commit d1ada31a7009f7ea1f5fa204fae7e784f9f8ebcb Author: Beluzsar Peter Date: Tue Sep 15 15:04:21 2026 +0200 inintial c diff --git a/.gitignore b/.gitignore new file mode 100644 index 0000000..2435c20 --- /dev/null +++ b/.gitignore @@ -0,0 +1,2 @@ +build +!.vscode/* diff --git a/.vscode/cmake-kits.json b/.vscode/cmake-kits.json new file mode 100644 index 0000000..90b41ff --- /dev/null +++ b/.vscode/cmake-kits.json @@ -0,0 +1,9 @@ +[ + { + "name": "RPi Pico ─ tttapa/arm-pico-eabi", + "toolchainFile": "${env:HOME}/opt/x-tools/arm-pico-eabi/arm-pico-eabi.toolchain.cmake", + "environmentVariables": { + "PICO_SDK_PATH": "${env:HOME}/pico/pico-sdk" + } + } +] \ No newline at end of file diff --git a/.vscode/launch.json b/.vscode/launch.json new file mode 100644 index 0000000..926e16c --- /dev/null +++ b/.vscode/launch.json @@ -0,0 +1,28 @@ +{ + "version": "0.3.0", + "configurations": [ + { + "name": "Pico attach to OpenOCD", + "type": "cppdbg", + "request": "launch", + "program": "${command:cmake.launchTargetPath}", + "cwd": "${workspaceFolder}", + "miDebuggerServerAddress": "localhost:3333", + "useExtendedRemote": true, + "MIMode": "gdb", + "miDebuggerPath": "gdb-multiarch", + "setupCommands": [ + { + "description": "Enable pretty-printing for gdb", + "text": "-enable-pretty-printing", + "ignoreFailures": true + }, + { + "description": "Set Disassembly Flavor to Intel", + "text": "-gdb-set disassembly-flavor intel", + "ignoreFailures": true + } + ] + } + ] +} \ No newline at end of file diff --git a/CMakeLists.txt b/CMakeLists.txt new file mode 100644 index 0000000..e872767 --- /dev/null +++ b/CMakeLists.txt @@ -0,0 +1,16 @@ +cmake_minimum_required(VERSION 3.20) +project(pico-cpp LANGUAGES C CXX ASM) +if (DEFINED PICO_SDK_VERSION_STRING) + pico_sdk_init() +endif() + +add_library(warnings INTERFACE) +target_compile_options(warnings INTERFACE "-Wall" "-Wextra" "-Wno-psabi") + +add_executable(main "main.cpp") +target_compile_features(main PRIVATE cxx_std_23) +target_link_libraries(main PRIVATE warnings pico_stdlib hardware_adc) +pico_enable_stdio_usb(main 1) +pico_enable_stdio_uart(main 0) +pico_add_extra_outputs(main) + diff --git a/main.bak b/main.bak new file mode 100644 index 0000000..3ca2d18 --- /dev/null +++ b/main.bak @@ -0,0 +1,81 @@ +#include "pico/stdlib.h" +#include +#include + +#define POLL_PERIOD 50 //time between polls (ms) +#define MAX_STORED_VALUES 10 //number of stored values to calculate e_dot and e_dot_dot values + +int kp = 10; +int ki = 100; +int kd = 1000; + +int set_temp = 30; + +int* e_prev; + +// Perform initialisation +int* create_array(int size) { + int* array = (int*)malloc(size * sizeof(int)); + + for (int i = 0; i < size; i++) { //fill with 0s so it doesnt confuse the controller + array[i] = 0; + } + + return array; +} + +int calculate_integral(int* array) { + int sum = 0; + + for (int i = 0; i < MAX_STORED_VALUES; i++ ) { + sum += array[i]; + } + + sum *= POLL_PERIOD; + + return sum; +} + +int* push_array(int* array, int value) { + for (int i = 1; i < MAX_STORED_VALUES; i++) { + array[i] = array[i-1]; + } + + array[0] = value; + + return array; +} + +void