO_PROC0's IRQ output
|
||||
SIO_IRQ_PROC1 = 16, ///< Select SIO_PROC1's IRQ output
|
||||
CLOCKS_IRQ = 17, ///< Select CLOCKS's IRQ output
|
||||
SPI0_IRQ = 18, ///< Select SPI0's IRQ output
|
||||
SPI1_IRQ = 19, ///< Select SPI1's IRQ output
|
||||
UART0_IRQ = 20, ///< Select UART0's IRQ output
|
||||
UART1_IRQ = 21, ///< Select UART1's IRQ output
|
||||
ADC_IRQ_FIFO = 22, ///< Select ADC's IRQ_FIFO output
|
||||
I2C0_IRQ = 23, ///< Select I2C0's IRQ output
|
||||
I2C1_IRQ = 24, ///< Select I2C1's IRQ output
|
||||
RTC_IRQ = 25, ///< Select RTC's IRQ output
|
||||
SPARE_IRQ_0 = 26, ///< Select SPARE IRQ 0
|
||||
SPARE_IRQ_1 = 27, ///< Select SPARE IRQ 1
|
||||
SPARE_IRQ_2 = 28, ///< Select SPARE IRQ 2
|
||||
SPARE_IRQ_3 = 29, ///< Select SPARE IRQ 3
|
||||
SPARE_IRQ_4 = 30, ///< Select SPARE IRQ 4
|
||||
SPARE_IRQ_5 = 31, ///< Select SPARE IRQ 5
|
||||
IRQ_COUNT
|
||||
} irq_num_t;
|
||||
#endif
|
||||
|
||||
#define isr_timer_0 isr_irq0
|
||||
#define isr_timer_1 isr_irq1
|
||||
#define isr_timer_2 isr_irq2
|
||||
#define isr_timer_3 isr_irq3
|
||||
#define isr_pwm_wrap isr_irq4
|
||||
#define isr_usbctrl isr_irq5
|
||||
#define isr_xip isr_irq6
|
||||
#define isr_pio0_0 isr_irq7
|
||||
#define isr_pio0_1 isr_irq8
|
||||
#define isr_pio1_0 isr_irq9
|
||||
#define isr_pio1_1 isr_irq10
|
||||
#define isr_dma_0 isr_irq11
|
||||
#define isr_dma_1 isr_irq12
|
||||
#define isr_io_bank0 isr_irq13
|
||||
#define isr_io_qspi isr_irq14
|
||||
#define isr_sio_proc0 isr_irq15
|
||||
#define isr_sio_proc1 isr_irq16
|
||||
#define isr_clocks isr_irq17
|
||||
#define isr_spi0 isr_irq18
|
||||
#define isr_spi1 isr_irq19
|
||||
#define isr_uart0 isr_irq20
|
||||
#define isr_uart1 isr_irq21
|
||||
#define isr_adc_fifo isr_irq22
|
||||
#define isr_i2c0 isr_irq23
|
||||
#define isr_i2c1 isr_irq24
|
||||
#define isr_rtc isr_irq25
|
||||
#define isr_spare_0 isr_irq26
|
||||
#define isr_spare_1 isr_irq27
|
||||
#define isr_spare_2 isr_irq28
|
||||
#define isr_spare_3 isr_irq29
|
||||
#define isr_spare_4 isr_irq30
|
||||
#define isr_spare_5 isr_irq31
|
||||
|
||||
#endif // _INTCTRL_H
|
||||
|
||||
Binary file not shown.
|
|
@ -0,0 +1,150 @@
|
|||
|
||||
/home/ulysse-cura/Documents/Robotique/Junior 2025-2026/main_robot_2025-2026/program/main controller code/build/pico-sdk/src/rp2040/boot_stage2/bs2_default.elf: file format elf32-littlearm
|
||||
|
||||
Sections:
|
||||
Idx Name Size VMA LMA File off Algn
|
||||
0 .text 000000f0 20041f00 20041f00 00001f00 2**2
|
||||
CONTENTS, ALLOC, LOAD, READONLY, CODE
|
||||
1 .ARM.attributes 00000022 00000000 00000000 00001ff0 2**0
|
||||
CONTENTS, READONLY
|
||||
2 .debug_line 000000ed 00000000 00000000 00002012 2**0
|
||||
CONTENTS, READONLY, DEBUGGING, OCTETS
|
||||
3 .debug_line_str 0000016b 00000000 00000000 000020ff 2**0
|
||||
CONTENTS, READONLY, DEBUGGING, OCTETS
|
||||
4 .debug_info 00000025 00000000 00000000 0000226a 2**0
|
||||
CONTENTS, READONLY, DEBUGGING, OCTETS
|
||||
5 .debug_abbrev 00000014 00000000 00000000 0000228f 2**0
|
||||
CONTENTS, READONLY, DEBUGGING, OCTETS
|
||||
6 .debug_aranges 00000020 00000000 00000000 000022a8 2**3
|
||||
CONTENTS, READONLY, DEBUGGING, OCTETS
|
||||
7 .debug_str 000000ea 00000000 00000000 000022c8 2**0
|
||||
CONTENTS, READONLY, DEBUGGING, OCTETS
|
||||
|
||||
/home/ulysse-cura/Documents/Robotique/Junior 2025-2026/main_robot_2025-2026/program/main controller code/build/pico-sdk/src/rp2040/boot_stage2/bs2_default.elf: file format elf32-littlearm
|
||||
|
||||
|
||||
Disassembly of section .text:
|
||||
|
||||
20041f00 <_stage2_boot>:
|
||||
20041f00: b500 push {lr}
|
||||
20041f02: 4b32 ldr r3, [pc, #200] @ (20041fcc <literals>)
|
||||
20041f04: 2021 movs r0, #33 @ 0x21
|
||||
20041f06: 6058 str r0, [r3, #4]
|
||||
20041f08: 6898 ldr r0, [r3, #8]
|
||||
20041f0a: 2102 movs r1, #2
|
||||
20041f0c: 4388 bics r0, r1
|
||||
20041f0e: 6098 str r0, [r3, #8]
|
||||
20041f10: 60d8 str r0, [r3, #12]
|
||||
20041f12: 6118 str r0, [r3, #16]
|
||||
20041f14: 6158 str r0, [r3, #20]
|
||||
20041f16: 4b2e ldr r3, [pc, #184] @ (20041fd0 <literals+0x4>)
|
||||
20041f18: 2100 movs r1, #0
|
||||
20041f1a: 6099 str r1, [r3, #8]
|
||||
20041f1c: 2102 movs r1, #2
|
||||
20041f1e: 6159 str r1, [r3, #20]
|
||||
20041f20: 2101 movs r1, #1
|
||||
20041f22: 22f0 movs r2, #240 @ 0xf0
|
||||
20041f24: 5099 str r1, [r3, r2]
|
||||
|
||||
20041f26 <program_sregs>:
|
||||
20041f26: 492b ldr r1, [pc, #172] @ (20041fd4 <literals+0x8>)
|
||||
20041f28: 6019 str r1, [r3, #0]
|
||||
20041f2a: 2101 movs r1, #1
|
||||
20041f2c: 6099 str r1, [r3, #8]
|
||||
20041f2e: 2035 movs r0, #53 @ 0x35
|
||||
20041f30: f000 f844 bl 20041fbc <read_flash_sreg>
|
||||
20041f34: 2202 movs r2, #2
|
||||
20041f36: 4290 cmp r0, r2
|
||||
20041f38: d014 beq.n 20041f64 <skip_sreg_programming>
|
||||
20041f3a: 2106 movs r1, #6
|
||||
20041f3c: 6619 str r1, [r3, #96] @ 0x60
|
||||
20041f3e: f000 f834 bl 20041faa <wait_ssi_ready>
|
||||
20041f42: 6e19 ldr r1, [r3, #96] @ 0x60
|
||||
20041f44: 2101 movs r1, #1
|
||||
20041f46: 6619 str r1, [r3, #96] @ 0x60
|
||||
20041f48: 2000 movs r0, #0
|
||||
20041f4a: 6618 str r0, [r3, #96] @ 0x60
|
||||
20041f4c: 661a str r2, [r3, #96] @ 0x60
|
||||
20041f4e: f000 f82c bl 20041faa <wait_ssi_ready>
|
||||
20041f52: 6e19 ldr r1, [r3, #96] @ 0x60
|
||||
20041f54: 6e19 ldr r1, [r3, #96] @ 0x60
|
||||
20041f56: 6e19 ldr r1, [r3, #96] @ 0x60
|
||||
20041f58: 2005 movs r0, #5
|
||||
20041f5a: f000 f82f bl 20041fbc <read_flash_sreg>
|
||||
20041f5e: 2101 movs r1, #1
|
||||
20041f60: 4208 tst r0, r1
|
||||
20041f62: d1f9 bne.n 20041f58 <program_sregs+0x32>
|
||||
|
||||
20041f64 <skip_sreg_programming>:
|
||||
20041f64: 2100 movs r1, #0
|
||||
20041f66: 6099 str r1, [r3, #8]
|
||||
|
||||
20041f68 <dummy_read>:
|
||||
20041f68: 491b ldr r1, [pc, #108] @ (20041fd8 <literals+0xc>)
|
||||
20041f6a: 6019 str r1, [r3, #0]
|
||||
20041f6c: 2100 movs r1, #0
|
||||
20041f6e: 6059 str r1, [r3, #4]
|
||||
20041f70: 491a ldr r1, [pc, #104] @ (20041fdc <literals+0x10>)
|
||||
20041f72: 481b ldr r0, [pc, #108] @ (20041fe0 <literals+0x14>)
|
||||
20041f74: 6001 str r1, [r0, #0]
|
||||
20041f76: 2101 movs r1, #1
|
||||
20041f78: 6099 str r1, [r3, #8]
|
||||
20041f7a: 21eb movs r1, #235 @ 0xeb
|
||||
20041f7c: 6619 str r1, [r3, #96] @ 0x60
|
||||
20041f7e: 21a0 movs r1, #160 @ 0xa0
|
||||
20041f80: 6619 str r1, [r3, #96] @ 0x60
|
||||
20041f82: f000 f812 bl 20041faa <wait_ssi_ready>
|
||||
20041f86: 2100 movs r1, #0
|
||||
20041f88: 6099 str r1, [r3, #8]
|
||||
|
||||
20041f8a <configure_ssi>:
|
||||
20041f8a: 4916 ldr r1, [pc, #88] @ (20041fe4 <literals+0x18>)
|
||||
20041f8c: 4814 ldr r0, [pc, #80] @ (20041fe0 <literals+0x14>)
|
||||
20041f8e: 6001 str r1, [r0, #0]
|
||||
20041f90: 2101 movs r1, #1
|
||||
20041f92: 6099 str r1, [r3, #8]
|
||||
|
||||
20041f94 <check_return>:
|
||||
20041f94: bc01 pop {r0}
|
||||
20041f96: 2800 cmp r0, #0
|
||||
20041f98: d000 beq.n 20041f9c <vector_into_flash>
|
||||
20041f9a: 4700 bx r0
|
||||
|
||||
20041f9c <vector_into_flash>:
|
||||
20041f9c: 4812 ldr r0, [pc, #72] @ (20041fe8 <literals+0x1c>)
|
||||
20041f9e: 4913 ldr r1, [pc, #76] @ (20041fec <literals+0x20>)
|
||||
20041fa0: 6008 str r0, [r1, #0]
|
||||
20041fa2: c803 ldmia r0, {r0, r1}
|
||||
20041fa4: f380 8808 msr MSP, r0
|
||||
20041fa8: 4708 bx r1
|
||||
|
||||
20041faa <wait_ssi_ready>:
|
||||
20041faa: b503 push {r0, r1, lr}
|
||||
20041fac: 6a99 ldr r1, [r3, #40] @ 0x28
|
||||
20041fae: 2004 movs r0, #4
|
||||
20041fb0: 4201 tst r1, r0
|
||||
20041fb2: d0fb beq.n 20041fac <wait_ssi_ready+0x2>
|
||||
20041fb4: 2001 movs r0, #1
|
||||
20041fb6: 4201 tst r1, r0
|
||||
20041fb8: d1f8 bne.n 20041fac <wait_ssi_ready+0x2>
|
||||
20041fba: bd03 pop {r0, r1, pc}
|
||||
|
||||
20041fbc <read_flash_sreg>:
|
||||
20041fbc: b502 push {r1, lr}
|
||||
20041fbe: 6618 str r0, [r3, #96] @ 0x60
|
||||
20041fc0: 6618 str r0, [r3, #96] @ 0x60
|
||||
20041fc2: f7ff fff2 bl 20041faa <wait_ssi_ready>
|
||||
20041fc6: 6e18 ldr r0, [r3, #96] @ 0x60
|
||||
20041fc8: 6e18 ldr r0, [r3, #96] @ 0x60
|
||||
20041fca: bd02 pop {r1, pc}
|
||||
|
||||
20041fcc <literals>:
|
||||
20041fcc: 40020000 .word 0x40020000
|
||||
20041fd0: 18000000 .word 0x18000000
|
||||
20041fd4: 00070000 .word 0x00070000
|
||||
20041fd8: 005f0300 .word 0x005f0300
|
||||
20041fdc: 00002221 .word 0x00002221
|
||||
20041fe0: 180000f4 .word 0x180000f4
|
||||
20041fe4: a0002022 .word 0xa0002022
|
||||
20041fe8: 10000100 .word 0x10000100
|
||||
20041fec: e000ed08 .word 0xe000ed08
|
||||
|
|
@ -0,0 +1,23 @@
|
|||
// Padded and checksummed version of: /home/ulysse-cura/Documents/Robotique/Junior 2025-2026/main_robot_2025-2026/program/main controller code/build/pico-sdk/src/rp2040/boot_stage2/bs2_default.bin
|
||||
|
||||
.cpu cortex-m0plus
|
||||
.thumb
|
||||
|
||||
.section .boot2, "ax"
|
||||
|
||||
.byte 0x00, 0xb5, 0x32, 0x4b, 0x21, 0x20, 0x58, 0x60, 0x98, 0x68, 0x02, 0x21, 0x88, 0x43, 0x98, 0x60
|
||||
.byte 0xd8, 0x60, 0x18, 0x61, 0x58, 0x61, 0x2e, 0x4b, 0x00, 0x21, 0x99, 0x60, 0x02, 0x21, 0x59, 0x61
|
||||
.byte 0x01, 0x21, 0xf0, 0x22, 0x99, 0x50, 0x2b, 0x49, 0x19, 0x60, 0x01, 0x21, 0x99, 0x60, 0x35, 0x20
|
||||
.byte 0x00, 0xf0, 0x44, 0xf8, 0x02, 0x22, 0x90, 0x42, 0x14, 0xd0, 0x06, 0x21, 0x19, 0x66, 0x00, 0xf0
|
||||
.byte 0x34, 0xf8, 0x19, 0x6e, 0x01, 0x21, 0x19, 0x66, 0x00, 0x20, 0x18, 0x66, 0x1a, 0x66, 0x00, 0xf0
|
||||
.byte 0x2c, 0xf8, 0x19, 0x6e, 0x19, 0x6e, 0x19, 0x6e, 0x05, 0x20, 0x00, 0xf0, 0x2f, 0xf8, 0x01, 0x21
|
||||
.byte 0x08, 0x42, 0xf9, 0xd1, 0x00, 0x21, 0x99, 0x60, 0x1b, 0x49, 0x19, 0x60, 0x00, 0x21, 0x59, 0x60
|
||||
.byte 0x1a, 0x49, 0x1b, 0x48, 0x01, 0x60, 0x01, 0x21, 0x99, 0x60, 0xeb, 0x21, 0x19, 0x66, 0xa0, 0x21
|
||||
.byte 0x19, 0x66, 0x00, 0xf0, 0x12, 0xf8, 0x00, 0x21, 0x99, 0x60, 0x16, 0x49, 0x14, 0x48, 0x01, 0x60
|
||||
.byte 0x01, 0x21, 0x99, 0x60, 0x01, 0xbc, 0x00, 0x28, 0x00, 0xd0, 0x00, 0x47, 0x12, 0x48, 0x13, 0x49
|
||||
.byte 0x08, 0x60, 0x03, 0xc8, 0x80, 0xf3, 0x08, 0x88, 0x08, 0x47, 0x03, 0xb5, 0x99, 0x6a, 0x04, 0x20
|
||||
.byte 0x01, 0x42, 0xfb, 0xd0, 0x01, 0x20, 0x01, 0x42, 0xf8, 0xd1, 0x03, 0xbd, 0x02, 0xb5, 0x18, 0x66
|
||||
.byte 0x18, 0x66, 0xff, 0xf7, 0xf2, 0xff, 0x18, 0x6e, 0x18, 0x6e, 0x02, 0xbd, 0x00, 0x00, 0x02, 0x40
|
||||
.byte 0x00, 0x00, 0x00, 0x18, 0x00, 0x00, 0x07, 0x00, 0x00, 0x03, 0x5f, 0x00, 0x21, 0x22, 0x00, 0x00
|
||||
