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Added dyn cond chap

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This commit is contained in:
Kevin Thomas
2025-11-15 12:34:37 -05:00
parent 76449ec403
commit 280876ffe1
24 changed files with 496 additions and 2001 deletions
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0x0020_dynamic-conditionals/.gitignore
+1 -6
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@@ -1,7 +1,2 @@
.idea
.vscode
_deps
cmake-*
build
.DS_Store
*.pdf
!.vscode/*
0x0020_dynamic-conditionals/.vscode/c_cpp_properties.json
Vendored
+22
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@@ -0,0 +1,22 @@
{
"configurations": [
{
"name": "Pico",
"includePath": [
"${workspaceFolder}/**",
"${userHome}/.pico-sdk/sdk/2.2.0/**"
],
"forcedInclude": [
"${workspaceFolder}/build/generated/pico_base/pico/config_autogen.h",
"${userHome}/.pico-sdk/sdk/2.2.0/src/common/pico_base_headers/include/pico.h"
],
"defines": [],
"compilerPath": "${userHome}/.pico-sdk/toolchain/14_2_Rel1/bin/arm-none-eabi-gcc.exe",
"compileCommands": "${workspaceFolder}/build/compile_commands.json",
"cStandard": "c17",
"cppStandard": "c++14",
"intelliSenseMode": "linux-gcc-arm"
}
],
"version": 4
}
0x0020_dynamic-conditionals/.vscode/cmake-kits.json
Vendored
+15
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@@ -0,0 +1,15 @@
[
{
"name": "Pico",
"compilers": {
"C": "${command:raspberry-pi-pico.getCompilerPath}",
"CXX": "${command:raspberry-pi-pico.getCxxCompilerPath}"
},
"environmentVariables": {
"PATH": "${command:raspberry-pi-pico.getEnvPath};${env:PATH}"
},
"cmakeSettings": {
"Python3_EXECUTABLE": "${command:raspberry-pi-pico.getPythonPath}"
}
}
]
0x0020_dynamic-conditionals/.vscode/extensions.json
Vendored
+9
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@@ -0,0 +1,9 @@
{
"recommendations": [
"marus25.cortex-debug",
"ms-vscode.cpptools",
"ms-vscode.cpptools-extension-pack",
"ms-vscode.vscode-serial-monitor",
"raspberry-pi.raspberry-pi-pico"
]
}
0x0020_dynamic-conditionals/.vscode/launch.json
Vendored
+50
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@@ -0,0 +1,50 @@
{
"version": "0.2.0",
"configurations": [
{
"name": "Pico Debug (Cortex-Debug)",
"cwd": "${userHome}/.pico-sdk/openocd/0.12.0+dev/scripts",
"executable": "${command:raspberry-pi-pico.launchTargetPath}",
"request": "launch",
"type": "cortex-debug",
"servertype": "openocd",
"serverpath": "${userHome}/.pico-sdk/openocd/0.12.0+dev/openocd.exe",
"gdbPath": "${command:raspberry-pi-pico.getGDBPath}",
"device": "${command:raspberry-pi-pico.getChipUppercase}",
"configFiles": [
"interface/cmsis-dap.cfg",
"target/${command:raspberry-pi-pico.getTarget}.cfg"
],
"svdFile": "${userHome}/.pico-sdk/sdk/2.2.0/src/${command:raspberry-pi-pico.getChip}/hardware_regs/${command:raspberry-pi-pico.getChipUppercase}.svd",
"runToEntryPoint": "main",
// Fix for no_flash binaries, where monitor reset halt doesn't do what is expected
// Also works fine for flash binaries
"overrideLaunchCommands": [
"monitor reset init",
"load \"${command:raspberry-pi-pico.launchTargetPath}\""
],
"openOCDLaunchCommands": [
"adapter speed 5000"
]
},
{
"name": "Pico Debug (Cortex-Debug with external OpenOCD)",
"cwd": "${workspaceRoot}",
"executable": "${command:raspberry-pi-pico.launchTargetPath}",
"request": "launch",
"type": "cortex-debug",
"servertype": "external",
"gdbTarget": "localhost:3333",
"gdbPath": "${command:raspberry-pi-pico.getGDBPath}",
