Now builds with RadioLib!

Recognizes and processes commands
2026-10-22 14:41:48 -05:00 · 2026-10-21 15:32:35 -05:00
9 changed files with 469 additions and 36 deletions
@@ -3,3 +3,5 @@ build
 .nvim
 .git
 !.git/hooks
+FreeRTOS_Kernel_import.cmake
+pico_sdk_import.cmake
@@ -6,52 +6,44 @@ set(PROJECT_NAME "GateOpener")
 set(PICO_SDK_PATH "C:/Users/naifa/Documents/Projects/Hardware/Microcontroller/SDK/PicoC++/pico-sdk")
 set(PICO_TOOLCHAIN_PATH "C:/Users/naifa/Documents/Projects/Hardware/Microcontroller/SDK/arm-gnu-toolchain-15.3.rel2-mingw-w64-x86_64-arm-none-eabi" )
 set(FREERTOS_KERNEL_PATH "C:/Users/naifa/Documents/Projects/Hardware/FreeRTOS-Kernel")
-set(FREERTOS_CFG_DIRECTORY "${CMAKE_CURRENT_LIST_DIR}/Config")
-set(RADIOLIB_PATH "C:/Program Files (x86)/radiolib")
+set(COMMON_FILES "${CMAKE_CURRENT_LIST_DIR}/Common")
+# set(RADIOLIB_PATH "C:/Program Files (x86)/radiolib")
+set(RADIOLIB_PATH "C:/Users/naifa/Documents/Projects/Hardware/libs/RadioLib")

-
-set(CMAKE_PREFIX_PATH
-	${CMAKE_PREFIX_PATH}
-	${FREERTOS_KERNEL_PATH}
-	${RADIOLIB_PATH}
-)
 set(FREERTOS_PICO ${FREERTOS_KERNEL_PATH}/portable/ThirdParty/GCC/RP2040)
+set(CMAKE_LIBRARY_PATH
+	${CMAKE_LIBRARY_PATH}
+	${FREERTOS_KERNEL_PATH}
+	${RADIOLIB_PATH}/lib
+)

 include(./pico_sdk_import.cmake)

 project(${PROJECT_NAME} VERSION ${VERSION} LANGUAGES CXX C ASM)
+
 include(./FreeRTOS_Kernel_import.cmake)
 pico_sdk_init()

+add_subdirectory(${RADIOLIB_PATH} ./radiolib)
+
 message(STATUS "Pico SDK dir is ${PICO_SDK_PATH}")
 message(STATUS "FreeRTOS root is ${FREERTOS_KERNEL_PATH}")
+message(STATUS "Libraries are ${CMAKE_LIBRARY_PATH}")

-include_directories(${FREERTOS_CFG_DIRECTORY}/)
+include_directories(
+	${COMMON_FILES}/
+)
 include_directories(SYSTEM AFTER
 	# ${FREERTOS_PICO}
 	${FREERTOS_PICO}/include
 	${FREERTOS_KERNEL_PATH}/include
-	${FREERTOS_KERNEL_PATH}/portable/GCC/ARM_CM0
-	${RADIOLIB_PATH}/include
+	${FREERTOS_KERNEL_PATH}/portable/GCC/ARM_CM0	
 )

 add_compile_definitions(configTICK_CORE=0)

-# include(${FREERTOS_PICO}/FreeRTOS_Kernel_import.cmake)
-# add_library(FreeRTOS STATIC
-# 	${FREERTOS_KERNEL_PATH}/event_groups.c
-# 	${FREERTOS_KERNEL_PATH}/list.c
-# 	${FREERTOS_KERNEL_PATH}/queue.c
-# 	${FREERTOS_KERNEL_PATH}/stream_buffer.c
-# 	${FREERTOS_KERNEL_PATH}/tasks.c
-# 	${FREERTOS_KERNEL_PATH}/timers.c
-# 	${FREERTOS_KERNEL_PATH}/portable/MemMang/heap_3.c
-# 	#	${FREERTOS_SRC_DIRECTORY}/portable/GCC/ARM_CM0/port.c
-# 	${FREERTOS_PICO}/port.c
-# )
-
-
+add_subdirectory(./Common)
 add_subdirectory(./Talky)
+add_subdirectory(./Yeller)
 # add_subdirectory(./Listener)
-# add_subdirectory(./Yeller)