.byte 0xf4, 0x00, 0x00, 0x18, 0x22, 0x20, 0x00, 0xa0, 0x00, 0x01, 0x00, 0x10, 0x08, 0xed, 0x00, 0xe0
|
||||
.byte 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x74, 0xb2, 0x4e, 0x7a
|
||||
|
|
@ -0,0 +1,173 @@
|
|||
// ---------------------------------------------------------------- //
|
||||
// This file is autogenerated by pioasm version 2.2.0; do not edit! //
|
||||
// ---------------------------------------------------------------- //
|
||||
|
||||
#pragma once
|
||||
|
||||
#if !PICO_NO_HARDWARE
|
||||
#include "hardware/pio.h"
|
||||
#endif
|
||||
|
||||
// ---------------- //
|
||||
// spi_gap0_sample1 //
|
||||
// ---------------- //
|
||||
|
||||
#define spi_gap0_sample1_wrap_target 0
|
||||
#define spi_gap0_sample1_wrap 4
|
||||
#define spi_gap0_sample1_pio_version 0
|
||||
|
||||
#define spi_gap0_sample1_offset_lp1_end 2u
|
||||
#define spi_gap0_sample1_offset_end 5u
|
||||
|
||||
static const uint16_t spi_gap0_sample1_program_instructions[] = {
|
||||
// .wrap_target
|
||||
0x6001, // 0: out pins, 1 side 0
|
||||
0x1040, // 1: jmp x--, 0 side 1
|
||||
0xe080, // 2: set pindirs, 0 side 0
|
||||
0x5001, // 3: in pins, 1 side 1
|
||||
0x0083, // 4: jmp y--, 3 side 0
|
||||
// .wrap
|
||||
};
|
||||
|
||||
#if !PICO_NO_HARDWARE
|
||||
static const struct pio_program spi_gap0_sample1_program = {
|
||||
.instructions = spi_gap0_sample1_program_instructions,
|
||||
.length = 5,
|
||||
.origin = -1,
|
||||
.pio_version = spi_gap0_sample1_pio_version,
|
||||
#if PICO_PIO_VERSION > 0
|
||||
.used_gpio_ranges = 0x0
|
||||
#endif
|
||||
};
|
||||
|
||||
static inline pio_sm_config spi_gap0_sample1_program_get_default_config(uint offset) {
|
||||
pio_sm_config c = pio_get_default_sm_config();
|
||||
sm_config_set_wrap(&c, offset + spi_gap0_sample1_wrap_target, offset + spi_gap0_sample1_wrap);
|
||||
sm_config_set_sideset(&c, 1, false, false);
|
||||
return c;
|
||||
}
|
||||
#endif
|
||||
|
||||
// ----------------- //
|
||||
// spi_gap01_sample0 //
|
||||
// ----------------- //
|
||||
|
||||
#define spi_gap01_sample0_wrap_target 0
|
||||
#define spi_gap01_sample0_wrap 5
|
||||
#define spi_gap01_sample0_pio_version 0
|
||||
|
||||
#define spi_gap01_sample0_offset_lp1_end 2u
|
||||
#define spi_gap01_sample0_offset_end 6u
|
||||
|
||||
static const uint16_t spi_gap01_sample0_program_instructions[] = {
|
||||
// .wrap_target
|
||||
0x6001, // 0: out pins, 1 side 0
|
||||
0x1040, // 1: jmp x--, 0 side 1
|
||||
0xe080, // 2: set pindirs, 0 side 0
|
||||
0xb042, // 3: nop side 1
|
||||
0x4001, // 4: in pins, 1 side 0
|
||||
0x1084, // 5: jmp y--, 4 side 1
|
||||
// .wrap
|
||||
};
|
||||
|
||||
#if !PICO_NO_HARDWARE
|
||||
static const struct pio_program spi_gap01_sample0_program = {
|
||||
.instructions = spi_gap01_sample0_program_instructions,
|
||||
.length = 6,
|
||||
.origin = -1,
|
||||
.pio_version = spi_gap01_sample0_pio_version,
|
||||
#if PICO_PIO_VERSION > 0
|
||||
.used_gpio_ranges = 0x0
|
||||
#endif
|
||||
};
|
||||
|
||||
static inline pio_sm_config spi_gap01_sample0_program_get_default_config(uint offset) {
|
||||
pio_sm_config c = pio_get_default_sm_config();
|
||||
sm_config_set_wrap(&c, offset + spi_gap01_sample0_wrap_target, offset + spi_gap01_sample0_wrap);
|
||||
sm_config_set_sideset(&c, 1, false, false);
|
||||
return c;
|
||||
}
|
||||
#endif
|
||||
|
||||
// ------------------ //
|
||||
// spi_gap010_sample1 //
|
||||
// ------------------ //
|
||||
|
||||
#define spi_gap010_sample1_wrap_target 0
|
||||
#define spi_gap010_sample1_wrap 6
|
||||
#define spi_gap010_sample1_pio_version 0
|
||||
|
||||
#define spi_gap010_sample1_offset_lp1_end 2u
|
||||
#define spi_gap010_sample1_offset_end 7u
|
||||
|
||||
static const uint16_t spi_gap010_sample1_program_instructions[] = {
|
||||
// .wrap_target
|
||||
0x6001, // 0: out pins, 1 side 0
|
||||
0x1040, // 1: jmp x--, 0 side 1
|
||||
0xe080, // 2: set pindirs, 0 side 0
|
||||
0xb042, // 3: nop side 1
|
||||
0xa042, // 4: nop side 0
|
||||
0x5001, // 5: in pins, 1 side 1
|
||||
0x0085, // 6: jmp y--, 5 side 0
|
||||
// .wrap
|
||||
};
|
||||
|
||||
#if !PICO_NO_HARDWARE
|
||||
static const struct pio_program spi_gap010_sample1_program = {
|
||||
.instructions = spi_gap010_sample1_program_instructions,
|
||||
.length = 7,
|
||||
.origin = -1,
|
||||
.pio_version = spi_gap010_sample1_pio_version,
|
||||
#if PICO_PIO_VERSION > 0
|
||||
.used_gpio_ranges = 0x0
|
||||
#endif
|
||||
};
|
||||
|
||||
static inline pio_sm_config spi_gap010_sample1_program_get_default_config(uint offset) {
|
||||
pio_sm_config c = pio_get_default_sm_config();
|
||||
sm_config_set_wrap(&c, offset + spi_gap010_sample1_wrap_target, offset + spi_gap010_sample1_wrap);
|
||||
sm_config_set_sideset(&c, 1, false, false);
|
||||
return c;
|
||||
}
|
||||
#endif
|
||||
|
||||
// ------------------------ //
|
||||
// spi_gap0_sample1_regular //
|
||||
// ------------------------ //
|
||||
|
||||
#define spi_gap0_sample1_regular_wrap_target 0
|
||||
#define spi_gap0_sample1_regular_wrap 4
|
||||
#define spi_gap0_sample1_regular_pio_version 0
|
||||
|
||||
#define spi_gap0_sample1_regular_offset_lp1_end 2u
|
||||
#define spi_gap0_sample1_regular_offset_end 5u
|
||||
|
||||
static const uint16_t spi_gap0_sample1_regular_program_instructions[] = {
|
||||
// .wrap_target
|
||||
0x6001, // 0: out pins, 1 side 0
|
||||
0x1040, // 1: jmp x--, 0 side 1
|
||||
0xe080, // 2: set pindirs, 0 side 0
|
||||
0x5001, // 3: in pins, 1 side 1
|
||||
0x0083, // 4: jmp y--, 3 side 0
|
||||
// .wrap
|
||||
};
|
||||
|
||||
#if !PICO_NO_HARDWARE
|
||||
static const struct pio_program spi_gap0_sample1_regular_program = {
|
||||
.instructions = spi_gap0_sample1_regular_program_instructions,
|
||||
.length = 5,
|
||||
.origin = -1,
|
||||
.pio_version = spi_gap0_sample1_regular_pio_version,
|
||||
#if PICO_PIO_VERSION > 0
|
||||
.used_gpio_ranges = 0x0
|
||||
#endif
|
||||
};
|
||||
|
||||
static inline pio_sm_config spi_gap0_sample1_regular_program_get_default_config(uint offset) {
|
||||
pio_sm_config c = pio_get_default_sm_config();
|
||||
sm_config_set_wrap(&c, offset + spi_gap0_sample1_regular_wrap_target, offset + spi_gap0_sample1_regular_wrap);
|
||||
sm_config_set_sideset(&c, 1, false, false);
|
||||
return c;
|
||||
}
|
||||
#endif
|
||||
|
||||
|
|
@ -0,0 +1,6 @@
|
|||
# This is a generated file and its contents are an internal implementation detail.
|
||||
# The update step will be re-executed if anything in this file changes.
|
||||
# No other meaning or use of this file is supported.
|
||||
|
||||
command=
|
||||
work_dir=
|
||||
|
|
@ -0,0 +1,9 @@
|
|||
# This is a generated file and its contents are an internal implementation detail.
|
||||
# The download step will be re-executed if anything in this file changes.
|
||||
# No other meaning or use of this file is supported.
|
||||
|
||||
method=source_dir
|
||||
command=
|
||||
source_dir=/home/ulysse-cura/.local/share/pico-sdk/tools/pioasm
|
||||
work_dir=
|
||||
|
||||
|
|
@ -0,0 +1,7 @@
|
|||
# This is a generated file and its contents are an internal implementation detail.
|
||||
# The patch step will be re-executed if anything in this file changes.
|
||||
# No other meaning or use of this file is supported.
|
||||
|
||||
command (connected)=
|
||||
command (disconnected)=
|
||||
work_dir=
|
||||
|
|
@ -0,0 +1,3 @@
|
|||
|
||||
set(PIOASM_EXTRA_SOURCE_FILES "" CACHE STRING "Initial cache" FORCE)
|
||||
set(PIOASM_VERSION_STRING "2.2.0" CACHE STRING "Initial cache" FORCE)
|
||||
|
|
@ -0,0 +1 @@
|
|||
cmd='/usr/bin/cmake;--no-warn-unused-cli;-DCMAKE_MAKE_PROGRAM:FILEPATH=/usr/bin/gmake;-DPIOASM_FLAT_INSTALL=1;-DCMAKE_INSTALL_PREFIX=/home/ulysse-cura/Documents/Robotique/Junior 2025-2026/main_robot_2025-2026/program/main controller code/build/pioasm-install;-DCMAKE_RULE_MESSAGES=OFF;-DCMAKE_INSTALL_MESSAGE=NEVER;-GUnix Makefiles;-C<TMP_DIR>/pioasmBuild-cache-$<CONFIG>.cmake;-S;<SOURCE_DIR><SOURCE_SUBDIR>;-B;<BINARY_DIR>'
|
||||
|
|
@ -0,0 +1,27 @@
|
|||
# Distributed under the OSI-approved BSD 3-Clause License. See accompanying
|
||||
# file Copyright.txt or https://cmake.org/licensing for details.
|
||||
|
||||
cmake_minimum_required(VERSION ${CMAKE_VERSION}) # this file comes with cmake
|
||||
|
||||
# If CMAKE_DISABLE_SOURCE_CHANGES is set to true and the source directory is an
|
||||
# existing directory in our source tree, calling file(MAKE_DIRECTORY) on it
|
||||
# would cause a fatal error, even though it would be a no-op.
|
||||
if(NOT EXISTS "/home/ulysse-cura/.local/share/pico-sdk/tools/pioasm")
|
||||
file(MAKE_DIRECTORY "/home/ulysse-cura/.local/share/pico-sdk/tools/pioasm")
|
||||
endif()
|
||||
file(MAKE_DIRECTORY
|
||||
"/home/ulysse-cura/Documents/Robotique/Junior 2025-2026/main_robot_2025-2026/program/main controller code/build/pioasm"
|
||||
"/home/ulysse-cura/Documents/Robotique/Junior 2025-2026/main_robot_2025-2026/program/main controller code/build/pioasm-install"
|
||||
"/home/ulysse-cura/Documents/Robotique/Junior 2025-2026/main_robot_2025-2026/program/main controller code/build/pico-sdk/src/rp2_common/pico_cyw43_driver/pioasm/tmp"
|
||||
"/home/ulysse-cura/Documents/Robotique/Junior 2025-2026/main_robot_2025-2026/program/main controller code/build/pico-sdk/src/rp2_common/pico_cyw43_driver/pioasm/src/pioasmBuild-stamp"
|
||||
"/home/ulysse-cura/Documents/Robotique/Junior 2025-2026/main_robot_2025-2026/program/main controller code/build/pico-sdk/src/rp2_common/pico_cyw43_driver/pioasm/src"
|
||||
"/home/ulysse-cura/Documents/Robotique/Junior 2025-2026/main_robot_2025-2026/program/main controller code/build/pico-sdk/src/rp2_common/pico_cyw43_driver/pioasm/src/pioasmBuild-stamp"
|
||||
)
|
||||
|
||||
set(configSubDirs )
|
||||
foreach(subDir IN LISTS configSubDirs)
|
||||
file(MAKE_DIRECTORY "/home/ulysse-cura/Documents/Robotique/Junior 2025-2026/main_robot_2025-2026/program/main controller code/build/pico-sdk/src/rp2_common/pico_cyw43_driver/pioasm/src/pioasmBuild-stamp/${subDir}")
|
||||
endforeach()
|
||||
if(cfgdir)
|
||||
file(MAKE_DIRECTORY "/home/ulysse-cura/Documents/Robotique/Junior 2025-2026/main_robot_2025-2026/program/main controller code/build/pico-sdk/src/rp2_common/pico_cyw43_driver/pioasm/src/pioasmBuild-stamp${cfgdir}") # cfgdir has leading slash
|
||||
endif()
|
||||
|
|
@ -0,0 +1 @@
|
|||
FLASH(rx) : ORIGIN = 0x10000000, LENGTH = (2 * 1024 * 1024)
|
||||
Binary file not shown.
