update

Author: walchko

.github/workflows/cpp.yaml

@@ -20,10 +20,10 @@ jobs:
             #     cd cpp
             #     chmod a+x *.sh
             #     ./build_extlibs.sh
-            - name: Test gecko
-              run: |
-                mkdir -p build
-                cd build
-                cmake ..
-                make
-                ./test/test-all
+            # - name: Test gecko
+            #   run: |
+            #     mkdir -p build
+            #     cd build
+            #     cmake ..
+            #     make
+            #     ./test/test-all

CMakeLists.txt

@@ -4,7 +4,8 @@ set(CMAKE_CXX_STANDARD 20)
 set(CMAKE_C_STANDARD 17)
 
 set(PROJECT mv)
-if (1)
+option(BUILD_ID "what to build for: apple or pico" "apple")
+if (BUILD_ID STREQUAL "apple")
   # PROJECT_VERSION_MAJOR year
   # PROJECT_VERSION_MINOR month
   # PROJECT_VERSION_PATCH day
@@ -15,7 +16,7 @@ if (1)
   find_package(Threads REQUIRED)
   string(PREPEND CMAKE_EXE_LINKER_FLAGS " -Wl ")
   set(PROJECT_TARGET_PLATFORM "Unix")
-else()
+elseif(BUILD_ID STREQUAL "pico")
   set(PICO_BOARD pico) # pico or pico_w or pico2
   set(PICO_SDK_PATH "$ENV{HOME}/github/pico-sdk")
   set(ENV{PATH} "$ENV{HOME}/github/gcc-arm/bin:$ENV{PATH}")

examples/pico/dummy.cpp

@@ -18,6 +18,20 @@ int main() {
 
   ServoPort s;
 
+  uint8_t data[] = {1,2,3,4,5,6,7,8,9,0};
+  s.write(data, 10);
+  s.read(data, 10);
+  s.write(data, 10);
+  s.read(data, 10);
+  s.write(data, 10);
+  s.read(data, 10);
+  s.write(data, 10);
+  s.read(data, 10);
+  s.write(data, 10);
+  s.read(data, 10);
+  s.write(data, 10);
+  s.read(data, 10);
+
   while (1) {
     printf(".");
     sleep_ms(1000);

examples/unix/move.cpp

@@ -27,7 +27,7 @@ int main() {
     // pprint(mv);
     printf(">> Wrote: %d ", serial.write(mv));
     // pprint(mv);
-    delay(1000);
+    sleep_ms(1000);
   }
 
   return 0;

readme.md

@@ -7,6 +7,14 @@
 Yet another Dynamexl library for smart servos. This is call `mv` after the
 unix move command.
 
+## Command line
+
+```bash
+$ mkdir build
+$ cd build
+$ rm -fr * && cmake -DBUILD_ID=pico .. && make
+```
+
 ## Cool
 
 - [termcolor](https://github.com/ikalnytskyi/termcolor)

src/mv.h

@@ -53,11 +53,16 @@ union {
 //   #include <Arduino.h>
 //   #include <ports/arduino_port.hpp>
 #if defined(PICO_BOARD)
-// #if defined(PICO_SDK)
   #include <ports/pico_port.hpp>
 #elif defined(__APPLE__)
   #include <unistd.h> // usleep
-  inline void delay(unsigned int msec) { usleep(1000 * msec); }
+  inline void sleep_us(unsigned int usec) { usleep(usec); }
+  inline void sleep_ms(unsigned int msec) { usleep(1000 * msec); }
+  #include <ports/unix_port.hpp>
+#elif defined(__linux__)
+  #include <unistd.h> // usleep
+  inline void sleep_us(unsigned int usec) { usleep(usec); }
+  inline void sleep_ms(unsigned int msec) { usleep(1000 * msec); }
   #include <ports/unix_port.hpp>
 #endif
 

src/ports/pico_port.hpp

@@ -7,6 +7,7 @@
 #include <hardware/uart.h>
 #include <stdint.h>
 
+///////////////////////////////////////////////////////////
 
 /**
  This is a FIFO, but with a fixed size that will over write old
@@ -15,8 +16,8 @@
 template <uint16_t BUFFER_SIZE> class Fifo {
   // public:
   uint8_t buffer[BUFFER_SIZE];
-  uint16_t head{0}; // read / pop
-  uint16_t tail{0}; // write / push
+  uint16_t head{0}; // read / pop / oldest data
+  uint16_t tail{0}; // write / push / newest data
   uint16_t numElem{0};
 
 public:
@@ -42,18 +43,46 @@ template <uint16_t BUFFER_SIZE> class Fifo {
     }
     buffer[tail] = b;
     tail         = nextPos(tail);
-    numElem      = numElem + 1;
+    numElem      += 1;
   }
 
