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Firmware initial version

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build
pico-examples
pico-sdk
.vscode

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cmake_minimum_required(VERSION 3.12)
# Pull in SDK (must set be before project)
include(pico_sdk_import.cmake)
project(geki_pico C CXX ASM)
set(CMAKE_C_STANDARD 11)
pico_sdk_init()
add_subdirectory(src)

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The hypothetical commands `show w' and `show c' should show the appropriate
parts of the General Public License. Of course, your program's commands
might be different; for a GUI interface, you would use an "about box".
You should also get your employer (if you work as a programmer) or school,
if any, to sign a "copyright disclaimer" for the program, if necessary.
For more information on this, and how to apply and follow the GNU GPL, see
<https://www.gnu.org/licenses/>.
The GNU General Public License does not permit incorporating your program
into proprietary programs. If your program is a subroutine library, you
may consider it more useful to permit linking proprietary applications with
the library. If this is what you want to do, use the GNU Lesser General
Public License instead of this License. But first, please read
<https://www.gnu.org/licenses/why-not-lgpl.html>.

73
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# This is a copy of <PICO_SDK_PATH>/external/pico_sdk_import.cmake
# This can be dropped into an external project to help locate this SDK
# It should be include()ed prior to project()
if (DEFINED ENV{PICO_SDK_PATH} AND (NOT PICO_SDK_PATH))
set(PICO_SDK_PATH $ENV{PICO_SDK_PATH})
message("Using PICO_SDK_PATH from environment ('${PICO_SDK_PATH}')")
endif ()
if (DEFINED ENV{PICO_SDK_FETCH_FROM_GIT} AND (NOT PICO_SDK_FETCH_FROM_GIT))
set(PICO_SDK_FETCH_FROM_GIT $ENV{PICO_SDK_FETCH_FROM_GIT})
message("Using PICO_SDK_FETCH_FROM_GIT from environment ('${PICO_SDK_FETCH_FROM_GIT}')")
endif ()
if (DEFINED ENV{PICO_SDK_FETCH_FROM_GIT_PATH} AND (NOT PICO_SDK_FETCH_FROM_GIT_PATH))
set(PICO_SDK_FETCH_FROM_GIT_PATH $ENV{PICO_SDK_FETCH_FROM_GIT_PATH})
message("Using PICO_SDK_FETCH_FROM_GIT_PATH from environment ('${PICO_SDK_FETCH_FROM_GIT_PATH}')")
endif ()
set(PICO_SDK_PATH "${PICO_SDK_PATH}" CACHE PATH "Path to the Raspberry Pi Pico SDK")
set(PICO_SDK_FETCH_FROM_GIT "${PICO_SDK_FETCH_FROM_GIT}" CACHE BOOL "Set to ON to fetch copy of SDK from git if not otherwise locatable")
set(PICO_SDK_FETCH_FROM_GIT_PATH "${PICO_SDK_FETCH_FROM_GIT_PATH}" CACHE FILEPATH "location to download SDK")
if (NOT PICO_SDK_PATH)
if (PICO_SDK_FETCH_FROM_GIT)
include(FetchContent)
set(FETCHCONTENT_BASE_DIR_SAVE ${FETCHCONTENT_BASE_DIR})
if (PICO_SDK_FETCH_FROM_GIT_PATH)
get_filename_component(FETCHCONTENT_BASE_DIR "${PICO_SDK_FETCH_FROM_GIT_PATH}" REALPATH BASE_DIR "${CMAKE_SOURCE_DIR}")
endif ()
# GIT_SUBMODULES_RECURSE was added in 3.17
if (${CMAKE_VERSION} VERSION_GREATER_EQUAL "3.17.0")
FetchContent_Declare(
pico_sdk
GIT_REPOSITORY https://github.com/raspberrypi/pico-sdk
GIT_TAG master
GIT_SUBMODULES_RECURSE FALSE
)
else ()
FetchContent_Declare(
pico_sdk
GIT_REPOSITORY https://github.com/raspberrypi/pico-sdk
GIT_TAG master
)
endif ()
if (NOT pico_sdk)
message("Downloading Raspberry Pi Pico SDK")
FetchContent_Populate(pico_sdk)
set(PICO_SDK_PATH ${pico_sdk_SOURCE_DIR})
endif ()
set(FETCHCONTENT_BASE_DIR ${FETCHCONTENT_BASE_DIR_SAVE})
else ()
message(FATAL_ERROR
"SDK location was not specified. Please set PICO_SDK_PATH or set PICO_SDK_FETCH_FROM_GIT to on to fetch from git."
)
endif ()
endif ()
get_filename_component(PICO_SDK_PATH "${PICO_SDK_PATH}" REALPATH BASE_DIR "${CMAKE_BINARY_DIR}")
if (NOT EXISTS ${PICO_SDK_PATH})
message(FATAL_ERROR "Directory '${PICO_SDK_PATH}' not found")
endif ()
set(PICO_SDK_INIT_CMAKE_FILE ${PICO_SDK_PATH}/pico_sdk_init.cmake)
if (NOT EXISTS ${PICO_SDK_INIT_CMAKE_FILE})
message(FATAL_ERROR "Directory '${PICO_SDK_PATH}' does not appear to contain the Raspberry Pi Pico SDK")
endif ()
set(PICO_SDK_PATH ${PICO_SDK_PATH} CACHE PATH "Path to the Raspberry Pi Pico SDK" FORCE)
include(${PICO_SDK_INIT_CMAKE_FILE})

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set(BTSTACK_ROOT ${PICO_SDK_PATH}/lib/btstack)
set(LWIP_ROOT ${PICO_SDK_PATH}/lib/lwip)
function(make_firmware board board_def)
pico_sdk_init()
add_executable(${board}
main.c light.c button.c gimbal.c sound.c wad.c vl53l0x.c save.c config.c commands.c
cli.c usb_descriptors.c)
target_compile_definitions(${board} PUBLIC ${board_def})
pico_enable_stdio_usb(${board} 1)
pico_enable_stdio_uart(${board} 0)
pico_generate_pio_header(${board} ${CMAKE_CURRENT_LIST_DIR}/ws2812.pio)
target_compile_options(${board} PRIVATE -Wall -Werror -Wfatal-errors -O3)
target_include_directories(${board} PRIVATE ${CMAKE_CURRENT_LIST_DIR})
target_include_directories(${board} PRIVATE
${BTSTACK_ROOT}/src
${LWIP_ROOT}/src/include)
target_link_libraries(${board} PRIVATE
pico_multicore pico_stdlib hardware_pio hardware_pwm hardware_flash
hardware_adc hardware_i2c hardware_watchdog
tinyusb_device tinyusb_board)
pico_add_extra_outputs(${board})
add_custom_command(TARGET ${board} PRE_BUILD
COMMAND touch ${CMAKE_CURRENT_SOURCE_DIR}/cli.c)
add_custom_command(TARGET ${board} POST_BUILD
COMMAND cp ${board}.uf2 ${CMAKE_CURRENT_LIST_DIR}/..)
endfunction()
make_firmware(geki_pico BOARD_GEKI_PICO)

24
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/*
* Geki Controller Board Definitions
* WHowe <github.com/whowechina>
*/
#if defined BOARD_GEKI_PICO
#define RGB_PIN 16
#define RGB_ORDER GRB // or RGB
#define BUTTON_DEF { 12, 11, 10, 5, 4, 3, 13, 2 }
#define SOUND_DEF { 8, 6 }
#define WAD_DEF { i2c1, i2c0 }
#define WAD_GPIO_DEF { 18, 19, 0, 1 }
#define AXIS_MUX_PIN_A 21
#define AXIS_MUX_PIN_B 20
#define ADC_CHANNEL 0
#define NKRO_KEYMAP "awsdjikl123"
#else
#endif

76
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/*
* Controller Buttons
* WHowe <github.com/whowechina>
*
*/
#include "button.h"
#include <stdint.h>
#include <stdbool.h>
#include "hardware/gpio.h"
#include "hardware/timer.h"
#include "hardware/pwm.h"
#include "config.h"
#include "board_defs.h"
static const uint8_t button_gpio[] = BUTTON_DEF;
#define BUTTON_NUM (sizeof(button_gpio))
static bool sw_val[BUTTON_NUM]; /* true if pressed */
static uint64_t sw_freeze_time[BUTTON_NUM];
void button_init()
{
for (int i = 0; i < BUTTON_NUM; i++)
{
sw_val[i] = false;
sw_freeze_time[i] = 0;
int8_t gpio = button_gpio[i];
gpio_init(gpio);
gpio_set_function(gpio, GPIO_FUNC_SIO);
gpio_set_dir(gpio, GPIO_IN);
gpio_pull_up(gpio);
}
}
uint8_t button_num()
{
return BUTTON_NUM;
}
static uint16_t button_reading;
/* If a switch flips, it freezes for a while */
#define DEBOUNCE_FREEZE_TIME_US 3000
void button_update()
{
uint64_t now = time_us_64();
uint16_t buttons = 0;
for (int i = BUTTON_NUM - 1; i >= 0; i--) {
bool sw_pressed = !gpio_get(button_gpio[i]);
if (now >= sw_freeze_time[i]) {
if (sw_pressed != sw_val[i]) {
sw_val[i] = sw_pressed;
sw_freeze_time[i] = now + DEBOUNCE_FREEZE_TIME_US;
}
}
buttons <<= 1;
if (sw_val[i]) {
buttons |= 1;
}
}
button_reading = buttons;
}
uint16_t button_read()
{
return button_reading;
}

18
firmware/src/button.h Normal file
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/*
* Controller Buttons
* WHowe <github.com/whowechina>
*/
#ifndef BUTTONS_H
#define BUTTONS_H
#include <stdint.h>
#include <stdbool.h>
#include "hardware/flash.h"
void button_init();
uint8_t button_num();
void button_update();
uint16_t button_read();
#endif

218
firmware/src/cli.c Normal file
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#include <stdio.h>
#include <stdlib.h>
#include <string.h>
#include <fcntl.h>
#include <ctype.h>
#include "pico/stdio.h"
#include "pico/stdlib.h"
#include "pico/bootrom.h"
#include "cli.h"
#include "save.h"
#define MAX_COMMANDS 32
#define MAX_PARAMETERS 6
#define MAX_PARAMETER_LENGTH 20
const char *cli_prompt = "cli>";
const char *cli_logo = "CLI";
static const char *commands[MAX_COMMANDS];
static const char *helps[MAX_COMMANDS];
static cmd_handler_t handlers[MAX_COMMANDS];
static int max_cmd_len = 0;
static int num_commands = 0;
void cli_register(const char *cmd, cmd_handler_t handler, const char *help)
{
if (num_commands < MAX_COMMANDS) {
commands[num_commands] = cmd;
handlers[num_commands] = handler;
helps[num_commands] = help;
num_commands++;
if (strlen(cmd) > max_cmd_len) {
max_cmd_len = strlen(cmd);
}
}
}
// return -1 if not matched, return -2 if ambiguous
int cli_match_prefix(const char *str[], int num, const char *prefix)
{
int match = -1;
bool found = false;
for (int i = 0; (i < num) && str[i]; i++) {
if (strncasecmp(str[i], prefix, strlen(prefix)) == 0) {
if (found) {
return -2;
}
found = true;
match = i;
}
}
return match;
}
const char *built_time = __DATE__ " " __TIME__;
static void handle_help(int argc, char *argv[])
{
printf("%s", cli_logo);
printf("\tSN: %016llx\n", board_id_64());
printf("\tBuilt: %s\n\n", built_time);
printf("Available commands:\n");
for (int i = 0; i < num_commands; i++) {
printf("%*s: %s\n", max_cmd_len + 2, commands[i], helps[i]);
}
}
static int fps[2];
void cli_fps_count(int core)
{
static uint32_t last[2] = {0};
static int counter[2] = {0};
counter[core]++;
uint32_t now = time_us_32();
if (now - last[core] < 1000000) {
return;
}
last[core] = now;
fps[core] = counter[core];
counter[core] = 0;
}
static void handle_fps(int argc, char *argv[])
{
printf("FPS: core 0: %d, core 1: %d\n", fps[0], fps[1]);
}
static void handle_update(int argc, char *argv[])
{
printf("Boot into update mode.\n");
fflush(stdout);
sleep_ms(100);
reset_usb_boot(0, 2);
}
int cli_extract_non_neg_int(const char *param, int len)
{
if (len == 0) {
len = strlen(param);
}
int result = 0;
for (int i = 0; i < len; i++) {
if (!isdigit((uint8_t)param[i])) {
return -1;
}
result = result * 10 + param[i] - '0';
}
return result;
}
static char cmd_buf[256];
static int cmd_len = 0;
static void process_cmd()
{
char *argv[MAX_PARAMETERS];
int argc;
char *cmd = strtok(cmd_buf, " \n");
if (strlen(cmd) == 0) {
return;
}
argc = 0;
while ((argc < MAX_PARAMETERS) &&
(argv[argc] = strtok(NULL, " ,\n")) != NULL) {
argc++;
}
int match = cli_match_prefix(commands, num_commands, cmd);
if (match == -2) {
printf("Ambiguous command.\n");
return;
} else if (match == -1) {
printf("Unknown command.\n");
handle_help(0, NULL);
return;
}
handlers[match](argc, argv);
}
void cli_run()
{
static bool was_connected = false;
static uint64_t connect_time = 0;
static bool welcomed = false;
bool connected = stdio_usb_connected();
bool just_connected = connected && !was_connected;
was_connected = connected;
if (!connected) {
return;
}
if (just_connected) {
connect_time = time_us_64();
welcomed = false;
return;
}
if (!welcomed && (time_us_64() - connect_time > 200000)) {
welcomed = true;
cmd_len = 0;
handle_help(0, NULL);
printf("\n%s", cli_prompt);
}
int c = getchar_timeout_us(0);
if (c == EOF) {
return;
}
if (c == 0) {
return;
}
if (c == '\b' || c == 127) { // both backspace and delete
if (cmd_len > 0) {
cmd_len--;
printf("\b \b");
}
return;
}
if ((c != '\n') && (c != '\r')) {
if (cmd_len < sizeof(cmd_buf) - 2) {
cmd_buf[cmd_len] = c;
printf("%c", c);
cmd_len++;
}
return;
}
cmd_buf[cmd_len] = '\0';
cmd_len = 0;
printf("\n");
process_cmd();
printf(cli_prompt);
}
void cli_init(const char *prompt, const char *logo)
{
if (prompt) {
cli_prompt = prompt;
}
if (logo) {
cli_logo = logo;
}
cli_register("?", handle_help, "Display this help message.");
cli_register("fps", handle_fps, "Display FPS.");
cli_register("update", handle_update, "Update firmware.");
}