"device": "${command:raspberry-pi-pico.getChipUppercase}",
"svdFile": "${userHome}/.pico-sdk/sdk/2.2.0/src/${command:raspberry-pi-pico.getChip}/hardware_regs/${command:raspberry-pi-pico.getChipUppercase}.svd",
"runToEntryPoint": "main",
// Fix for no_flash binaries, where monitor reset halt doesn't do what is expected
// Also works fine for flash binaries
"overrideLaunchCommands": [
"monitor reset init",
"load \"${command:raspberry-pi-pico.launchTargetPath}\""
]
},
]
}
0x0020_dynamic-conditionals/.vscode/settings.json
Vendored
+40
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@@ -0,0 +1,40 @@
{
"cmake.showSystemKits": false,
"cmake.options.statusBarVisibility": "hidden",
"cmake.options.advanced": {
"build": {
"statusBarVisibility": "hidden"
},
"launch": {
"statusBarVisibility": "hidden"
},
"debug": {
"statusBarVisibility": "hidden"
}
},
"cmake.configureOnEdit": false,
"cmake.automaticReconfigure": false,
"cmake.configureOnOpen": false,
"cmake.generator": "Ninja",
"cmake.cmakePath": "${userHome}/.pico-sdk/cmake/v3.31.5/bin/cmake",
"C_Cpp.debugShortcut": false,
"terminal.integrated.env.windows": {
"PICO_SDK_PATH": "${env:USERPROFILE}/.pico-sdk/sdk/2.2.0",
"PICO_TOOLCHAIN_PATH": "${env:USERPROFILE}/.pico-sdk/toolchain/14_2_Rel1",
"Path": "${env:USERPROFILE}/.pico-sdk/toolchain/14_2_Rel1/bin;${env:USERPROFILE}/.pico-sdk/picotool/2.2.0-a4/picotool;${env:USERPROFILE}/.pico-sdk/cmake/v3.31.5/bin;${env:USERPROFILE}/.pico-sdk/ninja/v1.12.1;${env:PATH}"
},
"terminal.integrated.env.osx": {
"PICO_SDK_PATH": "${env:HOME}/.pico-sdk/sdk/2.2.0",
"PICO_TOOLCHAIN_PATH": "${env:HOME}/.pico-sdk/toolchain/14_2_Rel1",
"PATH": "${env:HOME}/.pico-sdk/toolchain/14_2_Rel1/bin:${env:HOME}/.pico-sdk/picotool/2.2.0-a4/picotool:${env:HOME}/.pico-sdk/cmake/v3.31.5/bin:${env:HOME}/.pico-sdk/ninja/v1.12.1:${env:PATH}"
},
"terminal.integrated.env.linux": {
"PICO_SDK_PATH": "${env:HOME}/.pico-sdk/sdk/2.2.0",
"PICO_TOOLCHAIN_PATH": "${env:HOME}/.pico-sdk/toolchain/14_2_Rel1",
"PATH": "${env:HOME}/.pico-sdk/toolchain/14_2_Rel1/bin:${env:HOME}/.pico-sdk/picotool/2.2.0-a4/picotool:${env:HOME}/.pico-sdk/cmake/v3.31.5/bin:${env:HOME}/.pico-sdk/ninja/v1.12.1:${env:PATH}"
},
"raspberry-pi-pico.cmakeAutoConfigure": true,
"raspberry-pi-pico.useCmakeTools": false,
"raspberry-pi-pico.cmakePath": "${HOME}/.pico-sdk/cmake/v3.31.5/bin/cmake",
"raspberry-pi-pico.ninjaPath": "${HOME}/.pico-sdk/ninja/v1.12.1/ninja"
}
0x0020_dynamic-conditionals/.vscode/tasks.json
Vendored
+102
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@@ -0,0 +1,102 @@
{
"version": "2.0.0",
"tasks": [
{
"label": "Compile Project",
"type": "process",
"isBuildCommand": true,
"command": "${userHome}/.pico-sdk/ninja/v1.12.1/ninja",
"args": ["-C", "${workspaceFolder}/build"],
"group": "build",
"presentation": {
"reveal": "always",
"panel": "dedicated"
},
"problemMatcher": "$gcc",
"windows": {
"command": "${env:USERPROFILE}/.pico-sdk/ninja/v1.12.1/ninja.exe"
}
},
{
"label": "Run Project",
"type": "process",
"command": "${env:HOME}/.pico-sdk/picotool/2.2.0-a4/picotool/picotool",
"args": [
"load",
"${command:raspberry-pi-pico.launchTargetPath}",
"-fx"
],
"presentation": {
"reveal": "always",
"panel": "dedicated"
},
"problemMatcher": [],
"windows": {
"command": "${env:USERPROFILE}/.pico-sdk/picotool/2.2.0-a4/picotool/picotool.exe"
}
},
{
"label": "Flash",
"type": "process",
"command": "${userHome}/.pico-sdk/openocd/0.12.0+dev/openocd.exe",
"args": [
"-s",
"${userHome}/.pico-sdk/openocd/0.12.0+dev/scripts",
"-f",