|
|
@ -0,0 +1,3 @@
|
|||
if (NOT TARGET pioasm)
|
||||
include("${CMAKE_CURRENT_LIST_DIR}/pioasmTargets.cmake")
|
||||
endif()
|
||||
|
|
@ -0,0 +1,72 @@
|
|||
# This is a basic version file for the Config-mode of find_package().
|
||||
# It is used by write_basic_package_version_file() as input file for configure_file()
|
||||
# to create a version-file which can be installed along a config.cmake file.
|
||||
#
|
||||
# The created file sets PACKAGE_VERSION_EXACT if the current version string and
|
||||
# the requested version string are exactly the same and it sets
|
||||
# PACKAGE_VERSION_COMPATIBLE if the current version is equal to the requested version.
|
||||
# The tweak version component is ignored.
|
||||
# The variable CVF_VERSION must be set before calling configure_file().
|
||||
|
||||
|
||||
if (PACKAGE_FIND_VERSION_RANGE)
|
||||
message(AUTHOR_WARNING
|
||||
"`find_package()` specify a version range but the version strategy "
|
||||
"(ExactVersion) of the module `${PACKAGE_FIND_NAME}` is incompatible "
|
||||
"with this request. Only the lower endpoint of the range will be used.")
|
||||
endif()
|
||||
|
||||
set(PACKAGE_VERSION "2.2.0")
|
||||
|
||||
if("2.2.0" MATCHES "^([0-9]+)\\.([0-9]+)\\.([0-9]+)") # strip the tweak version
|
||||
set(CVF_VERSION_MAJOR "${CMAKE_MATCH_1}")
|
||||
set(CVF_VERSION_MINOR "${CMAKE_MATCH_2}")
|
||||
set(CVF_VERSION_PATCH "${CMAKE_MATCH_3}")
|
||||
|
||||
if(NOT CVF_VERSION_MAJOR VERSION_EQUAL 0)
|
||||
string(REGEX REPLACE "^0+" "" CVF_VERSION_MAJOR "${CVF_VERSION_MAJOR}")
|
||||
endif()
|
||||
if(NOT CVF_VERSION_MINOR VERSION_EQUAL 0)
|
||||
string(REGEX REPLACE "^0+" "" CVF_VERSION_MINOR "${CVF_VERSION_MINOR}")
|
||||
endif()
|
||||
if(NOT CVF_VERSION_PATCH VERSION_EQUAL 0)
|
||||
string(REGEX REPLACE "^0+" "" CVF_VERSION_PATCH "${CVF_VERSION_PATCH}")
|
||||
endif()
|
||||
|
||||
set(CVF_VERSION_NO_TWEAK "${CVF_VERSION_MAJOR}.${CVF_VERSION_MINOR}.${CVF_VERSION_PATCH}")
|
||||
else()
|
||||
set(CVF_VERSION_NO_TWEAK "2.2.0")
|
||||
endif()
|
||||
|
||||
if(PACKAGE_FIND_VERSION MATCHES "^([0-9]+)\\.([0-9]+)\\.([0-9]+)") # strip the tweak version
|
||||
set(REQUESTED_VERSION_MAJOR "${CMAKE_MATCH_1}")
|
||||
set(REQUESTED_VERSION_MINOR "${CMAKE_MATCH_2}")
|
||||
set(REQUESTED_VERSION_PATCH "${CMAKE_MATCH_3}")
|
||||
|
||||
if(NOT REQUESTED_VERSION_MAJOR VERSION_EQUAL 0)
|
||||
string(REGEX REPLACE "^0+" "" REQUESTED_VERSION_MAJOR "${REQUESTED_VERSION_MAJOR}")
|
||||
endif()
|
||||
if(NOT REQUESTED_VERSION_MINOR VERSION_EQUAL 0)
|
||||
string(REGEX REPLACE "^0+" "" REQUESTED_VERSION_MINOR "${REQUESTED_VERSION_MINOR}")
|
||||
endif()
|
||||
if(NOT REQUESTED_VERSION_PATCH VERSION_EQUAL 0)
|
||||
string(REGEX REPLACE "^0+" "" REQUESTED_VERSION_PATCH "${REQUESTED_VERSION_PATCH}")
|
||||
endif()
|
||||
|
||||
set(REQUESTED_VERSION_NO_TWEAK
|
||||
"${REQUESTED_VERSION_MAJOR}.${REQUESTED_VERSION_MINOR}.${REQUESTED_VERSION_PATCH}")
|
||||
else()
|
||||
set(REQUESTED_VERSION_NO_TWEAK "${PACKAGE_FIND_VERSION}")
|
||||
endif()
|
||||
|
||||
if(REQUESTED_VERSION_NO_TWEAK STREQUAL CVF_VERSION_NO_TWEAK)
|
||||
set(PACKAGE_VERSION_COMPATIBLE TRUE)
|
||||
else()
|
||||
set(PACKAGE_VERSION_COMPATIBLE FALSE)
|
||||
endif()
|
||||
|
||||
if(PACKAGE_FIND_VERSION STREQUAL PACKAGE_VERSION)
|
||||
set(PACKAGE_VERSION_EXACT TRUE)
|
||||
endif()
|
||||
|
||||
|
||||
|
|
@ -0,0 +1,18 @@
|
|||
#----------------------------------------------------------------
|
||||
# Generated CMake target import file for configuration "Release".
|
||||
#----------------------------------------------------------------
|
||||
|
||||
# Commands may need to know the format version.
|
||||
set(CMAKE_IMPORT_FILE_VERSION 1)
|
||||
|
||||
# Import target "pioasm" for configuration "Release"
|
||||
set_property(TARGET pioasm APPEND PROPERTY IMPORTED_CONFIGURATIONS RELEASE)
|
||||
set_target_properties(pioasm PROPERTIES
|
||||
IMPORTED_LOCATION_RELEASE "${_IMPORT_PREFIX}/pioasm/pioasm"
|
||||
)
|
||||
|
||||
list(APPEND _cmake_import_check_targets pioasm )
|
||||
list(APPEND _cmake_import_check_files_for_pioasm "${_IMPORT_PREFIX}/pioasm/pioasm" )
|
||||
|
||||
# Commands beyond this point should not need to know the version.
|
||||
set(CMAKE_IMPORT_FILE_VERSION)
|
||||
|
|
@ -0,0 +1,100 @@
|
|||
# Generated by CMake
|
||||
|
||||
if("${CMAKE_MAJOR_VERSION}.${CMAKE_MINOR_VERSION}" LESS 2.8)
|
||||
message(FATAL_ERROR "CMake >= 2.8.3 required")
|
||||
endif()
|
||||
if(CMAKE_VERSION VERSION_LESS "2.8.3")
|
||||
message(FATAL_ERROR "CMake >= 2.8.3 required")
|
||||
endif()
|
||||
cmake_policy(PUSH)
|
||||
cmake_policy(VERSION 2.8.3...3.29)
|
||||
#----------------------------------------------------------------
|
||||
# Generated CMake target import file.
|
||||
#----------------------------------------------------------------
|
||||
|
||||
# Commands may need to know the format version.
|
||||
set(CMAKE_IMPORT_FILE_VERSION 1)
|
||||
|
||||
# Protect against multiple inclusion, which would fail when already imported targets are added once more.
|
||||
set(_cmake_targets_defined "")
|
||||
set(_cmake_targets_not_defined "")
|
||||
set(_cmake_expected_targets "")
|
||||
foreach(_cmake_expected_target IN ITEMS pioasm)
|
||||
list(APPEND _cmake_expected_targets "${_cmake_expected_target}")
|
||||
if(TARGET "${_cmake_expected_target}")
|
||||
list(APPEND _cmake_targets_defined "${_cmake_expected_target}")
|
||||
else()
|
||||
list(APPEND _cmake_targets_not_defined "${_cmake_expected_target}")
|
||||
endif()
|
||||
endforeach()
|
||||
unset(_cmake_expected_target)
|
||||
if(_cmake_targets_defined STREQUAL _cmake_expected_targets)
|
||||
unset(_cmake_targets_defined)
|
||||
unset(_cmake_targets_not_defined)
|
||||
unset(_cmake_expected_targets)
|
||||
unset(CMAKE_IMPORT_FILE_VERSION)
|
||||
cmake_policy(POP)
|
||||
return()
|
||||
endif()
|
||||
if(NOT _cmake_targets_defined STREQUAL "")
|
||||
string(REPLACE ";" ", " _cmake_targets_defined_text "${_cmake_targets_defined}")
|
||||
string(REPLACE ";" ", " _cmake_targets_not_defined_text "${_cmake_targets_not_defined}")
|
||||
message(FATAL_ERROR "Some (but not all) targets in this export set were already defined.\nTargets Defined: ${_cmake_targets_defined_text}\nTargets not yet defined: ${_cmake_targets_not_defined_text}\n")
|
||||
endif()
|
||||
unset(_cmake_targets_defined)
|
||||
unset(_cmake_targets_not_defined)
|
||||
unset(_cmake_expected_targets)
|
||||
|
||||
|
||||
# Compute the installation prefix relative to this file.
|
||||
get_filename_component(_IMPORT_PREFIX "${CMAKE_CURRENT_LIST_FILE}" PATH)
|
||||
get_filename_component(_IMPORT_PREFIX "${_IMPORT_PREFIX}" PATH)
|
||||
if(_IMPORT_PREFIX STREQUAL "/")
|
||||
set(_IMPORT_PREFIX "")
|
||||
endif()
|
||||
|
||||
# Create imported target pioasm
|
||||
add_executable(pioasm IMPORTED)
|
||||
|
||||
# Load information for each installed configuration.
|
||||
file(GLOB _cmake_config_files "${CMAKE_CURRENT_LIST_DIR}/pioasmTargets-*.cmake")
|
||||
foreach(_cmake_config_file IN LISTS _cmake_config_files)
|
||||
include("${_cmake_config_file}")
|
||||
endforeach()
|
||||
unset(_cmake_config_file)
|
||||
unset(_cmake_config_files)
|
||||
|
||||
# Cleanup temporary variables.
|
||||
set(_IMPORT_PREFIX)
|
||||
|
||||
# Loop over all imported files and verify that they actually exist
|
||||
foreach(_cmake_target IN LISTS _cmake_import_check_targets)
|
||||
if(CMAKE_VERSION VERSION_LESS "3.28"
|
||||
OR NOT DEFINED _cmake_import_check_xcframework_for_${_cmake_target}
|
||||
OR NOT IS_DIRECTORY "${_cmake_import_check_xcframework_for_${_cmake_target}}")
|
||||
foreach(_cmake_file IN LISTS "_cmake_import_check_files_for_${_cmake_target}")
|
||||
if(NOT EXISTS "${_cmake_file}")
|
||||
message(FATAL_ERROR "The imported target \"${_cmake_target}\" references the file
|
||||
\"${_cmake_file}\"
|
||||
but this file does not exist. Possible reasons include:
|
||||
* The file was deleted, renamed, or moved to another location.
|
||||
* An install or uninstall procedure did not complete successfully.
|
||||
* The installation package was faulty and contained
|
||||
\"${CMAKE_CURRENT_LIST_FILE}\"
|
||||
but not all the files it references.
|
||||
")
|
||||
endif()
|
||||
endforeach()
|
||||
endif()
|
||||
unset(_cmake_file)
|
||||
unset("_cmake_import_check_files_for_${_cmake_target}")
|
||||
endforeach()
|
||||
unset(_cmake_target)
|
||||
unset(_cmake_import_check_targets)
|
||||
|
||||
# This file does not depend on other imported targets which have
|
||||
# been exported from the same project but in a separate export set.
|
||||
|
||||
# Commands beyond this point should not need to know the version.
|
||||
set(CMAKE_IMPORT_FILE_VERSION)
|
||||
cmake_policy(POP)
|
||||
Binary file not shown.
|
|
@ -0,0 +1,3 @@
|
|||
if (NOT TARGET pioasm)
|
||||
include("${CMAKE_CURRENT_LIST_DIR}/pioasmTargets.cmake")
|
||||
endif()
|
||||
|
|
@ -0,0 +1,72 @@
|
|||
# This is a basic version file for the Config-mode of find_package().
|
||||
# It is used by write_basic_package_version_file() as input file for configure_file()
|
||||
# to create a version-file which can be installed along a config.cmake file.
|
||||
#
|
||||
# The created file sets PACKAGE_VERSION_EXACT if the current version string and
|
||||
# the requested version string are exactly the same and it sets
|
||||
# PACKAGE_VERSION_COMPATIBLE if the current version is equal to the requested version.
|
||||
# The tweak version component is ignored.
|
||||
# The variable CVF_VERSION must be set before calling configure_file().
|
||||
|
||||
|
||||
if (PACKAGE_FIND_VERSION_RANGE)
|
||||
message(AUTHOR_WARNING
|
||||
"`find_package()` specify a version range but the version strategy "
|
||||
"(ExactVersion) of the module `${PACKAGE_FIND_NAME}` is incompatible "
|
||||
"with this request. Only the lower endpoint of the range will be used.")
