Mohamed Salem
b49c7f60bb
MCU_PIO: generic PIO driver with config-driven program loading, function-pointer init callbacks, blocking put, and DMA async put. ws2812.pio written from scratch — 800 kHz, 10 cycles/bit, side-set. HAL_LED: pixel buffer with intensity scaling, RGB byte order for RP2040-Zero WS2812 variant. SetColor immediately pushes the strip. APP_CLSW: rainbow HSV hue rotation on startup (auto-mode). Color commands (red/green/blue/off/rainbow) stop the rainbow and set the LED to a static color. Integer-only HSV-to-RGB conversion. CMake: added hardware_pio link and pico_generate_pio_header for ws2812.pio compilation. SYS_ECU init sequence updated.
107 lines
5.2 KiB
CMake
107 lines
5.2 KiB
CMake
# ============================================================================
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# mcu_config.cmake
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# ----------------------------------------------------------------------------
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# Encapsulates all Raspberry Pi Pico / RP2040 specific configuration.
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# Depends on project_config.cmake having been included first (reads
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# PROJECT_C_STANDARD).
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#
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# Because CMake forces a strict order (SDK bootstrap before project(),
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# pico_sdk_init() after project(), linking after add_executable), this file
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# exposes three macros/functions that the top-level CMakeLists.txt calls
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# at the correct points in the build flow:
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#
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# mcu_init() - includes pico_sdk_import.cmake (pre-project)
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# mcu_sdk_config() - runs pico_sdk_init() (post-project)
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# mcu_link_target(target) - links SDK libs, configures stdio, emits UF2
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# ============================================================================
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# ----------------------------------------------------------------------------
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# Step 1/3 - called BEFORE project() in the top-level CMakeLists.txt.
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# Pulls in the Pico SDK bootstrap file so the ARM cross-compile toolchain
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# (arm-none-eabi-gcc) is configured before CMake enables the project
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# languages. Calling project() before this runs would cause CMake to detect
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# the host compiler instead and produce a broken build.
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# ----------------------------------------------------------------------------
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macro(mcu_init)
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# pico_sdk_import.cmake lives alongside the top-level CMakeLists.txt
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# inside the cmake/ folder, so CMAKE_SOURCE_DIR (which points at cmake/
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# when that file is the one being processed) is the right base path.
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include(${CMAKE_SOURCE_DIR}/pico_sdk_import.cmake)
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endmacro()
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# ----------------------------------------------------------------------------
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# Step 2/3 - called AFTER project() in the top-level CMakeLists.txt.
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# Applies the C standard chosen in project_config.cmake and registers every
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# Pico SDK library as a CMake target (pico_stdlib, hardware_uart,
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# hardware_gpio, ...) so we can later pick only the ones we need.
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# Note: pico_sdk_init() does NOT pull any libraries into the final binary
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# by itself - it only makes them available as link targets.
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# ----------------------------------------------------------------------------
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macro(mcu_sdk_config)
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set(CMAKE_C_STANDARD ${PROJECT_C_STANDARD})
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set(CMAKE_C_STANDARD_REQUIRED ON)
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pico_sdk_init()
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endmacro()
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# ----------------------------------------------------------------------------
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# Step 3/3 - called AFTER add_executable() in the top-level CMakeLists.txt.
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# Links only the Pico SDK libraries we actually use, routes stdio over
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# USB-CDC so printf output is visible on the host serial monitor without
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# any extra hardware, and emits the .uf2 file used for drag-and-drop
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# flashing onto the Pico's mass-storage bootloader.
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#
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# Parameters:
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# target - name of the executable target created with add_executable()
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# ----------------------------------------------------------------------------
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function(mcu_link_target target)
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# Pick only the libraries we need:
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# - pico_stdlib: core runtime, GPIO, clocks, basic init
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# - hardware_uart: UART peripheral API (used by the MCU_UART driver)
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# - hardware_dma: DMA controller API (used by MCU_UART + MCU_PIO async)
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# - hardware_pio: PIO state machine API (used by MCU_PIO for WS2812 etc.)
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target_link_libraries(${target} PRIVATE
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pico_stdlib
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hardware_uart
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hardware_dma
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hardware_pio
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)
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# Generate C header from PIO assembly programs. The generated header
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# provides the compiled program struct (ws2812_program) and the
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# ws2812_program_init() helper used by MCU_PIO_cfg.c. The header is
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# placed in the build directory and automatically added to the
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# target's include path.
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pico_generate_pio_header(${target}
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${PROJECT_ROOT_DIR}/src/MCU_PIO/pio/ws2812.pio)
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# Route stdio over USB-CDC: the Pico will appear as a virtual serial
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# port on the host when plugged in, so printf/getchar are visible in
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# any serial monitor without needing a USB-to-UART adapter.
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# 1 = enabled, 0 = disabled.
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pico_enable_stdio_usb(${target} 1)
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pico_enable_stdio_uart(${target} 0)
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# Ask the SDK to generate the .uf2 (plus .hex, .bin, .map) alongside
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# the .elf so the firmware can be flashed by dragging it onto the
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# Pico's USB mass-storage device after holding BOOTSEL.
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pico_add_extra_outputs(${target})
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# Custom "flash" target: builds the firmware first (DEPENDS ensures
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# the .uf2 is up to date), then runs flash.sh on the host to copy
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# it to the Pico in BOOTSEL mode.
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#
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# Usage: cmake --build build --target flash
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#
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# NOTE: This target only works when cmake runs on the HOST macOS
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# (not inside Docker), because it needs access to /Volumes/RPI-RP2.
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# When running inside Docker, the target will fail with a clear error
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# from flash.sh ("not found" or "/Volumes/RPI-RP2 not accessible").
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add_custom_target(flash
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COMMAND bash ${PROJECT_ROOT_DIR}/flash.sh
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DEPENDS ${target}
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WORKING_DIRECTORY ${PROJECT_ROOT_DIR}
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COMMENT "Flashing firmware to Pico via USB mass storage"
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VERBATIM
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)
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endfunction()
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