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IR tower (not tested)

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This commit is contained in:
whowechina 2024-09-19 12:54:27 +08:00
parent dde2a61264
commit 0b7cc509d6
10 changed files with 341 additions and 115 deletions
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2
firmware/src/CMakeLists.txt
View File

@ -3,7 +3,7 @@ pico_sdk_init()
include_directories(${CMAKE_CURRENT_LIST_DIR})
add_compile_options(-Wall -Werror -Wfatal-errors -O3)
link_libraries(pico_multicore pico_stdlib hardware_i2c hardware_spi
hardware_pio hardware_flash hardware_watchdog
hardware_pio hardware_adc hardware_flash hardware_watchdog
tinyusb_device tinyusb_board)
function(make_firmware board board_def)

143
firmware/src/air.c
View File

@ -9,8 +9,10 @@
#include <stdint.h>
#include <stdbool.h>
#include <stdio.h>
#include "hardware/gpio.h"
#include "hardware/adc.h"
#include "board_defs.h"
#include "config.h"
@ -20,10 +22,18 @@
#include "i2c_hub.h"
static const uint8_t TOF_LIST[] = TOF_MUX_LIST;
static uint8_t tof_model[sizeof(TOF_LIST)];
static uint16_t distances[sizeof(TOF_LIST)];
static uint8_t tof_model[count_of(TOF_LIST)];
static uint16_t distances[count_of(TOF_LIST)];
void air_init()
static const uint8_t IR_ABC[] = IR_GROUP_ABC_GPIO;
static const uint8_t IR_SIG[] = IR_SIG_ADC_CHANNEL;
static_assert(count_of(IR_ABC) == 3, "IR should have 3 groups");
static_assert(count_of(IR_SIG) == 2, "IR should use 2 analog signals");
static uint16_t ir_raw[6];
static bool ir_blocked[6];
#define IR_DEBOUNCE_PERCENT 90
static void air_init_tof()
{
i2c_init(I2C_PORT, I2C_FREQ);
gpio_set_function(I2C_SDA, GPIO_FUNC_I2C);
@ -52,7 +62,29 @@ void air_init()
}
}
size_t air_num()
static void air_init_ir()
{
for (int i = 0; i < count_of(IR_ABC); i++) {
gpio_init(IR_ABC[i]);
gpio_set_dir(IR_ABC[i], GPIO_OUT);
gpio_put(IR_ABC[i], 0);
}
for (int i = 0; i < count_of(IR_SIG); i++) {
adc_init();
adc_gpio_init(26 + IR_SIG[i]);
}
}
void air_init()
{
if (chu_cfg->ir.enabled == 0) {
air_init_tof();
} else {
air_init_ir();
}
}
size_t air_tof_num()
{
return sizeof(TOF_LIST);
}
@ -72,7 +104,7 @@ static inline uint8_t air_bits(int dist, int offset)
return 1 << index;
}
uint8_t air_bitmap()
static uint8_t tof_bitmap()
{
int offset = chu_cfg->tof.offset * 10;
int pitch = chu_cfg->tof.pitch * 10;
@ -84,7 +116,21 @@ uint8_t air_bitmap()
return bitmap;
}
unsigned air_value(uint8_t index)
static uint8_t ir_bitmap()
{
uint8_t bitmap = 0;
for (int i = 0; i < count_of(ir_blocked); i++) {
bitmap |= ir_blocked[i] << i;
}
return bitmap;
}
uint8_t air_bitmap()
{
return chu_cfg->ir.enabled ? ir_bitmap() : tof_bitmap();
}
unsigned air_tof_value(uint8_t index)
{
if (index >= sizeof(TOF_LIST)) {
return 0;
@ -103,7 +149,23 @@ unsigned air_value(uint8_t index)
return 0;
}
void air_update()
uint16_t air_tof_raw(uint8_t index)
{
if (index >= count_of(TOF_LIST)) {
return 0;
}
return distances[index];
}
uint16_t air_ir_raw(uint8_t index)
{
if (index >= count_of(ir_raw)) {
return 0;
}
return ir_raw[index];
}
static void air_update_tof()
{
for (int i = 0; i < sizeof(TOF_LIST); i++) {
i2c_select(I2C_PORT, 1 << TOF_LIST[i]);
@ -115,10 +177,69 @@ void air_update()
}
}
uint16_t air_raw(uint8_t index)
static void ir_read()
{
if (index >= sizeof(TOF_LIST)) {
return 0;
for (int i = 0; i < count_of(IR_ABC); i++) {
gpio_put(IR_ABC[i], 1);
sleep_us(9);
adc_select_input(IR_SIG[0]);
sleep_us(1);
ir_raw[i * 2] = adc_read();
adc_select_input(IR_SIG[1]);
sleep_us(1);
ir_raw[i * 2 + 1] = adc_read();
gpio_put(IR_ABC[i], 0);
sleep_us(1);
}
}
static void ir_judge()
{
for (int i = 0; i < count_of(ir_raw); i++) {
int offset = chu_cfg->ir.base[i] - ir_raw[i];
int threshold = chu_cfg->ir.base[i] * chu_cfg->ir.trigger[i] / 100;
if (ir_blocked[i]) {
threshold = threshold * IR_DEBOUNCE_PERCENT / 100;
}
ir_blocked[i] = offset >= threshold;
}
}
static void ir_diagnostic()
{
if (!chu_runtime.ir_diagnostics) {
return;
}
static uint64_t last_print = 0;
uint64_t now = time_us_64();
if (now - last_print > 500000) {
printf("IR: ");
for (int i = 0; i < count_of(ir_raw); i++) {
printf(" %4d", ir_raw[i]);
}
printf("\n");
last_print = now;
}
}
static void air_update_ir()
{
ir_read();
ir_judge();
ir_diagnostic();
}
void air_update()
{
if (chu_cfg->ir.enabled) {
air_update_ir();
} else {
air_update_tof();
}
return distances[index];
}

