fix temp sensor kind of

.vscode/c_cpp_properties.json

@@ -0,0 +1,22 @@
+{
+    "configurations": [
+        {
+            "name": "Pico",
+            "includePath": [
+                "${workspaceFolder}/**",
+                "${userHome}/.pico-sdk/sdk/2.3.1/**"
+            ],
+            "forcedInclude": [
+                "${workspaceFolder}/build/generated/pico_base/pico/config_autogen.h",
+                "${userHome}/.pico-sdk/sdk/2.3.1/src/common/pico_base_headers/include/pico.h"
+            ],
+            "defines": [],
+            "compilerPath": "${userHome}/.pico-sdk/toolchain/15_2_Rel1/bin/arm-none-eabi-gcc",
+            "compileCommands": "${workspaceFolder}/build/compile_commands.json",
+            "cStandard": "c17",
+            "cppStandard": "c++14",
+            "intelliSenseMode": "linux-gcc-arm"
+        }
+    ],
+    "version": 4
+}

.vscode/cmake-kits.json

@@ -1,9 +1,15 @@
 [
     {
-        "name": "RPi Pico ─ tttapa/arm-pico-eabi",
+        "name": "Pico",
-        "toolchainFile": "${env:HOME}/opt/x-tools/arm-pico-eabi/arm-pico-eabi.toolchain.cmake",
+        "compilers": {
+            "C": "${command:raspberry-pi-pico.getCompilerPath}",
+            "CXX": "${command:raspberry-pi-pico.getCxxCompilerPath}"
+        },
         "environmentVariables": {
-            "PICO_SDK_PATH": "${env:HOME}/pico/pico-sdk"
+            "PATH": "${command:raspberry-pi-pico.getEnvPath};${env:PATH}"
+        },
+        "cmakeSettings": {
+            "Python3_EXECUTABLE": "${command:raspberry-pi-pico.getPythonPath}"
         }
     }
 ]

.vscode/extensions.json

@@ -0,0 +1,9 @@
+{
+    "recommendations": [
+        "marus25.cortex-debug",
+        "ms-vscode.cpptools",
+        "ms-vscode.cpptools-extension-pack",
+        "ms-vscode.vscode-serial-monitor",
+        "raspberry-pi.raspberry-pi-pico"
+    ]
+}