"interface/cmsis-dap.cfg",
"-f",
"target/${command:raspberry-pi-pico.getTarget}.cfg",
"-c",
"adapter speed 5000; program \"${command:raspberry-pi-pico.launchTargetPath}\" verify reset exit"
],
"problemMatcher": [],
"windows": {
"command": "${env:USERPROFILE}/.pico-sdk/openocd/0.12.0+dev/openocd.exe",
}
},
{
"label": "Rescue Reset",
"type": "process",
"command": "${userHome}/.pico-sdk/openocd/0.12.0+dev/openocd.exe",
"args": [
"-s",
"${userHome}/.pico-sdk/openocd/0.12.0+dev/scripts",
"-f",
"interface/cmsis-dap.cfg",
"-f",
"target/${command:raspberry-pi-pico.getChip}-rescue.cfg",
"-c",
"adapter speed 5000; reset halt; exit"
],
"problemMatcher": [],
"windows": {
"command": "${env:USERPROFILE}/.pico-sdk/openocd/0.12.0+dev/openocd.exe",
}
},
{
"label": "RISC-V Reset (RP2350)",
"type": "process",
"command": "${userHome}/.pico-sdk/openocd/0.12.0+dev/openocd.exe",
"args": [
"-s",
"${userHome}/.pico-sdk/openocd/0.12.0+dev/scripts",
"-c",
"set USE_CORE { rv0 rv1 cm0 cm1 }",
"-f",
"interface/cmsis-dap.cfg",
"-f",
"target/rp2350.cfg",
"-c",
"adapter speed 5000; init;",
"-c",
"write_memory 0x40120158 8 { 0x3 }; echo [format \"Info : ARCHSEL 0x%02x\" [read_memory 0x40120158 8 1]];",
"-c",
"reset halt; targets rp2350.rv0; echo [format \"Info : ARCHSEL_STATUS 0x%02x\" [read_memory 0x4012015C 8 1]]; exit"
],
"problemMatcher": [],
"windows": {
"command": "${env:USERPROFILE}/.pico-sdk/openocd/0.12.0+dev/openocd.exe",
}
}
]
}
0x0020_dynamic-conditionals/main.c → 0x0020_dynamic-conditionals/0x0020_dynamic-conditionals.c
+16 -8
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@@ -1,22 +1,22 @@
#include <stdio.h>
#include "pico/stdlib.h"
#include "input.h"
#include "servo.h"
#define ONE 0x31
#define TWO 0x32
#define SERVO_GPIO 6
int main(void) {
stdio_init_all();
uart0_init();
uint8_t choice = 0;
while (true) {
choice = on_uart_rx();
servo_init(SERVO_GPIO);
if (choice == ONE) {
while (true) {
choice = getchar();
if (choice == 0x31) {
printf("1\r\n");
} else if (choice == TWO) {
} else if (choice == 0x32) {
printf("2\r\n");
} else {
printf("??\r\n");
@@ -25,9 +25,17 @@ int main(void) {
switch (choice) {
case '1':
printf("one\r\n");
servo_set_angle(0.0f);
sleep_ms(500);
servo_set_angle(180.0f);
sleep_ms(500);
break;
case '2':
printf("two\r\n");
servo_set_angle(180.0f);
sleep_ms(500);
servo_set_angle(0.0f);
sleep_ms(500);
break;
default:
printf("??\r\n");
0x0020_dynamic-conditionals/CMakeLists.txt
+47 -10
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@@ -1,22 +1,59 @@
# Generated Cmake Pico project file
cmake_minimum_required(VERSION 3.13)
include(pico_sdk_import.cmake)
project(0x0020_dynamic-conditionals C CXX ASM)
set(CMAKE_C_STANDARD 11)
set(CMAKE_CXX_STANDARD 17)
set(CMAKE_EXPORT_COMPILE_COMMANDS ON)
# Initialise pico_sdk from installed location
# (note this can come from environment, CMake cache etc)
# == DO NOT EDIT THE FOLLOWING LINES for the Raspberry Pi Pico VS Code Extension to work ==
if(WIN32)
set(USERHOME $ENV{USERPROFILE})
else()
set(USERHOME $ENV{HOME})
endif()
set(sdkVersion 2.2.0)
set(toolchainVersion 14_2_Rel1)
set(picotoolVersion 2.2.0-a4)
set(picoVscode ${USERHOME}/.pico-sdk/cmake/pico-vscode.cmake)
if (EXISTS ${picoVscode})
include(${picoVscode})
endif()
# ====================================================================================
set(PICO_BOARD pico2 CACHE STRING "Board type")
# Pull in Raspberry Pi Pico SDK (must be before project)
include(pico_sdk_import.cmake)
project(0x0020_dynamic-conditionals C CXX ASM)