39
firmware/src/air.h
View File

@ -1,19 +1,20 @@
/*
* Chu Pico Air Sensor
* WHowe <github.com/whowechina>
*/
#ifndef AIR_H
#define AIR_H
#include <stdlib.h>
#include <stdint.h>
void air_init();
size_t air_num();
unsigned air_value(uint8_t index);
uint16_t air_raw(uint8_t index);
uint8_t air_bitmap();
void air_update();
#endif
/*
* Chu Pico Air Sensor
* WHowe <github.com/whowechina>
*/
#ifndef AIR_H
#define AIR_H
#include <stdlib.h>
#include <stdint.h>
void air_init();
size_t air_tof_num();
unsigned air_tof_value(uint8_t index);
uint16_t air_tof_raw(uint8_t index);
uint16_t air_ir_raw(uint8_t index);
uint8_t air_bitmap();
void air_update();
#endif

51
firmware/src/board_defs.h
View File

@ -1,23 +1,28 @@
/*
* Chu Controller Board Definitions
* WHowe <github.com/whowechina>
*/
#if defined BOARD_CHU_PICO
#define I2C_PORT i2c0
#define I2C_SDA 16
#define I2C_SCL 17
#define I2C_FREQ 620*1000
#define I2C_HUB_EN 19
#define TOF_MUX_LIST { 1, 2, 0, 4, 5 }
#define RGB_PIN 2
#define RGB_ORDER GRB // or RGB
#define NKRO_KEYMAP "1aqz2swx3dec4frv5gtb6hyn7jum8ki90olp,."
#else
#endif
/*
* Chu Controller Board Definitions
* WHowe <github.com/whowechina>
*/
#if defined BOARD_CHU_PICO
#define I2C_PORT i2c0
#define I2C_SDA 16
#define I2C_SCL 17
#define I2C_FREQ 620*1000
#define I2C_HUB_EN 19
#define TOF_MUX_LIST { 1, 2, 0, 4, 5 }
#define IR_GROUP_ABC_GPIO { 3, 4, 5 }
#define IR_SIG_ADC_CHANNEL { 0, 1 }
#define RGB_MAIN_PIN 2
#define RGB_TOWER_LEFT_PIN 0
#define RGB_TOWER_RIGHT_PIN 1
#define RGB_ORDER GRB // or RGB
#define NKRO_KEYMAP "1aqz2swx3dec4frv5gtb6hyn7jum8ki90olp,."
#else
#endif