.vscode/launch.json

@@ -1,27 +1,51 @@
 {
-    "version": "0.3.0",
+    "version": "0.2.0",
     "configurations": [
         {
-            "name": "Pico attach to OpenOCD",
+            "name": "Pico Debug (Cortex-Debug)",
-            "type": "cppdbg",
+            "cwd": "${userHome}/.pico-sdk/openocd/0.12.0+dev/scripts",
+            "executable": "${command:raspberry-pi-pico.launchTargetPath}",
             "request": "launch",
-            "program": "${command:cmake.launchTargetPath}",
+            "type": "cortex-debug",
-            "cwd": "${workspaceFolder}",
+            "servertype": "openocd",
-            "miDebuggerServerAddress": "localhost:3333",
+            "serverpath": "${userHome}/.pico-sdk/openocd/0.12.0+dev/openocd.exe",
-            "useExtendedRemote": true,
+            "gdbPath": "${command:raspberry-pi-pico.getGDBPath}",
-            "MIMode": "gdb",
+            "debuggerArgs": ["-ex", "set debug-file-directory /debug"],
-            "miDebuggerPath": "gdb-multiarch",
+            "device": "${command:raspberry-pi-pico.getChipUppercase}",
-            "setupCommands": [
+            "configFiles": [
-                {
+                "interface/cmsis-dap.cfg",
-                    "description": "Enable pretty-printing for gdb",
+                "target/${command:raspberry-pi-pico.getTarget}.cfg"
-                    "text": "-enable-pretty-printing",
+            ],
-                    "ignoreFailures": true
+            "svdFile": "${userHome}/.pico-sdk/sdk/2.3.1/src/${command:raspberry-pi-pico.getChip}/hardware_regs/${command:raspberry-pi-pico.getChipUppercase}.svd",
-                },
+            "runToEntryPoint": "main",
-                {
+            // Fix for no_flash binaries, where monitor reset halt doesn't do what is expected
-                    "description": "Set Disassembly Flavor to Intel",
+            // Also works fine for flash binaries
-                    "text": "-gdb-set disassembly-flavor intel",
+            "overrideLaunchCommands": [
-                    "ignoreFailures": true
+                "monitor reset init",
-                }
+                "load \"${command:raspberry-pi-pico.launchTargetPath}\""
+            ],
+            "openOCDLaunchCommands": [
+                "adapter speed 5000"
+            ]
+        },
+        {
+            "name": "Pico Debug (Cortex-Debug with external OpenOCD)",
+            "cwd": "${workspaceRoot}",
+            "executable": "${command:raspberry-pi-pico.launchTargetPath}",
+            "request": "launch",
+            "type": "cortex-debug",
+            "servertype": "external",
+            "gdbTarget": "localhost:3333",
+            "gdbPath": "${command:raspberry-pi-pico.getGDBPath}",
+            "debuggerArgs": ["-ex", "set debug-file-directory /debug"],
+            "device": "${command:raspberry-pi-pico.getChipUppercase}",
+            "svdFile": "${userHome}/.pico-sdk/sdk/2.3.1/src/${command:raspberry-pi-pico.getChip}/hardware_regs/${command:raspberry-pi-pico.getChipUppercase}.svd",
+            "runToEntryPoint": "main",
+            // Fix for no_flash binaries, where monitor reset halt doesn't do what is expected
+            // Also works fine for flash binaries
+            "overrideLaunchCommands": [
+                "monitor reset init",
+                "load \"${command:raspberry-pi-pico.launchTargetPath}\""
             ]
         }
     ]

.vscode/settings.json

@@ -0,0 +1,46 @@
+{
+    "cmake.showSystemKits": false,
+    "cmake.options.statusBarVisibility": "hidden",
+    "cmake.options.advanced": {
+        "build": {
+            "statusBarVisibility": "hidden"
+        },
+        "launch": {
+            "statusBarVisibility": "hidden"
+        },
+        "debug": {
+            "statusBarVisibility": "hidden"
+        },
+        "variant": {
+            "statusBarVisibility": "hidden"
+        },
+        "buildTarget": {
+            "statusBarVisibility": "hidden"
+        }
+    },
+    "cmake.configureOnEdit": false,
+    "cmake.automaticReconfigure": false,
+    "cmake.configureOnOpen": false,
+    "cmake.generator": "Ninja",
+    "cmake.cmakePath": "${userHome}/.pico-sdk/cmake/v4.3.4/bin/cmake",
+    "C_Cpp.debugShortcut": false,
+    "terminal.integrated.env.windows": {
+        "PICO_SDK_PATH": "${env:USERPROFILE}/.pico-sdk/sdk/2.3.1",
+        "PICO_TOOLCHAIN_PATH": "${env:USERPROFILE}/.pico-sdk/toolchain/15_2_Rel1",
+        "Path": "${env:USERPROFILE}/.pico-sdk/toolchain/15_2_Rel1/bin;${env:USERPROFILE}/.pico-sdk/picotool/2.3.1/picotool;${env:USERPROFILE}/.pico-sdk/cmake/v4.3.4/bin;${env:USERPROFILE}/.pico-sdk/ninja/v1.13.2;${env:PATH}"
+    },
+    "terminal.integrated.env.osx": {
+        "PICO_SDK_PATH": "${env:HOME}/.pico-sdk/sdk/2.3.1",
+        "PICO_TOOLCHAIN_PATH": "${env:HOME}/.pico-sdk/toolchain/15_2_Rel1",
+        "PATH": "${env:HOME}/.pico-sdk/toolchain/15_2_Rel1/bin:${env:HOME}/.pico-sdk/picotool/2.3.1/picotool:${env:HOME}/.pico-sdk/cmake/v4.3.4/bin:${env:HOME}/.pico-sdk/ninja/v1.13.2:${env:PATH}"
+    },
+    "terminal.integrated.env.linux": {
+        "PICO_SDK_PATH": "${env:HOME}/.pico-sdk/sdk/2.3.1",
+        "PICO_TOOLCHAIN_PATH": "${env:HOME}/.pico-sdk/toolchain/15_2_Rel1",
+        "PATH": "${env:HOME}/.pico-sdk/toolchain/15_2_Rel1/bin:${env:HOME}/.pico-sdk/picotool/2.3.1/picotool:${env:HOME}/.pico-sdk/cmake/v4.3.4/bin:${env:HOME}/.pico-sdk/ninja/v1.13.2:${env:PATH}"
+    },
+    "raspberry-pi-pico.cmakeAutoConfigure": true,
+    "raspberry-pi-pico.useCmakeTools": false,
+    "raspberry-pi-pico.cmakePath": "${HOME}/.pico-sdk/cmake/v4.3.4/bin/cmake",
+    "raspberry-pi-pico.ninjaPath": "${HOME}/.pico-sdk/ninja/v1.13.2/ninja"
+}