@@ -0,0 +1,19 @@
+cmake_minimum_required(VERSION 3.5.0)
+
+add_library(RadioLibPico
+	${COMMON_FILES}/PicoHal.cpp
+)
+target_link_libraries(RadioLibPico
+	pico_stdlib
+	hardware_spi
+	hardware_pwm
+	RadioLib
+)
+target_include_directories(RadioLibPico
+	PUBLIC ${PICO_SDK_PATH}/src/rp2_common/hardware_spi/include
+	PUBLIC ${PICO_SDK_PATH}/src/rp2_common/hardware_pwm/include
+)
+target_compile_definitions(RadioLibPico
+	PUBLIC RADIOLIB_BUILD_RPI_PICO
+)
+
@@ -0,0 +1,132 @@
+/*
+ * FreeRTOS
+ * Copyright (C) 2021 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.
+ *
+ * https://www.FreeRTOS.org
+ * https://aws.amazon.com/freertos
+ *
+ */
+#ifndef FREERTOS_CONFIG_H
+#define FREERTOS_CONFIG_H
+
+#define PICO_LORA_SPI_SPEED		500*1000
+#define PICO_LORA_SPI_CS		5
+#define PICO_LORA_SPI_DIO1		26
+#define PICO_LORA_RST			20
+#define PICO_LORA_MISO			16
+#define PICO_LORA_MOSI			15
+#define PICO_LORA_SCK			14	
+#define PICO_LORA_BUSY			4
+
+/* Use Pico SDK ISR handlers */
+#define vPortSVCHandler         isr_svcall
+#define xPortPendSVHandler      isr_pendsv
+#define xPortSysTickHandler     isr_systick
+
+/* Scheduler Related */
+#define configUSE_PREEMPTION                    1                   // Allow tasks to be pre-empted
+#define configUSE_TIME_SLICING                  1                   // Allow FreeRTOS to switch tasks at each tick
+#define configUSE_PORT_OPTIMISED_TASK_SELECTION 0
+#define configUSE_TICKLESS_IDLE                 0
+#define configCPU_CLOCK_HZ                      133000000           // 133MHz for RP2040
+#define configTICK_RATE_HZ                      (TickType_t)1000    // FreeRTOS beats per second
+#define configMAX_PRIORITIES                    24                  // Max number of priority values (0-24)
+#define configMINIMAL_STACK_SIZE                (configSTACK_DEPTH_TYPE)512
+#define configUSE_16_BIT_TICKS                  0
+#define configIDLE_SHOULD_YIELD                 1
+#define configMAX_TASK_NAME_LEN                 16
+#define configTASK_NOTIFICATION_ARRAY_ENTRIES   3
+
+/* Synchronization Related */
+#define configUSE_MUTEXES                       0
+#define configUSE_RECURSIVE_MUTEXES             0
+#define configUSE_COUNTING_SEMAPHORES           0
+#define configUSE_TASK_NOTIFICATIONS            1
+#define configUSE_QUEUE_SETS                    0
+#define configQUEUE_REGISTRY_SIZE               10
+#define configUSE_NEWLIB_REENTRANT              0
+#define configENABLE_BACKWARD_COMPATIBILITY     0
+#define configNUM_THREAD_LOCAL_STORAGE_POINTERS 5
+
+/* System */
+#define configSTACK_DEPTH_TYPE                  uint32_t
+#define configMESSAGE_BUFFER_LENGTH_TYPE        size_t      // Defaults to size_t for backward compatibility,
+                                                            // but can be changed if lengths will always be less
+                                                            // than the number of bytes in a size_t.
+
+/* Memory allocation related definitions. */
+#define configSUPPORT_STATIC_ALLOCATION         0
+#define configSUPPORT_DYNAMIC_ALLOCATION        1           // Get FreeRTOS to allocation task memory
+#define configAPPLICATION_ALLOCATED_HEAP        0
+#define configTOTAL_HEAP_SIZE                   (128*1024)
+
+/* Hook function related definitions. */
+#define configUSE_IDLE_HOOK                     0
+#define configUSE_TICK_HOOK                     0
+#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                0
+#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
+
+/* RP2040 specific */
+#define configSUPPORT_PICO_SYNC_INTEROP         1
+#define configSUPPORT_PICO_TIME_INTEROP         1
+
+/* Define to trap errors during development. */
+#include <assert.h>
+#define configASSERT( x )
+
+/* Optional functions - most linkers will remove unused functions anyway. */
+#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_xTaskAbortDelay                 1
+#define INCLUDE_xTaskGetHandle                  1