96
firmware/src/commands.c
View File

@ -44,6 +44,21 @@ static void disp_tof()
printf(" Offset: %d, Pitch: %d\n", chu_cfg->tof.offset, chu_cfg->tof.pitch);
}
static void disp_ir()
{
printf("[IR]\n");
printf(" Enabled: %s\n", chu_cfg->ir.enabled ? "ON" : "OFF");
printf(" Base:");
for (int i = 0; i < count_of(chu_cfg->ir.base); i++) {
printf(" %d", chu_cfg->ir.base[i]);
}
printf("\n Trigger:");
for (int i = 0; i < count_of(chu_cfg->ir.trigger); i++) {
printf(" %d%%", chu_cfg->ir.trigger[i]);
}
printf("\n");
}
static void disp_sense()
{
printf("[Sense]\n");
@ -84,7 +99,7 @@ static void disp_aime()
void handle_display(int argc, char *argv[])
{
const char *usage = "Usage: display [colors|style|tof|sense|hid|aime]\n";
const char *usage = "Usage: display [colors|style|tof|ir|sense|hid|aime]\n";
if (argc > 1) {
printf(usage);
return;
@ -94,14 +109,15 @@ void handle_display(int argc, char *argv[])
disp_colors();
disp_style();
disp_tof();
disp_ir();
disp_sense();
disp_hid();
disp_aime();
return;
}
const char *choices[] = {"colors", "style", "tof", "sense", "hid", "aime"};
switch (cli_match_prefix(choices, 6, argv[0])) {
const char *choices[] = {"colors", "style", "tof", "ir", "sense", "hid", "aime"};
switch (cli_match_prefix(choices, count_of(choices), argv[0])) {
case 0:
disp_colors();
break;
@ -112,12 +128,15 @@ void handle_display(int argc, char *argv[])
disp_tof();
break;
case 3:
disp_sense();
disp_ir();
break;
case 4:
disp_hid();
disp_sense();
break;
case 5:
disp_hid();
break;
case 6:
disp_aime();
break;
default:
@ -200,8 +219,8 @@ static void handle_tof(int argc, char *argv[])
if (argc == 0) {
printf("TOF: ");
for (int i = air_num(); i > 0; i--) {
printf(" %4d", air_raw(i - 1) / 10);
for (int i = air_tof_num(); i > 0; i--) {
printf(" %4d", air_tof_raw(i - 1) / 10);
}
printf("\n");
return;
@ -228,6 +247,68 @@ static void handle_tof(int argc, char *argv[])
disp_tof();
}
static void air_diagnostic()
{
chu_runtime.ir_diagnostics = !chu_runtime.ir_diagnostics;
printf("IR Diagnostics: %s\n", chu_runtime.ir_diagnostics ? "ON" : "OFF");
}
static void air_baseline()
{
printf("IR Baseline:");
for (int i = 0; i < count_of(chu_cfg->ir.base); i++) {
chu_cfg->ir.base[i] = air_ir_raw(i);
printf(" %4d", chu_cfg->ir.base[i]);
}
config_changed();
printf("\n");
}
static void air_trigger(char *argv[])
{
const char *usage = "Usage: ir trigger <percent>\n"
" percent: [1..100]\n";
if (strncasecmp(argv[0], "trigger", strlen(argv[0])) != 0) {
printf(usage);
return;
}
int percent = cli_extract_non_neg_int(argv[1], 0);
if ((percent < 1) || (percent > 100)) {
printf(usage);
return;
}
for (int i = 0; i < count_of(chu_cfg->ir.trigger); i++) {
chu_cfg->ir.trigger[i] = percent;
}
config_changed();
disp_ir();
}
static void handle_ir(int argc, char *argv[])
{
const char *usage = "Usage: ir <diagnostic|baseline>\n"
" ir trigger <percent>\n"
" percent: [1..100]\n";
if (argc == 1) {
const char *commands[] = { "diagnostic", "baseline" };
int cmd = cli_match_prefix(commands, count_of(commands), argv[0]);
if (cmd == 0) {
air_diagnostic();
} else if (cmd == 1) {
air_baseline();
} else {
printf(usage);
}
} else if (argc == 2) {
air_trigger(argv);
} else {
printf(usage);
}
}
static void handle_filter(int argc, char *argv[])
{
const char *usage = "Usage: filter <first> <second> [interval]\n"
@ -471,6 +552,7 @@ void commands_init()
cli_register("stat", handle_stat, "Display or reset statistics.");
cli_register("hid", handle_hid, "Set HID mode.");
cli_register("tof", handle_tof, "Set ToF config.");
cli_register("ir", handle_ir, "Set IR config.");
cli_register("filter", handle_filter, "Set pre-filter config.");
cli_register("sense", handle_sense, "Set sensitivity config.");
cli_register("debounce", handle_debounce, "Set debounce config.");

