From edb04529f1695206202865545da44dbca3646a0f Mon Sep 17 00:00:00 2001 From: whowechina Date: Tue, 10 Sep 2024 22:04:25 +0800 Subject: [PATCH] Firmware initial version --- firmware/.gitignore | 4 + firmware/CMakeLists.txt | 11 + firmware/LICENSE | 674 ++++++++++++++++++++++++++++ firmware/pico_sdk_import.cmake | 73 ++++ firmware/src/CMakeLists.txt | 36 ++ firmware/src/board_defs.h | 24 + firmware/src/button.c | 76 ++++ firmware/src/button.h | 18 + firmware/src/cli.c | 218 ++++++++++ firmware/src/cli.h | 21 + firmware/src/commands.c | 389 +++++++++++++++++ firmware/src/commands.h | 11 + firmware/src/config.c | 76 ++++ firmware/src/config.h | 56 +++ firmware/src/gimbal.c | 92 ++++ firmware/src/gimbal.h | 18 + firmware/src/light.c | 163 +++++++ firmware/src/light.h | 25 ++ firmware/src/main.c | 302 +++++++++++++ firmware/src/save.c | 178 ++++++++ firmware/src/save.h | 27 ++ firmware/src/sound.c | 42 ++ firmware/src/sound.h | 16 + firmware/src/tusb_config.h | 124 ++++++ firmware/src/usb_descriptors.c | 227 ++++++++++ firmware/src/usb_descriptors.h | 112 +++++ firmware/src/vl53l0x.c | 775 +++++++++++++++++++++++++++++++++ firmware/src/vl53l0x.h | 148 +++++++ firmware/src/wad.c | 90 ++++ firmware/src/wad.h | 18 + firmware/src/ws2812.pio | 85 ++++ 31 files changed, 4129 insertions(+) create mode 100644 firmware/.gitignore create mode 100644 firmware/CMakeLists.txt create mode 100644 firmware/LICENSE create mode 100644 firmware/pico_sdk_import.cmake create mode 100644 firmware/src/CMakeLists.txt create mode 100644 firmware/src/board_defs.h create mode 100644 firmware/src/button.c create mode 100644 firmware/src/button.h create mode 100644 firmware/src/cli.c create mode 100644 firmware/src/cli.h create mode 100644 firmware/src/commands.c create mode 100644 firmware/src/commands.h create mode 100644 firmware/src/config.c create mode 100644 firmware/src/config.h create mode 100644 firmware/src/gimbal.c create mode 100644 firmware/src/gimbal.h create mode 100644 firmware/src/light.c create mode 100644 firmware/src/light.h create mode 100644 firmware/src/main.c create mode 100644 firmware/src/save.c create mode 100644 firmware/src/save.h create mode 100644 firmware/src/sound.c create mode 100644 firmware/src/sound.h create mode 100644 firmware/src/tusb_config.h create mode 100644 firmware/src/usb_descriptors.c create mode 100644 firmware/src/usb_descriptors.h create mode 100644 firmware/src/vl53l0x.c create mode 100644 firmware/src/vl53l0x.h create mode 100644 firmware/src/wad.c create mode 100644 firmware/src/wad.h create mode 100644 firmware/src/ws2812.pio diff --git a/firmware/.gitignore b/firmware/.gitignore new file mode 100644 index 0000000..e6417df --- /dev/null +++ b/firmware/.gitignore @@ -0,0 +1,4 @@ +build +pico-examples +pico-sdk +.vscode diff --git a/firmware/CMakeLists.txt b/firmware/CMakeLists.txt new file mode 100644 index 0000000..6447e86 --- /dev/null +++ b/firmware/CMakeLists.txt @@ -0,0 +1,11 @@ +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) diff --git a/firmware/LICENSE b/firmware/LICENSE new file mode 100644 index 0000000..f288702 --- /dev/null +++ b/firmware/LICENSE @@ -0,0 +1,674 @@ + GNU GENERAL PUBLIC LICENSE + Version 3, 29 June 2007 + + Copyright (C) 2007 Free Software Foundation, Inc. + Everyone is permitted to copy and distribute verbatim copies + of this license document, but changing it is not allowed. + + Preamble + + The GNU General Public License is a free, copyleft license for +software and other kinds of works. + + The licenses for most software and other practical works are designed +to take away your freedom to share and change the works. 