# Initialise the Raspberry Pi Pico SDK
pico_sdk_init()
add_executable(0x0020_dynamic-conditionals
input.c
main.c
)
# Add executable. Default name is the project name, version 0.1
pico_enable_stdio_usb(0x0020_dynamic-conditionals 1)
add_executable(0x0020_dynamic-conditionals 0x0020_dynamic-conditionals.c servo.c)
pico_set_program_name(0x0020_dynamic-conditionals "0x0020_dynamic-conditionals")
pico_set_program_version(0x0020_dynamic-conditionals "0.1")
# Modify the below lines to enable/disable output over UART/USB
pico_enable_stdio_uart(0x0020_dynamic-conditionals 1)
pico_enable_stdio_usb(0x0020_dynamic-conditionals 0)
# Add the standard library to the build
target_link_libraries(0x0020_dynamic-conditionals
pico_stdlib
hardware_pwm
hardware_clocks)
# Add the standard include files to the build
target_include_directories(0x0020_dynamic-conditionals PRIVATE
${CMAKE_CURRENT_LIST_DIR}
)
pico_add_extra_outputs(0x0020_dynamic-conditionals)
target_link_libraries(0x0020_dynamic-conditionals
pico_stdlib
)
0x0020_dynamic-conditionals/LICENSE
-21
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@@ -1,21 +0,0 @@
MIT License
Copyright (c) 2024 My Techno Talent
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.
0x0020_dynamic-conditionals/input.h
-72
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@@ -1,72 +0,0 @@
/**
* MIT License
*
* Copyright (c) 2024 My Techno Talent
*
* 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.
*/
/** @file input.h
*
* @brief Constant and function prototypes for the input driver.
*
* This contains the constants and function prototypes for the input driver which
* will handle UART configuration in addition to capturing a character from the
* UART terminal.
*
* @author Kevin Thomas
* @date 04/20/2024
*/
#ifndef _INPUT_H
#define _INPUT_H
#include "pico/stdlib.h"
#include "hardware/uart.h"
#include "hardware/irq.h"
#define UART_ID uart0
#define BAUD_RATE 115200
#define UART_TX_PIN 0
#define UART_RX_PIN 1
/**
* @brief Initializes UART0 with specified baud rate and pin configurations.
*
* This function initializes UART0 with the specified baud rate and configures the GPIO pins
* for UART transmission (TX) and reception (RX).
*
* @param None
* @return None
*/
void uart0_init(void);
/**
* @brief Handles a UART received character.
*
* This function checks if data is available to read from UART, and if so,
* it reads and returns the received character. If no data is available,
* it returns 0.
*
* @param None
* @return The received character if available, or 0 if no data is available.
*/
uint8_t on_uart_rx(void);
#endif /* _INPUT_H */
0x0020_dynamic-conditionals/pico_sdk_import.cmake
+64 -16
View File
@@ -3,6 +3,28 @@
# This can be dropped into an external project to help locate this SDK
# It should be include()ed prior to project()
# Copyright 2020 (c) 2020 Raspberry Pi (Trading) Ltd.
#
# Redistribution and use in source and binary forms, with or without modification, are permitted provided that the
# following conditions are met:
#
# 1. Redistributions of source code must retain the above copyright notice, this list of conditions and the following
# disclaimer.
#
# 2. Redistributions in binary form must reproduce the above copyright notice, this list of conditions and the following
# disclaimer in the documentation and/or other materials provided with the distribution.
#
# 3. Neither the name of the copyright holder nor the names of its contributors may be used to endorse or promote products