21
firmware/src/cli.h Normal file
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/*
* Geki Controller Command Line Framework
* WHowe <github.com/whowechina>
*/
#ifndef CLI_H
#define CLI_H
typedef void (*cmd_handler_t)(int argc, char *argv[]);
void cli_init(const char *prompt, const char *logo);
void cli_register(const char *cmd, cmd_handler_t handler, const char *help);
void cli_run();
void cli_fps_count(int core);
int cli_extract_non_neg_int(const char *param, int len);
int cli_match_prefix(const char *str[], int num, const char *prefix);
extern const char *built_time;
#endif

389
firmware/src/commands.c Normal file
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#include <stdio.h>
#include <stdlib.h>
#include <string.h>
#include <fcntl.h>
#include <ctype.h>
#include "pico/stdio.h"
#include "pico/stdlib.h"
#include "config.h"
#include "save.h"
#include "cli.h"
#include "gimbal.h"
#include "usb_descriptors.h"
#define SENSE_LIMIT_MAX 9
#define SENSE_LIMIT_MIN -9
static void disp_axis()
{
}
static void disp_hid()
{
printf("[HID]\n");
printf(" Joy: %s, NKRO: %s.\n",
geki_cfg->hid.joy ? "on" : "off",
geki_cfg->hid.nkro ? "on" : "off" );
}
static inline int sprintf_hsv_rgb(char *buf, const rgb_hsv_t *color)
{
return sprintf(buf, "%s(%d,%d,%d)", color->rgb_hsv ? "hsv" : "rgb",
color->val[0], color->val[1], color->val[2]);
}
static const char *color_str(const rgb_hsv_t *color, bool left_right)
{
static char buf[64];
int count = 0;
if (left_right) {
count += sprintf(buf + count, "LEFT ");
}
count += sprintf_hsv_rgb(buf + count, color);
if (left_right) {
count += sprintf(buf + count, ", RIGHT ");
count += sprintf_hsv_rgb(buf + count, color + 1);
}
return buf;
}
static void disp_light()
{
printf("[Light]\n");
printf(" Level: %d.\n", geki_cfg->light.level);
printf(" Colors:\n");
printf(" base0: %s\n", color_str(geki_cfg->light.base[0], true));
printf(" base1: %s\n", color_str(geki_cfg->light.base[0], true));
printf(" button: %s\n", color_str(geki_cfg->light.button, true));
printf(" boost: %s\n", color_str(geki_cfg->light.boost, true));
printf(" steer: %s\n", color_str(geki_cfg->light.steer, true));
printf(" aux_on: %s\n", color_str(&geki_cfg->light.aux_on, false));
printf(" aux_off: %s\n", color_str(&geki_cfg->light.aux_off, false));
}
static void disp_sound()
{
printf("[Sound]\n");
printf(" Status: %s.\n", geki_cfg->sound.enabled ? "on" : "off");
}
static void disp_gimbal()
{
printf("[Gimbal]\n");
printf(" %s, %s, raw %d-%d.\n",
geki_cfg->gimbal.invert ? "invert" : "normal",
geki_cfg->gimbal.analog ? "analog" : "digital",
geki_cfg->gimbal.min, geki_cfg->gimbal.max);
}
void handle_display(int argc, char *argv[])
{
const char *usage = "Usage: display [axis|light|sound|hid|gimbal]\n";
if (argc > 1) {
printf(usage);
return;
}
if (argc == 0) {
disp_axis();
disp_light();
disp_gimbal();
disp_sound();
disp_hid();
return;
}
const char *choices[] = {"axis", "light", "gimbal", "sound", "hid"};
switch (cli_match_prefix(choices, count_of(choices), argv[0])) {
case 0:
disp_axis();
break;
case 1:
disp_light();
break;
case 2:
disp_gimbal();
break;
case 3:
disp_sound();
break;
case 4:
disp_hid();
break;
default:
printf(usage);
break;
}
}
static int fps[2];
void fps_count(int core)
{
static uint32_t last[2] = {0};
static int counter[2] = {0};
counter[core]++;
uint32_t now = time_us_32();
if (now - last[core] < 1000000) {
return;
}
last[core] = now;
fps[core] = counter[core];
counter[core] = 0;
}
static void handle_level(int argc, char *argv[])
{
const char *usage = "Usage: level <0..255>\n";
if (argc != 1) {
printf(usage);
return;
}
int level = cli_extract_non_neg_int(argv[0], 0);
if ((level < 0) || (level > 255)) {
printf(usage);
return;
}
geki_cfg->light.level = level;
config_changed();
disp_light();
}
static void handle_hid(int argc, char *argv[])
{
const char *usage = "Usage: hid <joy|nkro|both>\n";
if (argc != 1) {
printf(usage);
return;
}
const char *choices[] = {"joy", "nkro", "both"};
int match = cli_match_prefix(choices, 3, argv[0]);
if (match < 0) {
printf(usage);
return;
}
geki_cfg->hid.joy = ((match == 0) || (match == 2)) ? 1 : 0;
geki_cfg->hid.nkro = ((match == 1) || (match == 2)) ? 1 : 0;
config_changed();
disp_hid();
}
static void calibrate_range(uint32_t seconds)
{
uint32_t mins = 2048;
uint32_t maxs = 2048;
uint64_t start = time_us_64();
while (time_us_64() - start < seconds * 1000000) {
uint16_t val = gimbal_raw();
printf("%4d\n", val);
if (val < mins) {
mins -= (mins - val) / 2;
} else if (val > maxs) {
maxs += (val - maxs) / 2;
}
sleep_ms(7);
}
geki_cfg->gimbal.min = mins;
geki_cfg->gimbal.max = maxs;
}
static void gimbal_calibrate()
{
printf("Slowly move the stick in full range.\n");
printf("Now calibrating ...");
fflush(stdout);
calibrate_range(5);
printf(" done.\n");
}
static void gimbal_invert(const char *param)
{
const char *usage = "Usage: gimbal invert <on|off>\n";
int invert = cli_match_prefix((const char *[]){"off", "on"}, 2, param);
if (invert < 0) {
printf(usage);
return;
}
printf("param:%s, invert:%d\n", param, invert);
geki_cfg->gimbal.invert = invert;
}
static void gimbal_analog(const char *param)
{
const char *usage = "Usage: gimbal analog <on|off>\n";
int analog = cli_match_prefix((const char *[]){"off", "on"}, 2, param);
if (analog < 0) {
printf(usage);
return;
}
geki_cfg->gimbal.analog = analog;
}
static void handle_gimbal(int argc, char *argv[])
{
const char *usage = "Usage: gimbal calibrate\n"
" gimbal invert <on|off>\n"
" gimbal analog <on|off>\n";
if (argc == 1) {
if (strncasecmp(argv[0], "calibrate", strlen(argv[0])) != 0) {
printf(usage);
return;
}
gimbal_calibrate();
} else if (argc == 2) {
int op = cli_match_prefix((const char *[]){"invert", "analog"}, 2, argv[0]);
if (op == 0) {
gimbal_invert(argv[1]);
} else if (op == 1) {
gimbal_analog(argv[1]);
} else {
printf(usage);
return;
}
} else {
printf(usage);
return;
}
config_changed();
disp_gimbal();
}
static bool extract_color(rgb_hsv_t *color, char *argv[4])
{
int rgb_hsv = cli_match_prefix((const char *[]){"rgb", "hsv"}, 2, argv[0]);
if (rgb_hsv < 0) {
return false;
}
color->rgb_hsv = rgb_hsv;
for (int i = 0; i < 3; i++) {
int v = cli_extract_non_neg_int(argv[1 + i], 0);
if ((v < 0) || (v > 255)) {
return false;
}
color->val[i] = v;
}
return true;
}
static void handle_color(int argc, char *argv[])
{
const char *usage = "Usage: color <name> [left|right] <rgb|hsv> <0..255> <0..255> <0..255>\n"
" name: base0 base1 button boost steer aux_on aux_off\n";
if ((argc != 5) && (argc != 6)) {
printf(usage);
return;
}
rgb_hsv_t *names[] = {
&geki_cfg->light.aux_on,
&geki_cfg->light.aux_off,
geki_cfg->light.base[0],
geki_cfg->light.base[1],
geki_cfg->light.button,
geki_cfg->light.boost,
geki_cfg->light.steer,
};
const char *choices[] = {"aux_on", "aux_off", "base0", "base1", "button", "boost", "steer"};
static_assert(count_of(choices) == count_of(names));
int name = cli_match_prefix(choices, count_of(choices), argv[0]);
if (name < 0) {
printf(usage);
return;
}
bool left = true;
bool right = true;
if (argc == 6) {
int left_right = cli_match_prefix((const char *[]){"left", "right"}, 2, argv[1]);
if (left_right < 0) {
printf(usage);
return;
}
left = (left_right == 0);
right = (left_right == 1);
}
rgb_hsv_t color;
if (!extract_color(&color, argv + argc - 4)) {
printf(usage);
return;
}
rgb_hsv_t *target = names[name];
if (left) {
target[0] = color;
}
if ((name >= 2) && right) {
target[1] = color;
}
config_changed();
disp_light();
}
static void handle_sound(int argc, char *argv[])
{
const char *usage = "Usage: sound <on|off>\n";
if (argc != 1) {
printf(usage);
return;
}
int on_off = cli_match_prefix((const char *[]){"off", "on"}, 2, argv[0]);
if (on_off < 0) {
printf(usage);
return;
}
geki_cfg->sound.enabled = on_off;
config_changed();
disp_sound();
}
static void handle_save()
{
save_request(true);
}
static void handle_factory_reset()
{
config_factory_reset();
printf("Factory reset done.\n");
}
void commands_init()
{
cli_register("display", handle_display, "Display all config.");
cli_register("level", handle_level, "Set LED brightness level.");
cli_register("color", handle_color, "Set LED color.");
cli_register("hid", handle_hid, "Set HID mode.");
cli_register("gimbal", handle_gimbal, "Calibrate the gimbals.");
cli_register("sound", handle_sound, "Enable/disable sound.");
cli_register("save", handle_save, "Save config to flash.");
cli_register("factory", handle_factory_reset, "Reset everything to default.");
}

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/*
* Geki Controller Command Line Commands
* WHowe <github.com/whowechina>
*/
#ifndef COMMANDS_H
#define COMMANDS_H
void commands_init();
#endif

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/*
* Controller Config and Runtime Data
* WHowe <github.com/whowechina>
*
* Config is a global data structure that stores all the configuration
* Runtime is something to share between files.
*/
#include "config.h"
#include "save.h"
geki_cfg_t *geki_cfg;
static geki_cfg_t default_cfg = {
.gimbal = {
2000, 2500, 0, 80, 1,
},
.light = {
.level = 128,
.base = {
{
{ 1, { 20, 150, 10 }, },
{ 1, { 147, 150, 10 }, },
},
{
{ 1, { 20, 150, 30 }, },
{ 1, { 147, 150, 30 }, },
},
},
.button = {
{ 1, { 0, 0, 120 } },
{ 1, { 0, 0, 120 } },
},
.boost = {
{ 1, { 20, 255, 255 } },
{ 1, { 147, 255, 255 } },
},
.steer = {
{ 1, { 80, 255, 255 } },
{ 1, { 80, 255, 255 } },
},
.aux_on = { 0, { 100, 100, 100 } },
.aux_off = { 0, { 8, 8, 8 } },
.reserved = { 0 },
},
.sound = {
.enabled = true,
.reserved = { 0 },
},
.hid = {
.joy = 1,
.nkro = 0,
},
};
geki_runtime_t *geki_runtime;
static void config_loaded()
{
}
void config_changed()
{
save_request(false);
}
void config_factory_reset()
{
*geki_cfg = default_cfg;
save_request(true);
}
void config_init()
{
geki_cfg = (geki_cfg_t *)save_alloc(sizeof(*geki_cfg), &default_cfg, config_loaded);
}

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/*
* Controller Config
* WHowe <github.com/whowechina>
*/
#ifndef CONFIG_H
#define CONFIG_H
#include <stdint.h>
#include <stdbool.h>
typedef struct {
uint8_t rgb_hsv; // 0: RGB, 1: HSV
uint8_t val[3]; // RGB or HSV
} rgb_hsv_t;
typedef struct __attribute__((packed)) {
struct {
uint16_t min;
uint16_t max;
uint8_t invert:1;
uint8_t threshold:7;
uint8_t analog:1;
} gimbal;
struct {
rgb_hsv_t base[2][2];
rgb_hsv_t button[2];
rgb_hsv_t boost[2];
rgb_hsv_t steer[2];
rgb_hsv_t aux_on;
rgb_hsv_t aux_off;
uint8_t level;
uint8_t reserved[15];
} light;
struct {
bool enabled;
uint8_t reserved[3];
} sound;
struct {
uint8_t joy : 4;
uint8_t nkro : 4;
} hid;
} geki_cfg_t;
typedef struct {
uint16_t fps[2];
} geki_runtime_t;
extern geki_cfg_t *geki_cfg;
extern geki_runtime_t *geki_runtime;
void config_init();
void config_changed(); // Notify the config has changed
void config_factory_reset(); // Reset the config to factory default
#endif