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Interpretation of Sections 15 and 16. + + If the disclaimer of warranty and limitation of liability provided +above cannot be given local legal effect according to their terms, +reviewing courts shall apply local law that most closely approximates +an absolute waiver of all civil liability in connection with the +Program, unless a warranty or assumption of liability accompanies a +copy of the Program in return for a fee. + + END OF TERMS AND CONDITIONS + + How to Apply These Terms to Your New Programs + + If you develop a new program, and you want it to be of the greatest +possible use to the public, the best way to achieve this is to make it +free software which everyone can redistribute and change under these terms. + + To do so, attach the following notices to the program. It is safest +to attach them to the start of each source file to most effectively +state the exclusion of warranty; and each file should have at least +the "copyright" line and a pointer to where the full notice is found. + + + Copyright (C) + + This program is free software: you can redistribute it and/or modify + it under the terms of the GNU General Public License as published by + the Free Software Foundation, either version 3 of the License, or + (at your option) any later version. + + This program is distributed in the hope that it will be useful, + but WITHOUT ANY WARRANTY; without even the implied warranty of + MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + GNU General Public License for more details. + + You should have received a copy of the GNU General Public License + along with this program. If not, see . + +Also add information on how to contact you by electronic and paper mail. + + If the program does terminal interaction, make it output a short +notice like this when it starts in an interactive mode: + + Copyright (C) + This program comes with ABSOLUTELY NO WARRANTY; for details type `show w'. + This is free software, and you are welcome to redistribute it + under certain conditions; type `show c' for details. + +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 +. + + 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 +. diff --git a/firmware/pico_sdk_import.cmake b/firmware/pico_sdk_import.cmake new file mode 100644 index 0000000..65f8a6f --- /dev/null +++ b/firmware/pico_sdk_import.cmake @@ -0,0 +1,73 @@ +# This is a copy of /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}) diff --git a/firmware/src/CMakeLists.txt b/firmware/src/CMakeLists.txt new file mode 100644 index 0000000..ae09b4b --- /dev/null +++ b/firmware/src/CMakeLists.txt @@ -0,0 +1,36 @@ +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) + diff --git a/firmware/src/board_defs.h b/firmware/src/board_defs.h new file mode 100644 index 0000000..66e8d53 --- /dev/null +++ b/firmware/src/board_defs.h @@ -0,0 +1,24 @@ +/* + * Geki Controller Board Definitions + * WHowe + */ + +#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 diff --git a/firmware/src/button.c b/firmware/src/button.c new file mode 100644 index 0000000..6dc8ed6 --- /dev/null +++ b/firmware/src/button.c @@ -0,0 +1,76 @@ +/* + * Controller Buttons + * WHowe + * + */ + +#include "button.h" + +#include +#include + +#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; +} diff --git a/firmware/src/button.h b/firmware/src/button.h new file mode 100644 index 0000000..276aa21 --- /dev/null +++ b/firmware/src/button.h @@ -0,0 +1,18 @@ +/* + * Controller Buttons + * WHowe + */ + +#ifndef BUTTONS_H +#define BUTTONS_H + +#include +#include +#include "hardware/flash.h" + +void button_init(); +uint8_t button_num(); +void button_update(); +uint16_t button_read(); + +#endif diff --git a/firmware/src/cli.c b/firmware/src/cli.c new file mode 100644 index 0000000..d2f9798 --- /dev/null +++ b/firmware/src/cli.c @@ -0,0 +1,218 @@ +#include +#include +#include +#include +#include + +#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."); +} diff --git a/firmware/src/cli.h b/firmware/src/cli.h new file mode 100644 index 