# derived from this software without specific prior written permission.
#
# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES,
# INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
# DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
# SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
# SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY,
# WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF
# THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
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}')")
@@ -18,9 +40,20 @@ if (DEFINED ENV{PICO_SDK_FETCH_FROM_GIT_PATH} AND (NOT PICO_SDK_FETCH_FROM_GIT_P
message("Using PICO_SDK_FETCH_FROM_GIT_PATH from environment ('${PICO_SDK_FETCH_FROM_GIT_PATH}')")
endif ()
if (DEFINED ENV{PICO_SDK_FETCH_FROM_GIT_TAG} AND (NOT PICO_SDK_FETCH_FROM_GIT_TAG))
set(PICO_SDK_FETCH_FROM_GIT_TAG $ENV{PICO_SDK_FETCH_FROM_GIT_TAG})
message("Using PICO_SDK_FETCH_FROM_GIT_TAG from environment ('${PICO_SDK_FETCH_FROM_GIT_TAG}')")
endif ()
if (PICO_SDK_FETCH_FROM_GIT AND NOT PICO_SDK_FETCH_FROM_GIT_TAG)
set(PICO_SDK_FETCH_FROM_GIT_TAG "master")
message("Using master as default value for PICO_SDK_FETCH_FROM_GIT_TAG")
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 "${PICO_SDK_FETCH_FROM_GIT_PATH}" CACHE FILEPATH "location to download SDK")
set(PICO_SDK_FETCH_FROM_GIT_TAG "${PICO_SDK_FETCH_FROM_GIT_TAG}" CACHE FILEPATH "release tag for SDK")
if (NOT PICO_SDK_PATH)
if (PICO_SDK_FETCH_FROM_GIT)
@@ -29,25 +62,40 @@ if (NOT PICO_SDK_PATH)
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 ()
FetchContent_Declare(
pico_sdk
GIT_REPOSITORY https://github.com/raspberrypi/pico-sdk
GIT_TAG ${PICO_SDK_FETCH_FROM_GIT_TAG}
)
if (NOT pico_sdk)
message("Downloading Raspberry Pi Pico SDK")
FetchContent_Populate(pico_sdk)
# GIT_SUBMODULES_RECURSE was added in 3.17
if (${CMAKE_VERSION} VERSION_GREATER_EQUAL "3.17.0")
FetchContent_Populate(
pico_sdk
QUIET
GIT_REPOSITORY https://github.com/raspberrypi/pico-sdk
GIT_TAG ${PICO_SDK_FETCH_FROM_GIT_TAG}
GIT_SUBMODULES_RECURSE FALSE
SOURCE_DIR ${FETCHCONTENT_BASE_DIR}/pico_sdk-src
BINARY_DIR ${FETCHCONTENT_BASE_DIR}/pico_sdk-build
SUBBUILD_DIR ${FETCHCONTENT_BASE_DIR}/pico_sdk-subbuild
)
else ()
FetchContent_Populate(
pico_sdk
QUIET
GIT_REPOSITORY https://github.com/raspberrypi/pico-sdk
GIT_TAG ${PICO_SDK_FETCH_FROM_GIT_TAG}
SOURCE_DIR ${FETCHCONTENT_BASE_DIR}/pico_sdk-src
BINARY_DIR ${FETCHCONTENT_BASE_DIR}/pico_sdk-build
SUBBUILD_DIR ${FETCHCONTENT_BASE_DIR}/pico_sdk-subbuild
)
endif ()
set(PICO_SDK_PATH ${pico_sdk_SOURCE_DIR})
endif ()
set(FETCHCONTENT_BASE_DIR ${FETCHCONTENT_BASE_DIR_SAVE})
0x0020_dynamic-conditionals/servo.c
+89
View File
@@ -0,0 +1,89 @@
/**
* @file servo.c
* @brief Implementation of a simple SG90 servo driver using PWM (50Hz)
* @author Kevin Thomas
* @date 2025
*
* MIT License
*
* Copyright (c) 2025 Kevin Thomas
*
* 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 "servo.h"
#include "pico/stdlib.h"
#include "hardware/pwm.h"
#include "hardware/clocks.h"
// Default servo pulse range (SG90 typical)
static const uint16_t SERVO_DEFAULT_MIN_US = 1000;
static const uint16_t SERVO_DEFAULT_MAX_US = 2000;
// internal state
static uint8_t servo_pin = 0;
static uint servo_slice = 0;
static uint servo_chan = 0;
static uint32_t servo_wrap = 20000 - 1; // wrap to map microseconds for 50Hz