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/*
* Left and Right Gimbal Inputs
* WHowe <github.com/whowechina>
*
*/
#include "gimbal.h"
#include <stdint.h>
#include <stdio.h>
#include <stdbool.h>
#include <math.h>
#include "pico/stdio.h"
#include "pico/stdlib.h"
#include "hardware/gpio.h"
#include "hardware/adc.h"
#include "config.h"
#include "board_defs.h"
void gimbal_init()
{
gpio_init(AXIS_MUX_PIN_A);
gpio_set_dir(AXIS_MUX_PIN_A, GPIO_OUT);
gpio_init(AXIS_MUX_PIN_B);
gpio_set_dir(AXIS_MUX_PIN_B, GPIO_OUT);
adc_init();
adc_gpio_init(26 + ADC_CHANNEL);
adc_select_input(ADC_CHANNEL);
}
uint8_t gimbal_read()
{
uint16_t val = gimbal_average();
const uint16_t min = geki_cfg->gimbal.min;
const uint16_t max = geki_cfg->gimbal.max;
if (val < min) {
val = min;
} else if (val > max) {
val = max;
}
uint16_t range = max - min;
if (!range) {
range = 100;
}
uint8_t result = (val - min) * 255 / range;
if (geki_cfg->gimbal.invert) {
result = 255 - result;
}
return result;
}
uint16_t gimbal_raw()
{
static uint16_t last_read = 2048;
const uint16_t rate_limit = 5;
uint16_t val = adc_read();
if (val > last_read + rate_limit) {
last_read += rate_limit;
} else if (val < last_read - rate_limit) {
last_read -= rate_limit;
} else {
last_read = val;
}
return last_read;
}
#define GIMBAL_AVERAGE_COUNT 32
uint16_t gimbal_average()
{
static uint16_t buf[GIMBAL_AVERAGE_COUNT] = {0};
static int index = 0;
index = (index + 1) % GIMBAL_AVERAGE_COUNT;
buf[index] = gimbal_raw();
uint32_t sum = 0;
for (int i = 0; i < GIMBAL_AVERAGE_COUNT; i++) {
sum += buf[i];
}
return sum / GIMBAL_AVERAGE_COUNT;
}

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/*
* Left and Right Gimbal Inputs
* WHowe <github.com/whowechina>
*/
#ifndef GIMBAL_H
#define GIMBAL_H
#include <stdint.h>
#include <stdbool.h>
void gimbal_init();
uint8_t gimbal_read();
uint16_t gimbal_raw();
uint16_t gimbal_average();
#endif

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/*
* WS2812B Lights Control (Base + Left and Right Gimbals)
* WHowe <github.com/whowechina>
*
*/
#include "light.h"
#include <stdio.h>
#include <string.h>
#include <stdint.h>
#include <stdbool.h>
#include "bsp/board.h"
#include "hardware/pio.h"
#include "hardware/timer.h"
#include "ws2812.pio.h"
#include "board_defs.h"
#include "config.h"
static uint32_t buf_rgb[37]; // left 3 + right 3 + button 4 * 7 + indicator 5
static bool bind[37] = { 0 };
#define _MAP_LED(x) _MAKE_MAPPER(x)
#define _MAKE_MAPPER(x) MAP_LED_##x
#define MAP_LED_RGB { c1 = r; c2 = g; c3 = b; }
#define MAP_LED_GRB { c1 = g; c2 = r; c3 = b; }
#define REMAP_BUTTON_RGB _MAP_LED(BUTTON_RGB_ORDER)
#define REMAP_TT_RGB _MAP_LED(TT_RGB_ORDER)
static inline uint32_t _rgb32(uint32_t c1, uint32_t c2, uint32_t c3, bool gamma_fix)
{
if (gamma_fix) {
c1 = ((c1 + 1) * (c1 + 1) - 1) >> 8;
c2 = ((c2 + 1) * (c2 + 1) - 1) >> 8;
c3 = ((c3 + 1) * (c3 + 1) - 1) >> 8;
}
return (c1 << 16) | (c2 << 8) | (c3 << 0);
}
uint32_t rgb32(uint32_t r, uint32_t g, uint32_t b, bool gamma_fix)
{
#if BUTTON_RGB_ORDER == GRB
return _rgb32(g, r, b, gamma_fix);
#else
return _rgb32(r, g, b, gamma_fix);
#endif
}
uint32_t rgb32_from_hsv(uint8_t h, uint8_t s, uint8_t v)
{
uint32_t region, remainder, p, q, t;
if (s == 0) {
return v << 16 | v << 8 | v;
}
region = h / 43;
remainder = (h % 43) * 6;
p = (v * (255 - s)) >> 8;
q = (v * (255 - ((s * remainder) >> 8))) >> 8;
t = (v * (255 - ((s * (255 - remainder)) >> 8))) >> 8;
switch (region) {
case 0:
return v << 16 | t << 8 | p;
case 1:
return q << 16 | v << 8 | p;
case 2:
return p << 16 | v << 8 | t;
case 3:
return p << 16 | q << 8 | v;
case 4:
return t << 16 | p << 8 | v;
default:
return v << 16 | p << 8 | q;
}
}
uint32_t load_color(const rgb_hsv_t *color)
{
if (color->rgb_hsv == 0) {
return rgb32(color->val[0], color->val[1], color->val[2], false);
} else {
return rgb32_from_hsv(color->val[0], color->val[1], color->val[2]);
}
}
static void drive_led()
{
for (int i = 0; i < count_of(buf_rgb); i++) { \
pio_sm_put_blocking(pio0, 0, buf_rgb[i] << 8u); \
}
}
static inline uint32_t apply_level(uint32_t color)
{
unsigned r = (color >> 16) & 0xff;
unsigned g = (color >> 8) & 0xff;
unsigned b = color & 0xff;
r = r * geki_cfg->light.level / 255;
g = g * geki_cfg->light.level / 255;
b = b * geki_cfg->light.level / 255;
return r << 16 | g << 8 | b;
}
void light_init()
{
uint offset = pio_add_program(pio0, &ws2812_program);
ws2812_program_init(pio0, 0, offset, RGB_PIN, 800000, false);
}
static void light_effect()
{
static uint32_t loop = 0;
loop++;
for (int i = 0; i < count_of(buf_rgb); i++) {
uint32_t hue = (loop + i * 255 / count_of(buf_rgb)) % 255;
if (!bind[i]) {
buf_rgb[i] = rgb32_from_hsv(hue, 255, 255);
}
}
}
void light_update()
{
static uint64_t last = 0;
uint64_t now = time_us_64();
if (now - last < 5000) { // 200Hz
return;
}
last = now;
light_effect();
drive_led();
}
void light_set(uint8_t index, uint32_t color)
{
if (index >= count_of(buf_rgb)) {
return;
}
buf_rgb[index] = apply_level(color);
bind[index] = true;
}
void light_unset(uint8_t index)
{
if (index >= count_of(buf_rgb)) {
return;
}
bind[index] = false;
}

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/*
* WS2812B Lights Control (Base + Left and Right Gimbals)
* WHowe <github.com/whowechina>
*/
#ifndef LIGHT_H
#define LIGHT_H
#include <stdlib.h>
#include <stdint.h>
#include <stdbool.h>
#include "config.h"
void light_init();
void light_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);
uint32_t load_color(const rgb_hsv_t *color);
void light_set(uint8_t index, uint32_t color);
void light_unset(uint8_t index);
#endif

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/*
* Controller Main
* WHowe <github.com/whowechina>
*/
#include <stdlib.h>
#include <stdint.h>
#include <stdbool.h>
#include "pico/stdio.h"
#include "pico/stdlib.h"
#include "bsp/board.h"
#include "pico/multicore.h"
#include "pico/bootrom.h"
#include "hardware/gpio.h"
#include "hardware/sync.h"
#include "hardware/structs/ioqspi.h"
#include "hardware/structs/sio.h"
#include "tusb.h"
#include "usb_descriptors.h"
#include "board_defs.h"
#include "save.h"
#include "config.h"
#include "cli.h"
#include "commands.h"
#include "light.h"
#include "button.h"
#include "gimbal.h"
#include "wad.h"
#include "sound.h"
struct __attribute__((packed)) {
uint16_t buttons;
uint8_t HAT;
uint8_t lx;
uint8_t ly;
uint8_t rx;
uint8_t ry;
uint8_t vendor;
} hid_joy;
struct __attribute__((packed)) {
uint8_t modifier;
uint8_t keymap[15];
} hid_nkro, sent_hid_nkro;
void report_usb_hid()
{
if (tud_hid_ready()) {
hid_joy.HAT = 0x08;
hid_joy.vendor = 0;
if (geki_cfg->hid.joy) {
tud_hid_n_report(0x00, 0, &hid_joy, sizeof(hid_joy));
}
if (geki_cfg->hid.nkro &&
(memcmp(&hid_nkro, &sent_hid_nkro, sizeof(hid_nkro)) != 0)) {
sent_hid_nkro = hid_nkro;
tud_hid_n_report(0x02, 0, &sent_hid_nkro, sizeof(sent_hid_nkro));
}
}
}
#define SWITCH_BIT_Y (1U << 0)
#define SWITCH_BIT_B (1U << 1)
#define SWITCH_BIT_A (1U << 2)
#define SWITCH_BIT_X (1U << 3)
#define SWITCH_BIT_L (1U << 4)
#define SWITCH_BIT_R (1U << 5)
#define SWITCH_BIT_ZL (1U << 6)
#define SWITCH_BIT_ZR (1U << 7)
#define SWITCH_BIT_MINUS (1U << 8)
#define SWITCH_BIT_PLUS (1U << 9)
#define SWITCH_BIT_L3 (1U << 10)
#define SWITCH_BIT_R3 (1U << 11)
#define SWITCH_BIT_HOME (1U << 12)
static void gen_joy_report()
{
hid_joy.lx = gimbal_read();
uint16_t button = button_read();
hid_joy.buttons = 0;
hid_joy.buttons |= (button & 0x01) ? SWITCH_BIT_L : 0;
hid_joy.buttons |= (button & 0x02) ? SWITCH_BIT_R : 0;
if (button & 0x08) {
hid_joy.buttons |= (button & 0x04) ? SWITCH_BIT_MINUS : 0;
hid_joy.buttons |= (button & 0x10) ? SWITCH_BIT_PLUS : 0;
} else {
hid_joy.buttons |= (button & 0x04) ? SWITCH_BIT_B : 0;
hid_joy.buttons |= (button & 0x10) ? SWITCH_BIT_A : 0;
}
}
const uint8_t keycode_table[128][2] = { HID_ASCII_TO_KEYCODE };
const uint8_t keymap[38 + 1] = NKRO_KEYMAP; // 32 keys, 6 air keys, 1 terminator
static void gen_nkro_report()
{
for (int i = 0; i < 6; i++) {
uint8_t code = keycode_table[keymap[32 + i]][1];
uint8_t byte = code / 8;
uint8_t bit = code % 8;
if (hid_joy.buttons & (1 << i)) {
hid_nkro.keymap[byte] |= (1 << bit);
} else {
hid_nkro.keymap[byte] &= ~(1 << bit);
}
}
}
static uint64_t last_hid_time = 0;
static void run_lights()
{
int gimbal = gimbal_read();
gimbal = gimbal * 5 / 256;
for (int i = 0; i < 5; i++) {
light_set(16 + i, (i == gimbal) ? 0x00ff00 : 0);
}
uint32_t colors[6] = {0x400000, 0x004000, 0x000040,
0x400000, 0x004000, 0x000040 };
uint16_t button = button_read();
for (int i = 0; i < 6; i++) {
uint32_t color = colors[i];
if (button & (1 << i)) {
color = 0x808080;
}
int index = 4 + i * 4 + (i > 2 ? 5 : 0);
light_set(index, color);
light_set(index + 1, color);
light_set(index + 2, color);
light_set(index + 3, color);
}
if (button & 0x40) {
light_set(0, 0x808080);
} else {
light_set(0, 0);
}
if (button & 0x80) {
light_set(36, 0x808080);
} else {
light_set(36, 0);
}
if (wad_read_left()) {
light_set(1, 0x804000);
light_set(2, 0x804000);
light_set(3, 0x804000);
} else {
light_set(1, 0);
light_set(2, 0);
light_set(3, 0);
}
if (wad_read_right()) {
light_set(33, 0x004080);
light_set(34, 0x004080);
light_set(35, 0x004080);
} else {
light_set(33, 0);
light_set(34, 0);
light_set(35, 0);
}
}
static void run_sound()
{
sound_set(0, wad_read_left());
sound_set(1, wad_read_right());
}
static mutex_t core1_io_lock;
static void core1_loop()
{
while (1) {
if (mutex_try_enter(&core1_io_lock, NULL)) {
run_lights();
run_sound();
light_update();
mutex_exit(&core1_io_lock);
}
cli_fps_count(1);
sleep_us(700);
}
}
static void core0_loop()
{
while(1) {
tud_task();
cli_run();
save_loop();
cli_fps_count(0);
button_update();
wad_update();
gen_joy_report();
gen_nkro_report();
report_usb_hid();
sleep_us(900);
}
}
/* if certain key pressed when booting, enter update mode */
static void update_check()
{
const uint8_t pins[] = BUTTON_DEF; // keypad 00 and *
bool all_pressed = true;
for (int i = 0; i < 2; i++) {
uint8_t gpio = pins[sizeof(pins) - 2 + i];
gpio_init(gpio);
gpio_set_function(gpio, GPIO_FUNC_SIO);
gpio_set_dir(gpio, GPIO_IN);
gpio_pull_up(gpio);
sleep_ms(1);
if (gpio_get(gpio)) {
all_pressed = false;
break;
}
}
if (all_pressed) {
sleep_ms(100);
reset_usb_boot(0, 2);
return;
}
}
void init()
{
sleep_ms(50);
board_init();
update_check();
tusb_init();
stdio_init_all();
config_init();
mutex_init(&core1_io_lock);
save_init(0xca44caac, &core1_io_lock);
light_init();
button_init();
gimbal_init();
wad_init();
sound_init();
cli_init("geki_pico>", "\n << Geki Pico Controller >>\n"
" https://github.com/whowechina\n\n");
commands_init();
}
int main(void)
{
init();
multicore_launch_core1(core1_loop);
core0_loop();
return 0;
}
struct __attribute__((packed)) {
uint16_t buttons;
uint8_t HAT;
uint32_t axis;
} hid_joy_out = {0};
// Invoked when received GET_REPORT control request
// Application must fill buffer report's content and return its length.
// Return zero will cause the stack to STALL request
uint16_t tud_hid_get_report_cb(uint8_t itf, uint8_t report_id,
hid_report_type_t report_type, uint8_t *buffer,
uint16_t reqlen)
{
printf("Get from USB %d-%d\n", report_id, report_type);
return 0;
}
// Invoked when received SET_REPORT control request or
// received data on OUT endpoint ( Report ID = 0, Type = 0 )
void tud_hid_set_report_cb(uint8_t itf, uint8_t report_id,
hid_report_type_t report_type, uint8_t const *buffer,
uint16_t bufsize)
{
if (report_type == HID_REPORT_TYPE_OUTPUT) {
last_hid_time = time_us_64();
return;
}
}