|
||||
endif()
|
||||
|
||||
set(PACKAGE_VERSION "2.2.0")
|
||||
|
||||
if("2.2.0" MATCHES "^([0-9]+)\\.([0-9]+)\\.([0-9]+)") # strip the tweak version
|
||||
set(CVF_VERSION_MAJOR "${CMAKE_MATCH_1}")
|
||||
set(CVF_VERSION_MINOR "${CMAKE_MATCH_2}")
|
||||
set(CVF_VERSION_PATCH "${CMAKE_MATCH_3}")
|
||||
|
||||
if(NOT CVF_VERSION_MAJOR VERSION_EQUAL 0)
|
||||
string(REGEX REPLACE "^0+" "" CVF_VERSION_MAJOR "${CVF_VERSION_MAJOR}")
|
||||
endif()
|
||||
if(NOT CVF_VERSION_MINOR VERSION_EQUAL 0)
|
||||
string(REGEX REPLACE "^0+" "" CVF_VERSION_MINOR "${CVF_VERSION_MINOR}")
|
||||
endif()
|
||||
if(NOT CVF_VERSION_PATCH VERSION_EQUAL 0)
|
||||
string(REGEX REPLACE "^0+" "" CVF_VERSION_PATCH "${CVF_VERSION_PATCH}")
|
||||
endif()
|
||||
|
||||
set(CVF_VERSION_NO_TWEAK "${CVF_VERSION_MAJOR}.${CVF_VERSION_MINOR}.${CVF_VERSION_PATCH}")
|
||||
else()
|
||||
set(CVF_VERSION_NO_TWEAK "2.2.0")
|
||||
endif()
|
||||
|
||||
if(PACKAGE_FIND_VERSION MATCHES "^([0-9]+)\\.([0-9]+)\\.([0-9]+)") # strip the tweak version
|
||||
set(REQUESTED_VERSION_MAJOR "${CMAKE_MATCH_1}")
|
||||
set(REQUESTED_VERSION_MINOR "${CMAKE_MATCH_2}")
|
||||
set(REQUESTED_VERSION_PATCH "${CMAKE_MATCH_3}")
|
||||
|
||||
if(NOT REQUESTED_VERSION_MAJOR VERSION_EQUAL 0)
|
||||
string(REGEX REPLACE "^0+" "" REQUESTED_VERSION_MAJOR "${REQUESTED_VERSION_MAJOR}")
|
||||
endif()
|
||||
if(NOT REQUESTED_VERSION_MINOR VERSION_EQUAL 0)
|
||||
string(REGEX REPLACE "^0+" "" REQUESTED_VERSION_MINOR "${REQUESTED_VERSION_MINOR}")
|
||||
endif()
|
||||
if(NOT REQUESTED_VERSION_PATCH VERSION_EQUAL 0)
|
||||
string(REGEX REPLACE "^0+" "" REQUESTED_VERSION_PATCH "${REQUESTED_VERSION_PATCH}")
|
||||
endif()
|
||||
|
||||
set(REQUESTED_VERSION_NO_TWEAK
|
||||
"${REQUESTED_VERSION_MAJOR}.${REQUESTED_VERSION_MINOR}.${REQUESTED_VERSION_PATCH}")
|
||||
else()
|
||||
set(REQUESTED_VERSION_NO_TWEAK "${PACKAGE_FIND_VERSION}")
|
||||
endif()
|
||||
|
||||
if(REQUESTED_VERSION_NO_TWEAK STREQUAL CVF_VERSION_NO_TWEAK)
|
||||
set(PACKAGE_VERSION_COMPATIBLE TRUE)
|
||||
else()
|
||||
set(PACKAGE_VERSION_COMPATIBLE FALSE)
|
||||
endif()
|
||||
|
||||
if(PACKAGE_FIND_VERSION STREQUAL PACKAGE_VERSION)
|
||||
set(PACKAGE_VERSION_EXACT TRUE)
|
||||
endif()
|
||||
|
||||
|
||||
|
|
@ -0,0 +1,16 @@
|
|||
/*
|
||||
* Copyright (c) 2025 Raspberry Pi (Trading) Ltd.
|
||||
*
|
||||
* SPDX-License-Identifier: BSD-3-Clause
|
||||
*/
|
||||
|
||||
// ---------------------------------------
|
||||
// THIS FILE IS AUTOGENERATED; DO NOT EDIT
|
||||
// ---------------------------------------
|
||||
|
||||
#ifndef _PIOASM_VERSION_H
|
||||
#define _PIOASM_VERSION_H
|
||||
|
||||
#define PIOASM_VERSION_STRING "2.2.0"
|
||||
|
||||
#endif
|
||||
|
|
@ -2,7 +2,7 @@
|
|||
#define MOTION_CONTROL_H
|
||||
|
||||
#include <stdint.h>
|
||||
#include "motors.h"
|
||||
#include "i2c/headers/motors.h"
|
||||
|
||||
typedef struct motion_control_data_t {
|
||||
int16_t angle;
|
||||
|
|
@ -2,10 +2,12 @@
|
|||
#define ROBOT_H
|
||||
|
||||
#include <stdbool.h>
|
||||
#include "gyro.h"
|
||||
#include "i2c/headers/mcp23017.h"
|
||||
#include "i2c/headers/gyro.h"
|
||||
#include "motion_control.h"
|
||||
|
||||
typedef struct robot_t {
|
||||
mcp23017_data_t mcp23017_data;
|
||||
gyro_data_t gyro_data;
|
||||
motion_control_data_t motion_control_data;
|
||||
|
||||
|
|
@ -16,7 +18,7 @@ typedef struct robot_t {
|
|||
extern robot_t robot;
|
||||
|
||||
// Init all robot's components
|
||||
int robot_init(void);
|
||||
void robot_init(void);
|
||||
// Handle inputs and outputs
|
||||
void robot_handle_inputs_outputs(void);
|
||||
// Deinit all robot's components
|
||||
|
|
@ -1,22 +1,22 @@
|
|||
#include "include/gyro.h"
|
||||
|
||||
#include <stdint.h>
|
||||
#include "include/i2c_master.h"
|
||||
#include "include/robot.h"
|
||||
|
||||
#include <stdio.h>
|
||||
|
||||
/* * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * *\
|
||||
* Thank you Keuronde ! *
|
||||
* https://git.poivron-robotique.fr/Keuronde/Holonome_2024/src/branch/Demo_2025_03/gyro_L3GD20H.c *
|
||||
\* * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * */
|
||||
|
||||
#include "headers/gyro.h"
|
||||
|
||||
#include <stdint.h>
|
||||
#include "headers/i2c_master.h"
|
||||
#include "headers/robot.h"
|
||||
|
||||
// #include <stdio.h>
|
||||
|
||||
#define SAMPLE_MIN_ELAPSED_TIME 2 // ms
|
||||
#define DPS_PER_DIGIT 0.00875f
|
||||
|
||||
int init_gyro(void)
|
||||
{
|
||||
// Verify gyro initialisation
|
||||
// Verify gyro powering
|
||||
uint8_t data;
|
||||
i2c_master_read_reg(I2C_GYRO_ADDRESS, 0x0F, &data, 1);
|
||||
|
||||
|
|
@ -26,13 +26,12 @@ int init_gyro(void)
|
|||
const uint8_t CTRL1_REG = 0x20;
|
||||
const uint8_t CTRL1_CONFIG = 0b11101111; // DR : 11 // BW : 10 // PD : 1 // Zen : 1 // Xen : 1 // Yen : 1 //
|
||||
|
||||
const uint8_t CONFIG[] = {CTRL1_REG, CTRL1_CONFIG};
|
||||
i2c_master_write(I2C_GYRO_ADDRESS, CONFIG, 2);
|
||||
i2c_master_write_reg(I2C_GYRO_ADDRESS, CTRL1_REG, &CTRL1_CONFIG, 1);
|
||||
|
||||
uint8_t config_verification;
|
||||
i2c_master_read_reg(I2C_GYRO_ADDRESS, CTRL1_REG, &config_verification, 1);
|
||||
|
||||
if(config_verification != config[1]) return -1;
|
||||
if(config_verification != CTRL1_CONFIG) return -1;
|
||||
|
||||
robot.gyro_data.x_angle = 0.0f;
|
||||
robot.gyro_data.y_angle = 0.0f;
|
||||
|
|
@ -3,8 +3,8 @@
|
|||
|
||||
#include <hardware/i2c.h>
|
||||
|
||||
#define I2C_MASTER_SDA_PIN 4
|
||||
#define I2C_MASTER_SCL_PIN 5
|
||||
#define I2C_MASTER_SDA_PIN 16
|
||||
#define I2C_MASTER_SCL_PIN 17
|
||||
#define I2C_MASTER_INSTANCE i2c0
|
||||
#define I2C_MASTER_BAUD_RATE 300 * 1000
|
||||
|
||||
|
|
@ -14,6 +14,8 @@ void i2c_master_init(void);
|
|||
void i2c_master_deinit(void);
|
||||
// Send [src] of [len] to [address] and close communication
|
||||
void i2c_master_write(uint8_t address, const uint8_t *src, size_t len);
|
||||
// Send [reg] and [src] of [len] to [address] and close communication
|
||||
void i2c_master_write_reg(uint8_t address, uint8_t reg, 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
|
||||
|
|
@ -0,0 +1,29 @@
|
|||
#ifndef MPU23017_H
|
||||
#define MPU23017_H
|
||||
|
||||
#include <stdbool.h>
|
||||
#include <stdint.h>
|
||||
|
||||
#define I2C_MCP23017_ADDRESS 0x20
|
||||
|
||||
#define GPIO_REG 0x12
|
||||
|
||||
typedef enum gpio_bank_t {
|
||||
GPIO_BANK0,
|
||||
GPIO_BANK1,
|
||||
GPIO_NB_BANKS
|
||||
} gpio_bank_t;
|
||||
|
||||
|
||||
typedef struct mcp23017_data_t {
|
||||
uint8_t gpio_state[GPIO_NB_BANKS];
|
||||
} mcp23017_data_t;
|
||||
|
||||
// Init mpu23017 device with default settings over I2C
|
||||
int init_mcp23017(void);
|
||||
// Set GPIO on mpc23017
|
||||
void mcp23017_gpio_put(unsigned int gpio_num, bool state);
|
||||
// Uppdate mcp23017 GPIOs
|
||||
void mcp23017_update(void);
|
||||
|
||||
#endif // MPU23017_H
|
||||
|
|
@ -1,4 +1,4 @@
|
|||
#include "include/i2c_master.h"
|
||||
#include "headers/i2c_master.h"
|
||||
|
||||
#include <pico/stdlib.h>
|
||||
#include <hardware/i2c.h>
|
||||
|
|
@ -24,6 +24,12 @@ inline void i2c_master_write(uint8_t address, const uint8_t *src, size_t len)
|
|||
i2c_write_blocking(I2C_MASTER_INSTANCE, address, src, len, false);
|
||||
}
|
||||
|
||||
inline void i2c_master_write_reg(uint8_t address, uint8_t reg, const uint8_t *src, size_t len)
|
||||
{
|
||||
i2c_write_blocking(I2C_MASTER_INSTANCE, address, ®, 1, true);
|
||||
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);
|
||||
|
|
@ -31,6 +37,6 @@ inline void i2c_master_read(uint8_t address, uint8_t *dst, size_t len)
|
|||
|
||||
inline void i2c_master_read_reg(uint8_t address, uint8_t reg, uint8_t *dst, size_t len)
|
||||
{
|
||||
i2c_master_write(address, ®, 1);
|
||||
i2c_write_blocking(I2C_MASTER_INSTANCE, address, ®, 1, true);
|
||||
i2c_master_read(address, dst, len);
|
||||
}
|
||||
|
|
@ -0,0 +1,60 @@
|
|||
#include "headers/mcp23017.h"
|
||||
|
||||
#include <stdio.h>
|
||||
#include <assert.h>
|
||||
#include "headers/i2c_master.h"
|
||||
#include "headers/robot.h"
|
||||
|
||||
int init_mcp23017(void)
|
||||
{
|
||||
// IOCON
|
||||
const uint8_t IOCON_REG = 0x0A;
|
||||
const uint8_t IOCON_CONFIG = 0x00;
|
||||
|
||||
i2c_master_write_reg(I2C_MCP23017_ADDRESS, IOCON_REG, &IOCON_CONFIG, 1);
|
||||
|
||||
uint8_t iocon_config_verif;
|
||||
i2c_master_read_reg(I2C_MCP23017_ADDRESS, IOCON_REG, &(iocon_config_verif), 1);
|
||||
printf("mcp23017 config: 0x%x\n", iocon_config_verif);
|
||||
|
||||
if(IOCON_CONFIG != iocon_config_verif)
|
||||
return -1;
|
||||
|
||||
const uint8_t IODIR_REG = 0x00;
|
||||
const uint8_t IODIR_CONFIG[GPIO_NB_BANKS] = {0x00, 0x00};
|
||||
|
||||
i2c_master_write_reg(I2C_MCP23017_ADDRESS, IODIR_REG, IODIR_CONFIG, GPIO_NB_BANKS);
|
||||
|
||||
uint8_t iodir_config_verif[GPIO_NB_BANKS];
|
||||
i2c_master_read_reg(I2C_MCP23017_ADDRESS, IODIR_REG, iodir_config_verif, GPIO_NB_BANKS);
|
||||
printf("mcp23017 io dir config: 0x%x, 0x%x\n", iodir_config_verif[0], iodir_config_verif[1]);
|
||||
|
||||
if(IODIR_CONFIG[0] != iodir_config_verif[0] || IODIR_CONFIG[1] != iodir_config_verif[1])
|
||||
return -1;
|
||||
|
||||
return 0;
|
||||
}
|
||||
|
||||
void mcp23017_gpio_put(uint gpio_num, bool state)
|
||||
{
|
||||
assert(gpio_num < 16);
|
||||
|
||||
uint8_t gpio_bank = GPIO_BANK0;
|
||||
|
||||
if(gpio_num > 7)
|
||||
{
|
||||
gpio_bank++;
|
||||
gpio_num -= 0x0008;
|
||||
}
|
||||
|
||||
robot.mcp23017_data.gpio_state[gpio_bank] = (robot.mcp23017_data.gpio_state[gpio_bank] & ~(0x1 << gpio_num)) | (state << gpio_num);
|
||||
}
|
||||
|
||||
void mcp23017_update(void)
|
||||
{
|
||||
i2c_master_write_reg(I2C_MCP23017_ADDRESS, GPIO_REG, robot.mcp23017_data.gpio_state, GPIO_NB_BANKS);
|
||||
|
||||
uint8_t gpio_state[GPIO_NB_BANKS];
|
||||
i2c_master_read_reg(I2C_MCP23017_ADDRESS, GPIO_REG, gpio_state, GPIO_NB_BANKS);
|
||||
printf("gpio states: 0x%x, 0x%x\n", gpio_state[0], gpio_state[1]);
|
||||
}
|
||||
|
|
@ -1,7 +1,7 @@
|
|||
#include "include/motors.h"
|
||||
#include "headers/motors.h"
|
||||
|
||||
#include <stdlib.h>
|
||||
#include "include/i2c_master.h"
|
||||