.vscode/tasks.json

@@ -0,0 +1,102 @@
+{
+    "version": "2.0.0",
+    "tasks": [
+        {
+            "label": "Compile Project",
+            "type": "process",
+            "isBuildCommand": true,
+            "command": "${userHome}/.pico-sdk/ninja/v1.13.2/ninja",
+            "args": ["-C", "${workspaceFolder}/build"],
+            "group": "build",
+            "presentation": {
+                "reveal": "always",
+                "panel": "dedicated"
+            },
+            "problemMatcher": "$gcc",
+            "windows": {
+                "command": "${env:USERPROFILE}/.pico-sdk/ninja/v1.13.2/ninja.exe"
+            }
+        },
+        {
+            "label": "Run Project",
+            "type": "process",
+            "command": "${env:HOME}/.pico-sdk/picotool/2.3.1/picotool/picotool",
+            "args": [
+                "load",
+                "${command:raspberry-pi-pico.launchTargetPath}",
+                "-fx"
+            ],
+            "presentation": {
+                "reveal": "always",
+                "panel": "dedicated"
+            },
+            "problemMatcher": [],
+            "windows": {
+                "command": "${env:USERPROFILE}/.pico-sdk/picotool/2.3.1/picotool/picotool.exe"
+            }
+        },
+        {
+            "label": "Flash",
+            "type": "process",
+            "command": "${userHome}/.pico-sdk/openocd/0.12.0+dev/openocd.exe",
+            "args": [
+                "-s",
+                "${userHome}/.pico-sdk/openocd/0.12.0+dev/scripts",
+                "-f",
+                "interface/cmsis-dap.cfg",
+                "-f",
+                "target/${command:raspberry-pi-pico.getTarget}.cfg",
+                "-c",
+                "adapter speed 5000; program \"${command:raspberry-pi-pico.launchTargetPath}\" verify reset exit"
+            ],
+            "problemMatcher": [],
+            "windows": {
+                "command": "${env:USERPROFILE}/.pico-sdk/openocd/0.12.0+dev/openocd.exe"
+            }
+        },
+        {
+            "label": "Rescue Reset",
+            "type": "process",
+            "command": "${userHome}/.pico-sdk/openocd/0.12.0+dev/openocd.exe",
+            "args": [
+                "-s",
+                "${userHome}/.pico-sdk/openocd/0.12.0+dev/scripts",
+                "-f",
+                "interface/cmsis-dap.cfg",
+                "-f",
+                "target/${command:raspberry-pi-pico.getChip}-rescue.cfg",
+                "-c",
+                "adapter speed 5000; reset halt; exit"
+            ],
+            "problemMatcher": [],
+            "windows": {
+                "command": "${env:USERPROFILE}/.pico-sdk/openocd/0.12.0+dev/openocd.exe"
+            }
+        },
+        {
+            "label": "RISC-V Reset (RP2350)",
+            "type": "process",
+            "command": "${userHome}/.pico-sdk/openocd/0.12.0+dev/openocd.exe",
+            "args": [
+                "-s",
+                "${userHome}/.pico-sdk/openocd/0.12.0+dev/scripts",
+                "-c",
+                "set USE_CORE { rv0 rv1 cm0 cm1 }",
+                "-f",
+                "interface/cmsis-dap.cfg",
+                "-f",
+                "target/rp2350.cfg",
+                "-c",
+                "adapter speed 5000; init;",
+                "-c",
+                "write_memory 0x40120158 8 { 0x3 }; echo [format \"Info : ARCHSEL 0x%02x\" [read_memory 0x40120158 8 1]];",
+                "-c",
+                "reset halt; targets rp2350.rv0; echo [format \"Info : ARCHSEL_STATUS 0x%02x\" [read_memory 0x4012015C 8 1]]; exit"
+            ],
+            "problemMatcher": [],
+            "windows": {
+                "command": "${env:USERPROFILE}/.pico-sdk/openocd/0.12.0+dev/openocd.exe"
+            }
+        }
+    ]
+}