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/*
* Controller Config Save and Load
* WHowe <github.com/whowechina>
*
* Config is stored in last sector of flash
*/
#include "save.h"
#include <stdint.h>
#include <stdlib.h>
#include <stdio.h>
#include <stdbool.h>
#include <memory.h>
#include "pico/bootrom.h"
#include "pico/stdio.h"
#include "hardware/flash.h"
#include "pico/multicore.h"
#include "pico/unique_id.h"
static struct {
size_t size;
size_t offset;
void (*after_load)();
} modules[8] = {0};
static int module_num = 0;
static uint32_t my_magic = 0xcafec00e;
#define SAVE_TIMEOUT_US 5000000
#define SAVE_SECTOR_OFFSET (PICO_FLASH_SIZE_BYTES - FLASH_SECTOR_SIZE)
typedef struct __attribute ((packed)) {
uint32_t magic;
uint8_t data[FLASH_PAGE_SIZE - 4];
} page_t;
static page_t old_data = {0};
static page_t new_data = {0};
static page_t default_data = {0};
static int data_page = -1;
static bool requesting_save = false;
static uint64_t requesting_time = 0;
static mutex_t *io_lock;
static void save_program()
{
old_data = new_data;
data_page = (data_page + 1) % (FLASH_SECTOR_SIZE / FLASH_PAGE_SIZE);
printf("\nProgram Flash %d %8lx\n", data_page, old_data.magic);
if (mutex_enter_timeout_us(io_lock, 100000)) {
sleep_ms(10); /* wait for all io operations to finish */
uint32_t ints = save_and_disable_interrupts();
if (data_page == 0) {
flash_range_erase(SAVE_SECTOR_OFFSET, FLASH_SECTOR_SIZE);
}
flash_range_program(SAVE_SECTOR_OFFSET + data_page * FLASH_PAGE_SIZE,
(uint8_t *)&old_data, FLASH_PAGE_SIZE);
restore_interrupts(ints);
mutex_exit(io_lock);
} else {
printf("Program Flash Failed.\n");
}
}
static void load_default()
{
printf("Load Default\n");
new_data = default_data;
new_data.magic = my_magic;
}
static const page_t *get_page(int id)
{
int addr = XIP_BASE + SAVE_SECTOR_OFFSET;
return (page_t *)(addr + FLASH_PAGE_SIZE * id);
}
static void save_load()
{
for (int i = 0; i < FLASH_SECTOR_SIZE / FLASH_PAGE_SIZE; i++) {
if (get_page(i)->magic != my_magic) {
break;
}
data_page = i;
}
if (data_page < 0) {
load_default();
save_request(false);
return;
}
old_data = *get_page(data_page);
new_data = old_data;
printf("Page Loaded %d %8lx\n", data_page, new_data.magic);
}
static void save_loaded()
{
for (int i = 0; i < module_num; i++) {
modules[i].after_load();
}
}
static union __attribute__((packed)) {
pico_unique_board_id_t id;
struct {
uint32_t id32h;
uint32_t id32l;
};
uint64_t id64;
} board_id;
uint32_t board_id_32()
{
pico_get_unique_board_id(&board_id.id);
return board_id.id32h ^ board_id.id32l;
}
uint64_t board_id_64()
{
pico_get_unique_board_id(&board_id.id);
return board_id.id64;
}
void save_init(uint32_t magic, mutex_t *locker)
{
my_magic = magic;
io_lock = locker;
save_load();
save_loop();
save_loaded();
}
void save_loop()
{
if (requesting_save && (time_us_64() - requesting_time > SAVE_TIMEOUT_US)) {
requesting_save = false;
/* only when data is actually changed */
if (memcmp(&old_data, &new_data, sizeof(old_data)) == 0) {
return;
}
save_program();
}
}
void *save_alloc(size_t size, void *def, void (*after_load)())
{
modules[module_num].size = size;
size_t offset = module_num > 0 ? modules[module_num - 1].offset + size : 0;
modules[module_num].offset = offset;
modules[module_num].after_load = after_load;
module_num++;
memcpy(default_data.data + offset, def, size); // backup the default
return new_data.data + offset;
}
void save_request(bool immediately)
{
if (!requesting_save) {
printf("Save requested.\n");
requesting_save = true;
new_data.magic = my_magic;
requesting_time = time_us_64();
}
if (immediately) {
requesting_time = 0;
save_loop();
}
}

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/*
* Controller Flash Save and Load
* WHowe <github.com/whowechina>
*/
#ifndef SAVE_H
#define SAVE_H
#include <stdlib.h>
#include <stdint.h>
#include <stdbool.h>
#include "pico/multicore.h"
uint32_t board_id_32();
uint64_t board_id_64();
/* It's safer to lock other I/O ops during saving, so we need a locker */
typedef void (*io_locker_func)(bool pause);
void save_init(uint32_t magic, mutex_t *lock);
void save_loop();
void *save_alloc(size_t size, void *def, void (*after_load)());
void save_request(bool immediately);
#endif

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/*
* Sound Feedback
* WHowe <github.com/whowechina>
*
*/
#include "sound.h"
#include <stdint.h>
#include <stdbool.h>
#include "hardware/gpio.h"
#include "config.h"
#include "board_defs.h"
static const uint8_t sound_gpio[2] = SOUND_DEF;
void sound_init()
{
for (int i = 0; i < 2; i++)
{
uint8_t gpio = sound_gpio[i];
gpio_init(gpio);
gpio_set_dir(gpio, GPIO_OUT);
gpio_put(gpio, false);
}
}
void sound_set(int id, bool on)
{
if (!geki_cfg->sound.enabled) {
gpio_put(sound_gpio[id], false);
return;
}
if (id >= 2) {
return;
}
gpio_put(sound_gpio[id], on);
}

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/*
* Sound Feedback
* WHowe <github.com/whowechina>
*/
#ifndef SOUND_H
#define SOUND_H
#include <stdint.h>
#include <stdbool.h>
#include "hardware/flash.h"
void sound_init();
void sound_set(int id, bool on);
#endif

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/*
* The MIT License (MIT)
*
* Copyright (c) 2019 Ha Thach (tinyusb.org)
*
* Permission is hereby granted, free of charge, to any person obtaining a copy
* of this software and associated documentation files (the "Software"), to deal
* in the Software without restriction, including without limitation the rights
* to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
* copies of the Software, and to permit persons to whom the Software is
* furnished to do so, subject to the following conditions:
*
* The above copyright notice and this permission notice shall be included in
* all copies or substantial portions of the Software.
*
* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
* IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
* FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
* AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
* LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
* OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
* THE SOFTWARE.
*
*/
#ifndef _TUSB_CONFIG_H_
#define _TUSB_CONFIG_H_
#ifdef __cplusplus
extern "C" {
#endif
//--------------------------------------------------------------------
// COMMON CONFIGURATION
//--------------------------------------------------------------------
// defined by board.mk
#ifndef CFG_TUSB_MCU
#error CFG_TUSB_MCU must be defined
#endif
// RHPort number used for device can be defined by board.mk, default to port 0
#ifndef BOARD_DEVICE_RHPORT_NUM
#define BOARD_DEVICE_RHPORT_NUM 0
#endif
// RHPort max operational speed can defined by board.mk
// Default to Highspeed for MCU with internal HighSpeed PHY (can be port
// specific), otherwise FullSpeed
#ifndef BOARD_DEVICE_RHPORT_SPEED
#if (CFG_TUSB_MCU == OPT_MCU_LPC18XX || CFG_TUSB_MCU == OPT_MCU_LPC43XX || \
CFG_TUSB_MCU == OPT_MCU_MIMXRT10XX || CFG_TUSB_MCU == OPT_MCU_NUC505 || \
CFG_TUSB_MCU == OPT_MCU_CXD56)
#define BOARD_DEVICE_RHPORT_SPEED OPT_MODE_HIGH_SPEED
#else
#define BOARD_DEVICE_RHPORT_SPEED OPT_MODE_FULL_SPEED
#endif
#endif
// Device mode with rhport and speed defined by board.mk
#if BOARD_DEVICE_RHPORT_NUM == 0
#define CFG_TUSB_RHPORT0_MODE (OPT_MODE_DEVICE | BOARD_DEVICE_RHPORT_SPEED)
#elif BOARD_DEVICE_RHPORT_NUM == 1
#define CFG_TUSB_RHPORT1_MODE (OPT_MODE_DEVICE | BOARD_DEVICE_RHPORT_SPEED)
#else
#error "Incorrect RHPort configuration"
#endif
#ifndef CFG_TUSB_OS
#define CFG_TUSB_OS OPT_OS_NONE
#endif
// CFG_TUSB_DEBUG is defined by compiler in DEBUG build
// #define CFG_TUSB_DEBUG 0
/* USB DMA on some MCUs can only access a specific SRAM region with restriction
* on alignment. Tinyusb use follows macros to declare transferring memory so
* that they can be put into those specific section. e.g
* - CFG_TUSB_MEM SECTION : __attribute__ (( section(".usb_ram") ))
* - CFG_TUSB_MEM_ALIGN : __attribute__ ((aligned(4)))
*/
#ifndef CFG_TUSB_MEM_SECTION
#define CFG_TUSB_MEM_SECTION
#endif
#ifndef CFG_TUSB_MEM_ALIGN
#define CFG_TUSB_MEM_ALIGN __attribute__((aligned(4)))
#endif
//--------------------------------------------------------------------
// DEVICE CONFIGURATION
//--------------------------------------------------------------------
#ifndef CFG_TUD_ENDPOINT0_SIZE
#define CFG_TUD_ENDPOINT0_SIZE 64
#endif
//------------- CLASS -------------//
#define CFG_TUD_HID 3
#define CFG_TUD_CDC 1
#define CFG_TUD_MSC 0
#define CFG_TUD_MIDI 0
#define CFG_TUD_VENDOR 0
// HID buffer size Should be sufficient to hold ID (if any) + Data
#define CFG_TUD_HID_EP_BUFSIZE 64
#define CFG_TUD_VENDOR 0
// HID buffer size Should be sufficient to hold ID (if any) + Data
#define CFG_TUD_HID_EP_BUFSIZE 64
// CDC FIFO size of TX and RX
#define CFG_TUD_CDC_RX_BUFSIZE (TUD_OPT_HIGH_SPEED ? 512 : 128)
#define CFG_TUD_CDC_TX_BUFSIZE (TUD_OPT_HIGH_SPEED ? 512 : 128)
// CDC Endpoint transfer buffer size, more is faster
#define CFG_TUD_CDC_EP_BUFSIZE (TUD_OPT_HIGH_SPEED ? 512 : 128)
#ifdef __cplusplus
}
#endif
#endif /* _TUSB_CONFIG_H_ */

