diff --git a/lab_4/lab_4.c b/lab_4/lab_4.c index 7884746..724050f 100644 --- a/lab_4/lab_4.c +++ b/lab_4/lab_4.c @@ -1,12 +1,13 @@ /** - * To configure a PWM signal at 20 Hz with a 50% duty cycle - * on GP2 and feed it into an ADC at GP26 while - * sampling the ADC every 25 ms, - * you must use the Raspberry Pi Pico and its Pico C SDK. + * Lab 4 * - * You will need to use a jumper wire to connect GP2 to GP26. - * You may use a timer interrupt. + * PWM Pin is configured to output a 20 Hz signal with a 50% duty cycle + * on GPIO 2. + * + * ADC is configured to read the value of the PWM from GPIO 2 on GPIO 26. + * + * An interrupt is setup to read the ADC value every 25 ms and print it. */ #include @@ -27,14 +28,7 @@ bool repeating_timer_callback (struct repeating_timer *t) { // Read ADC value uint16_t result = adc_read(); - uint64_t time = time_us_64(); - printf("%02d:%02d:%02d:%03d -> ADC value: %d\n", - (int) (time / 3600000000), - (int) (time / 60000000) % 60, - (int) (time / 1000000) % 60, - (int) (time / 1000) % 1000, - result - ); + printf("ADC value: %d\n", result); return true; } diff --git a/lab_5/CMakeLists.txt b/lab_5/CMakeLists.txt new file mode 100644 index 0000000..84c7504 --- /dev/null +++ b/lab_5/CMakeLists.txt @@ -0,0 +1,50 @@ +if (EXISTS ${PICO_LWIP_CONTRIB_PATH}/apps/ping/ping.c) + add_executable(picow_freertos_ping_nosys + picow_freertos_ping.c + ${PICO_LWIP_CONTRIB_PATH}/apps/ping/ping.c + ) + target_compile_definitions(picow_freertos_ping_nosys PRIVATE + WIFI_SSID=\"${WIFI_SSID}\" + WIFI_PASSWORD=\"${WIFI_PASSWORD}\" + ) + target_include_directories(picow_freertos_ping_nosys PRIVATE + ${CMAKE_CURRENT_LIST_DIR} + ${CMAKE_CURRENT_LIST_DIR}/../.. # for our common lwipopts + ${PICO_LWIP_CONTRIB_PATH}/apps/ping + ) + target_link_libraries(picow_freertos_ping_nosys + pico_cyw43_arch_lwip_threadsafe_background + hardware_adc + pico_stdlib + pico_lwip_iperf + FreeRTOS-Kernel-Heap4 # FreeRTOS kernel and dynamic heap + ) + pico_add_extra_outputs(picow_freertos_ping_nosys) + + add_executable(picow_freertos_ping_sys + picow_freertos_ping.c + ${PICO_LWIP_CONTRIB_PATH}/apps/ping/ping.c + ) + target_compile_definitions(picow_freertos_ping_sys PRIVATE + WIFI_SSID=\"${WIFI_SSID}\" + WIFI_PASSWORD=\"${WIFI_PASSWORD}\" + NO_SYS=0 # don't want NO_SYS (generally this would be in your lwipopts.h) + LWIP_SOCKET=1 # we need the socket API (generally this would be in your lwipopts.h) + PING_USE_SOCKETS=1 + ) + target_include_directories(picow_freertos_ping_sys PRIVATE + ${CMAKE_CURRENT_LIST_DIR} + ${CMAKE_CURRENT_LIST_DIR}/../.. # for our common lwipopts + ${PICO_LWIP_CONTRIB_PATH}/apps/ping + ) + target_link_libraries(picow_freertos_ping_sys + pico_cyw43_arch_lwip_sys_freertos + hardware_adc + pico_stdlib + pico_lwip_iperf + FreeRTOS-Kernel-Heap4 # FreeRTOS kernel and dynamic heap + ) + pico_add_extra_outputs(picow_freertos_ping_sys) + + pico_enable_stdio_usb(picow_freertos_ping_sys 1) +endif() \ No newline at end of file diff --git a/lab_5/FreeRTOSConfig.h b/lab_5/FreeRTOSConfig.h new file mode 100644 index 0000000..f715e60 --- /dev/null +++ b/lab_5/FreeRTOSConfig.h @@ -0,0 +1,143 @@ +/* + * FreeRTOS V202111.00 + * Copyright (C) 2020 Amazon.com, Inc. or its affiliates. All Rights Reserved. + * + * 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. + * + * http://www.FreeRTOS.org + * http://aws.amazon.com/freertos + * + * 1 tab == 4 spaces! + */ + +#ifndef FREERTOS_CONFIG_H +#define FREERTOS_CONFIG_H + +/*----------------------------------------------------------- + * Application specific definitions. + * + * These definitions should