Belupeti/szakdoga-pid
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

inintial c

Browse Source
This commit is contained in:
Belupeti
2026-09-15 15:04:21 +02:00
commit d1ada31a70
7 changed files with 273 additions and 0 deletions
Download Patch File Download Diff File Expand all files Collapse all files
.gitignore
+2
View File
@@ -0,0 +1,2 @@
build
!.vscode/*
.vscode/cmake-kits.json
Vendored
+9
View File
@@ -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"
}
}
]
.vscode/launch.json
Vendored
+28
View File
@@ -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
}
]
}
]
}
CMakeLists.txt
+16
View File
@@ -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)
main.bak
+81
View File
@@ -0,0 +1,81 @@
#include "pico/stdlib.h"
#include <stdio.h>
#include <stdlib.h>
#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);
}
}
main.cpp
+16
View File
@@ -0,0 +1,16 @@
#include <hardware/adc.h>
#include <pico/stdlib.h>
#include <pico/time.h>
#include <print>
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);
}
}
pico_sdk_import.cmake
+121
View File
@@ -0,0 +1,121 @@
# This is a copy of <PICO_SDK_PATH>/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})