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/*
* The MIT License (MIT)
*
* Copyright (c) 2019 Ha Thach (tinyusb.org)
*
* Permission is hereby granted, free of charge, to any person obtaining a copy
* of this software and associated documentation files (the "Software"), to deal
* in the Software without restriction, including without limitation the rights
* to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
* copies of the Software, and to permit persons to whom the Software is
* furnished to do so, subject to the following conditions:
*
* The above copyright notice and this permission notice shall be included in
* all copies or substantial portions of the Software.
*
* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
* IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
* FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
* AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
* LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
* OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
* THE SOFTWARE.
*
*/
#include "usb_descriptors.h"
#include "tusb.h"
/* A combination of interfaces must have a unique product id, since PC will save
* device driver after the first plug. Same VID/PID with different interface e.g
* MSC (first), then CDC (later) will possibly cause system error on PC.
*
* Auto ProductID layout's Bitmap:
* [MSB] HID | MSC | CDC [LSB]
*/
#define _PID_MAP(itf, n) ((CFG_TUD_##itf) << (n))
#define USB_PID \
(0x4000 | _PID_MAP(CDC, 0) | _PID_MAP(MSC, 1) | _PID_MAP(HID, 2) | \
_PID_MAP(MIDI, 3) | _PID_MAP(VENDOR, 4))
//--------------------------------------------------------------------+
// Device Descriptors
//--------------------------------------------------------------------+
tusb_desc_device_t desc_device_joy = {
.bLength = sizeof(tusb_desc_device_t),
.bDescriptorType = TUSB_DESC_DEVICE,
.bcdUSB = 0x0200,
.bDeviceClass = 0x00,
.bDeviceSubClass = 0x00,
.bDeviceProtocol = 0x00,
.bMaxPacketSize0 = CFG_TUD_ENDPOINT0_SIZE,
.idVendor = 0x0f0d,
.idProduct = 0x0092,
.bcdDevice = 0x0100,
.iManufacturer = 1,
.iProduct = 2,
.iSerialNumber = 3,
.bNumConfigurations = 1
};
// Invoked when received GET DEVICE DESCRIPTOR
// Application return pointer to descriptor
uint8_t const* tud_descriptor_device_cb(void) {
return (uint8_t const*)&desc_device_joy;
}
//--------------------------------------------------------------------+
// HID Report Descriptor
//--------------------------------------------------------------------+
uint8_t const desc_hid_report_joy[] = {
GEKI_PICO_REPORT_DESC_JOYSTICK,
};
uint8_t const desc_hid_report_led[] = {
GEKI_PICO_LED_HEADER,
GEKI_PICO_LED_FOOTER
};
uint8_t const desc_hid_report_nkro[] = {
GEKI_PICO_REPORT_DESC_NKRO,
};
// Invoked when received GET HID REPORT DESCRIPTOR
// Application return pointer to descriptor
// Descriptor contents must exist long enough for transfer to complete
uint8_t const* tud_hid_descriptor_report_cb(uint8_t itf)
{
switch (itf) {
case 0:
return desc_hid_report_joy;
case 1:
return desc_hid_report_led;
case 2:
return desc_hid_report_nkro;
default:
return NULL;
}
}
//--------------------------------------------------------------------+
// Configuration Descriptor
//--------------------------------------------------------------------+
enum { ITF_NUM_JOY, ITF_NUM_LED, ITF_NUM_NKRO,
ITF_NUM_CLI, ITF_NUM_CLI_DATA,
ITF_NUM_TOTAL };
#define CONFIG_TOTAL_LEN (TUD_CONFIG_DESC_LEN + \
TUD_HID_INOUT_DESC_LEN * 1 + \
TUD_HID_DESC_LEN * 2 + \
TUD_CDC_DESC_LEN * 1)
#define EPNUM_JOY_OUT 0x01
#define EPNUM_JOY_IN 0x81
#define EPNUM_LED 0x86
#define EPNUM_KEY 0x87
#define EPNUM_CLI_NOTIF 0x89
#define EPNUM_CLI_OUT 0x0a
#define EPNUM_CLI_IN 0x8a
#define EPNUM_AIME_NOTIF 0x8b
#define EPNUM_AIME_OUT 0x0c
#define EPNUM_AIME_IN 0x8c
uint8_t const desc_configuration_joy[] = {
// Config number, interface count, string index, total length, attribute,
// power in mA
TUD_CONFIG_DESCRIPTOR(1, ITF_NUM_TOTAL, 0, CONFIG_TOTAL_LEN,
TUSB_DESC_CONFIG_ATT_REMOTE_WAKEUP, 200),
// Interface number, string index, protocol, report descriptor len, EP In
// address, size & polling interval
TUD_HID_INOUT_DESCRIPTOR(ITF_NUM_JOY, 4, HID_ITF_PROTOCOL_NONE,
sizeof(desc_hid_report_joy), EPNUM_JOY_OUT, EPNUM_JOY_IN,
CFG_TUD_HID_EP_BUFSIZE, 1),
TUD_HID_DESCRIPTOR(ITF_NUM_LED, 5, HID_ITF_PROTOCOL_NONE,
sizeof(desc_hid_report_led), EPNUM_LED,
CFG_TUD_HID_EP_BUFSIZE, 4),
TUD_HID_DESCRIPTOR(ITF_NUM_NKRO, 6, HID_ITF_PROTOCOL_NONE,
sizeof(desc_hid_report_nkro), EPNUM_KEY,
CFG_TUD_HID_EP_BUFSIZE, 1),
TUD_CDC_DESCRIPTOR(ITF_NUM_CLI, 7, EPNUM_CLI_NOTIF,
8, EPNUM_CLI_OUT, EPNUM_CLI_IN, 64),
};
// Invoked when received GET CONFIGURATION DESCRIPTOR
// Application return pointer to descriptor
// Descriptor contents must exist long enough for transfer to complete
uint8_t const* tud_descriptor_configuration_cb(uint8_t index) {
return desc_configuration_joy;
}
//--------------------------------------------------------------------+
// String Descriptors
//--------------------------------------------------------------------+
// array of pointer to string descriptors
const char *string_desc_arr[] = {
(const char[]){0x09, 0x04}, // 0: is supported language is English (0x0409)
"WHowe", // 1: Manufacturer
"Geki Pico Controller", // 2: Product
"123456", // 3: Serial
"Geki Pico Joystick",
"Geki Pico LED",
"Geki Pico NKRO",
"Geki Pico CLI Port",
};
// Invoked when received GET STRING DESCRIPTOR request
// Application return pointer to descriptor, whose contents must exist long
// enough for transfer to complete
uint16_t const* tud_descriptor_string_cb(uint8_t index, uint16_t langid)
{
static uint16_t _desc_str[64];
if (index == 0) {
memcpy(&_desc_str[1], string_desc_arr[0], 2);
_desc_str[0] = (TUSB_DESC_STRING << 8) | (2 + 2);
return _desc_str;
}
const size_t base_num = sizeof(string_desc_arr) / sizeof(string_desc_arr[0]);
const char *colors[] = {"Blue", "Red", "Green"};
char str[64];
if (index < base_num) {
strcpy(str, string_desc_arr[index]);
} else if (index < base_num + 48 + 45) {
const char *names[] = {"Key ", "Splitter "};
int led = index - base_num;
int id = led / 6 + 1;
int type = led / 3 % 2;
int brg = led % 3;
sprintf(str, "%s%02d %s", names[type], id, colors[brg]);
} else if (index < base_num + 48 + 45 + 18) {
int led = index - base_num - 48 - 45;
int id = led / 3 + 1;
int brg = led % 3;
sprintf(str, "Tower %02d %s", id, colors[brg]);
} else {
sprintf(str, "Unknown %d", index);
}
uint8_t chr_count = strlen(str);
if (chr_count > 63) {
chr_count = 63;
}
// Convert ASCII string into UTF-16
for (uint8_t i = 0; i < chr_count; i++) {
_desc_str[1 + i] = str[i];
}
// first byte is length (including header), second byte is string type
_desc_str[0] = (TUSB_DESC_STRING << 8) | (2 * chr_count + 2);
return _desc_str;
}

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#ifndef USB_DESCRIPTORS_H_
#define USB_DESCRIPTORS_H_
#include "common/tusb_common.h"
#include "device/usbd.h"
enum {
REPORT_ID_JOYSTICK = 1,
REPORT_ID_LED_SLIDER_16 = 4,
REPORT_ID_LED_SLIDER_15 = 5,
REPORT_ID_LED_TOWER_6 = 6,
REPORT_ID_LED_COMPRESSED = 11,
};
// because they are missing from tusb_hid.h
#define HID_STRING_INDEX(x) HID_REPORT_ITEM(x, 7, RI_TYPE_LOCAL, 1)
#define HID_STRING_INDEX_N(x, n) HID_REPORT_ITEM(x, 7, RI_TYPE_LOCAL, n)
#define HID_STRING_MINIMUM(x) HID_REPORT_ITEM(x, 8, RI_TYPE_LOCAL, 1)
#define HID_STRING_MINIMUM_N(x, n) HID_REPORT_ITEM(x, 8, RI_TYPE_LOCAL, n)
#define HID_STRING_MAXIMUM(x) HID_REPORT_ITEM(x, 9, RI_TYPE_LOCAL, 1)
#define HID_STRING_MAXIMUM_N(x, n) HID_REPORT_ITEM(x, 9, RI_TYPE_LOCAL, n)
// Joystick Report Descriptor Template - Based off Drewol/rp2040-gamecon
// Button Map | X | Y
//HID_REPORT_ID(REPORT_ID_JOYSTICK)
#define GEKI_PICO_REPORT_DESC_JOYSTICK \
HID_USAGE_PAGE(HID_USAGE_PAGE_DESKTOP), \
HID_USAGE(HID_USAGE_DESKTOP_GAMEPAD), \
HID_COLLECTION(HID_COLLECTION_APPLICATION), \
HID_LOGICAL_MIN(0), HID_LOGICAL_MAX(1), \
HID_PHYSICAL_MIN(0), HID_PHYSICAL_MAX(1), \
HID_REPORT_SIZE(1), HID_REPORT_COUNT(16), \
HID_USAGE_PAGE(HID_USAGE_PAGE_BUTTON), \
HID_USAGE_MIN(1), HID_USAGE_MAX(16), \
HID_INPUT(HID_DATA | HID_VARIABLE | HID_ABSOLUTE), \
\
HID_USAGE_PAGE(HID_USAGE_PAGE_DESKTOP), \
HID_LOGICAL_MAX(7), \
HID_PHYSICAL_MAX_N(315, 2), \
HID_REPORT_SIZE(4), HID_REPORT_COUNT(1), \
0x65, 0x14, /* Unit */ \
HID_USAGE(HID_USAGE_DESKTOP_HAT_SWITCH), \
HID_INPUT(HID_DATA | HID_VARIABLE | HID_ABSOLUTE | HID_NO_NULL_POSITION),\
0x65, 0x00, /* Unit None */ \
HID_REPORT_COUNT(1), \
HID_INPUT(HID_CONSTANT | HID_ARRAY | HID_ABSOLUTE), \
\
HID_LOGICAL_MAX_N(0xff, 2), HID_PHYSICAL_MAX_N(0xff, 2), /* Analog */ \
HID_USAGE(HID_USAGE_DESKTOP_X), HID_USAGE(HID_USAGE_DESKTOP_Y), \
HID_USAGE(HID_USAGE_DESKTOP_Z), HID_USAGE(HID_USAGE_DESKTOP_RZ), \
HID_REPORT_SIZE(8), HID_REPORT_COUNT(4), \
HID_INPUT(HID_DATA | HID_VARIABLE | HID_ABSOLUTE), \
\
HID_USAGE_PAGE_N(HID_USAGE_PAGE_VENDOR, 2), \
HID_USAGE(0x20), \
HID_REPORT_COUNT(1), \
HID_INPUT(HID_DATA | HID_VARIABLE | HID_ABSOLUTE), \
\
HID_USAGE_N(0x2621, 2), \
HID_REPORT_COUNT(8), \
HID_OUTPUT(HID_DATA | HID_VARIABLE | HID_ABSOLUTE), \
HID_COLLECTION_END
//HID_USAGE_PAGE_N(9761, 2), HID_REPORT_COUNT(8), HID_OUTPUT(2),
#define GEKI_PICO_LED_HEADER \
HID_USAGE_PAGE(HID_USAGE_PAGE_DESKTOP), HID_USAGE(0x00), \
HID_COLLECTION(HID_COLLECTION_APPLICATION), \
HID_REPORT_COUNT(1), HID_REPORT_SIZE(8), \
HID_INPUT(HID_CONSTANT | HID_VARIABLE | HID_ABSOLUTE)
#define GEKI_PICO_LED_FOOTER \
HID_COLLECTION_END
#define GEKI_PICO_REPORT_DESC_NKRO \
HID_USAGE_PAGE(HID_USAGE_PAGE_DESKTOP), \
HID_USAGE(HID_USAGE_DESKTOP_KEYBOARD), \
HID_COLLECTION(HID_COLLECTION_APPLICATION), \
/* Modifier */ \
HID_REPORT_SIZE(1), \
HID_REPORT_COUNT(8), \
HID_USAGE_PAGE(HID_USAGE_PAGE_KEYBOARD), \
HID_USAGE_MIN(224), \
HID_USAGE_MAX(231), \
HID_LOGICAL_MIN(0), \
HID_LOGICAL_MAX(1), \
HID_INPUT(HID_DATA | HID_VARIABLE | HID_ABSOLUTE), \
/* LED output that we don't care */ \
HID_REPORT_COUNT(5), \
HID_REPORT_SIZE(1), \
HID_USAGE_PAGE(HID_USAGE_PAGE_LED), \
HID_USAGE_MIN(1), \
HID_USAGE_MAX(5), \
HID_OUTPUT(HID_DATA | HID_VARIABLE | HID_ABSOLUTE), \
HID_REPORT_COUNT(1), \
HID_REPORT_SIZE(3), \
HID_OUTPUT(HID_CONSTANT), \
/* Full Keyboard Bitmap */ \
HID_REPORT_SIZE(1), \
HID_REPORT_COUNT(120), \
HID_LOGICAL_MIN(0), \
HID_LOGICAL_MAX(1), \
HID_USAGE_PAGE(HID_USAGE_PAGE_KEYBOARD), \
HID_USAGE_MIN(0), \
HID_USAGE_MAX(119), \
HID_INPUT(HID_DATA | HID_VARIABLE | HID_ABSOLUTE), \
HID_COLLECTION_END
// HID_REPORT_ID(REPORT_ID_NKRO)
#endif /* USB_DESCRIPTORS_H_ */