7
firmware/src/config.c
View File

@ -42,9 +42,14 @@ static chu_cfg_t default_cfg = {
.mode = 0,
.virtual_aic = 0,
},
.ir = {
.enabled = 0,
.base = { 3800, 3800, 3800, 3800, 3800, 3800 },
.trigger = { 20, 20, 20, 20, 20, 20 },
},
};
chu_runtime_t chu_runtime;
chu_runtime_t chu_runtime = {0};
static void config_loaded()
{

6
firmware/src/config.h
View File

@ -42,10 +42,16 @@ typedef struct __attribute__((packed)) {
uint8_t mode : 4;
uint8_t virtual_aic : 4;
} aime;
struct {
bool enabled;
uint16_t base[6];
uint8_t trigger[6];
} ir;
} chu_cfg_t;
typedef struct {
bool debug;
bool ir_diagnostics;
} chu_runtime_t;
extern chu_cfg_t *chu_cfg;

4
firmware/src/main.c
View File

@ -115,8 +115,8 @@ static void run_lights()
if (now - last_hid_time >= 1000000) {
const uint32_t colors[] = {0x000000, 0x0000ff, 0xff0000, 0xffff00,
0x00ff00, 0x00ffff, 0xffffff};
for (int i = 0; i < air_num(); i++) {
int d = air_value(i);
for (int i = 0; i < air_tof_num(); i++) {
int d = air_tof_value(i);
rgb_set_color(31 + i, colors[d]);
}