+#define INCLUDE_xTaskResumeFromISR              1
+#define INCLUDE_xQueueGetMutexHolder            1
+#define INCLUDE_xResumeFromISR                  1
+#define INCLUDE_xEventGroupSetBitFromISR        1
+#define INCLUDE_xTimerPendFunctionCall          1
+
+/* A header file that defines trace macro can be included here. */
+
+#endif /* FREERTOS_CONFIG_H */
@@ -0,0 +1,49 @@
+#include "PicoHal.h"
+
+#if defined(RADIOLIB_BUILD_RPI_PICO)
+
+// pre-calculated pulse-widths for 1200 and 2200Hz
+// we do this to save calculation time (see https://github.com/khoih-prog/RP2040_PWM/issues/6)
+#define SLEEP_1200 416.666
+#define SLEEP_2200 227.272
+
+static uint32_t toneLoopPin;
+static unsigned int toneLoopFrequency;
+static unsigned long toneLoopDuration;
+
+// === NOTE ===
+// The tone(...) implementation uses the second core on the RPi Pico. This is to diminish as much 
+// jitter in the output tones as possible.
+
+static void toneLoop() {
+  gpio_set_dir(toneLoopPin, GPIO_OUT);
+
+  uint32_t sleep_dur;
+  if(toneLoopFrequency == 1200) {
+    sleep_dur = SLEEP_1200;
+  } else if(toneLoopFrequency == 2200) {
+    sleep_dur = SLEEP_2200;
+  } else {
+    sleep_dur = 500000 / toneLoopFrequency;
+  }
+
+  // tone bitbang
+  while(1) {
+    gpio_put(toneLoopPin, 1);
+    sleep_us(sleep_dur);
+    gpio_put(toneLoopPin, 0);
+    sleep_us(sleep_dur);
+    tight_loop_contents();
+  }
+}
+
+void PicoHal::tone(uint32_t pin, unsigned int frequency, unsigned long duration) {
+  // tones on the Pico are generated using bitbanging. This process is offloaded to the Pico's second core
+  multicore_reset_core1();
+  toneLoopPin = pin;
+  toneLoopFrequency = frequency;
+  toneLoopDuration = duration;
+  multicore_launch_core1(toneLoop);
+}
+
+#endif
@@ -0,0 +1,221 @@
+#ifndef PICO_HAL_H
+#define PICO_HAL_H
+
+#if defined(RADIOLIB_BUILD_RPI_PICO)
+
+// include RadioLib
+#include <RadioLib.h>
+
+// include the necessary Pico libraries
+#include <pico/stdlib.h>
+#include "hardware/spi.h"
+#include "hardware/timer.h"
+#include "hardware/pwm.h"
+#include "hardware/clocks.h"
+#include "hardware/gpio.h"
+#include "pico/multicore.h"
+
+#define PI_PICO_MAX_USER_GPIO  (NUM_BANK0_GPIOS)
+
+// because the Pico SDK does not allow to pass user data into interrupt handlers,
+// we keep it as a global here. This is hacky and means that multiple PicoHal
+// instances share the same interrupts, which is weird and will probably break.
+// However, there seems to be no real use case for creating multiple intances of the HAL
+static irq_handler_t picoHalUserCallbacks[PI_PICO_MAX_USER_GPIO] = { 0 };
+static uint32_t picoHalIrqEventMasks[PI_PICO_MAX_USER_GPIO] = { 0 };
+static uint64_t picoHalIrqMask = 0;
+
+static void picoInterruptHandler(void) {
+  for(unsigned int gpio = 0; gpio < PI_PICO_MAX_USER_GPIO; gpio++) {
+    // Skip pins that are not managed by us.
+    if(picoHalIrqEventMasks[gpio] == 0) {
+      continue;
+    }
+    uint32_t activeEvents = gpio_get_irq_event_mask(gpio);
+    if(activeEvents) {
+      gpio_acknowledge_irq(gpio, activeEvents);
+      if((activeEvents & picoHalIrqEventMasks[gpio]) && picoHalUserCallbacks[gpio]) {
+        picoHalUserCallbacks[gpio]();
+      }
+    }
+  }
+}
+
+// create a new Raspberry Pi Pico hardware abstraction 
+// layer using the Pico SDK
+// the HAL must inherit from the base RadioLibHal class
+// and implement all of its virtual methods
+class PicoHal : public RadioLibHal {
+public:
+  PicoHal(spi_inst_t *spiChannel, uint32_t misoPin, uint32_t mosiPin, uint32_t sckPin, uint32_t spiSpeed = 500 * 1000)
+    : RadioLibHal(GPIO_IN, GPIO_OUT, 0, 1, GPIO_IRQ_EDGE_RISE, GPIO_IRQ_EDGE_FALL),
+    _spiChannel(spiChannel),
+    _spiSpeed(spiSpeed),
+    _misoPin(misoPin),
+    _mosiPin(mosiPin),
+    _sckPin(sckPin){}
+
+  void init() override {
+    stdio_init_all();
+    spiBegin();
+  }
+
+  void term() override {
+    spiEnd();
+  }
+
+  // GPIO-related methods (pinMode, digitalWrite etc.) should check