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/*
* VL53L0X Distance measurement sensor
* WHowe <github.com/whowechina>
*
* Most of this VL53L0X code is from https://github.com/pololu/vl53l0x-arduino
*/
#include <stdint.h>
#include <stdio.h>
#include <string.h>
#include "hardware/i2c.h"
#include "board_defs.h"
#include "vl53l0x.h"
#define VL53L0X_DEF_ADDR 0x29
#define IO_TIMEOUT_US 1000
#define TOF_WAIT_US 200000
// Decode VCSEL (vertical cavity surface emitting laser) pulse period in PCLKs
#define decodeVcselPeriod(reg_val) (((reg_val) + 1) << 1)
// Encode VCSEL pulse period register value from period in PCLKs
#define encodeVcselPeriod(period_pclks) (((period_pclks) >> 1) - 1)
// Calculate macro period in *nanoseconds* from VCSEL period in PCLKs
// PLL_period_ps = 1655; macro_period_vclks = 2304
#define calcMacroPeriod(vcsel_period_pclks) ((((uint32_t)2304 * (vcsel_period_pclks) * 1655) + 500) / 1000)
static struct {
i2c_inst_t *port;
uint8_t addr;
uint8_t stop_variable; // read by init and used when starting measurement
uint16_t range;
uint32_t timing_budget_us;
} instances[16] = { { i2c0, VL53L0X_DEF_ADDR } };
static int current_instance = 0;
#define INSTANCE_NUM (sizeof(instances) / sizeof(instances[0]))
#define I2C_PORT instances[current_instance].port
#define I2C_ADDR instances[current_instance].addr
// Write an 8-bit register
void write_reg(uint8_t reg, uint8_t value)
{
uint8_t data[2] = { reg, value };
i2c_write_blocking_until(I2C_PORT, I2C_ADDR, data, 2, false, time_us_64() + IO_TIMEOUT_US);
}
// Write a 16-bit register
void write_reg16(uint8_t reg, uint16_t value)
{
uint8_t data[3] = { reg, value >> 8, value & 0xff };
i2c_write_blocking_until(I2C_PORT, I2C_ADDR, data, 3, false, time_us_64() + IO_TIMEOUT_US);
}
static void write_reg_list(const uint16_t *list)
{
const uint16_t *regs = list + 1;
for (int i = 0; i < *list; i++) {
write_reg(regs[i] >> 8, regs[i] & 0xff);
}
}
// Read an 8-bit register
uint8_t read_reg(uint8_t reg)
{
uint8_t value;
i2c_write_blocking_until(I2C_PORT, I2C_ADDR, &reg, 1, true, time_us_64() + IO_TIMEOUT_US);
i2c_read_blocking_until(I2C_PORT, I2C_ADDR, &value, 1, false, time_us_64() + IO_TIMEOUT_US);
return value;
}
// Read a 16-bit register
uint16_t read_reg16(uint8_t reg)
{
uint8_t value[2];
i2c_write_blocking_until(I2C_PORT, I2C_ADDR, &reg, 1, true, time_us_64() + IO_TIMEOUT_US);
i2c_read_blocking_until(I2C_PORT, I2C_ADDR, value, 2, false, time_us_64() + IO_TIMEOUT_US);
return (value[0] << 8) | value[1];
}
// Write an arbitrary number of bytes from the given array to the sensor,
// starting at the given register
void write_many(uint8_t reg, const uint8_t *src, uint8_t len)
{
i2c_write_blocking_until(I2C_PORT, I2C_ADDR, &reg, 1, true, time_us_64() + IO_TIMEOUT_US);
i2c_write_blocking_until(I2C_PORT, I2C_ADDR, src, len, false, time_us_64() + IO_TIMEOUT_US);
}
// Read an arbitrary number of bytes from the sensor, starting at the given
// register, into the given array
void read_many(uint8_t reg, uint8_t *dst, uint8_t len)
{
i2c_write_blocking_until(I2C_PORT, I2C_ADDR, &reg, 1, true, time_us_64() + IO_TIMEOUT_US);
i2c_read_blocking_until(I2C_PORT, I2C_ADDR, dst, len, false, time_us_64() + IO_TIMEOUT_US * len);
}
const uint16_t reg_mode1[] = { 4, 0x8800, 0x8001, 0xff01, 0x0000 };
const uint16_t reg_mode2[] = { 3, 0x0001, 0xff00, 0x8000 };
const uint16_t reg_spad0[] = { 4, 0x8001, 0xff01, 0x0000, 0xff06 };
const uint16_t reg_spad1[] = { 5, 0xff07, 0x8101, 0x8001, 0x946b, 0x8300 };
const uint16_t reg_spad2[] = { 4, 0xff01, 0x0001, 0xff00, 0x8000 };
const uint16_t reg_spad[] = { 5, 0xff01, 0x4f00, 0x4e2c, 0xff00, 0xb6b4 };
const uint16_t reg_tuning[] = { 80,
0xff01, 0x0000, 0xff00, 0x0900, 0x1000, 0x1100, 0x2401, 0x25ff,
0x7500, 0xff01, 0x4e2c, 0x4800, 0x3020, 0xff00, 0x3009, 0x5400,
0x3104, 0x3203, 0x4083, 0x4625, 0x6000, 0x2700, 0x5006, 0x5100,
0x5296, 0x5608, 0x5730, 0x6100, 0x6200, 0x6400, 0x6500, 0x66a0,
0xff01, 0x2232, 0x4714, 0x49ff, 0x4a00, 0xff00, 0x7a0a, 0x7b00,
0x7821, 0xff01, 0x2334, 0x4200, 0x44ff, 0x4526, 0x4605, 0x4040,
0x0e06, 0x201a, 0x4340, 0xff00, 0x3403, 0x3544, 0xff01, 0x3104,
0x4b09, 0x4c05, 0x4d04, 0xff00, 0x4400, 0x4520, 0x4708, 0x4828,
0x6700, 0x7004, 0x7101, 0x72fe, 0x7600, 0x7700, 0xff01, 0x0d01,
0xff00, 0x8001, 0x01f8, 0xff01, 0x8e01, 0x0001, 0xff00, 0x8000,
};
void vl53l0x_init(unsigned index, i2c_inst_t *i2c_port, uint8_t i2c_addr)
{
if (index < INSTANCE_NUM) {
instances[index].port = i2c_port;
instances[index].addr = i2c_addr ? i2c_addr : VL53L0X_DEF_ADDR;
}
}
void vl53l0x_use(unsigned index)
{
if (index < INSTANCE_NUM) {
current_instance = index;
}
}
bool vl53l0x_is_present()
{
return read_reg(IDENTIFICATION_MODEL_ID) == 0xEE;
}
bool vl53l0x_init_tof()
{
write_reg(VHV_CONFIG_PAD_SCL_SDA__EXTSUP_HV,
read_reg(VHV_CONFIG_PAD_SCL_SDA__EXTSUP_HV) | 0x01);
write_reg_list(reg_mode1);
instances[current_instance].stop_variable = read_reg(0x91);
write_reg_list(reg_mode2);
// disable SIGNAL_RATE_MSRC (bit 1) and SIGNAL_RATE_PRE_RANGE (bit 4) limit checks
write_reg(MSRC_CONFIG_CONTROL, read_reg(MSRC_CONFIG_CONTROL) | 0x12);
// Q9.7 fixed point format (9 integer bits, 7 fractional bits)
write_reg16(FINAL_RANGE_CONFIG_MIN_COUNT_RATE_RTN_LIMIT, 32);
write_reg(SYSTEM_SEQUENCE_CONFIG, 0xFF);
uint8_t spad_count;
bool is_aperture;
if (!getSpadInfo(&spad_count, &is_aperture)) {
printf("%d\n", __LINE__);
return false;
}
// The SPAD map (RefGoodSpadMap) is read by VL53L0X_get_info_from_device() in
// the API, but the same data seems to be more easily readable from
// GLOBAL_CONFIG_SPAD_ENABLES_REF_0 through _6, so read it from there
uint8_t ref_spad_map[6];
read_many(GLOBAL_CONFIG_SPAD_ENABLES_REF_0, ref_spad_map, 6);
write_reg_list(reg_spad);
uint8_t first_spad = is_aperture ? 12 : 0; // 12 is the first aperture spad
uint8_t spads_enabled = 0;
for (int i = 0; i < 48; i++) {
if (i < first_spad || spads_enabled == spad_count) {
// This bit is lower than the first one that should be enabled, or
// (reference_spad_count) bits have already been enabled, so zero this bit
ref_spad_map[i / 8] &= ~(1 << (i % 8));
} else if (ref_spad_map[i / 8] & (1 << i % 8)) {
spads_enabled++;
}
}
write_many(GLOBAL_CONFIG_SPAD_ENABLES_REF_0, ref_spad_map, 6);
write_reg_list(reg_tuning);
write_reg(SYSTEM_INTERRUPT_CONFIG_GPIO, 0x04);
write_reg(GPIO_HV_MUX_ACTIVE_HIGH, read_reg(GPIO_HV_MUX_ACTIVE_HIGH) & ~0x10); // active low
write_reg(SYSTEM_INTERRUPT_CLEAR, 0x01);
instances[current_instance].timing_budget_us = getMeasurementTimingBudget();
write_reg(SYSTEM_SEQUENCE_CONFIG, 0xE8);
setMeasurementTimingBudget(instances[current_instance].timing_budget_us);
write_reg(SYSTEM_SEQUENCE_CONFIG, 0x01);
if (!performSingleRefCalibration(0x40)) {
printf("%d\n", __LINE__);
return false;
}
write_reg(SYSTEM_SEQUENCE_CONFIG, 0x02);
if (!performSingleRefCalibration(0x00)) {
printf("%d\n", __LINE__);
return false;
}
write_reg(SYSTEM_SEQUENCE_CONFIG, 0xE8);
return true;
}
// Get the return signal rate limit check value in MCPS
float getSignalRateLimit()
{
return (float)read_reg16(FINAL_RANGE_CONFIG_MIN_COUNT_RATE_RTN_LIMIT) / (1 << 7);
}
// Decode sequence step timeout in MCLKs from register value
// based on VL53L0X_decode_timeout()
// Note: the original function returned a uint32_t, but the return value is
// always stored in a uint16_t.
uint16_t decodeTimeout(uint16_t reg_val)
{
// format: "(LSByte * 2^MSByte) + 1"
return (uint16_t)((reg_val & 0x00FF) <<
(uint16_t)((reg_val & 0xFF00) >> 8)) + 1;
}
// Encode sequence step timeout register value from timeout in MCLKs
// based on VL53L0X_encode_timeout()
static uint16_t encodeTimeout(uint16_t timeout_mclks)
{
// format: "(LSByte * 2^MSByte) + 1"
uint32_t ls_byte = 0;
uint16_t ms_byte = 0;
if (timeout_mclks > 0) {
ls_byte = timeout_mclks - 1;
while ((ls_byte & 0xFFFFFF00) > 0) {
ls_byte >>= 1;
ms_byte++;
}
return (ms_byte << 8) | (ls_byte & 0xFF);
}
return 0;
}
// Convert sequence step timeout from MCLKs to microseconds with given VCSEL period in PCLKs
// based on VL53L0X_calc_timeout_us()
uint32_t timeoutMclksToMicroseconds(uint16_t timeout_period_mclks, uint8_t vcsel_period_pclks)
{
uint32_t macro_period_ns = calcMacroPeriod(vcsel_period_pclks);
return ((timeout_period_mclks * macro_period_ns) + 500) / 1000;
}
// Convert sequence step timeout from microseconds to MCLKs with given VCSEL period in PCLKs
// based on VL53L0X_calc_timeout_mclks()
uint32_t timeoutMicrosecondsToMclks(uint32_t timeout_period_us, uint8_t vcsel_period_pclks)
{
uint32_t macro_period_ns = calcMacroPeriod(vcsel_period_pclks);
return (((timeout_period_us * 1000) + (macro_period_ns / 2)) / macro_period_ns);
}
// Set the measurement timing budget in microseconds, which is the time allowed
// for one measurement; the ST API and this library take care of splitting the
// timing budget among the sub-steps in the ranging sequence. A longer timing
// budget allows for more accurate measurements. Increasing the budget by a
// factor of N decreases the range measurement standard deviation by a factor of
// sqrt(N). Defaults to about 33 milliseconds; the minimum is 20 ms.
// based on VL53L0X_set_measurement_timing_budget_micro_seconds()
bool setMeasurementTimingBudget(uint32_t budget_us)
{
SequenceStepEnables enables;
SequenceStepTimeouts timeouts;
uint16_t const StartOverhead = 1320; // different than the value in get_
uint16_t const EndOverhead = 960;
uint16_t const MsrcOverhead = 660;
uint16_t const TccOverhead = 590;
uint16_t const DssOverhead = 690;
uint16_t const PreRangeOverhead = 660;
uint16_t const FinalRangeOverhead = 550;
uint32_t const MinTimingBudget = 20000;
if (budget_us < MinTimingBudget) {
return false;
}
uint32_t used_budget_us = StartOverhead + EndOverhead;
getSequenceStepEnables(&enables);
getSequenceStepTimeouts(&enables, &timeouts);
if (enables.tcc) {
used_budget_us += (timeouts.msrc_dss_tcc_us + TccOverhead);
}
if (enables.dss) {
used_budget_us += 2 * (timeouts.msrc_dss_tcc_us + DssOverhead);
} else if (enables.msrc) {
used_budget_us += (timeouts.msrc_dss_tcc_us + MsrcOverhead);
}
if (enables.pre_range) {
used_budget_us += (timeouts.pre_range_us + PreRangeOverhead);
}
if (enables.final_range) {
used_budget_us += FinalRangeOverhead;
// "Note that the final range timeout is determined by the timing
// budget and the sum of all other timeouts within the sequence.
// If there is no room for the final range timeout, then an error
// will be set. Otherwise the remaining time will be applied to
// the final range."
if (used_budget_us > budget_us)
{
// "Requested timeout too big."
return false;
}
uint32_t final_range_timeout_us = budget_us - used_budget_us;
// set_sequence_step_timeout() begin
// (SequenceStepId == VL53L0X_SEQUENCESTEP_FINAL_RANGE)
// "For the final range timeout, the pre-range timeout
// must be added. To do this both final and pre-range
// timeouts must be expressed in macro periods MClks
// because they have different vcsel periods."
uint32_t final_range_timeout_mclks =
timeoutMicrosecondsToMclks(final_range_timeout_us,
timeouts.final_range_vcsel_period_pclks);
if (enables.pre_range) {
final_range_timeout_mclks += timeouts.pre_range_mclks;
}
write_reg16(FINAL_RANGE_CONFIG_TIMEOUT_MACROP_HI,
encodeTimeout(final_range_timeout_mclks));
// set_sequence_step_timeout() end
instances[current_instance].timing_budget_us = budget_us; // store for internal reuse
}
return true;
}
// Get the measurement timing budget in microseconds
// based on VL53L0X_get_measurement_timing_budget_micro_seconds()
// in us
uint32_t getMeasurementTimingBudget()
{
SequenceStepEnables enables;
SequenceStepTimeouts timeouts;
uint16_t const StartOverhead = 1910;
uint16_t const EndOverhead = 960;
uint16_t const MsrcOverhead = 660;
uint16_t const TccOverhead = 590;
uint16_t const DssOverhead = 690;
uint16_t const PreRangeOverhead = 660;
uint16_t const FinalRangeOverhead = 550;
// "Start and end overhead times always present"
uint32_t budget_us = StartOverhead + EndOverhead;
getSequenceStepEnables(&enables);
getSequenceStepTimeouts(&enables, &timeouts);
if (enables.tcc) {
budget_us += (timeouts.msrc_dss_tcc_us + TccOverhead);
}
if (enables.dss) {
budget_us += 2 * (timeouts.msrc_dss_tcc_us + DssOverhead);
} else if (enables.msrc) {
budget_us += (timeouts.msrc_dss_tcc_us + MsrcOverhead);
}
if (enables.pre_range) {
budget_us += (timeouts.pre_range_us + PreRangeOverhead);
}
if (enables.final_range) {
budget_us += (timeouts.final_range_us + FinalRangeOverhead);
}
instances[current_instance].timing_budget_us = budget_us; // cache for reuse
return budget_us;
}
// Set the VCSEL (vertical cavity surface emitting laser) pulse period for the
// given period type (pre-range or final range) to the given value in PCLKs.
// Longer periods seem to increase the potential range of the sensor.
// Valid values are (even numbers only):
// pre: 12 to 18 (initialized default: 14)
// final: 8 to 14 (initialized default: 10)
// based on VL53L0X_set_vcsel_pulse_period()
bool setVcselPulsePeriod(vcselPeriodType type, uint8_t period_pclks)
{
uint8_t vcsel_period_reg = encodeVcselPeriod(period_pclks);
SequenceStepEnables enables;
SequenceStepTimeouts timeouts;
getSequenceStepEnables(&enables);
getSequenceStepTimeouts(&enables, &timeouts);
// "Apply specific settings for the requested clock period"
// "Re-calculate and apply timeouts, in macro periods"
// "When the VCSEL period for the pre or final range is changed,
// the corresponding timeout must be read from the device using
// the current VCSEL period, then the new VCSEL period can be
// applied. The timeout then must be written back to the device
// using the new VCSEL period.
//
// For the MSRC timeout, the same applies - this timeout being
// dependant on the pre-range vcsel period."
if (type == VcselPeriodPreRange) {
// "Set phase check limits"
switch (period_pclks) {
case 12:
write_reg(PRE_RANGE_CONFIG_VALID_PHASE_HIGH, 0x18);
break;
case 14:
write_reg(PRE_RANGE_CONFIG_VALID_PHASE_HIGH, 0x30);
break;
case 16:
write_reg(PRE_RANGE_CONFIG_VALID_PHASE_HIGH, 0x40);
break;
case 18:
write_reg(PRE_RANGE_CONFIG_VALID_PHASE_HIGH, 0x50);
break;
default:
// invalid period
return false;
}
write_reg(PRE_RANGE_CONFIG_VALID_PHASE_LOW, 0x08);
// apply new VCSEL period
write_reg(PRE_RANGE_CONFIG_VCSEL_PERIOD, vcsel_period_reg);
// update timeouts
// set_sequence_step_timeout() begin
// (SequenceStepId == VL53L0X_SEQUENCESTEP_PRE_RANGE)
uint16_t new_pre_range_timeout_mclks =
timeoutMicrosecondsToMclks(timeouts.pre_range_us, period_pclks);
write_reg16(PRE_RANGE_CONFIG_TIMEOUT_MACROP_HI,
encodeTimeout(new_pre_range_timeout_mclks));
// set_sequence_step_timeout() end
// set_sequence_step_timeout() begin
// (SequenceStepId == VL53L0X_SEQUENCESTEP_MSRC)
uint16_t new_msrc_timeout_mclks =
timeoutMicrosecondsToMclks(timeouts.msrc_dss_tcc_us, period_pclks);
write_reg(MSRC_CONFIG_TIMEOUT_MACROP,
(new_msrc_timeout_mclks > 256) ? 255 : (new_msrc_timeout_mclks - 1));
// set_sequence_step_timeout() end
} else if (type == VcselPeriodFinalRange) {
switch (period_pclks) {
case 8:
write_reg(FINAL_RANGE_CONFIG_VALID_PHASE_HIGH, 0x10);
write_reg(FINAL_RANGE_CONFIG_VALID_PHASE_LOW, 0x08);
write_reg(GLOBAL_CONFIG_VCSEL_WIDTH, 0x02);
write_reg(ALGO_PHASECAL_CONFIG_TIMEOUT, 0x0C);
write_reg(0xFF, 0x01);
write_reg(ALGO_PHASECAL_LIM, 0x30);
write_reg(0xFF, 0x00);
break;
case 10:
write_reg(FINAL_RANGE_CONFIG_VALID_PHASE_HIGH, 0x28);
write_reg(FINAL_RANGE_CONFIG_VALID_PHASE_LOW, 0x08);
write_reg(GLOBAL_CONFIG_VCSEL_WIDTH, 0x03);
write_reg(ALGO_PHASECAL_CONFIG_TIMEOUT, 0x09);
write_reg(0xFF, 0x01);
write_reg(ALGO_PHASECAL_LIM, 0x20);
write_reg(0xFF, 0x00);
break;
case 12:
write_reg(FINAL_RANGE_CONFIG_VALID_PHASE_HIGH, 0x38);
write_reg(FINAL_RANGE_CONFIG_VALID_PHASE_LOW, 0x08);
write_reg(GLOBAL_CONFIG_VCSEL_WIDTH, 0x03);
write_reg(ALGO_PHASECAL_CONFIG_TIMEOUT, 0x08);
write_reg(0xFF, 0x01);
write_reg(ALGO_PHASECAL_LIM, 0x20);
write_reg(0xFF, 0x00);
break;
case 14:
write_reg(FINAL_RANGE_CONFIG_VALID_PHASE_HIGH, 0x48);
write_reg(FINAL_RANGE_CONFIG_VALID_PHASE_LOW, 0x08);
write_reg(GLOBAL_CONFIG_VCSEL_WIDTH, 0x03);
write_reg(ALGO_PHASECAL_CONFIG_TIMEOUT, 0x07);
write_reg(0xFF, 0x01);
write_reg(ALGO_PHASECAL_LIM, 0x20);
write_reg(0xFF, 0x00);
break;
default:
// invalid period
return false;
}
// apply new VCSEL period
write_reg(FINAL_RANGE_CONFIG_VCSEL_PERIOD, vcsel_period_reg);
// update timeouts
// set_sequence_step_timeout() begin
// (SequenceStepId == VL53L0X_SEQUENCESTEP_FINAL_RANGE)
// "For the final range timeout, the pre-range timeout
// must be added. To do this both final and pre-range
// timeouts must be expressed in macro periods MClks
// because they have different vcsel periods."
uint16_t new_final_range_timeout_mclks =
timeoutMicrosecondsToMclks(timeouts.final_range_us, period_pclks);
if (enables.pre_range) {
new_final_range_timeout_mclks += timeouts.pre_range_mclks;
}
write_reg16(FINAL_RANGE_CONFIG_TIMEOUT_MACROP_HI,
encodeTimeout(new_final_range_timeout_mclks));
// set_sequence_step_timeout end
}
else {
// invalid type
return false;
}
// "Finally, the timing budget must be re-applied"
setMeasurementTimingBudget(instances[current_instance].timing_budget_us);
// "Perform the phase calibration. This is needed after changing on vcsel period."
// VL53L0X_perform_phase_calibration() begin
uint8_t sequence_config = read_reg(SYSTEM_SEQUENCE_CONFIG);
write_reg(SYSTEM_SEQUENCE_CONFIG, 0x02);
performSingleRefCalibration(0x0);
write_reg(SYSTEM_SEQUENCE_CONFIG, sequence_config);
// VL53L0X_perform_phase_calibration() end
return true;
}
// Get the VCSEL pulse period in PCLKs for the given period type.
// based on VL53L0X_get_vcsel_pulse_period()
uint8_t getVcselPulsePeriod(vcselPeriodType type)
{
if (type == VcselPeriodPreRange)
{
return decodeVcselPeriod(read_reg(PRE_RANGE_CONFIG_VCSEL_PERIOD));
}
else if (type == VcselPeriodFinalRange)
{
return decodeVcselPeriod(read_reg(FINAL_RANGE_CONFIG_VCSEL_PERIOD));
}
else { return 255; }
}
// Start continuous ranging measurements.
// based on VL53L0X_StartMeasurement()
void vl53l0x_start_continuous()
{
write_reg(0x80, 0x01);
write_reg(0xFF, 0x01);
write_reg(0x00, 0x00);
write_reg(0x91, instances[current_instance].stop_variable);
write_reg(0x00, 0x01);
write_reg(0xFF, 0x00);
write_reg(0x80, 0x00);
write_reg(SYSRANGE_START, 0x02); // VL53L0X_REG_SYSRANGE_MODE_BACKTOBACK
}
// Stop continuous measurements
// based on VL53L0X_StopMeasurement()
void vl53l0x_stop_continuous()
{
write_reg(SYSRANGE_START, 0x01); // VL53L0X_REG_SYSRANGE_MODE_SINGLESHOT
write_reg(0xFF, 0x01);
write_reg(0x00, 0x00);
write_reg(0x91, 0x00);
write_reg(0x00, 0x01);
write_reg(0xFF, 0x00);
}
// Returns a range reading in millimeters when continuous mode is active
// (readRangeSingleMillimeters() also calls this function after starting a
// single-shot range measurement)
uint16_t readRangeContinuousMillimeters()
{
if ((read_reg(RESULT_INTERRUPT_STATUS) & 0x07) == 0) {
return instances[current_instance].range; // use last result
}
// assumptions: Linearity Corrective Gain is 1000 (default);
// fractional ranging is not enabled
instances[current_instance].range = read_reg16(RESULT_RANGE_STATUS + 10);
write_reg(SYSTEM_INTERRUPT_CLEAR, 0x01);
return instances[current_instance].range;
}
#if 0
// Performs a single-shot range measurement and returns the reading in
// millimeters
// based on VL53L0X_PerformSingleRangingMeasurement()
uint16_t readRangeSingleMillimeters()
{
static uint16_t range = 65535;
static bool reading = false;
static uint64_t start_time = 0;
uint64_t now = time_us_64();
if (now - start_time > TOF_WAIT_US) {
reading = false;
}
if (reading) {
if ((read_reg(SYSRANGE_START) & 0x01) == 0) {
range = readRangeContinuousMillimeters(index);
reading = false;
}
} else {
write_reg(0x80, 0x01);
write_reg(0xFF, 0x01);
write_reg(0x00, 0x00);
write_reg(0x91, instances[index].stop_variable);
write_reg(0x00, 0x01);
write_reg(0xFF, 0x00);
write_reg(0x80, 0x00);
write_reg(SYSRANGE_START, 0x01);
start_time = now;
reading = true;
}
return range;
}
#endif
// Private Methods /////////////////////////////////////////////////////////////
// Get reference SPAD (single photon avalanche diode) count and type
// based on VL53L0X_get_info_from_device(),
// but only gets reference SPAD count and type
bool getSpadInfo(uint8_t *count, bool *type_is_aperture)
{
write_reg_list(reg_spad0);
write_reg(0x83, read_reg(0x83) | 0x04);
write_reg_list(reg_spad1);
uint64_t start = time_us_64();
while (read_reg(0x83) == 0x00) {
if (time_us_64() - start > TOF_WAIT_US) {
return false;
}
sleep_ms(1);
}
write_reg(0x83, 0x01);
uint8_t tmp = read_reg(0x92);
*count = tmp & 0x7f;
*type_is_aperture = (tmp & 0x80);
write_reg(0x81, 0x00);
write_reg(0xFF, 0x06);
write_reg(0x83, read_reg(0x83) & ~0x04);
write_reg_list(reg_spad2);
return true;
}
// Get sequence step enables
// based on VL53L0X_GetSequenceStepEnables()
void getSequenceStepEnables(SequenceStepEnables * enables)
{
uint8_t seq_cfg = read_reg(SYSTEM_SEQUENCE_CONFIG);
enables->tcc = (seq_cfg >> 4) & 0x1;
enables->dss = (seq_cfg >> 3) & 0x1;
enables->msrc = (seq_cfg >> 2) & 0x1;
enables->pre_range = (seq_cfg >> 6) & 0x1;
enables->final_range = (seq_cfg >> 7) & 0x1;
}
// Get sequence step timeouts
// based on get_sequence_step_timeout(),
// but gets all timeouts instead of just the requested one, and also stores
// intermediate values
void getSequenceStepTimeouts(SequenceStepEnables const * enables, SequenceStepTimeouts * timeouts)
{
timeouts->pre_range_vcsel_period_pclks = getVcselPulsePeriod(VcselPeriodPreRange);
timeouts->msrc_dss_tcc_mclks = read_reg(MSRC_CONFIG_TIMEOUT_MACROP) + 1;
timeouts->msrc_dss_tcc_us =
timeoutMclksToMicroseconds(timeouts->msrc_dss_tcc_mclks,
timeouts->pre_range_vcsel_period_pclks);
timeouts->pre_range_mclks =
decodeTimeout(read_reg16(PRE_RANGE_CONFIG_TIMEOUT_MACROP_HI));
timeouts->pre_range_us =
timeoutMclksToMicroseconds(timeouts->pre_range_mclks,
timeouts->pre_range_vcsel_period_pclks);
timeouts->final_range_vcsel_period_pclks = getVcselPulsePeriod(VcselPeriodFinalRange);
timeouts->final_range_mclks =
decodeTimeout(read_reg16(FINAL_RANGE_CONFIG_TIMEOUT_MACROP_HI));
if (enables->pre_range) {
timeouts->final_range_mclks -= timeouts->pre_range_mclks;
}
timeouts->final_range_us =
timeoutMclksToMicroseconds(timeouts->final_range_mclks,
timeouts->final_range_vcsel_period_pclks);
}
// based on VL53L0X_perform_single_ref_calibration()
bool performSingleRefCalibration(uint8_t vhv_init_byte)
{
write_reg(SYSRANGE_START, 0x01 | vhv_init_byte); // VL53L0X_REG_SYSRANGE_MODE_START_STOP
uint64_t start = time_us_64();
while ((read_reg(RESULT_INTERRUPT_STATUS) & 0x07) == 0) {
if (time_us_64() - start > TOF_WAIT_US) {
return false;
}
sleep_ms(1);
}
write_reg(SYSTEM_INTERRUPT_CLEAR, 0x01);
write_reg(SYSRANGE_START, 0x00);
return true;
}