be adjusted for your particular hardware and + * application requirements. + * + * THESE PARAMETERS ARE DESCRIBED WITHIN THE 'CONFIGURATION' SECTION OF THE + * FreeRTOS API DOCUMENTATION AVAILABLE ON THE FreeRTOS.org WEB SITE. + * + * See http://www.freertos.org/a00110.html + *----------------------------------------------------------*/ + +/* Scheduler Related */ +#define configUSE_PREEMPTION 1 +#define configUSE_TICKLESS_IDLE 0 +#define configUSE_IDLE_HOOK 0 +#define configUSE_TICK_HOOK 0 +#define configTICK_RATE_HZ ( ( TickType_t ) 1000 ) +#define configMAX_PRIORITIES 32 +#define configMINIMAL_STACK_SIZE ( configSTACK_DEPTH_TYPE ) 256 +#define configUSE_16_BIT_TICKS 0 + +#define configIDLE_SHOULD_YIELD 1 + +/* Synchronization Related */ +#define configUSE_MUTEXES 1 +#define configUSE_RECURSIVE_MUTEXES 1 +#define configUSE_APPLICATION_TASK_TAG 0 +#define configUSE_COUNTING_SEMAPHORES 1 +#define configQUEUE_REGISTRY_SIZE 8 +#define configUSE_QUEUE_SETS 1 +#define configUSE_TIME_SLICING 1 +#define configUSE_NEWLIB_REENTRANT 0 +// todo need this for lwip FreeRTOS sys_arch to compile +#define configENABLE_BACKWARD_COMPATIBILITY 1 +#define configNUM_THREAD_LOCAL_STORAGE_POINTERS 5 + +/* System */ +#define configSTACK_DEPTH_TYPE uint32_t +#define configMESSAGE_BUFFER_LENGTH_TYPE size_t + +/* Memory allocation related definitions. */ +#define configSUPPORT_STATIC_ALLOCATION 0 +#define configSUPPORT_DYNAMIC_ALLOCATION 1 +#define configTOTAL_HEAP_SIZE (128*1024) +#define configAPPLICATION_ALLOCATED_HEAP 0 + +/* Hook function related definitions. */ +#define configCHECK_FOR_STACK_OVERFLOW 0 +#define configUSE_MALLOC_FAILED_HOOK 0 +#define configUSE_DAEMON_TASK_STARTUP_HOOK 0 + +/* Run time and task stats gathering related definitions. */ +#define configGENERATE_RUN_TIME_STATS 0 +#define configUSE_TRACE_FACILITY 1 +#define configUSE_STATS_FORMATTING_FUNCTIONS 0 + +/* Co-routine related definitions. */ +#define configUSE_CO_ROUTINES 0 +#define configMAX_CO_ROUTINE_PRIORITIES 1 + +/* Software timer related definitions. */ +#define configUSE_TIMERS 1 +#define configTIMER_TASK_PRIORITY ( configMAX_PRIORITIES - 1 ) +#define configTIMER_QUEUE_LENGTH 10 +#define configTIMER_TASK_STACK_DEPTH 1024 + +/* Interrupt nesting behaviour configuration. */ +/* +#define configKERNEL_INTERRUPT_PRIORITY [dependent of processor] +#define configMAX_SYSCALL_INTERRUPT_PRIORITY [dependent on processor and application] +#define configMAX_API_CALL_INTERRUPT_PRIORITY [dependent on processor and application] +*/ + +#if FREE_RTOS_KERNEL_SMP // set by the RP2040 SMP port of FreeRTOS +/* SMP port only */ +#define configNUM_CORES 1 +#define configTICK_CORE 0 +#define configRUN_MULTIPLE_PRIORITIES 1 +#define configUSE_CORE_AFFINITY 0 +#endif + +/* RP2040 specific */ +#define configSUPPORT_PICO_SYNC_INTEROP 1 +#define configSUPPORT_PICO_TIME_INTEROP 1 + +#include +/* Define to trap errors during development. */ +#define configASSERT(x) assert(x) + +/* Set the following definitions to 1 to include the API function, or zero +to exclude the API function. */ +#define INCLUDE_vTaskPrioritySet 1 +#define INCLUDE_uxTaskPriorityGet 1 +#define INCLUDE_vTaskDelete 1 +#define INCLUDE_vTaskSuspend 1 +#define INCLUDE_vTaskDelayUntil 1 +#define INCLUDE_vTaskDelay 1 +#define INCLUDE_xTaskGetSchedulerState 1 +#define INCLUDE_xTaskGetCurrentTaskHandle 1 +#define INCLUDE_uxTaskGetStackHighWaterMark 1 +#define INCLUDE_xTaskGetIdleTaskHandle 1 +#define INCLUDE_eTaskGetState 1 +#define INCLUDE_xTimerPendFunctionCall 1 +#define INCLUDE_xTaskAbortDelay 1 +#define INCLUDE_xTaskGetHandle 1 +#define