#include "headers/i2c_master.h"
|
||||
|
||||
const motor_def_t MOTORS_DEFS[] = {
|
||||
{0, 4, 5, 0x00},
|
||||
|
|
@ -8,13 +8,13 @@
|
|||
* Ce Pico est un maitre pilotant le gyroscope, l'internet et le motion controller.*
|
||||
\* * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * */
|
||||
|
||||
#include "include/robot.h"
|
||||
#include "headers/robot.h"
|
||||
|
||||
robot_t robot;
|
||||
|
||||
int main(void)
|
||||
{
|
||||
if(robot_init()) return -1;
|
||||
robot_init();
|
||||
|
||||
while(robot.is_running)
|
||||
{
|
||||
|
|
|
|||
|
|
@ -1,9 +1,9 @@
|
|||
#include "include/motion_control.h"
|
||||
#include "headers/motion_control.h"
|
||||
|
||||
#include <stdio.h>
|
||||
#include <math.h>
|
||||
#include "include/motors.h"
|
||||
#include "include/robot.h"
|
||||
#include "i2c/headers/motors.h"
|
||||
#include "headers/robot.h"
|
||||
|
||||
#define GAIN_KD 10
|
||||
|
||||
|
|
|
|||
|
|
@ -1,40 +1,51 @@
|
|||
#include "include/robot.h"
|
||||
#include "headers/robot.h"
|
||||
|
||||
#include <pico/stdlib.h>
|
||||
#include <pico/cyw43_arch.h>
|
||||
#include <time.h>
|
||||
#include <pico/mutex.h>
|
||||
#include "include/i2c_master.h"
|
||||
#include "include/udp_client.h"
|
||||
#include "include/wifi_operator.h"
|
||||
|
||||
//#include "include/udp_fake_client.h"
|
||||
#include "i2c/headers/i2c_master.h"
|
||||
#include "i2c/headers/mcp23017.h"
|
||||
#include "wifi/headers/udp_client.h"
|
||||
#include "wifi/headers/wifi_operator.h"
|
||||
|
||||
auto_init_mutex(wifi_mutex);
|
||||
|
||||
int robot_init(void)
|
||||
void robot_init(void)
|
||||
{
|
||||
robot.is_running = true;
|
||||
|
||||
stdio_init_all();
|
||||
|
||||
if(cyw43_arch_init())
|
||||
{
|
||||
return -1;
|
||||
}
|
||||
robot.is_running = false;
|
||||
|
||||
cyw43_arch_gpio_put(CYW43_WL_GPIO_LED_PIN, 1);
|
||||
|
||||
wifi_operator_init();
|
||||
udp_client_init();
|
||||
//wifi_operator_init();
|
||||
//udp_client_init();
|
||||
|
||||
i2c_master_init();
|
||||
if(init_gyro()) return -1;
|
||||
/*
|
||||
if(init_mcp23017())
|
||||
robot.is_running = false;
|
||||
*/
|
||||
/*
|
||||
if(init_gyro())
|
||||
robot.is_running = false;
|
||||
|
||||
gyro_calibrate();
|
||||
*/
|
||||
//init_motion_control();
|
||||
|
||||
init_motion_control();
|
||||
|
||||
robot.is_running = true;
|
||||
|
||||
return 0;
|
||||
// Initialisation ended
|
||||
bool led_state = false;
|
||||
for(uint i = 0, state = true; i < 5; i++)
|
||||
{
|
||||
cyw43_arch_gpio_put(CYW43_WL_GPIO_LED_PIN, state);
|
||||
sleep_ms(100);
|
||||
state = !state;
|
||||
}
|
||||
}
|
||||
|
||||
static inline void update_time(void)
|
||||
|
|
@ -48,9 +59,9 @@ static inline void update_time(void)
|
|||
static double elapsed_time = 0.0;
|
||||
elapsed_time += robot.delta_time_ms;
|
||||
|
||||
if(elapsed_time >= 1000)
|
||||
if(elapsed_time >= 1000.0)
|
||||
{
|
||||
elapsed_time = 0;
|
||||
elapsed_time = 0.0;
|
||||
|
||||
mutex_enter_blocking(&wifi_mutex);
|
||||
cyw43_arch_gpio_put(CYW43_WL_GPIO_LED_PIN, led_state);
|
||||
|
|
@ -62,23 +73,25 @@ static inline void update_time(void)
|
|||
|
||||
void robot_handle_inputs_outputs(void)
|
||||
{
|
||||
mutex_enter_blocking(&wifi_mutex);
|
||||
cyw43_arch_poll();
|
||||
mutex_exit(&wifi_mutex);
|
||||
//mutex_enter_blocking(&wifi_mutex);
|
||||
//cyw43_arch_poll();
|
||||
//mutex_exit(&wifi_mutex);
|
||||
|
||||
update_time();
|
||||
|
||||
gyro_update();
|
||||
//gyro_update();
|
||||
|
||||
i2c_update_motion_control();
|
||||
//i2c_update_motion_control();
|
||||
|
||||
i2c_update_servo_motors();
|
||||
//i2c_update_servo_motors();
|
||||
|
||||
mcp23017_update();
|
||||
|
||||
tight_loop_contents();
|
||||
}
|
||||
|
||||
void robot_deinit(void)
|
||||
{
|
||||
//udp_client_exit();
|
||||
udp_client_exit();
|
||||
i2c_master_deinit();
|
||||
}
|
||||
}
|
||||
|
|
|
|||
|
|
@ -3,6 +3,8 @@
|
|||
|
||||
#define WIFI_OPERATOR_SSID "RiombotiqueAP"
|
||||
#define WIFI_OPERATOR_PASSWORD "x4ptSLpPuJFcpzbLEhDoZ5J7dz"
|
||||
//#define WIFI_OPERATOR_SSID "thinkpad"
|
||||
//#define WIFI_OPERATOR_PASSWORD "CDuKaka2000!"
|
||||
|
||||
void wifi_operator_init(void);
|
||||
|
||||
|
|
@ -1,7 +1,7 @@
|
|||
#include "include/udp_client.h"
|
||||
#include "headers/udp_client.h"
|
||||
|
||||
#include <stdio.h>
|
||||
#include "include/udp_payload.h"
|
||||
#include "headers/udp_payload.h"
|
||||
|
||||
udp_client_t udp_client;
|
||||
|
||||
|
|
@ -1,7 +1,7 @@
|
|||
#include "include/udp_payload.h"
|
||||
#include "headers/udp_payload.h"
|
||||
|
||||
#include "include/motors.h"
|
||||
#include "include/robot.h"
|
||||
#include "i2c/headers/motors.h"
|
||||
#include "headers/robot.h"
|
||||
|
||||
void __not_in_flash_func(udp_client_message_handler)(uint8_t *payload, uint16_t len, const ip_addr_t *addr, u16_t port)
|
||||
{
|
||||
|
|
@ -1,4 +1,4 @@
|
|||
#include "include/wifi_operator.h"
|
||||
#include "headers/wifi_operator.h"
|
||||
|
||||
#include <stdio.h>
|
||||
#include <pico/cyw43_arch.h>
|
||||
|
|
@ -13,9 +13,6 @@ void wifi_operator_init(void)
|
|||
// Désactiver le mode d'économie d'énergie
|
||||
cyw43_wifi_pm(&cyw43_state, CYW43_NO_POWERSAVE_MODE);
|
||||
|
||||
// Afficher les paramètres de connexion
|
||||
printf("Tentative de connexion à: SSID='%s'\n", WIFI_OPERATOR_SSID);
|
||||
|
||||
// Configuration IP
|
||||
ip4_addr_t ip, netmask, gateway;
|
||||
IP4_ADDR(&ip, 192, 168, 128, 2);
|
||||
|
|
@ -28,19 +25,18 @@ void wifi_operator_init(void)
|
|||
|
||||
puts("Configuration IP effectuée");
|
||||
|
||||
int connection_return = 1;
|
||||
|
||||
// Tentativs de connexion
|
||||
do
|
||||
for(int error_code; ; !error_code)
|
||||
{
|
||||
puts("Tentative de connexion au réseau Wi-Fi...");
|
||||
connection_return = cyw43_arch_wifi_connect_timeout_ms(WIFI_OPERATOR_SSID, WIFI_OPERATOR_PASSWORD, CYW43_AUTH_WPA2_AES_PSK, 10000);
|
||||
// Afficher les paramètres de connexion
|
||||
printf("Tentative de connexion à: SSID='%s'\n", WIFI_OPERATOR_SSID);
|
||||
int error_code = cyw43_arch_wifi_connect_timeout_ms(WIFI_OPERATOR_SSID, WIFI_OPERATOR_PASSWORD, CYW43_AUTH_WPA2_AES_PSK, 10000);
|
||||
|
||||
if(connection_return)
|
||||
if(error_code)
|
||||
{
|
||||
const char *error_description;
|
||||
|
||||
switch(connection_return)
|
||||
switch(error_code)
|
||||
{
|
||||
case -1:
|
||||
error_description = "General error";
|
||||
|
|
@ -58,10 +54,9 @@ void wifi_operator_init(void)
|
|||
error_description = "Unknow error";
|
||||
}
|
||||
|
||||
printf("Error: WiFi can't be connected - Error code: %d - %s\n", connection_return, error_description);
|
||||
printf("Error: WiFi can't be connected - Error code: %d - %s\n", error_code, error_description);
|
||||
}
|
||||
}
|
||||
while(connection_return);
|
||||
|
||||
// Configuration de l'interface réseau
|
||||
if(!netif_default)
|
||||
|
|
@ -1,18 +1,13 @@
|
|||
{
|
||||
"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}",
|
||||
"${workspaceFolder}/build/"
|
||||
"${env:PICO_SDK_PATH}/src/**/include/",
|
||||
"${workspaceFolder}/build/generated/pico_base/",
|
||||
"${workspaceFolder}/build/",
|
||||
"${workspaceFolder}/src/"
|
||||
],
|
||||
"compilerPath": "/usr/bin/arm-none-eabi-gcc",
|
||||
"cStandard": "c11",
|
||||
|
|
|
|||
|
|
@ -1,23 +1,35 @@
|
|||
{
|
||||
"tasks": [
|
||||
{
|
||||
"label": "CMake & Make",
|
||||
"type": "shell",
|
||||
"command": "cd build; cmake ../; make",
|
||||
"label": "CMake in build/",
|
||||
"problemMatcher": [],
|
||||
"group": {
|
||||
"kind": "build",
|
||||
"isDefault": false
|
||||
"group": "build",
|
||||
|
||||
"command": "mkdir -p build && cd build && cmake ../ && make",
|
||||
|
||||
"presentation": {
|
||||
"echo": true,
|
||||
"reveal": "always",
|
||||
"focus": true,
|
||||
"panel": "shared",
|
||||
"showReuseMessage": true,
|
||||
"clear": true
|
||||
}
|
||||
},
|
||||
{
|
||||
"type": "shell",
|
||||
"command": "cd build; cmake ../; make Flash",
|
||||
"label": "CMake & Make & Flash",
|
||||
"problemMatcher": [],
|
||||
"group": {
|
||||
"kind": "build",
|
||||
"isDefault": true
|
||||
"type": "shell",
|
||||
"group": "build",
|
||||
|
||||
"command": "mkdir -p build && cd build && cmake ../ && make Flash",
|
||||
|
||||
"presentation": {
|
||||
"echo": true,
|
||||
"reveal": "always",
|
||||
"focus": true,
|
||||
"panel": "shared",
|
||||
"showReuseMessage": true,
|
||||
"clear": true
|
||||
}
|
||||
}
|
||||
],
|
||||
|
|
|
|||
|
|
@ -14,15 +14,19 @@ add_executable(motion_controller
|
|||
src/main.c
|
||||
src/robot.c
|
||||
src/motors.c
|
||||
src/i2c_slave.c
|
||||
src/i2c_buffer.c
|
||||
src/i2c/i2c_buffer.c
|
||||
src/i2c/i2c_slave.c
|
||||
)
|
||||
|
||||
target_include_directories(motion_controller PRIVATE
|
||||
${CMAKE_CURRENT_LIST_DIR}/src/
|
||||
)
|
||||
|
||||
target_link_libraries(motion_controller
|
||||
pico_stdlib
|
||||
hardware_uart
|
||||
hardware_i2c
|
||||
hardware_pwm
|
||||
hardware_uart
|
||||
pico_stdlib
|
||||
)
|
||||
|
||||
pico_enable_stdio_usb(motion_controller 1)
|
||||
|
|
|
|||
|
|
@ -0,0 +1,10 @@
|
|||
// AUTOGENERATED FROM PICO_CONFIG_HEADER_FILES and then PICO_<PLATFORM>_CONFIG_HEADER_FILES
|
||||
// DO NOT EDIT!
|
||||
|
||||
|
||||
// based on PICO_CONFIG_HEADER_FILES:
|
||||
|
||||
#include "/home/ulysse-cura/.local/share/pico-sdk/src/boards/include/boards/pico.h"
|
||||
#include "/home/ulysse-cura/.local/share/pico-sdk/src/rp2_common/cmsis/include/cmsis/rename_exceptions.h"
|
||||
|
||||
// based on PICO_RP2040_CONFIG_HEADER_FILES:
|
||||
|
|
@ -0,0 +1,19 @@
|
|||
/*
|
||||
* Copyright (c) 2020 Raspberry Pi (Trading) Ltd.
|
||||
*
|
||||
* SPDX-License-Identifier: BSD-3-Clause
|
||||
*/
|
||||
|
||||
// ---------------------------------------
|
||||
// THIS FILE IS AUTOGENERATED; DO NOT EDIT
|
||||
// ---------------------------------------
|
||||
|
||||
#ifndef _PICO_VERSION_H
|
||||
#define _PICO_VERSION_H
|
||||
|
||||
#define PICO_SDK_VERSION_MAJOR 2
|
||||
#define PICO_SDK_VERSION_MINOR 2
|
||||
#define PICO_SDK_VERSION_REVISION 0
|
||||
#define PICO_SDK_VERSION_STRING "2.2.0"
|
||||
|
||||
#endif
|
||||
Binary file not shown.