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/*
* VL53L0X Distance measurement sensor
* WHowe <github.com/whowechina>
*
* Most of this VL53L0X code is from https://github.com/pololu/vl53l0x-arduino
*/
#ifndef VL53L0X_H
#define VL53L0X_H
#include <stdint.h>
#include <stdbool.h>
#include "hardware/i2c.h"
// register addresses from API vl53l0x_device.h (ordered as listed there)
enum regAddr
{
SYSRANGE_START = 0x00,
SYSTEM_THRESH_HIGH = 0x0C,
SYSTEM_THRESH_LOW = 0x0E,
SYSTEM_SEQUENCE_CONFIG = 0x01,
SYSTEM_RANGE_CONFIG = 0x09,
SYSTEM_INTERMEASUREMENT_PERIOD = 0x04,
SYSTEM_INTERRUPT_CONFIG_GPIO = 0x0A,
GPIO_HV_MUX_ACTIVE_HIGH = 0x84,
SYSTEM_INTERRUPT_CLEAR = 0x0B,
RESULT_INTERRUPT_STATUS = 0x13,
RESULT_RANGE_STATUS = 0x14,
RESULT_CORE_AMBIENT_WINDOW_EVENTS_RTN = 0xBC,
RESULT_CORE_RANGING_TOTAL_EVENTS_RTN = 0xC0,
RESULT_CORE_AMBIENT_WINDOW_EVENTS_REF = 0xD0,
RESULT_CORE_RANGING_TOTAL_EVENTS_REF = 0xD4,
RESULT_PEAK_SIGNAL_RATE_REF = 0xB6,
ALGO_PART_TO_PART_RANGE_OFFSET_MM = 0x28,
I2C_SLAVE_DEVICE_ADDRESS = 0x8A,
MSRC_CONFIG_CONTROL = 0x60,
PRE_RANGE_CONFIG_MIN_SNR = 0x27,
PRE_RANGE_CONFIG_VALID_PHASE_LOW = 0x56,
PRE_RANGE_CONFIG_VALID_PHASE_HIGH = 0x57,
PRE_RANGE_MIN_COUNT_RATE_RTN_LIMIT = 0x64,
FINAL_RANGE_CONFIG_MIN_SNR = 0x67,
FINAL_RANGE_CONFIG_VALID_PHASE_LOW = 0x47,
FINAL_RANGE_CONFIG_VALID_PHASE_HIGH = 0x48,
FINAL_RANGE_CONFIG_MIN_COUNT_RATE_RTN_LIMIT = 0x44,
PRE_RANGE_CONFIG_SIGMA_THRESH_HI = 0x61,
PRE_RANGE_CONFIG_SIGMA_THRESH_LO = 0x62,
PRE_RANGE_CONFIG_VCSEL_PERIOD = 0x50,
PRE_RANGE_CONFIG_TIMEOUT_MACROP_HI = 0x51,
PRE_RANGE_CONFIG_TIMEOUT_MACROP_LO = 0x52,
SYSTEM_HISTOGRAM_BIN = 0x81,
HISTOGRAM_CONFIG_INITIAL_PHASE_SELECT = 0x33,
HISTOGRAM_CONFIG_READOUT_CTRL = 0x55,
FINAL_RANGE_CONFIG_VCSEL_PERIOD = 0x70,
FINAL_RANGE_CONFIG_TIMEOUT_MACROP_HI = 0x71,
FINAL_RANGE_CONFIG_TIMEOUT_MACROP_LO = 0x72,
CROSSTALK_COMPENSATION_PEAK_RATE_MCPS = 0x20,
MSRC_CONFIG_TIMEOUT_MACROP = 0x46,
SOFT_RESET_GO2_SOFT_RESET_N = 0xBF,
IDENTIFICATION_MODEL_ID = 0xC0,
IDENTIFICATION_REVISION_ID = 0xC2,
OSC_CALIBRATE_VAL = 0xF8,
GLOBAL_CONFIG_VCSEL_WIDTH = 0x32,
GLOBAL_CONFIG_SPAD_ENABLES_REF_0 = 0xB0,
GLOBAL_CONFIG_SPAD_ENABLES_REF_1 = 0xB1,
GLOBAL_CONFIG_SPAD_ENABLES_REF_2 = 0xB2,
GLOBAL_CONFIG_SPAD_ENABLES_REF_3 = 0xB3,
GLOBAL_CONFIG_SPAD_ENABLES_REF_4 = 0xB4,
GLOBAL_CONFIG_SPAD_ENABLES_REF_5 = 0xB5,
GLOBAL_CONFIG_REF_EN_START_SELECT = 0xB6,
DYNAMIC_SPAD_NUM_REQUESTED_REF_SPAD = 0x4E,
DYNAMIC_SPAD_REF_EN_START_OFFSET = 0x4F,
POWER_MANAGEMENT_GO1_POWER_FORCE = 0x80,
VHV_CONFIG_PAD_SCL_SDA__EXTSUP_HV = 0x89,
ALGO_PHASECAL_LIM = 0x30,
ALGO_PHASECAL_CONFIG_TIMEOUT = 0x30,
};
typedef enum {
VcselPeriodPreRange, VcselPeriodFinalRange
} vcselPeriodType;
void vl53l0x_init(unsigned index, i2c_inst_t *i2c_port, uint8_t i2c_addr);
void vl53l0x_use(unsigned index);
bool vl53l0x_is_present();
bool vl53l0x_init_tof();
bool setSignalRateLimit(float limit_Mcps);
float getSignalRateLimit();
bool setMeasurementTimingBudget(uint32_t budget_us);
uint32_t getMeasurementTimingBudget();
bool setVcselPulsePeriod(vcselPeriodType type, uint8_t period_pclks);
uint8_t getVcselPulsePeriod(vcselPeriodType type);
void vl53l0x_start_continuous();
void vl53l0x_stop_continuous();
uint16_t readRangeContinuousMillimeters();
uint16_t readRangeSingleMillimeters();
// TCC: Target CentreCheck
// MSRC: Minimum Signal Rate Check
// DSS: Dynamic Spad Selection
typedef struct {
bool tcc, msrc, dss, pre_range, final_range;
} SequenceStepEnables;
typedef struct {
uint16_t pre_range_vcsel_period_pclks, final_range_vcsel_period_pclks;
uint16_t msrc_dss_tcc_mclks, pre_range_mclks, final_range_mclks;
uint32_t msrc_dss_tcc_us, pre_range_us, final_range_us;
} SequenceStepTimeouts;
bool getSpadInfo(uint8_t * count, bool * type_is_aperture);
void getSequenceStepEnables(SequenceStepEnables * enables);
void getSequenceStepTimeouts(SequenceStepEnables const * enables, SequenceStepTimeouts * timeouts);
bool performSingleRefCalibration(uint8_t vhv_init_byte);
#endif