INCLUDE_xTaskResumeFromISR 1 +#define INCLUDE_xQueueGetMutexHolder 1 + +/* A header file that defines trace macro can be included here. */ + +#endif /* FREERTOS_CONFIG_H */ + diff --git a/lab_5/lab_5.c b/lab_5/lab_5.c new file mode 100644 index 0000000..f20a6d2 --- /dev/null +++ b/lab_5/lab_5.c @@ -0,0 +1,279 @@ +/** + * Copyright (c) 2022 Raspberry Pi (Trading) Ltd. + * + * SPDX-License-Identifier: BSD-3-Clause + */ + +/** + * Lab 5 + * + * Done on: pico-examples/pico_w/wifi/freertos/ping/picow_freertos_ping.c + */ + +#include +#include "pico/stdlib.h" + +#include "FreeRTOS.h" +#include "task.h" +#include "message_buffer.h" + +#include "hardware/adc.h" +#include + +#define mbaTASK_MESSAGE_BUFFER_SIZE ( 60 ) + +#ifndef PING_ADDR +#define PING_ADDR "142.251.35.196" +#endif +#ifndef RUN_FREERTOS_ON_CORE +#define RUN_FREERTOS_ON_CORE 0 +#endif + +#define BUFFER_SIZE ( 10 ) // 10 data points +#define QUEUE_SIZE ( 3 ) // 3 Tasks to print + +#define TASK_ONE_PRIORITY ( tskIDLE_PRIORITY + 1UL ) +#define TASK_TWO_PRIORITY ( tskIDLE_PRIORITY + 2UL ) +#define TASK_THREE_PRIORITY ( tskIDLE_PRIORITY + 3UL ) +#define TASK_FOUR_PRIORITY ( tskIDLE_PRIORITY + 4UL ) + +#define TEMP_READING_DELAY_MS ( 1000 ) // 1 second + +static MessageBufferHandle_t TaskTwoMsgBuffer; // Task 2 Buffer +static QueueHandle_t TaskThreeQueue; // Task 3 Queue +static QueueHandle_t printQueue; // Task 4 Queue + +static float read_onboard_temperature () { + + /* 12-bit conversion, assume max value == ADC_VREF == 3.3 V */ + const float conversionFactor = 3.3f / (1 << 12); + + float adc = (float) adc_read() * conversionFactor; + float tempC = 27.0f - (adc - 0.706f) / 0.001721f; + + return tempC; +} + +/** + * Task 1: Read temperature data from Sensor + * @param params Pointer to the task parameters + */ +static void temp_sensor_task (__unused void *params) { + const TickType_t xBlockTime = pdMS_TO_TICKS(TEMP_READING_DELAY_MS); + + static float temperature = 0.0f; + static char text_to_print[mbaTASK_MESSAGE_BUFFER_SIZE]; + + adc_init(); + adc_set_temp_sensor_enabled(true); + adc_select_input(4); + + while (true) + { + vTaskDelay(xBlockTime); + temperature = read_onboard_temperature(); + + // Print the temperature first + snprintf(text_to_print, + sizeof(text_to_print), + "Task 1: Onboard temperature = %.02f C\n", + temperature); + + xQueueSend(printQueue, &text_to_print, 0); + + // Send to Task 2 + xMessageBufferSend(TaskTwoMsgBuffer, + (void *) &temperature, + sizeof(temperature), + 0); + + // Send to Task 3 + xQueueSend(TaskThreeQueue, &temperature, 0); + + + } +} + + +/** + * Task 2: Calculate moving average of 10 data points + * + * @param params Pointer to the task parameters + */ +static void avg_task (__unused void *params) { + static float fReceivedData; + static float sum = 0.0f; + static float data[BUFFER_SIZE] = {0}; + + static int index = 0; + static int count = 0; + + static char text_to_print[mbaTASK_MESSAGE_BUFFER_SIZE]; + + while (true) + { + xMessageBufferReceive(TaskTwoMsgBuffer, + (void *) &fReceivedData, + sizeof(fReceivedData), + portMAX_DELAY); + + // Circular buffer + + sum -= data[index]; + data[index] = fReceivedData; + sum += data[index]; + index = (index + 1) % BUFFER_SIZE; + + if (count < BUFFER_SIZE) + { + count ++; + } + + snprintf(text_to_print, + sizeof(text_to_print), + "Task 2: Moving Average Temperature = %0.2f C\n", + sum / count); + + xQueueSend(printQueue, &text_to_print, 0); + + } +} + +/** + * Task 3: Calculate simple average of ALL data points + * + * @param params Pointer to the task parameters + */ +static void avg_task_simple (__unused void *params) { + static float fReceivedData; + static float sum = 0.0f; + + static float count = 0.0f; + + static char text_to_print[mbaTASK_MESSAGE_BUFFER_SIZE]; + + + while (true) + { + xQueueReceive(TaskThreeQueue, + &fReceivedData, + portMAX_DELAY); + + sum += fReceivedData; + count ++; + + snprintf(text_to_print, + sizeof(text_to_print), + "Task 3: Simple Average Temperature = %0.2f C\n", + sum / count); + + xQueueSend(printQueue, &text_to_print, 0); + } +} + +/** + * Task 4: To print all the printf statements from other tasks + * + * @param params Pointer to the task parameters + */ +static void print_task (__unused void *params) { + static char text_to_print[mbaTASK_MESSAGE_BUFFER_SIZE]; + + while (true) + { + // Receive from Queue + xQueueReceive(printQueue, + &text_to_print, + portMAX_DELAY); + + printf("%s", text_to_print); + } +} + + +void vLaunch (void) { + + // Task 1: Read temperature data from Sensor + TaskHandle_t task_1; + xTaskCreate( + temp_sensor_task, + "TempSensorTask", + configMINIMAL_STACK_SIZE, + NULL, + TASK_ONE_PRIORITY, + &task_1 + ); + + // Task 2: Calculate moving average + TaskHandle_t task_2; + xTaskCreate( + avg_task, + "AvgTask", + configMINIMAL_STACK_SIZE, + NULL, + TASK_TWO_PRIORITY, + &task_2 + ); + + // Task 3: Calculate simple average + TaskHandle_t task_3; + xTaskCreate( + avg_task_simple, + "AvgTaskSimple", + configMINIMAL_STACK_SIZE, + NULL, + TASK_THREE_PRIORITY, + &task_3 + ); + + // Task 4: Print all the printf statements from other tasks + TaskHandle_t task_4; + xTaskCreate( + print_task, + "PrintTask", + configMINIMAL_STACK_SIZE, + NULL, + TASK_FOUR_PRIORITY, + &task_4 + ); + + TaskTwoMsgBuffer = xMessageBufferCreate(mbaTASK_MESSAGE_BUFFER_SIZE); + TaskThreeQueue = xQueueCreate(10, sizeof(float)); + printQueue = xQueueCreate(QUEUE_SIZE, sizeof(char[60])); + + +#if NO_SYS && configUSE_CORE_AFFINITY && configNUM_CORES > 1 + // we must bind the main task to one core (well at least while the init is called) + // (note we only do this in NO_SYS mode, because cyw43_arch_freertos + // takes care of it otherwise) + vTaskCoreAffinitySet(task, 1); +#endif + + /* Start the tasks and timer running. */ + vTaskStartScheduler(); +} + +int main (void) { + stdio_init_all(); + + /* Configure the hardware ready to run the demo. */ + const char *rtos_name; +#if (portSUPPORT_SMP == 1) + rtos_name = "FreeRTOS SMP"; +#else + rtos_name = "FreeRTOS"; +#endif + +#if (portSUPPORT_SMP == 1) && (configNUM_CORES == 2) + printf("Starting %s on both cores:\n", rtos_name); + vLaunch(); +#elif (RUN_FREERTOS_ON_CORE == 1) + printf("Starting %s on core 1:\n", rtos_name); + multicore_launch_core1(vLaunch); + while (true); +#else + printf("Starting %s on core 0:\n", rtos_name); + vLaunch(); +#endif + return 0; +} diff --git a/lab_5/lwipopts.h b/lab_5/lwipopts.h new file mode 100644 index 0000000..051c08a --- /dev/null +++ b/lab_5/lwipopts.h @@ -0,0 +1,25 @@ +#ifndef _LWIPOPTS_H +#define _LWIPOPTS_H + +// Generally you would define your own explicit list of lwIP options +// (see https://www.nongnu.org/lwip/2_1_x/group__lwip__opts.html) +// +// This example uses a common include to avoid repetition +#include "lwipopts_examples_common.h" + +#if !NO_SYS +#define TCPIP_THREAD_STACKSIZE 1024 +#define DEFAULT_THREAD_STACKSIZE 1024 +#define DEFAULT_RAW_RECVMBOX_SIZE 8 +#define TCPIP_MBOX_SIZE 8 +#define LWIP_TIMEVAL_PRIVATE 0 + +// not necessary, can be done either way +#define LWIP_TCPIP_CORE_LOCKING_INPUT 1 + +// ping_thread sets socket receive timeout, so enable this feature +#define LWIP_SO_RCVTIMEO 1 +#endif + + +#endif