0000000..24dff0a --- /dev/null +++ b/firmware/src/cli.h @@ -0,0 +1,21 @@ +/* + * Geki Controller Command Line Framework + * WHowe + */ + +#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 diff --git a/firmware/src/commands.c b/firmware/src/commands.c new file mode 100644 index 0000000..eb12a94 --- /dev/null +++ b/firmware/src/commands.c @@ -0,0 +1,389 @@ +#include +#include +#include +#include +#include + +#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 \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 \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 \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 \n" + " gimbal analog \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 [left|right] <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 \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."); +} diff --git a/firmware/src/commands.h b/firmware/src/commands.h new file mode 100644 index 0000000..44c1816 --- /dev/null +++ b/firmware/src/commands.h @@ -0,0 +1,11 @@ +/* + * Geki Controller Command Line Commands + * WHowe + */ + +#ifndef COMMANDS_H +#define COMMANDS_H + +void commands_init(); + +#endif diff --git a/firmware/src/config.c b/firmware/src/config.c new file mode 100644 index 0000000..740cfad --- /dev/null +++ b/firmware/src/config.c @@ -0,0 +1,76 @@ +/* + * Controller Config and Runtime Data + * WHowe + * + * 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); +} diff --git a/firmware/src/config.h b/firmware/src/config.h new file mode 100644 index 0000000..984d17b --- /dev/null +++ b/firmware/src/config.h @@ -0,0 +1,56 @@ +/* + * Controller Config + * WHowe + */ + +#ifndef CONFIG_H +#define CONFIG_H + +#include +#include + +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 diff --git a/firmware/src/gimbal.c b/firmware/src/gimbal.c new file mode 100644 index 0000000..28f2908 --- /dev/null +++ b/firmware/src/gimbal.c @@ -0,0 +1,92 @@ +/* + * Left and Right Gimbal Inputs + * WHowe + * + */ + +#include "gimbal.h" + +#include +#include +#include +#include + +#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; +} \ No newline at end of file diff --git a/firmware/src/gimbal.h b/firmware/src/gimbal.h new file mode 100644 index 0000000..4db2bfb --- /dev/null +++ b/firmware/src/gimbal.h @@ -0,0 +1,18 @@ +/* + * Left and Right Gimbal Inputs + * WHowe + */ + +#ifndef GIMBAL_H +#define GIMBAL_H + +#include +#include + +void gimbal_init(); + +uint8_t gimbal_read(); +uint16_t gimbal_raw(); +uint16_t gimbal_average(); + +#endif diff --git a/firmware/src/light.c b/firmware/src/light.c new file mode 100644 index 0000000..96a8a00 --- /dev/null +++ b/firmware/src/light.c @@ -0,0 +1,163 @@ +/* + * WS2812B Lights Control (Base + Left and Right Gimbals) + * WHowe + * + */ + +#include "light.h" + +#include +#include +#include +#include + +#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; +} diff --git a/firmware/src/light.h b/firmware/src/light.h new file mode 100644 index 0000000..8f9557d --- /dev/null +++ b/firmware/src/light.h @@ -0,0 +1,25 @@ +/* + * WS2812B Lights Control (Base + Left and Right Gimbals) + * WHowe + */ + +#ifndef LIGHT_H +#define LIGHT_H + +#include +#include +#include + +#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 diff --git a/firmware/src/main.c b/firmware/src/main.c new file mode 100644 index 0000000..b46d2c9 --- /dev/null +++ b/firmware/src/main.c @@ -0,0 +1,302 @@ +/* + * Controller Main + * WHowe + */ + +#include +#include +#include + +#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; + } +} diff --git a/firmware/src/save.c b/firmware/src/save.c new file mode 100644 index 0000000..8152826 --- /dev/null +++ b/firmware/src/save.c @@ -0,0 +1,178 @@ +/* + * Controller Config Save and Load + * WHowe + * + * Config is stored in last sector of flash + */ + +#include "save.h" + +#include +#include +#include +#include +#include + + +#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(); + } +} diff --git a/firmware/src/save.h b/firmware/src/save.h new file mode 100644 index 0000000..ee7c401 --- /dev/null +++ b/firmware/src/save.h @@ -0,0 +1,27 @@ +/* + * Controller Flash Save and Load + * WHowe + */ + +#ifndef SAVE_H +#define SAVE_H + +#include +#include +#include + +#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 diff --git a/firmware/src/sound.c b/firmware/src/sound.c new file mode 100644 index 0000000..083fe29 --- /dev/null +++ b/firmware/src/sound.c @@ -0,0 +1,42 @@ +/* + * Sound Feedback + * WHowe + * + */ + +#include "sound.h" + +#include +#include + +#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); +} diff --git a/firmware/src/sound.h b/firmware/src/sound.h new file mode 100644 index 0000000..8921b83 --- /dev/null +++ b/firmware/src/sound.h @@ -0,0 +1,16 @@ +/* + * Sound Feedback + * WHowe + */ + +#ifndef SOUND_H +#define SOUND_H + +#include +#include +#include "hardware/flash.h" + +void sound_init(); +void sound_set(int id, bool on); + +#endif diff --git a/firmware/src/tusb_config.h b/firmware/src/tusb_config.h new file mode 100644 index 0000000..7ef973c --- /dev/null +++ b/firmware/src/tusb_config.h @@ -0,0 +1,124 @@ +/* + * 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_ */ diff --git a/firmware/src/usb_descriptors.c b/firmware/src/usb_descriptors.c new file mode 100644 index 0000000..7379f26 --- /dev/null +++ b/firmware/src/usb_descriptors.c @@ -0,0 +1,227 @@ +/* + * 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; +} diff --git a/firmware/src/usb_descriptors.h b/firmware/src/usb_descriptors.h new file mode 100644 index 0000000..63b9bf4 --- /dev/null +++ b/firmware/src/usb_descriptors.h @@ -0,0 +1,112 @@ +#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_ */ diff --git a/firmware/src/vl53l0x.c b/firmware/src/vl53l0x.c new file mode 100644 index 0000000..8c13ac5 --- /dev/null +++ b/firmware/src/vl53l0x.c @@ -0,0 +1,775 @@ +/* + * VL53L0X Distance measurement sensor + * WHowe + * + * Most of this VL53L0X code is from https://github.com/pololu/vl53l0x-arduino + */ + +#include +#include +#include + +#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, ®, 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, ®, 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, ®, 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, ®, 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; +} \ No newline at end of file diff --git a/firmware/src/vl53l0x.h b/firmware/src/vl53l0x.h new file mode 100644 index 0000000..d768031 --- /dev/null +++ b/firmware/src/vl53l0x.h @@ -0,0 +1,148 @@ +/* + * VL53L0X Distance measurement sensor + * WHowe + * + * Most of this VL53L0X code is from https://github.com/pololu/vl53l0x-arduino + */ + +#ifndef VL53L0X_H +#define VL53L0X_H + +#include +#include + +#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 \ No newline at end of file diff --git a/firmware/src/wad.c b/firmware/src/wad.c new file mode 100644 index 0000000..b99798c --- /dev/null +++ b/firmware/src/wad.c @@ -0,0 +1,90 @@ +/* + * Controller Wads + * WHowe + * + */ + +#include "wad.h" + +#include +#include +#include + +#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]; +} diff --git a/firmware/src/wad.h b/firmware/src/wad.h new file mode 100644 index 0000000..20a4080 --- /dev/null +++ b/firmware/src/wad.h @@ -0,0 +1,18 @@ +/* + * Controller Wads + * WHowe + */ + +#ifndef WAD_H +#define WAD_H + +#include +#include +#include "hardware/flash.h" + +void wad_init(); +void wad_update(); +bool wad_read_left(); +bool wad_read_right(); + +#endif diff --git a/firmware/src/ws2812.pio b/firmware/src/ws2812.pio new file mode 100644 index 0000000..8fa0071 --- /dev/null +++ b/firmware/src/ws2812.pio @@ -0,0 +1,85 @@ +; +; 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