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/*
* Controller Wads
* WHowe <github.com/whowechina>
*
*/
#include "wad.h"
#include <stdint.h>
#include <stdbool.h>
#include <stdio.h>
#include "hardware/gpio.h"
#include "hardware/timer.h"
#include "hardware/pwm.h"
#include "hardware/i2c.h"
#include "vl53l0x.h"
#include "config.h"
#include "board_defs.h"
#define WAD_NUM 2
static i2c_inst_t *wad_ports[] = WAD_DEF;
static bool sw_val[WAD_NUM]; /* true if triggered */
static uint64_t sw_freeze_time[WAD_NUM];
void wad_init()
{
uint8_t wad_gpio[] = WAD_GPIO_DEF;
for (int i = 0; i < WAD_NUM; i++) {
sw_val[i] = false;
sw_freeze_time[i] = 0;
uint8_t scl = wad_gpio[i * 2];
uint8_t sda = wad_gpio[i * 2 + 1];
gpio_init(scl);
gpio_init(sda);
gpio_set_function(scl, GPIO_FUNC_I2C);
gpio_set_function(sda, GPIO_FUNC_I2C);
gpio_pull_up(scl);
gpio_pull_up(sda);
vl53l0x_init(i, wad_ports[i], 0);
vl53l0x_use(i);
vl53l0x_init_tof();
vl53l0x_start_continuous();
}
}
static bool wad_readings[WAD_NUM];
static bool wad_read(unsigned index)
{
vl53l0x_use(index);
uint16_t dist = readRangeContinuousMillimeters(index);
if (wad_readings[index]) {
return (dist >= 80) && (dist <= 270);
}
return (dist >= 100) && (dist <= 250);
}
/* If a switch flips, it freezes for a while */
#define DEBOUNCE_FREEZE_TIME_US 30000
void wad_update()
{
uint64_t now = time_us_64();
for (int i = 0; i < WAD_NUM; i++) {
bool triggered = wad_read(i);
if (now >= sw_freeze_time[i]) {
if (triggered != sw_val[i]) {
sw_val[i] = triggered;
sw_freeze_time[i] = now + DEBOUNCE_FREEZE_TIME_US;
}
}
wad_readings[i] = sw_val[i];
}
}
bool wad_read_left()
{
return wad_readings[0];
}
bool wad_read_right()
{
return wad_readings[1];
}

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/*
* Controller Wads
* WHowe <github.com/whowechina>
*/
#ifndef WAD_H
#define WAD_H
#include <stdint.h>
#include <stdbool.h>
#include "hardware/flash.h"
void wad_init();
void wad_update();
bool wad_read_left();
bool wad_read_right();
#endif

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;
; Copyright (c) 2020 Raspberry Pi (Trading) Ltd.
;
; SPDX-License-Identifier: BSD-3-Clause
;
.program ws2812
.side_set 1
.define public T1 2
.define public T2 5
.define public T3 3
.lang_opt python sideset_init = pico.PIO.OUT_HIGH
.lang_opt python out_init = pico.PIO.OUT_HIGH
.lang_opt python out_shiftdir = 1
.wrap_target
bitloop:
out x, 1 side 0 [T3 - 1] ; Side-set still takes place when instruction stalls
jmp !x do_zero side 1 [T1 - 1] ; Branch on the bit we shifted out. Positive pulse
do_one:
jmp bitloop side 1 [T2 - 1] ; Continue driving high, for a long pulse
do_zero:
nop side 0 [T2 - 1] ; Or drive low, for a short pulse
.wrap
% c-sdk {
#include "hardware/clocks.h"
static inline void ws2812_program_init(PIO pio, uint sm, uint offset, uint pin, float freq, bool rgbw) {
pio_gpio_init(pio, pin);
pio_sm_set_consecutive_pindirs(pio, sm, pin, 1, true);
pio_sm_config c = ws2812_program_get_default_config(offset);
sm_config_set_sideset_pins(&c, pin);
sm_config_set_out_shift(&c, false, true, rgbw ? 32 : 24);
sm_config_set_fifo_join(&c, PIO_FIFO_JOIN_TX);
int cycles_per_bit = ws2812_T1 + ws2812_T2 + ws2812_T3;
float div = clock_get_hz(clk_sys) / (freq * cycles_per_bit);
sm_config_set_clkdiv(&c, div);
pio_sm_init(pio, sm, offset, &c);
pio_sm_set_enabled(pio, sm, true);
}
%}
.program ws2812_parallel
.define public T1 2
.define public T2 5
.define public T3 3
.wrap_target
out x, 32
mov pins, !null [T1-1]
mov pins, x [T2-1]
mov pins, null [T3-2]
.wrap
% c-sdk {
#include "hardware/clocks.h"
static inline void ws2812_parallel_program_init(PIO pio, uint sm, uint offset, uint pin_base, uint pin_count, float freq) {
for(uint i=pin_base; i<pin_base+pin_count; i++) {
pio_gpio_init(pio, i);
}
pio_sm_set_consecutive_pindirs(pio, sm, pin_base, pin_count, true);
pio_sm_config c = ws2812_parallel_program_get_default_config(offset);
sm_config_set_out_shift(&c, true, true, 32);
sm_config_set_out_pins(&c, pin_base, pin_count);
sm_config_set_set_pins(&c, pin_base, pin_count);
sm_config_set_fifo_join(&c, PIO_FIFO_JOIN_TX);
int cycles_per_bit = ws2812_parallel_T1 + ws2812_parallel_T2 + ws2812_parallel_T3;
float div = clock_get_hz(clk_sys) / (freq * cycles_per_bit);
sm_config_set_clkdiv(&c, div);
pio_sm_init(pio, sm, offset, &c);
pio_sm_set_enabled(pio, sm, true);
}
%}