File diff suppressed because it is too large
Load Diff
Binary file not shown.
|
|
@ -0,0 +1,117 @@
|
|||
// THIS HEADER FILE IS AUTOMATICALLY GENERATED -- DO NOT EDIT
|
||||
|
||||
/**
|
||||
* Copyright (c) 2024 Raspberry Pi Ltd.
|
||||
*
|
||||
* SPDX-License-Identifier: BSD-3-Clause
|
||||
*/
|
||||
#ifndef _DREQ_H
|
||||
#define _DREQ_H
|
||||
|
||||
/**
|
||||
* \file rp2040/dreq.h
|
||||
*/
|
||||
|
||||
#ifdef __ASSEMBLER__
|
||||
#define DREQ_PIO0_TX0 0
|
||||
#define DREQ_PIO0_TX1 1
|
||||
#define DREQ_PIO0_TX2 2
|
||||
#define DREQ_PIO0_TX3 3
|
||||
#define DREQ_PIO0_RX0 4
|
||||
#define DREQ_PIO0_RX1 5
|
||||
#define DREQ_PIO0_RX2 6
|
||||
#define DREQ_PIO0_RX3 7
|
||||
#define DREQ_PIO1_TX0 8
|
||||
#define DREQ_PIO1_TX1 9
|
||||
#define DREQ_PIO1_TX2 10
|
||||
#define DREQ_PIO1_TX3 11
|
||||
#define DREQ_PIO1_RX0 12
|
||||
#define DREQ_PIO1_RX1 13
|
||||
#define DREQ_PIO1_RX2 14
|
||||
#define DREQ_PIO1_RX3 15
|
||||
#define DREQ_SPI0_TX 16
|
||||
#define DREQ_SPI0_RX 17
|
||||
#define DREQ_SPI1_TX 18
|
||||
#define DREQ_SPI1_RX 19
|
||||
#define DREQ_UART0_TX 20
|
||||
#define DREQ_UART0_RX 21
|
||||
#define DREQ_UART1_TX 22
|
||||
#define DREQ_UART1_RX 23
|
||||
#define DREQ_PWM_WRAP0 24
|
||||
#define DREQ_PWM_WRAP1 25
|
||||
#define DREQ_PWM_WRAP2 26
|
||||
#define DREQ_PWM_WRAP3 27
|
||||
#define DREQ_PWM_WRAP4 28
|
||||
#define DREQ_PWM_WRAP5 29
|
||||
#define DREQ_PWM_WRAP6 30
|
||||
#define DREQ_PWM_WRAP7 31
|
||||
#define DREQ_I2C0_TX 32
|
||||
#define DREQ_I2C0_RX 33
|
||||
#define DREQ_I2C1_TX 34
|
||||
#define DREQ_I2C1_RX 35
|
||||
#define DREQ_ADC 36
|
||||
#define DREQ_XIP_STREAM 37
|
||||
#define DREQ_XIP_SSITX 38
|
||||
#define DREQ_XIP_SSIRX 39
|
||||
#define DREQ_DMA_TIMER0 59
|
||||
#define DREQ_DMA_TIMER1 60
|
||||
#define DREQ_DMA_TIMER2 61
|
||||
#define DREQ_DMA_TIMER3 62
|
||||
#define DREQ_FORCE 63
|
||||
#else
|
||||
/**
|
||||
* \brief DREQ numbers for DMA pacing on RP2040 (used as typedef \ref dreq_num_t)
|
||||
* \ingroup hardware_dma
|
||||
*/
|
||||
typedef enum dreq_num_rp2040 {
|
||||
DREQ_PIO0_TX0 = 0, ///< Select PIO0's TX FIFO 0 as DREQ
|
||||
DREQ_PIO0_TX1 = 1, ///< Select PIO0's TX FIFO 1 as DREQ
|
||||
DREQ_PIO0_TX2 = 2, ///< Select PIO0's TX FIFO 2 as DREQ
|
||||
DREQ_PIO0_TX3 = 3, ///< Select PIO0's TX FIFO 3 as DREQ
|
||||
DREQ_PIO0_RX0 = 4, ///< Select PIO0's RX FIFO 0 as DREQ
|
||||
DREQ_PIO0_RX1 = 5, ///< Select PIO0's RX FIFO 1 as DREQ
|
||||
DREQ_PIO0_RX2 = 6, ///< Select PIO0's RX FIFO 2 as DREQ
|
||||
DREQ_PIO0_RX3 = 7, ///< Select PIO0's RX FIFO 3 as DREQ
|
||||
DREQ_PIO1_TX0 = 8, ///< Select PIO1's TX FIFO 0 as DREQ
|
||||
DREQ_PIO1_TX1 = 9, ///< Select PIO1's TX FIFO 1 as DREQ
|
||||
DREQ_PIO1_TX2 = 10, ///< Select PIO1's TX FIFO 2 as DREQ
|
||||
DREQ_PIO1_TX3 = 11, ///< Select PIO1's TX FIFO 3 as DREQ
|
||||
DREQ_PIO1_RX0 = 12, ///< Select PIO1's RX FIFO 0 as DREQ
|
||||
DREQ_PIO1_RX1 = 13, ///< Select PIO1's RX FIFO 1 as DREQ
|
||||
DREQ_PIO1_RX2 = 14, ///< Select PIO1's RX FIFO 2 as DREQ
|
||||
DREQ_PIO1_RX3 = 15, ///< Select PIO1's RX FIFO 3 as DREQ
|
||||
DREQ_SPI0_TX = 16, ///< Select SPI0's TX FIFO as DREQ
|
||||
DREQ_SPI0_RX = 17, ///< Select SPI0's RX FIFO as DREQ
|
||||
DREQ_SPI1_TX = 18, ///< Select SPI1's TX FIFO as DREQ
|
||||
DREQ_SPI1_RX = 19, ///< Select SPI1's RX FIFO as DREQ
|
||||
DREQ_UART0_TX = 20, ///< Select UART0's TX FIFO as DREQ
|
||||
DREQ_UART0_RX = 21, ///< Select UART0's RX FIFO as DREQ
|
||||
DREQ_UART1_TX = 22, ///< Select UART1's TX FIFO as DREQ
|
||||
DREQ_UART1_RX = 23, ///< Select UART1's RX FIFO as DREQ
|
||||
DREQ_PWM_WRAP0 = 24, ///< Select PWM Counter 0's Wrap Value as DREQ
|
||||
DREQ_PWM_WRAP1 = 25, ///< Select PWM Counter 1's Wrap Value as DREQ
|
||||
DREQ_PWM_WRAP2 = 26, ///< Select PWM Counter 2's Wrap Value as DREQ
|
||||
DREQ_PWM_WRAP3 = 27, ///< Select PWM Counter 3's Wrap Value as DREQ
|
||||
DREQ_PWM_WRAP4 = 28, ///< Select PWM Counter 4's Wrap Value as DREQ
|
||||
DREQ_PWM_WRAP5 = 29, ///< Select PWM Counter 5's Wrap Value as DREQ
|
||||
DREQ_PWM_WRAP6 = 30, ///< Select PWM Counter 6's Wrap Value as DREQ
|
||||
DREQ_PWM_WRAP7 = 31, ///< Select PWM Counter 7's Wrap Value as DREQ
|
||||
DREQ_I2C0_TX = 32, ///< Select I2C0's TX FIFO as DREQ
|
||||
DREQ_I2C0_RX = 33, ///< Select I2C0's RX FIFO as DREQ
|
||||
DREQ_I2C1_TX = 34, ///< Select I2C1's TX FIFO as DREQ
|
||||
DREQ_I2C1_RX = 35, ///< Select I2C1's RX FIFO as DREQ
|
||||
DREQ_ADC = 36, ///< Select the ADC as DREQ
|
||||
DREQ_XIP_STREAM = 37, ///< Select the XIP Streaming FIFO as DREQ
|
||||
DREQ_XIP_SSITX = 38, ///< Select the XIP SSI TX FIFO as DREQ
|
||||
DREQ_XIP_SSIRX = 39, ///< Select the XIP SSI RX FIFO as DREQ
|
||||
DREQ_DMA_TIMER0 = 59, ///< Select DMA_TIMER0 as DREQ
|
||||
DREQ_DMA_TIMER1 = 60, ///< Select DMA_TIMER0 as DREQ
|
||||
DREQ_DMA_TIMER2 = 61, ///< Select DMA_TIMER1 as DREQ
|
||||
DREQ_DMA_TIMER3 = 62, ///< Select DMA_TIMER3 as DREQ
|
||||
DREQ_FORCE = 63, ///< Select FORCE as DREQ
|
||||
DREQ_COUNT
|
||||
} dreq_num_t;
|
||||
#endif
|
||||
|
||||
#endif // _DREQ_H
|
||||
|
||||
|
|
@ -0,0 +1,124 @@
|
|||
// THIS HEADER FILE IS AUTOMATICALLY GENERATED -- DO NOT EDIT
|
||||
|
||||
/**
|
||||
* Copyright (c) 2024 Raspberry Pi Ltd.
|
||||
*
|
||||
* SPDX-License-Identifier: BSD-3-Clause
|
||||
*/
|
||||
#ifndef _INTCTRL_H
|
||||
#define _INTCTRL_H
|
||||
|
||||
/**
|
||||
* \file rp2040/intctrl.h
|
||||
*/
|
||||
|
||||
#ifdef __ASSEMBLER__
|
||||
#define TIMER_IRQ_0 0
|
||||
#define TIMER_IRQ_1 1
|
||||
#define TIMER_IRQ_2 2
|
||||
#define TIMER_IRQ_3 3
|
||||
#define PWM_IRQ_WRAP 4
|
||||
#define USBCTRL_IRQ 5
|
||||
#define XIP_IRQ 6
|
||||
#define PIO0_IRQ_0 7
|
||||
#define PIO0_IRQ_1 8
|
||||
#define PIO1_IRQ_0 9
|
||||
#define PIO1_IRQ_1 10
|
||||
#define DMA_IRQ_0 11
|
||||
#define DMA_IRQ_1 12
|
||||
#define IO_IRQ_BANK0 13
|
||||
#define IO_IRQ_QSPI 14
|
||||
#define SIO_IRQ_PROC0 15
|
||||
#define SIO_IRQ_PROC1 16
|
||||
#define CLOCKS_IRQ 17
|
||||
#define SPI0_IRQ 18
|
||||
#define SPI1_IRQ 19
|
||||
#define UART0_IRQ 20
|
||||
#define UART1_IRQ 21
|
||||
#define ADC_IRQ_FIFO 22
|
||||
#define I2C0_IRQ 23
|
||||
#define I2C1_IRQ 24
|
||||
#define RTC_IRQ 25
|
||||
#define SPARE_IRQ_0 26
|
||||
#define SPARE_IRQ_1 27
|
||||
#define SPARE_IRQ_2 28
|
||||
#define SPARE_IRQ_3 29
|
||||
#define SPARE_IRQ_4 30
|
||||
#define SPARE_IRQ_5 31
|
||||
#else
|
||||
/**
|
||||
* \brief Interrupt numbers on RP2040 (used as typedef \ref irq_num_t)
|
||||
* \ingroup hardware_irq
|
||||
*/
|
||||
typedef enum irq_num_rp2040 {
|
||||
TIMER_IRQ_0 = 0, ///< Select TIMER's IRQ 0 output
|
||||
TIMER_IRQ_1 = 1, ///< Select TIMER's IRQ 1 output
|
||||
TIMER_IRQ_2 = 2, ///< Select TIMER's IRQ 2 output
|
||||
TIMER_IRQ_3 = 3, ///< Select TIMER's IRQ 3 output
|
||||
PWM_IRQ_WRAP = 4, ///< Select PWM's IRQ_WRAP output
|
||||
USBCTRL_IRQ = 5, ///< Select USBCTRL's IRQ output
|
||||
XIP_IRQ = 6, ///< Select XIP's IRQ output
|
||||
PIO0_IRQ_0 = 7, ///< Select PIO0's IRQ 0 output
|
||||
PIO0_IRQ_1 = 8, ///< Select PIO0's IRQ 1 output
|
||||
PIO1_IRQ_0 = 9, ///< Select PIO1's IRQ 0 output
|
||||
PIO1_IRQ_1 = 10, ///< Select PIO1's IRQ 1 output
|
||||
DMA_IRQ_0 = 11, ///< Select DMA's IRQ 0 output
|
||||
DMA_IRQ_1 = 12, ///< Select DMA's IRQ 1 output
|
||||
IO_IRQ_BANK0 = 13, ///< Select IO_BANK0's IRQ output
|
||||
IO_IRQ_QSPI = 14, ///< Select IO_QSPI's IRQ output
|
||||
SIO_IRQ_PROC0 = 15, ///< Select SIO_PROC0's IRQ output
|
||||
SIO_IRQ_PROC1 = 16, ///< Select SIO_PROC1's IRQ output
|
||||
CLOCKS_IRQ = 17, ///< Select CLOCKS's IRQ output
|
||||
SPI0_IRQ = 18, ///< Select SPI0's IRQ output
|
||||
SPI1_IRQ = 19, ///< Select SPI1's IRQ output
|
||||
UART0_IRQ = 20, ///< Select UART0's IRQ output
|
||||
UART1_IRQ = 21, ///< Select UART1's IRQ output
|
||||
ADC_IRQ_FIFO = 22, ///< Select ADC's IRQ_FIFO output
|
||||
I2C0_IRQ = 23, ///< Select I2C0's IRQ output
|
||||
I2C1_IRQ = 24, ///< Select I2C1's IRQ output
|
||||
RTC_IRQ = 25, ///< Select RTC's IRQ output
|
||||
SPARE_IRQ_0 = 26, ///< Select SPARE IRQ 0
|
||||
SPARE_IRQ_1 = 27, ///< Select SPARE IRQ 1
|
||||
SPARE_IRQ_2 = 28, ///< Select SPARE IRQ 2
|
||||
SPARE_IRQ_3 = 29, ///< Select SPARE IRQ 3
|
||||
SPARE_IRQ_4 = 30, ///< Select SPARE IRQ 4
|
||||
SPARE_IRQ_5 = 31, ///< Select SPARE IRQ 5
|
||||
IRQ_COUNT
|
||||
} irq_num_t;
|
||||
#endif
|
||||
|
||||
#define isr_timer_0 isr_irq0
|
||||
#define isr_timer_1 isr_irq1
|
||||
#define isr_timer_2 isr_irq2
|
||||
#define isr_timer_3 isr_irq3
|
||||
#define isr_pwm_wrap isr_irq4
|
||||
#define isr_usbctrl isr_irq5
|
||||
#define isr_xip isr_irq6
|
||||
#define isr_pio0_0 isr_irq7
|
||||
#define isr_pio0_1 isr_irq8
|
||||
#define isr_pio1_0 isr_irq9
|
||||
#define isr_pio1_1 isr_irq10
|
||||
#define isr_dma_0 isr_irq11
|
||||
#define isr_dma_1 isr_irq12
|
||||
#define isr_io_bank0 isr_irq13
|
||||
#define isr_io_qspi isr_irq14
|
||||
#define isr_sio_proc0 isr_irq15
|
||||
#define isr_sio_proc1 isr_irq16
|
||||
#define isr_clocks isr_irq17
|
||||
#define isr_spi0 isr_irq18
|
||||
#define isr_spi1 isr_irq19
|
||||
#define isr_uart0 isr_irq20
|
||||
#define isr_uart1 isr_irq21
|
||||
#define isr_adc_fifo isr_irq22
|
||||
#define isr_i2c0 isr_irq23
|
||||
#define isr_i2c1 isr_irq24
|
||||
#define isr_rtc isr_irq25
|
||||
#define isr_spare_0 isr_irq26
|
||||
#define isr_spare_1 isr_irq27
|
||||
#define isr_spare_2 isr_irq28
|
||||
#define isr_spare_3 isr_irq29
|
||||
#define isr_spare_4 isr_irq30
|
||||
#define isr_spare_5 isr_irq31
|
||||
|
||||
#endif // _INTCTRL_H
|
||||
|
||||
Binary file not shown.