static float servo_hz = 50.0f;
// Convert microsecond pulse to PWM level based on wrap and frequency
static uint32_t pulse_us_to_level(uint32_t pulse_us) {
const float period_us = 1000000.0f / servo_hz; // 20000us
float counts_per_us = (servo_wrap + 1) / period_us;
return (uint32_t)(pulse_us * counts_per_us + 0.5f);
}
void servo_init(uint8_t pin) {
servo_pin = pin;
// Configure GPIO for PWM
gpio_set_function(servo_pin, GPIO_FUNC_PWM);
servo_slice = pwm_gpio_to_slice_num(servo_pin);
servo_chan = pwm_gpio_to_channel(servo_pin);
pwm_config config = pwm_get_default_config();
// Calculate clock divider to achieve 50 Hz with our chosen wrap
const uint32_t sys_clock_hz = clock_get_hz(clk_sys);
float clock_div = (float)sys_clock_hz / (servo_hz * (servo_wrap + 1));
pwm_config_set_clkdiv(&config, clock_div);
pwm_config_set_wrap(&config, servo_wrap);
pwm_init(servo_slice, &config, true);
}
void servo_set_pulse_us(uint16_t pulse_us) {
if (servo_pin == 0) return; // not initialized
// clamp to defaults
if (pulse_us < SERVO_DEFAULT_MIN_US) pulse_us = SERVO_DEFAULT_MIN_US;
if (pulse_us > SERVO_DEFAULT_MAX_US) pulse_us = SERVO_DEFAULT_MAX_US;
uint32_t level = pulse_us_to_level(pulse_us);
pwm_set_chan_level(servo_slice, servo_chan, level);
}
void servo_set_angle(float degrees) {
if (degrees < 0.0f) degrees = 0.0f;
if (degrees > 180.0f) degrees = 180.0f;
// linear map 0..180 -> min_us..max_us
float ratio = degrees / 180.0f;
uint16_t pulse = (uint16_t)(SERVO_DEFAULT_MIN_US + ratio * (SERVO_DEFAULT_MAX_US - SERVO_DEFAULT_MIN_US) + 0.5f);
servo_set_pulse_us(pulse);
}
#
0x0020_dynamic-conditionals/input.c → 0x0020_dynamic-conditionals/servo.h
+41 -30
View File
@@ -1,18 +1,23 @@
/**
* @file servo.h
* @brief Header for SG90 servo driver (PWM)
* @author Kevin Thomas
* @date 2025
*
* MIT License
*
* Copyright (c) 2024 My Techno Talent
*
*
* Copyright (c) 2025 Kevin Thomas
*
* 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
@@ -20,32 +25,38 @@
* 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.
*/
*/
/** @file input.c
*
* @brief Functions for the input driver.
*
* This contains the functions for the input driver which will handle UART
* configuration in addition to capturing a character from the UART terminal.
*
* @author Kevin Thomas
* @date 04/20/2024
*/
#ifndef SERVO_H
#define SERVO_H
#include "input.h"
#include <stdint.h>
#include <stdbool.h>
void uart0_init(void) {
uart_init(UART_ID, BAUD_RATE);
gpio_set_function(UART_TX_PIN, GPIO_FUNC_UART);
gpio_set_function(UART_RX_PIN, GPIO_FUNC_UART);
}
/**
* @brief Initialize servo driver on a given GPIO pin
*
* Configures PWM for a 50 Hz servo (SG90). Call once before using other API.
*
* @param pin GPIO pin number to use for servo PWM
*/
void servo_init(uint8_t pin);
uint8_t on_uart_rx(void) {
uint8_t c = 0;
while (!uart_is_readable(UART_ID)) {
c = uart_getc(UART_ID);
return c;
}
}
/**
* @brief Set servo pulse width in microseconds (typical 1000-2000)
*
* @param pulse_us Pulse width in microseconds
*/
void servo_set_pulse_us(uint16_t pulse_us);
/**
* @brief Set servo angle in degrees (0 to 180)
*
* Maps 0..180 degrees to the configured pulse range (default 1000..2000 us).
* Values outside [0,180] will be clamped.
*
* @param degrees Angle in degrees
*/
void servo_set_angle(float degrees);
#endif // SERVO_H