+  // RADIOLIB_NC as an alias for non-connected pins
+  void pinMode(uint32_t pin, uint32_t mode) override {
+    if (pin == RADIOLIB_NC) {
+      return;
+    }
+
+    gpio_init(pin);
+    gpio_set_dir(pin, mode);
+  }
+
+  void digitalWrite(uint32_t pin, uint32_t value) override {
+    if (pin == RADIOLIB_NC) {
+      return;
+    }
+
+    gpio_put(pin, (bool)value);
+  }
+
+  uint32_t digitalRead(uint32_t pin) override {
+    if (pin == RADIOLIB_NC) {
+      return 0;
+    }
+
+    return gpio_get(pin);
+  }
+
+  void attachInterrupt(uint32_t interruptNum, void (*interruptCb)(void), uint32_t mode) override {
+    if (interruptNum == RADIOLIB_NC) {
+      return;
+    }
+
+    // set callbacks
+    picoHalUserCallbacks[interruptNum] = (irq_handler_t)interruptCb;
+    picoHalIrqEventMasks[interruptNum] = mode;
+
+    // is it a new interrupt for us to grab ?
+    if (!(picoHalIrqMask & (1ULL << interruptNum))) {
+      // if we have a handler in place, we must remove it to avoid 'assert' in the PDK
+      // and we must disable interrupt to make sure we don't miss anything during that
+      // shuffling
+      if (picoHalIrqMask) {
+        irq_set_enabled(IO_IRQ_BANK0, false);
+        gpio_remove_raw_irq_handler_masked64(picoHalIrqMask, picoInterruptHandler);
+      }
+
+      // (re-)add shared handler with the new mask
+      picoHalIrqMask |= (1ULL << interruptNum);
+      gpio_add_raw_irq_handler_masked64(picoHalIrqMask, picoInterruptHandler);
+      irq_set_enabled(IO_IRQ_BANK0, true);
+    }
+
+    // enable GPIO to generate interrupt
+    gpio_set_irq_enabled(interruptNum, mode, true);
+  }
+
+  void detachInterrupt(uint32_t interruptNum) override {
+    if (interruptNum == RADIOLIB_NC) {
+      return;
+    }
+
+    // disable the IRQ
+    gpio_set_irq_enabled(interruptNum, GPIO_IRQ_EDGE_RISE | GPIO_IRQ_EDGE_FALL, false);
+
+    // clear callbacks
+    picoHalUserCallbacks[interruptNum] = NULL;
+    picoHalIrqEventMasks[interruptNum] = 0;
+  }
+
+  void delay(unsigned long ms) override {
+    sleep_ms(ms);
+  }
+
+  void delayMicroseconds(unsigned long us) override {
+    sleep_us(us);
+  }
+
+  unsigned long millis() override {
+    return to_ms_since_boot(get_absolute_time());
+  }
+
+  unsigned long micros() override {
+    return to_us_since_boot(get_absolute_time());
+  }
+
+  long pulseIn(uint32_t pin, uint32_t state, unsigned long timeout) override {
+    if (pin == RADIOLIB_NC) {
+      return 0;
+    }
+
+    this->pinMode(pin, GPIO_IN);
+    uint32_t start = this->micros();
+    uint32_t curtick = this->micros();
+
+    while (this->digitalRead(pin) == state) {
+      if ((this->micros() - curtick) > timeout) {
+        return 0;
+      }
+    }
+
+    return (this->micros() - start);
+  }
+
+  void tone(uint32_t pin, unsigned int frequency, unsigned long duration = 0) override;
+
+  void noTone(uint32_t pin) override {
+    (void)pin; // avoid unused parameter warning
+    multicore_reset_core1();
+  }
+
+  void spiBegin() override {
+    spi_init(_spiChannel, _spiSpeed);
+    spi_set_format(_spiChannel, 8, SPI_CPOL_0, SPI_CPHA_0, SPI_MSB_FIRST);
+
+    gpio_set_function(_sckPin, GPIO_FUNC_SPI);
+    gpio_set_function(_mosiPin, GPIO_FUNC_SPI);
+    gpio_set_function(_misoPin, GPIO_FUNC_SPI);
+  }
+
+  void spiBeginTransaction() override {}
+
+  void spiTransfer(uint8_t *out, size_t len, uint8_t *in) override {
+    spi_write_read_blocking(_spiChannel, out, in, len);
+  }
+
+  void yield() override {
+  	tight_loop_contents();
+  }
+
+  void spiEndTransaction() override {}
+
+  void spiEnd() override {
+    spi_deinit(_spiChannel);
+  }
+
+	void pullUpDown(uint32_t pin, bool enable, bool up) override {
+		if (up) {
+			gpio_pull_up(pin);
+		} else {
+			gpio_pull_down(pin);
+		}
+	}
+
+private:
+  // the HAL can contain any additional private members
+  spi_inst_t *_spiChannel;
+  uint32_t _spiSpeed;
+  uint32_t _misoPin;
+  uint32_t _mosiPin;
+  uint32_t _sckPin;
+};
+
+#endif
+
+#endif
@@ -9,7 +9,7 @@