|
|
@ -0,0 +1,150 @@
|
|||
|
||||
/home/ulysse-cura/Documents/Robotique/Junior 2025-2026/main_robot_2025-2026/program/motion controller code/build/pico-sdk/src/rp2040/boot_stage2/bs2_default.elf: file format elf32-littlearm
|
||||
|
||||
Sections:
|
||||
Idx Name Size VMA LMA File off Algn
|
||||
0 .text 000000f0 20041f00 20041f00 00001f00 2**2
|
||||
CONTENTS, ALLOC, LOAD, READONLY, CODE
|
||||
1 .ARM.attributes 00000022 00000000 00000000 00001ff0 2**0
|
||||
CONTENTS, READONLY
|
||||
2 .debug_line 000000ed 00000000 00000000 00002012 2**0
|
||||
CONTENTS, READONLY, DEBUGGING, OCTETS
|
||||
3 .debug_line_str 0000016d 00000000 00000000 000020ff 2**0
|
||||
CONTENTS, READONLY, DEBUGGING, OCTETS
|
||||
4 .debug_info 00000025 00000000 00000000 0000226c 2**0
|
||||
CONTENTS, READONLY, DEBUGGING, OCTETS
|
||||
5 .debug_abbrev 00000014 00000000 00000000 00002291 2**0
|
||||
CONTENTS, READONLY, DEBUGGING, OCTETS
|
||||
6 .debug_aranges 00000020 00000000 00000000 000022a8 2**3
|
||||
CONTENTS, READONLY, DEBUGGING, OCTETS
|
||||
7 .debug_str 000000ec 00000000 00000000 000022c8 2**0
|
||||
CONTENTS, READONLY, DEBUGGING, OCTETS
|
||||
|
||||
/home/ulysse-cura/Documents/Robotique/Junior 2025-2026/main_robot_2025-2026/program/motion controller code/build/pico-sdk/src/rp2040/boot_stage2/bs2_default.elf: file format elf32-littlearm
|
||||
|
||||
|
||||
Disassembly of section .text:
|
||||
|
||||
20041f00 <_stage2_boot>:
|
||||
20041f00: b500 push {lr}
|
||||
20041f02: 4b32 ldr r3, [pc, #200] @ (20041fcc <literals>)
|
||||
20041f04: 2021 movs r0, #33 @ 0x21
|
||||
20041f06: 6058 str r0, [r3, #4]
|
||||
20041f08: 6898 ldr r0, [r3, #8]
|
||||
20041f0a: 2102 movs r1, #2
|
||||
20041f0c: 4388 bics r0, r1
|
||||
20041f0e: 6098 str r0, [r3, #8]
|
||||
20041f10: 60d8 str r0, [r3, #12]
|
||||
20041f12: 6118 str r0, [r3, #16]
|
||||
20041f14: 6158 str r0, [r3, #20]
|
||||
20041f16: 4b2e ldr r3, [pc, #184] @ (20041fd0 <literals+0x4>)
|
||||
20041f18: 2100 movs r1, #0
|
||||
20041f1a: 6099 str r1, [r3, #8]
|
||||
20041f1c: 2102 movs r1, #2
|
||||
20041f1e: 6159 str r1, [r3, #20]
|
||||
20041f20: 2101 movs r1, #1
|
||||
20041f22: 22f0 movs r2, #240 @ 0xf0
|
||||
20041f24: 5099 str r1, [r3, r2]
|
||||
|
||||
20041f26 <program_sregs>:
|
||||
20041f26: 492b ldr r1, [pc, #172] @ (20041fd4 <literals+0x8>)
|
||||
20041f28: 6019 str r1, [r3, #0]
|
||||
20041f2a: 2101 movs r1, #1
|
||||
20041f2c: 6099 str r1, [r3, #8]
|
||||
20041f2e: 2035 movs r0, #53 @ 0x35
|
||||
20041f30: f000 f844 bl 20041fbc <read_flash_sreg>
|
||||
20041f34: 2202 movs r2, #2
|
||||
20041f36: 4290 cmp r0, r2
|
||||
20041f38: d014 beq.n 20041f64 <skip_sreg_programming>
|
||||
20041f3a: 2106 movs r1, #6
|
||||
20041f3c: 6619 str r1, [r3, #96] @ 0x60
|
||||
20041f3e: f000 f834 bl 20041faa <wait_ssi_ready>
|
||||
20041f42: 6e19 ldr r1, [r3, #96] @ 0x60
|
||||
20041f44: 2101 movs r1, #1
|
||||
20041f46: 6619 str r1, [r3, #96] @ 0x60
|
||||
20041f48: 2000 movs r0, #0
|
||||
20041f4a: 6618 str r0, [r3, #96] @ 0x60
|
||||
20041f4c: 661a str r2, [r3, #96] @ 0x60
|
||||
20041f4e: f000 f82c bl 20041faa <wait_ssi_ready>
|
||||
20041f52: 6e19 ldr r1, [r3, #96] @ 0x60
|
||||
20041f54: 6e19 ldr r1, [r3, #96] @ 0x60
|
||||
20041f56: 6e19 ldr r1, [r3, #96] @ 0x60
|
||||
20041f58: 2005 movs r0, #5
|
||||
20041f5a: f000 f82f bl 20041fbc <read_flash_sreg>
|
||||
20041f5e: 2101 movs r1, #1
|
||||
20041f60: 4208 tst r0, r1
|
||||
20041f62: d1f9 bne.n 20041f58 <program_sregs+0x32>
|
||||
|
||||
20041f64 <skip_sreg_programming>:
|
||||
20041f64: 2100 movs r1, #0
|
||||
20041f66: 6099 str r1, [r3, #8]
|
||||
|
||||
20041f68 <dummy_read>:
|
||||
20041f68: 491b ldr r1, [pc, #108] @ (20041fd8 <literals+0xc>)
|
||||
20041f6a: 6019 str r1, [r3, #0]
|
||||
20041f6c: 2100 movs r1, #0
|
||||
20041f6e: 6059 str r1, [r3, #4]
|
||||
20041f70: 491a ldr r1, [pc, #104] @ (20041fdc <literals+0x10>)
|
||||
20041f72: 481b ldr r0, [pc, #108] @ (20041fe0 <literals+0x14>)
|
||||
20041f74: 6001 str r1, [r0, #0]
|
||||
20041f76: 2101 movs r1, #1
|
||||
20041f78: 6099 str r1, [r3, #8]
|
||||
20041f7a: 21eb movs r1, #235 @ 0xeb
|
||||
20041f7c: 6619 str r1, [r3, #96] @ 0x60
|
||||
20041f7e: 21a0 movs r1, #160 @ 0xa0
|
||||
20041f80: 6619 str r1, [r3, #96] @ 0x60
|
||||
20041f82: f000 f812 bl 20041faa <wait_ssi_ready>
|
||||
20041f86: 2100 movs r1, #0
|
||||
20041f88: 6099 str r1, [r3, #8]
|
||||
|
||||
20041f8a <configure_ssi>:
|
||||
20041f8a: 4916 ldr r1, [pc, #88] @ (20041fe4 <literals+0x18>)
|
||||
20041f8c: 4814 ldr r0, [pc, #80] @ (20041fe0 <literals+0x14>)
|
||||
20041f8e: 6001 str r1, [r0, #0]
|
||||
20041f90: 2101 movs r1, #1
|
||||
20041f92: 6099 str r1, [r3, #8]
|
||||
|
||||
20041f94 <check_return>:
|
||||
20041f94: bc01 pop {r0}
|
||||
20041f96: 2800 cmp r0, #0
|
||||
20041f98: d000 beq.n 20041f9c <vector_into_flash>
|
||||
20041f9a: 4700 bx r0
|
||||
|
||||
20041f9c <vector_into_flash>:
|
||||
20041f9c: 4812 ldr r0, [pc, #72] @ (20041fe8 <literals+0x1c>)
|
||||
20041f9e: 4913 ldr r1, [pc, #76] @ (20041fec <literals+0x20>)
|
||||
20041fa0: 6008 str r0, [r1, #0]
|
||||
20041fa2: c803 ldmia r0, {r0, r1}
|
||||
20041fa4: f380 8808 msr MSP, r0
|
||||
20041fa8: 4708 bx r1
|
||||
|
||||
20041faa <wait_ssi_ready>:
|
||||
20041faa: b503 push {r0, r1, lr}
|
||||
20041fac: 6a99 ldr r1, [r3, #40] @ 0x28
|
||||
20041fae: 2004 movs r0, #4
|
||||
20041fb0: 4201 tst r1, r0
|
||||
20041fb2: d0fb beq.n 20041fac <wait_ssi_ready+0x2>
|
||||
20041fb4: 2001 movs r0, #1
|
||||
20041fb6: 4201 tst r1, r0
|
||||
20041fb8: d1f8 bne.n 20041fac <wait_ssi_ready+0x2>
|
||||
20041fba: bd03 pop {r0, r1, pc}
|
||||
|
||||
20041fbc <read_flash_sreg>:
|
||||
20041fbc: b502 push {r1, lr}
|
||||
20041fbe: 6618 str r0, [r3, #96] @ 0x60
|
||||
20041fc0: 6618 str r0, [r3, #96] @ 0x60
|
||||
20041fc2: f7ff fff2 bl 20041faa <wait_ssi_ready>
|
||||
20041fc6: 6e18 ldr r0, [r3, #96] @ 0x60
|
||||
20041fc8: 6e18 ldr r0, [r3, #96] @ 0x60
|
||||
20041fca: bd02 pop {r1, pc}
|
||||
|
||||
20041fcc <literals>:
|
||||
20041fcc: 40020000 .word 0x40020000
|
||||
20041fd0: 18000000 .word 0x18000000
|
||||
20041fd4: 00070000 .word 0x00070000
|
||||
20041fd8: 005f0300 .word 0x005f0300
|
||||
20041fdc: 00002221 .word 0x00002221
|
||||
20041fe0: 180000f4 .word 0x180000f4
|
||||
20041fe4: a0002022 .word 0xa0002022
|
||||
20041fe8: 10000100 .word 0x10000100
|
||||
20041fec: e000ed08 .word 0xe000ed08
|
||||
|
|
@ -0,0 +1,23 @@
|
|||
// Padded and checksummed version of: /home/ulysse-cura/Documents/Robotique/Junior 2025-2026/main_robot_2025-2026/program/motion controller code/build/pico-sdk/src/rp2040/boot_stage2/bs2_default.bin
|
||||
|
||||
.cpu cortex-m0plus
|
||||
.thumb
|
||||
|
||||
.section .boot2, "ax"
|
||||
|
||||
.byte 0x00, 0xb5, 0x32, 0x4b, 0x21, 0x20, 0x58, 0x60, 0x98, 0x68, 0x02, 0x21, 0x88, 0x43, 0x98, 0x60
|
||||
.byte 0xd8, 0x60, 0x18, 0x61, 0x58, 0x61, 0x2e, 0x4b, 0x00, 0x21, 0x99, 0x60, 0x02, 0x21, 0x59, 0x61
|
||||
.byte 0x01, 0x21, 0xf0, 0x22, 0x99, 0x50, 0x2b, 0x49, 0x19, 0x60, 0x01, 0x21, 0x99, 0x60, 0x35, 0x20
|
||||
.byte 0x00, 0xf0, 0x44, 0xf8, 0x02, 0x22, 0x90, 0x42, 0x14, 0xd0, 0x06, 0x21, 0x19, 0x66, 0x00, 0xf0
|
||||
.byte 0x34, 0xf8, 0x19, 0x6e, 0x01, 0x21, 0x19, 0x66, 0x00, 0x20, 0x18, 0x66, 0x1a, 0x66, 0x00, 0xf0
|
||||
.byte 0x2c, 0xf8, 0x19, 0x6e, 0x19, 0x6e, 0x19, 0x6e, 0x05, 0x20, 0x00, 0xf0, 0x2f, 0xf8, 0x01, 0x21
|
||||
.byte 0x08, 0x42, 0xf9, 0xd1, 0x00, 0x21, 0x99, 0x60, 0x1b, 0x49, 0x19, 0x60, 0x00, 0x21, 0x59, 0x60
|
||||
.byte 0x1a, 0x49, 0x1b, 0x48, 0x01, 0x60, 0x01, 0x21, 0x99, 0x60, 0xeb, 0x21, 0x19, 0x66, 0xa0, 0x21
|
||||
.byte 0x19, 0x66, 0x00, 0xf0, 0x12, 0xf8, 0x00, 0x21, 0x99, 0x60, 0x16, 0x49, 0x14, 0x48, 0x01, 0x60
|
||||
.byte 0x01, 0x21, 0x99, 0x60, 0x01, 0xbc, 0x00, 0x28, 0x00, 0xd0, 0x00, 0x47, 0x12, 0x48, 0x13, 0x49
|
||||
.byte 0x08, 0x60, 0x03, 0xc8, 0x80, 0xf3, 0x08, 0x88, 0x08, 0x47, 0x03, 0xb5, 0x99, 0x6a, 0x04, 0x20
|
||||
.byte 0x01, 0x42, 0xfb, 0xd0, 0x01, 0x20, 0x01, 0x42, 0xf8, 0xd1, 0x03, 0xbd, 0x02, 0xb5, 0x18, 0x66
|
||||
.byte 0x18, 0x66, 0xff, 0xf7, 0xf2, 0xff, 0x18, 0x6e, 0x18, 0x6e, 0x02, 0xbd, 0x00, 0x00, 0x02, 0x40
|
||||
.byte 0x00, 0x00, 0x00, 0x18, 0x00, 0x00, 0x07, 0x00, 0x00, 0x03, 0x5f, 0x00, 0x21, 0x22, 0x00, 0x00
|
||||
.byte 0xf4, 0x00, 0x00, 0x18, 0x22, 0x20, 0x00, 0xa0, 0x00, 0x01, 0x00, 0x10, 0x08, 0xed, 0x00, 0xe0