50
firmware/src/rgb.c
View File

@ -19,9 +19,8 @@
#include "board_defs.h"
#include "config.h"
#define ARRAY_SIZE(a) (sizeof(a) / sizeof((a)[0]))
static uint32_t rgb_buf[47]; // 16(Keys) + 15(Gaps) + 16(maximum ToF indicators)
static uint32_t buf_main[47]; // 16(Keys) + 15(Gaps) + 16 (ToF/Tower indicators)
static const uint32_t *buf_tower = &buf_main[31];
#define _MAP_LED(x) _MAKE_MAPPER(x)
#define _MAKE_MAPPER(x) MAP_LED_##x
@ -92,22 +91,29 @@ static void drive_led()
last = now;
for (int i = 30; i >= 0; i--) {
pio_sm_put_blocking(pio0, 0, rgb_buf[i] << 8u);
pio_sm_put_blocking(pio0, 0, buf_main[i] << 8u);
}
for (int i = 31; i < ARRAY_SIZE(rgb_buf); i++) {
pio_sm_put_blocking(pio0, 0, rgb_buf[i] << 8u);
for (int i = 31; i < count_of(buf_main); i++) {
pio_sm_put_blocking(pio0, 0, buf_main[i] << 8u);
}
for (int i = 0; i < 6; i++) {
pio_sm_put_blocking(pio0, 0, buf_tower[i] << 8u);
}
for (int i = 0; i < 6; i++) {
pio_sm_put_blocking(pio0, 1, buf_tower[i] << 8u);
}
}
void rgb_set_colors(const uint32_t *colors, unsigned index, size_t num)
{
if (index >= ARRAY_SIZE(rgb_buf)) {
if (index >= count_of(buf_main)) {
return;
}
if (index + num > ARRAY_SIZE(rgb_buf)) {
num = ARRAY_SIZE(rgb_buf) - index;
if (index + num > count_of(buf_main)) {
num = count_of(buf_main) - index;
}
memcpy(&rgb_buf[index], colors, num * sizeof(*colors));
memcpy(&buf_main[index], colors, num * sizeof(*colors));
}
static inline uint32_t apply_level(uint32_t color)
@ -125,10 +131,10 @@ static inline uint32_t apply_level(uint32_t color)
void rgb_set_color(unsigned index, uint32_t color)
{
if (index >= ARRAY_SIZE(rgb_buf)) {
if (index >= count_of(buf_main)) {
return;
}
rgb_buf[index] = apply_level(color);
buf_main[index] = apply_level(color);
}
void rgb_key_color(unsigned index, uint32_t color)
@ -136,7 +142,7 @@ void rgb_key_color(unsigned index, uint32_t color)
if (index > 16) {
return;
}
rgb_buf[index * 2] = apply_level(color);
buf_main[index * 2] = apply_level(color);
}
void rgb_gap_color(unsigned index, uint32_t color)
@ -144,31 +150,31 @@ void rgb_gap_color(unsigned index, uint32_t color)
if (index > 15) {
return;
}
rgb_buf[index * 2 + 1] = apply_level(color);
buf_main[index * 2 + 1] = apply_level(color);
}
void rgb_set_brg(unsigned index, const uint8_t *brg_array, size_t num)
{
if (index >= ARRAY_SIZE(rgb_buf)) {
if (index >= count_of(buf_main)) {
return;
}
if (index + num > ARRAY_SIZE(rgb_buf)) {
num = ARRAY_SIZE(rgb_buf) - index;
if (index + num > count_of(buf_main)) {
num = count_of(buf_main) - index;
}
for (int i = 0; i < num; i++) {
uint8_t b = brg_array[i * 3 + 0];
uint8_t r = brg_array[i * 3 + 1];
uint8_t g = brg_array[i * 3 + 2];
rgb_buf[index + i] = apply_level(rgb32(r, g, b, false));
buf_main[index + i] = apply_level(rgb32(r, g, b, false));
}
}
void rgb_init()
{
uint pio0_offset = pio_add_program(pio0, &ws2812_program);
gpio_set_drive_strength(RGB_PIN, GPIO_DRIVE_STRENGTH_2MA);
ws2812_program_init(pio0, 0, pio0_offset, RGB_PIN, 800000, false);
uint offset = pio_add_program(pio0, &ws2812_program);
ws2812_program_init(pio0, 0, offset, RGB_MAIN_PIN, 800000, false);
ws2812_program_init(pio0, 1, offset, RGB_TOWER_LEFT_PIN, 800000, false);
ws2812_program_init(pio0, 2, offset, RGB_TOWER_RIGHT_PIN, 800000, false);
}
void rgb_update()

58
firmware/src/rgb.h
View File

@ -1,29 +1,29 @@
/*
* RGB LED (WS2812) Strip control
* WHowe <github.com/whowechina>
*/
#ifndef RGB_H
#define RGB_H
#include <stdlib.h>
#include <stdint.h>
#include <stdbool.h>
#include "config.h"
void rgb_init();
void rgb_update();
uint32_t rgb32(uint32_t r, uint32_t g, uint32_t b, bool gamma_fix);
uint32_t rgb32_from_hsv(uint8_t h, uint8_t s, uint8_t v);
void rgb_set_colors(const uint32_t *colors, unsigned index, size_t num);
void rgb_set_color(unsigned index, uint32_t color);
void rgb_key_color(unsigned index, uint32_t color);
void rgb_gap_color(unsigned index, uint32_t color);
/* num of the rgb leds, num*3 bytes in the array */
void rgb_set_brg(unsigned index, const uint8_t *brg_array, size_t num);
#endif
/*
* RGB LED (WS2812) Strip control
* WHowe <github.com/whowechina>
*/
#ifndef RGB_H
#define RGB_H
#include <stdlib.h>
#include <stdint.h>
#include <stdbool.h>
#include "config.h"
void rgb_init();
void rgb_update();
uint32_t rgb32(uint32_t r, uint32_t g, uint32_t b, bool gamma_fix);
uint32_t rgb32_from_hsv(uint8_t h, uint8_t s, uint8_t v);
void rgb_set_colors(const uint32_t *colors, unsigned index, size_t num);
void rgb_set_color(unsigned index, uint32_t color);
void rgb_key_color(unsigned index, uint32_t color);
void rgb_gap_color(unsigned index, uint32_t color);
/* num of the rgb leds, num*3 bytes in the array */
void rgb_set_brg(unsigned index, const uint8_t *brg_array, size_t num);
#endif