CMakeLists.txt

@@ -1,16 +1,58 @@
-cmake_minimum_required(VERSION 3.20)
+# Generated Cmake Pico project file
-project(pico-cpp LANGUAGES C CXX ASM)
+
-if (DEFINED PICO_SDK_VERSION_STRING)
+cmake_minimum_required(VERSION 3.13)
-    pico_sdk_init()
+
+set(CMAKE_C_STANDARD 11)
+set(CMAKE_CXX_STANDARD 17)
+set(CMAKE_EXPORT_COMPILE_COMMANDS ON)
+
+# Initialise pico_sdk from installed location
+# (note this can come from environment, CMake cache etc)
+
+# == DO NOT EDIT THE FOLLOWING LINES for the Raspberry Pi Pico VS Code Extension to work ==
+if(WIN32)
+    set(USERHOME $ENV{USERPROFILE})
+else()
+    set(USERHOME $ENV{HOME})
 endif()
+set(sdkVersion 2.3.1)
+set(toolchainVersion 15_2_Rel1)
+set(picotoolVersion 2.3.1)
+set(picoVscode ${USERHOME}/.pico-sdk/cmake/pico-vscode.cmake)
+if (EXISTS ${picoVscode})
+    include(${picoVscode})
+endif()
+# ====================================================================================
+set(PICO_BOARD pico CACHE STRING "Board type")
 
-add_library(warnings INTERFACE)
+# Pull in Raspberry Pi Pico SDK (must be before project)
-target_compile_options(warnings INTERFACE "-Wall" "-Wextra" "-Wno-psabi")
+include(pico_sdk_import.cmake)
 
-add_executable(main "main.cpp")
+project(main C CXX ASM)
-target_compile_features(main PRIVATE cxx_std_23)
+
-target_link_libraries(main PRIVATE warnings pico_stdlib hardware_adc)
+# Initialise the Raspberry Pi Pico SDK
-pico_enable_stdio_usb(main 1)
+pico_sdk_init()
+
+# Add executable. Default name is the project name, version 0.1
+
+add_executable(main main.cpp )
+
+pico_set_program_name(main "main")
+pico_set_program_version(main "0.1")
+
+# Modify the below lines to enable/disable output over UART/USB
 pico_enable_stdio_uart(main 0)
+pico_enable_stdio_usb(main 1)
+
+# Add the standard library to the build
+target_link_libraries(main
+        pico_stdlib
+        hardware_adc)
+
+# Add the standard include files to the build
+target_include_directories(main PRIVATE
+        ${CMAKE_CURRENT_LIST_DIR}
+)
+
 pico_add_extra_outputs(main)
 