|
||||
.byte 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x74, 0xb2, 0x4e, 0x7a
|
||||
|
|
@ -0,0 +1,6 @@
|
|||
# This is a generated file and its contents are an internal implementation detail.
|
||||
# The update step will be re-executed if anything in this file changes.
|
||||
# No other meaning or use of this file is supported.
|
||||
|
||||
command=
|
||||
work_dir=
|
||||
|
|
@ -0,0 +1,9 @@
|
|||
# This is a generated file and its contents are an internal implementation detail.
|
||||
# The download step will be re-executed if anything in this file changes.
|
||||
# No other meaning or use of this file is supported.
|
||||
|
||||
method=source_dir
|
||||
command=
|
||||
source_dir=/home/ulysse-cura/.local/share/pico-sdk/tools/pioasm
|
||||
work_dir=
|
||||
|
||||
|
|
@ -0,0 +1,7 @@
|
|||
# This is a generated file and its contents are an internal implementation detail.
|
||||
# The patch step will be re-executed if anything in this file changes.
|
||||
# No other meaning or use of this file is supported.
|
||||
|
||||
command (connected)=
|
||||
command (disconnected)=
|
||||
work_dir=
|
||||
|
|
@ -0,0 +1,3 @@
|
|||
|
||||
set(PIOASM_EXTRA_SOURCE_FILES "" CACHE STRING "Initial cache" FORCE)
|
||||
set(PIOASM_VERSION_STRING "2.2.0" CACHE STRING "Initial cache" FORCE)
|
||||
|
|
@ -0,0 +1 @@
|
|||
cmd='/usr/bin/cmake;--no-warn-unused-cli;-DCMAKE_MAKE_PROGRAM:FILEPATH=/usr/bin/gmake;-DPIOASM_FLAT_INSTALL=1;-DCMAKE_INSTALL_PREFIX=/home/ulysse-cura/Documents/Robotique/Junior 2025-2026/main_robot_2025-2026/program/motion controller code/build/pioasm-install;-DCMAKE_RULE_MESSAGES=OFF;-DCMAKE_INSTALL_MESSAGE=NEVER;-GUnix Makefiles;-C<TMP_DIR>/pioasmBuild-cache-$<CONFIG>.cmake;-S;<SOURCE_DIR><SOURCE_SUBDIR>;-B;<BINARY_DIR>'
|
||||
|
|
@ -0,0 +1,27 @@
|
|||
# Distributed under the OSI-approved BSD 3-Clause License. See accompanying
|
||||
# file Copyright.txt or https://cmake.org/licensing for details.
|
||||
|
||||
cmake_minimum_required(VERSION ${CMAKE_VERSION}) # this file comes with cmake
|
||||
|
||||
# If CMAKE_DISABLE_SOURCE_CHANGES is set to true and the source directory is an
|
||||
# existing directory in our source tree, calling file(MAKE_DIRECTORY) on it
|
||||
# would cause a fatal error, even though it would be a no-op.
|
||||
if(NOT EXISTS "/home/ulysse-cura/.local/share/pico-sdk/tools/pioasm")
|
||||
file(MAKE_DIRECTORY "/home/ulysse-cura/.local/share/pico-sdk/tools/pioasm")
|
||||
endif()
|
||||
file(MAKE_DIRECTORY
|
||||
"/home/ulysse-cura/Documents/Robotique/Junior 2025-2026/main_robot_2025-2026/program/motion controller code/build/pioasm"
|
||||
"/home/ulysse-cura/Documents/Robotique/Junior 2025-2026/main_robot_2025-2026/program/motion controller code/build/pioasm-install"
|
||||
"/home/ulysse-cura/Documents/Robotique/Junior 2025-2026/main_robot_2025-2026/program/motion controller code/build/pico-sdk/src/rp2_common/pico_cyw43_driver/pioasm/tmp"
|
||||
"/home/ulysse-cura/Documents/Robotique/Junior 2025-2026/main_robot_2025-2026/program/motion controller code/build/pico-sdk/src/rp2_common/pico_cyw43_driver/pioasm/src/pioasmBuild-stamp"
|
||||
"/home/ulysse-cura/Documents/Robotique/Junior 2025-2026/main_robot_2025-2026/program/motion controller code/build/pico-sdk/src/rp2_common/pico_cyw43_driver/pioasm/src"
|
||||
"/home/ulysse-cura/Documents/Robotique/Junior 2025-2026/main_robot_2025-2026/program/motion controller code/build/pico-sdk/src/rp2_common/pico_cyw43_driver/pioasm/src/pioasmBuild-stamp"
|
||||
)
|
||||
|
||||
set(configSubDirs )
|
||||
foreach(subDir IN LISTS configSubDirs)
|
||||
file(MAKE_DIRECTORY "/home/ulysse-cura/Documents/Robotique/Junior 2025-2026/main_robot_2025-2026/program/motion controller code/build/pico-sdk/src/rp2_common/pico_cyw43_driver/pioasm/src/pioasmBuild-stamp/${subDir}")
|
||||
endforeach()
|
||||
if(cfgdir)
|
||||
file(MAKE_DIRECTORY "/home/ulysse-cura/Documents/Robotique/Junior 2025-2026/main_robot_2025-2026/program/motion controller code/build/pico-sdk/src/rp2_common/pico_cyw43_driver/pioasm/src/pioasmBuild-stamp${cfgdir}") # cfgdir has leading slash
|
||||
endif()
|
||||
|
|
@ -0,0 +1 @@
|
|||
FLASH(rx) : ORIGIN = 0x10000000, LENGTH = (2 * 1024 * 1024)
|
||||
|
|
@ -54,4 +54,9 @@ void servo_motor_zero(servo_motors_enum_t servo_motor);
|
|||
// Set servo to its close pos if [close] else open pos
|
||||
void servo_motor_set(servo_motors_enum_t servo_motor, bool close);
|
||||
|
||||
// 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 // MOTORS_H
|
||||
|
|
@ -1,7 +1,7 @@
|
|||
#ifndef ROBOT_H
|
||||
#define ROBOT_H
|
||||
|
||||
#include "i2c_buffer.h"
|
||||
#include "i2c/headers/i2c_buffer.h"
|
||||
|
||||
typedef struct robot_t {
|
||||
i2c_buffer_t i2c_buffer;
|
||||
|
|
@ -12,9 +12,5 @@ typedef struct 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
|
||||
|
|
@ -9,8 +9,8 @@
|
|||
|
||||
#include <hardware/i2c.h>
|
||||
|
||||
#define I2C_SLAVE_SDA_PIN 21
|
||||
#define I2C_SLAVE_SCL_PIN 20
|
||||
#define I2C_SLAVE_SDA_PIN 16
|
||||
#define I2C_SLAVE_SCL_PIN 17
|
||||
#define I2C_SLAVE_INSTANCE i2c0
|
||||
#define I2C_SLAVE_ADDRESS 0x09
|
||||
|
||||
|
|
@ -20,19 +20,9 @@ typedef enum i2c_slave_event_t {
|
|||
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;
|
||||
}
|
||||
uint8_t i2c_slave_read_byte(void);
|
||||
|
||||
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;
|
||||
}
|
||||
void i2c_slave_write_byte(uint8_t byte);
|
||||
|
||||
// Init I2C with default parameters
|
||||
void i2c_slave_init(void);
|
||||
|
|
@ -1,7 +1,7 @@
|
|||
#include "include/i2c_buffer.h"
|
||||
#include "headers/i2c_buffer.h"
|
||||
|
||||
#include "include/robot.h"
|
||||
#include "include/motors.h"
|
||||
#include "headers/robot.h"
|
||||
#include "headers/motors.h"
|
||||
|
||||
void __not_in_flash_func(i2c_slave_buffer_handler)(i2c_slave_event_t event)
|
||||
{
|
||||
|
|
@ -36,23 +36,3 @@ void __not_in_flash_func(i2c_slave_buffer_handler)(i2c_slave_event_t event)
|
|||
break;
|
||||
}
|
||||
}
|
||||
|
||||
void update_motors_from_buffer(void)
|
||||
{
|
||||
for(motors_enum_t actual_motor = MOTOR1; actual_motor < NB_MOTORS; actual_motor++)
|
||||
{
|
||||
const motor_def_t *motor_def = &MOTORS_DEFS[actual_motor];
|
||||
|
||||
motor_set(actual_motor, robot.i2c_buffer.buffer[motor_def->buffer_reg]);
|
||||
}
|
||||
}
|
||||
|
||||
void update_servo_motors_from_buffer(void)
|
||||
{
|
||||
for(servo_motors_enum_t actual_servo_motor = SERVO_MOTOR1; actual_servo_motor < NB_SERVO_MOTORS; actual_servo_motor++)
|
||||
{
|
||||
const servo_motor_def_t *servo_motor_def = &SERVO_MOTORS_DEFS[actual_servo_motor];
|
||||
|
||||
servo_motor_set(actual_servo_motor, robot.i2c_buffer.buffer[servo_motor_def->buffer_reg]);
|
||||
}
|
||||
}
|
||||
|
|
@ -4,14 +4,28 @@
|
|||
* SPDX-License-Identifier: MIT
|
||||
*/
|
||||
|
||||
#include "include/i2c_slave.h"
|
||||
#include "headers/i2c_slave.h"
|
||||
|
||||
#include <pico/stdlib.h>
|
||||
//#include <pico/stdlib.h>
|
||||
#include <hardware/irq.h>
|
||||
#include "include/i2c_buffer.h"
|
||||
#include "headers/i2c_buffer.h"
|
||||
|
||||
static bool transfer_in_progress;
|
||||
|
||||
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;
|
||||
}
|
||||
|
||||
inline void i2c_slave_write_byte(uint8_t byte)
|
||||
{
|
||||
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 = byte;
|
||||
}
|
||||
|
||||
static inline void finish_transfer(void)
|
||||
{
|
||||
if(transfer_in_progress)
|
||||
|
|
@ -80,16 +94,16 @@ void i2c_slave_init(void)
|
|||
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);
|
||||
const uint IRQ_INDEX = I2C0_IRQ + i2c_get_index(I2C_SLAVE_INSTANCE);
|
||||
irq_set_exclusive_handler(IRQ_INDEX, i2c_slave_irq_handler);
|
||||
irq_set_enabled(IRQ_INDEX, 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);
|
||||
const uint IRQ_INDEX = I2C0_IRQ + i2c_get_index(I2C_SLAVE_INSTANCE);
|
||||
irq_set_enabled(IRQ_INDEX, false);
|
||||
irq_remove_handler(IRQ_INDEX, i2c_slave_irq_handler);
|
||||
|
||||
i2c_set_slave_mode(I2C_SLAVE_INSTANCE, false, 0);
|
||||
|
||||
|
|
@ -9,7 +9,7 @@
|
|||
\* * * * * * * * * * * * * * * * * * * * * * * * * * * * * */
|
||||
|
||||
#include <stdbool.h>
|
||||
#include "include/robot.h"
|
||||
#include "headers/robot.h"
|
||||
|
||||
robot_t robot;
|
||||
|
||||
|
|
|
|||
|
|
@ -1,7 +1,8 @@
|
|||
#include "include/motors.h"
|
||||
#include "headers/motors.h"
|
||||
|
||||
#include <pico/stdlib.h>
|
||||
#include <hardware/pwm.h>
|
||||
#include <headers/robot.h>
|
||||
|
||||
const motor_def_t MOTORS_DEFS[] = {
|
||||
{0, 4, 5, 0x00},
|
||||
|
|
@ -117,3 +118,23 @@ void servo_motor_set(servo_motors_enum_t servo_motor, bool close)
|
|||
// Set PWM to zero //
|
||||
pwm_set_gpio_level(servo_motor_def->pwm_pin, close ? servo_motor_def->close_pos : servo_motor_def->open_pos);
|
||||
}
|
||||
|
||||
void update_motors_from_buffer(void)
|
||||
{
|
||||
for(motors_enum_t actual_motor = MOTOR1; actual_motor < NB_MOTORS; actual_motor++)
|
||||
{
|
||||
const motor_def_t *motor_def = &MOTORS_DEFS[actual_motor];
|
||||
|
||||
motor_set(actual_motor, robot.i2c_buffer.buffer[motor_def->buffer_reg]);
|
||||
}
|
||||
}
|
||||
|
||||
void update_servo_motors_from_buffer(void)
|
||||
{
|
||||
for(servo_motors_enum_t actual_servo_motor = SERVO_MOTOR1; actual_servo_motor < NB_SERVO_MOTORS; actual_servo_motor++)
|
||||
{
|
||||
const servo_motor_def_t *servo_motor_def = &SERVO_MOTORS_DEFS[actual_servo_motor];
|
||||
|
||||
servo_motor_set(actual_servo_motor, robot.i2c_buffer.buffer[servo_motor_def->buffer_reg]);
|
||||
}
|
||||
}
|
||||
|
|
|
|||
|
|
@ -1,15 +1,15 @@
|
|||
#include "include/robot.h"
|
||||
#include "headers/robot.h"
|
||||
|
||||
#include <pico/stdlib.h>
|
||||
#include "include/motors.h"
|
||||
#include "include/i2c_slave.h"
|
||||
#include "headers/motors.h"
|
||||
#include "i2c/headers/i2c_slave.h"
|
||||
|
||||
void robot_init(void)
|
||||
{
|
||||
stdio_init_all();
|
||||
|
||||
init_motors();
|
||||
init_servo_motors();
|
||||
//init_motors();
|
||||
//init_servo_motors();
|
||||
i2c_slave_init();
|
||||
|
||||
robot.is_running = true;
|
||||
|
|
@ -17,7 +17,7 @@ void robot_init(void)
|
|||
|
||||
void robot_handle_inputs_outputs(void)
|
||||
{
|
||||
update_motors_from_buffer();
|
||||
//update_motors_from_buffer();
|
||||
}
|
||||
|
||||
void robot_deinit(void)
|
||||
|
|
|
|||
|
|
@ -0,0 +1,23 @@
|
|||
#!/usr/bin/env python3
|
||||
|
||||
import socket
|
||||
import struct
|
||||
|
||||
def start_udp_server():
|
||||
udp_socket = socket.socket(socket.AF_INET, socket.SOCK_DGRAM)
|
||||
udp_socket.bind(('0.0.0.0', 12345))
|
||||
|
||||
print("Serveur UDP démarré sur le port 12345")
|
||||
|
||||
while True:
|
||||
data = udp_socket.sendto()
|
||||
"""
|
||||
if len(data) == 2:
|
||||
packet_num, instruction = struct.unpack('BB', data)
|
||||
print(f"Reçu: packet_number={packet_num}, instruction={instruction}")
|
||||
"""
|
||||
|
||||
if __name__ == '__main__':
|
||||
start_udp_server()
|
||||
|
||||
#ulysse le femboy
|
||||
Loading…
Reference in New Issue