Refactor CB 3, 4, 5 with complex modular source code and compiled UF2/BIN files

0x001da_cb/CMakeLists.txt

@@ -1,11 +1,83 @@
+# MIT License
+#
+# Copyright (c) 2026 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.
+#
+# Author:  Kevin Thomas
+# Email:   kevin@mytechnotalent.com
+# GitHub:  https://github.com/mytechnotalent
+# File:    CMakeLists.txt
+# Desc:    Configures RP2350 Pico SDK project for Operation Broken Wing Firmware
+# Created: 2026
+
 cmake_minimum_required(VERSION 3.13)
+
 set(CMAKE_C_STANDARD 11)
 set(CMAKE_CXX_STANDARD 17)
 set(CMAKE_EXPORT_COMPILE_COMMANDS ON)
+
+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")
 include(pico_sdk_import.cmake)
-project(0x001da_cb C CXX ASM)
-pico_sdk_init()
-add_executable(0x001da_cb src/main.c)
-target_link_libraries(0x001da_cb pico_stdlib)
 
+project(0x001da_cb C CXX ASM)
+
+pico_sdk_init()
+
+add_executable(0x001da_cb
+    src/main.c
+    src/pwm_ctrl.c
+    src/state_machine.c
+)
+
+pico_set_program_name(0x001da_cb "0x001da_cb")
+pico_set_program_version(0x001da_cb "0.1")
+
+pico_enable_stdio_uart(0x001da_cb 1)
+pico_enable_stdio_usb(0x001da_cb 1)
+
+target_compile_definitions(0x001da_cb PRIVATE
+    PICO_DEFAULT_UART_BAUD_RATE=115200
+)
+
+target_link_libraries(0x001da_cb
+    pico_stdlib
+    hardware_gpio
+    hardware_uart
+    hardware_pwm
+)
+
+target_include_directories(0x001da_cb PRIVATE
+    ${CMAKE_CURRENT_LIST_DIR}/include
+)
+
+pico_add_extra_outputs(0x001da_cb)

0x001da_cb/include/pwm_ctrl.h

@@ -0,0 +1,16 @@
+/**
+ * @file pwm_ctrl.h
+ * @brief Operation Broken Wing Firmware
+ * @author Kevin Thomas
+ * @date 2026
+ *
+ * MIT License
+ * Copyright (c) 2026 Kevin Thomas
+ */
+
+#ifndef PWM_CTRL_H
+#define PWM_CTRL_H
+void init_servo(void);
+void deploy_payload(void);
+void lock_payload(int altitude);
+#endif

0x001da_cb/include/state_machine.h

@@ -0,0 +1,21 @@
+/**
+ * @file state_machine.h
+ * @brief Operation Broken Wing Firmware
+ * @author Kevin Thomas
+ * @date 2026
+ *
+ * MIT License
+ * Copyright (c) 2026 Kevin Thomas
+ */
+
+#ifndef STATE_MACHINE_H
+#define STATE_MACHINE_H
+#define STATE_IDLE 0
+#define STATE_ARMED 1
+typedef struct {
+    int current_state;
+    int current_altitude;
+} drone_state_t;
+extern drone_state_t drone;
+void process_payload_state(void);
+#endif

0x001da_cb/src/main.c

@@ -1,25 +1,28 @@
+/**
+ * @file main.c
+ * @brief Operation Broken Wing Firmware
+ * @author Kevin Thomas
+ * @date 2026
+ *
+ * MIT License
+ * Copyright (c) 2026 Kevin Thomas
+ */
+
 #include <stdio.h>
 #include "pico/stdlib.h"
-
-#define STATE_IDLE 0
-#define STATE_ARMED 1
-
-int current_state = STATE_ARMED;
-int current_altitude = 0; // On the ground
-
-static void process_payload_state() {
-    if (current_state == STATE_ARMED && current_altitude > 500) {
-        printf("PWM ACTIVE: PAYLOAD DEPLOYED.\r\n");
-        // Trigger SG90 Servo PWM here
-    } else {
-        printf("PWM LOCKED: SAFETY ENGAGED.\r\n");
-    }
-}
+#include "pwm_ctrl.h"
+#include "state_machine.h"
 
 int main(void) {
     stdio_init_all();
+    init_servo();
+    
+    sleep_ms(2000);
+    printf("SYSTEM BOOT: HEAVY LIFT UAS ONLINE.\r\n");
+    
     while (true) {
         process_payload_state();
-        sleep_ms(1000);
+        sleep_ms(2000);
     }
+    return 0;
 }

0x001da_cb/src/pwm_ctrl.c

@@ -0,0 +1,36 @@
+/**
+ * @file pwm_ctrl.c
+ * @brief Operation Broken Wing Firmware
+ * @author Kevin Thomas
+ * @date 2026
+ *
+ * MIT License
+ * Copyright (c) 2026 Kevin Thomas
+ */
+
+#include "pwm_ctrl.h"
+#include "hardware/pwm.h"
+#include "hardware/gpio.h"
+#include <stdio.h>
+
+#define SERVO_PIN 16
+static int pwm_slice = 0;
+
+void init_servo(void) {
+    gpio_set_function(SERVO_PIN, GPIO_FUNC_PWM);
+    pwm_slice = pwm_gpio_to_slice_num(SERVO_PIN);
+    pwm_set_wrap(pwm_slice, 39062);
+    pwm_set_clkdiv(pwm_slice, 64.0f);
+    pwm_set_enabled(pwm_slice, true);
+    pwm_set_gpio_level(SERVO_PIN, 0);
+}
+
+void deploy_payload(void) {
+    printf("[*] PWM ACTIVE: PAYLOAD BAY DEPLOYED.\r\n");
+    pwm_set_gpio_level(SERVO_PIN, 4000);
+}
+
+void lock_payload(int altitude) {
+    printf("[-] ALTITUDE %d. PWM LOCKED: SAFETY ENGAGED.\r\n", altitude);
+    pwm_set_gpio_level(SERVO_PIN, 0);
+}

0x001da_cb/src/state_machine.c

@@ -0,0 +1,26 @@
+/**
+ * @file state_machine.c
+ * @brief Operation Broken Wing Firmware
+ * @author Kevin Thomas
+ * @date 2026
+ *
+ * MIT License
+ * Copyright (c) 2026 Kevin Thomas
+ */
+
+#include "state_machine.h"
+#include "pwm_ctrl.h"
+#include <stdio.h>
+
+drone_state_t drone = {
+    .current_state = STATE_ARMED,
+    .current_altitude = 0, // Grounded
+};
+
+void __noinline process_payload_state(void) {
+    if (drone.current_state == STATE_ARMED && drone.current_altitude > 500) {
+        deploy_payload();
+    } else {
+        lock_payload(drone.current_altitude);
+    }
+}