main.c

@@ -1,81 +0,0 @@
-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

@@ -0,0 +1,156 @@
+#include <stdio.h>
+#include <stdlib.h> 
+#include <array>
+#include "pico/stdlib.h"
+#include <math.h>
+#include "hardware/gpio.h"
+#include "hardware/adc.h"
+
+using namespace std;
+
+#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
+#define REFERENCE_VOLTAGE 3.3 //reference voltage for the adc converter
+
+/*
+trying to keep the code clean, so some conventions: 
+classes: PascalCase
+function: camelCase
+var names: snake_case
+*/
+
+//thermistor equation is R=R_0*e^(1/T-1/T_0)
+
+class CustomArray {
+    float* items;    
+    int size;
+
+    public:
+    CustomArray(int s = MAX_STORED_VALUES) {
+        size = s;
+        items = (float*) malloc(size * sizeof(int));
+        for (int i = 0; i < size; i++ ) items[i] = 0;
+    }
+
+    void PushItem(int item) {
+        for (int i = 1; i < MAX_STORED_VALUES; i++) {
+            items[i] = items[i-1];
+        }
+
+        items[0] = item;
+    }
+
+    float getElement(int index) { return items[index]; }
+    float getSum() {
+        float sum = 0;
+
+        for (int i = 0; i < MAX_STORED_VALUES; i++ ) {
+            sum += items[i];
+        }
+
+        return sum;
+    }
+
+    ~CustomArray() {
+        free(items);
+    }
+};
+
+class PID {
+    private:
+        int kp, ki, kd, //PID
+            pwm_pin, thermistor_pin, //thermistor
+            index //misc
+        ;
+        float desired_temp, temp, //temperature
+            thermistor_resistance, voltage_devider_resistance, thermistor_beta, thermistor_ref_temp, //thermistor
+            adc_conversion_factor
+        ;
+        bool on;
+        CustomArray error_array;
+
+    public:
+        PID(
+            int index,
+            int pwm_pin,
+            int thermistor_pin,
+            float desired_temp = 0,
+            int kp = 1000,
+            int ki = 100,
+            int kd = 10,
+            float thermistor_resistance = 100000,
+            float thermistor_beta = 3950,
+            float thermistor_ref_temp = 25, //C 
+            float voltage_devider_resistance = 100000
+        )  {
+            error_array = CustomArray();
+
+            this->kp = kp;
+            this->ki = ki;
+            this->kd = kd;
+            this->thermistor_pin = thermistor_pin;
+            this->thermistor_resistance = thermistor_resistance;
+            this->thermistor_beta = thermistor_beta;
+            this->thermistor_ref_temp = thermistor_ref_temp + 273;
+            this->voltage_devider_resistance = voltage_devider_resistance;
+            this->desired_temp = desired_temp;
+            this->index = index;
+            this->adc_conversion_factor = 3.3f / (1 << 12);
+
+            measureTemp();
+        }
+
+        float getTemp() {
+            return this->temp;
+        }
+
+        float measureTemp() {
+            adc_select_input(thermistor_pin);
+            uint16_t result = adc_read();
+            float v = (float)result * adc_conversion_factor; //calculate ratio of measured voltage and max voltage
+            float r = v / (3.3f - v) * voltage_devider_resistance;
+
+            float T = 1/(1/thermistor_beta * log(r/thermistor_resistance) + 1/thermistor_ref_temp) - 273;
+
+            this->temp = T;
+            return T;
+        }
+           
+        int calulatePid(float desired = -100) {
+            if (desired != -100) desired_temp = desired;
+            float e = desired_temp-temp; 
+
+            float e_dot = (e - error_array.getElement(0)) / POLL_PERIOD;
+            float e_int = error_array.getSum() * POLL_PERIOD;
+
+            return e * kp + e_dot * kd + e_int * ki;
+        }
+};
+
+void init() {
+    stdio_init_all();
+    adc_init();
+
+    gpio_init(25);
+    gpio_init(13);
+    gpio_set_dir(25, GPIO_OUT);
+    gpio_set_dir(13, GPIO_OUT);
+
+    adc_gpio_init(27);
+}
+
+int main()
+{
+    init();
+
+    PID test_pid = PID(0, 6, 1);
+
+    gpio_put(13, 1);
+
+    while (true) {
+        float val = test_pid.measureTemp();
+        float pid = test_pid.calulatePid(80);
+        printf("temp: %f\npid: %f", val, pid); 
+        sleep_ms(500);
+    }
+}