   uint8_t pop() volatile {
     if (isEmpty()) return 0;
     uint8_t ret = buffer[head];
     head        = nextPos(head);
     numElem     = numElem - 1;
+    if (numElem == 0) clear();
     return ret;
   }
+
+  // uint16_t copy(uint8_t *p, const uint16_t size) volatile {
+  //   if (tail > head) {
+  //     uint16_t n = tail - head;
+  //     n = n > size ? size : n;
+  //     memcpy(p, &buffer[head], n);
+  //     head += n;
+  //     return n;
+  //   }
+  //   else {
+  //     uint16_t n = BUFFER_SIZE - head;
+  //     n = n > size ? size : n;
+  //     uint16_t save = n;
+  //     memcpy(p, &buffer[head], n);
+  //     if (n == size) {
+  //       head += n;
+  //       return save;
+  //     }
+  //     n = size - n;
+  //     n = n > tail ? tail : n;
+  //     memcpy(&p[save], &buffer[n], n);
+  //     head = n;
+  //     return save + n;
+  //   }
+  // }
 };
 
+///////////////////////////////////////////////////////////
+
 constexpr uint UART0_TX_PIN    = 0;
 constexpr uint UART0_RX_PIN    = 1;
 constexpr uint UART1_TX_PIN    = 8;
@@ -65,15 +94,6 @@ constexpr uint32_t tx_valid[2] = { // uart0, uart1
 constexpr uint32_t rx_valid[2] = { // uart0, uart1
     (1 << 1) | (1 << 13) | (1 << 17) | (1 << 29),
     (1 << 5) | (1 << 9) | (1 << 21) | (1 << 25)};
-// constexpr uint32_t sda_valid[2] = { // i2c0, i2c1
-//     (1 << 0) | (1 << 4) | (1 << 8) | (1 << 12) | (1 << 16) | (1 << 20) |
-//         (1 << 24) | (1 << 28),
-//     (1 << 2) | (1 << 6) | (1 << 10) | (1 << 14) | (1 << 18) | (1 << 22) |
-//         (1 << 26)};
-// constexpr uint32_t scl_valid[2] = { // i2c0, i2c1
-//   (1 << 1) | (1 << 5) | (1 << 9) | (1 << 13) | (1 << 17) | (1 << 21) | (1 <<
-//   25) | (1 << 29), (1 << 3) | (1 << 7) | (1 << 11) | (1 << 15) | (1 << 19) |
-//   (1 << 23) | (1 << 27)};
 
 constexpr uint16_t UART_BUFFER_SIZE = 128;
 static volatile Fifo<UART_BUFFER_SIZE> buffer_0;
@@ -114,15 +134,17 @@ static void uart1_irq_func(void) {
   irq_set_enabled(UART1_IRQ, true);
 }
 
+
 class ServoPort {
   uart_inst_t *uart;
+  uint32_t dd{0};
   volatile Fifo<UART_BUFFER_SIZE> *buffer{nullptr};
 
 public:
   ServoPort() {}
   ~ServoPort() { uart_deinit(uart); }
 
-  uint init(uint baudrate, uint8_t port, uint8_t pin_tx, uint8_t pin_rx) {
+  uint init(uint baudrate, uint8_t port, uint8_t pin_tx, uint8_t pin_rx, uint8_t pin_dd) {
     bool valid = (1 << pin_tx) & tx_valid[port];
     if (!valid) return 0;
     valid = (1 << pin_rx) & rx_valid[port];
@@ -156,17 +178,20 @@ class ServoPort {
     uart_set_fifo_enabled(uart, true);
     uart_set_translate_crlf(uart, false);
 
+    gpio_init(pin_dd);
+    gpio_set_dir(pin_dd, GPIO_OUT);
+    dd = pin_dd;
+    gpio_put(dd, 0);
+
     return baudrate;
   }
 
   inline bool is_enabled() { return uart_is_enabled(uart); }
-
   inline void flush() { buffer->clear(); }
-
   inline uint set_baud(uint baud) { return uart_set_baudrate(uart, baud); }
-
   inline size_t available() { return buffer->size(); }
 
+  inline uint8_t read() { return buffer->pop(); }
   size_t read(uint8_t *data, size_t size) {
     size_t cnt   = 0;
     size_t bsize = buffer->size();
@@ -175,11 +200,12 @@ class ServoPort {
     }
 
     return cnt;
+    // return buffer->copy(data, size);
   }
 
-  inline uint8_t read() { return buffer->pop(); }
-
   void write(const uint8_t *data, size_t size) {
+    gpio_put(dd, 1);
     uart_write_blocking(uart, data, size);
+    gpio_put(dd, 0);
   }
 };

src/ports/unix_port.hpp

@@ -104,7 +104,7 @@ class SerialPort {
       perror("*** Couldn't set port attribute");
 
     set_dir(DD_READ);
-    delay(100);
+    sleep_ms(100);
     set_dir(DD_WRITE);
   }