 char NULLCHAR = 0x0;
 QueueHandle_t MESSAGES = NULL;
-
+bool LIGHT = false;

 void vReadSerial(void* params) {
 	// Setup
@@ -64,8 +64,13 @@ void vProcessMessages(void* params) {
 	char* command = pvPortMalloc(BUFFER_SIZE * sizeof(char));
 	while(MESSAGES != NULL) {
 		if (xQueueReceive(MESSAGES, command, 50)) {
-			printf("Recieved message: ");
-			printf("%s\n", command);
+			if (strcmp("blink", command)) {
+				printf("Recieved message: ");
+				printf("%s\n", command);
+			} else {
+				LIGHT = !LIGHT;
+				gpio_put(PICO_DEFAULT_LED_PIN, LIGHT);
+			}
 		}
 	}

@@ -7,7 +7,7 @@ add_executable(${APP_NAME}
 )

 target_link_libraries(${APP_NAME} LINK_PUBLIC
-	pico_stdlib
+	RadioLibPico
 	FreeRTOS-Kernel
 	FreeRTOS-Kernel-Heap4
 )
@@ -1,16 +1,29 @@
-#include "FreeRTOSConfig.h"
-#include "FreeRTOS.h"
 #include <pico/stdlib.h>
-#include <RadioLib/RadioLib.h>
-#include <RadioLib/Module.h>
+#include <hardware/spi.h>
+#include <FreeRTOSConfig.h>
+#include <FreeRTOS.h>
+#include <Module.h>
+#include <PicoHal.h>

 int main() {
+	PicoHal* pico = new PicoHal(
+		spi0,
+		PICO_LORA_MISO,
+		PICO_LORA_MOSI,
+		PICO_LORA_SCK
+	);
 	// Currently written as numbered 1-40th pin on Pico
-	SX1262 radio = new Module(5, 26, 20, 4);
+	SX1262 radio = new Module(
+		pico,
+		PICO_LORA_SPI_CS,
+		PICO_LORA_SPI_DIO1,
+		PICO_LORA_RST,
+		PICO_LORA_BUSY	
+	);
 	ConfigLoRa_t config;
 	config.frequency = 915;
 	int state = radio.begin(config);
-	if (state == RADIOLIB_ERR_NONE) {
+	if (state == RADIOLIB_ERR_NONE){
 		printf("LoRa module initialized\n");
 		while(true) {
 			state = radio.startTransmit("Howdiddly doo");
Author	SHA1	Message	Date
NaifBanana	89ef1b3938	Now builds with RadioLib!	2026-10-22 14:41:48 -05:00
NaifBanana	7b459214c8	Recognizes and processes commands	2026-10-21 15:32:35 -05:00