init(void) { + *e_prev = create_array(MAX_STORED_VALUES); + gpio_init(PICO_DEFAULT_LED_PIN); + gpio_set_dir(PICO_DEFAULT_LED_PIN, GPIO_OUT); +} + +void pico_set_led(bool led_on) { + gpio_put(PICO_DEFAULT_LED_PIN, led_on); +} + +int calculate_pid(int* error_array, float x) { + int e = set_temp-x; + + push_array(error_array, e); + + int e_dot = (e - error_array[0]) / POLL_PERIOD; + int e_int = calculate_integral(error_array); + + return e * kp + e_dot * kd + e_int * ki; +} + +int main() { + //init(); + stdio_init_all(); + while (true) + { + /* code */ + printf("sadf"); + sleep_ms(100); + } + + +} diff --git a/main.cpp b/main.cpp new file mode 100644 index 0000000..707375f --- /dev/null +++ b/main.cpp @@ -0,0 +1,16 @@ +#include +#include +#include +#include + +int main() { + stdio_init_all(); + adc_init(); + adc_gpio_init(26); + adc_select_input(0); + while (1) { + const float conv_factor = 3.3f / (1 << 12); + std::println("ldsakjf"); + sleep_ms(500); + } +} \ No newline at end of file diff --git a/pico_sdk_import.cmake b/pico_sdk_import.cmake new file mode 100644 index 0000000..d493cc2 --- /dev/null +++ b/pico_sdk_import.cmake @@ -0,0 +1,121 @@ +# This is a copy of /external/pico_sdk_import.cmake + +# 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}')") +endif () + +if (DEFINED ENV{PICO_SDK_FETCH_FROM_GIT} AND (NOT PICO_SDK_FETCH_FROM_GIT)) + set(PICO_SDK_FETCH_FROM_GIT $ENV{PICO_SDK_FETCH_FROM_GIT}) + message("Using PICO_SDK_FETCH_FROM_GIT from environment ('${PICO_SDK_FETCH_FROM_GIT}')") +endif () + +if (DEFINED ENV{PICO_SDK_FETCH_FROM_GIT_PATH} AND (NOT PICO_SDK_FETCH_FROM_GIT_PATH)) + set(PICO_SDK_FETCH_FROM_GIT_PATH $ENV{PICO_SDK_FETCH_FROM_GIT_PATH}) + message("Using PICO_SDK_FETCH_FROM_GIT_PATH from environment ('${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) + include(FetchContent) + set(FETCHCONTENT_BASE_DIR_SAVE ${FETCHCONTENT_BASE_DIR}) + if (PICO_SDK_FETCH_FROM_GIT_PATH) + get_filename_component(FETCHCONTENT_BASE_DIR "${PICO_SDK_FETCH_FROM_GIT_PATH}" REALPATH BASE_DIR "${CMAKE_SOURCE_DIR}") + endif () + FetchContent_Declare( + pico_sdk + GIT_REPOSITORY https://github.com/raspberrypi/pico-sdk + GIT_TAG ${PICO_SDK_FETCH_FROM_GIT_TAG} + ) + + if (NOT pico_sdk) + message("Downloading Raspberry Pi Pico SDK") + # GIT_SUBMODULES_RECURSE was added in 3.17 + if (${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 ${FETCHCONTENT_BASE_DIR_SAVE}) + else () + message(FATAL_ERROR + "SDK location was not specified. Please set PICO_SDK_PATH or set PICO_SDK_FETCH_FROM_GIT to on to fetch from git." + ) + endif () +endif () + +get_filename_component(PICO_SDK_PATH "${PICO_SDK_PATH}" REALPATH BASE_DIR "${CMAKE_BINARY_DIR}") +if (NOT EXISTS ${PICO_SDK_PATH}) + message(FATAL_ERROR "Directory '${PICO_SDK_PATH}' not found") +endif () + +set(PICO_SDK_INIT_CMAKE_FILE ${PICO_SDK_PATH}/pico_sdk_init.cmake) +if (NOT EXISTS ${PICO_SDK_INIT_CMAKE_FILE}) + message(FATAL_ERROR "Directory '${PICO_SDK_PATH}' does not appear to contain the Raspberry Pi Pico SDK") +endif () + +set(PICO_SDK_PATH ${PICO_SDK_PATH} CACHE PATH "Path to the Raspberry Pi Pico SDK" FORCE) + +include(${PICO_SDK_INIT_CMAKE_FILE})