From f6832123c23f394c3069bad6f8b19a896c705e51 Mon Sep 17 00:00:00 2001 From: Abel Tim Date: Thu, 12 Jun 2025 10:28:13 +0200 Subject: recenltly removed three commit becouse it included files that shouldn't be included. Did reset hard, localy unstaged commits, deleted files and recommited the good files. think this is all i did since, -changed extra PCB name to bave and _ instead of a space so i dont have to use "" -added button and led to teensy41 goaly overlay -started on PWM, not complete Abel Tim --- .../Extra board-2025-05-22_140014.zip | Bin 785 -> 0 bytes .../Extra board-2025-05-22_150531.zip | Bin 7852 -> 0 bytes .../Extra board-2025-05-22_151414.zip | Bin 6352 -> 0 bytes .../Extra board-2025-05-22_154326.zip | Bin 9829 -> 0 bytes PCB/aparte_pcb/Extra board/Extra board.kicad_pcb | 7317 ------------------ PCB/aparte_pcb/Extra board/Extra board.kicad_prl | 131 - PCB/aparte_pcb/Extra board/Extra board.kicad_pro | 620 -- PCB/aparte_pcb/Extra board/Extra board.kicad_sch | 4965 ------------ PCB/aparte_pcb/extra_board/extra_board.kicad_pcb | 7950 ++++++++++++++++++++ PCB/aparte_pcb/extra_board/extra_board.kicad_pro | 621 ++ PCB/aparte_pcb/extra_board/extra_board.kicad_sch | 7595 +++++++++++++++++++ .../midden-backups/midden-2024-10-18_201849.zip | Bin 93162 -> 0 bytes PINOUT.ods | Bin 0 -> 30903 bytes code/main/teensy_goalie/CMakeLists.txt | 38 + code/main/teensy_goalie/prj.conf | 9 + code/main/teensy_goalie/src/main.c | 55 +- code/main/teensy_goalie/teensy41.overlay | 58 + code/main/teensy_player/player.yaml | 46 - code/main/teensy_player/prj.conf | 1 + code/main/teensy_player/src/main.c | 30 +- nutige-bronnen.txt | 1 + 21 files changed, 16300 insertions(+), 13137 deletions(-) delete mode 100644 PCB/aparte_pcb/Extra board/Extra board-backups/Extra board-2025-05-22_140014.zip delete mode 100644 PCB/aparte_pcb/Extra board/Extra board-backups/Extra board-2025-05-22_150531.zip delete mode 100644 PCB/aparte_pcb/Extra board/Extra board-backups/Extra board-2025-05-22_151414.zip delete mode 100644 PCB/aparte_pcb/Extra board/Extra board-backups/Extra board-2025-05-22_154326.zip delete mode 100644 PCB/aparte_pcb/Extra board/Extra board.kicad_pcb delete mode 100644 PCB/aparte_pcb/Extra board/Extra board.kicad_prl delete mode 100644 PCB/aparte_pcb/Extra board/Extra board.kicad_pro delete mode 100644 PCB/aparte_pcb/Extra board/Extra board.kicad_sch create mode 100644 PCB/aparte_pcb/extra_board/extra_board.kicad_pcb create mode 100644 PCB/aparte_pcb/extra_board/extra_board.kicad_pro create mode 100644 PCB/aparte_pcb/extra_board/extra_board.kicad_sch delete mode 100644 PCB/aparte_pcb/midden/midden-backups/midden-2024-10-18_201849.zip create mode 100644 PINOUT.ods create mode 100644 code/main/teensy_goalie/CMakeLists.txt create mode 100644 code/main/teensy_goalie/prj.conf create mode 100644 code/main/teensy_goalie/teensy41.overlay delete mode 100644 code/main/teensy_player/player.yaml diff --git a/PCB/aparte_pcb/Extra board/Extra board-backups/Extra board-2025-05-22_140014.zip b/PCB/aparte_pcb/Extra board/Extra board-backups/Extra board-2025-05-22_140014.zip deleted file mode 100644 index d593b05..0000000 Binary files a/PCB/aparte_pcb/Extra board/Extra board-backups/Extra board-2025-05-22_140014.zip and /dev/null differ diff --git a/PCB/aparte_pcb/Extra board/Extra board-backups/Extra board-2025-05-22_150531.zip b/PCB/aparte_pcb/Extra board/Extra board-backups/Extra board-2025-05-22_150531.zip deleted file mode 100644 index 8615939..0000000 Binary files a/PCB/aparte_pcb/Extra board/Extra board-backups/Extra board-2025-05-22_150531.zip and /dev/null differ diff --git a/PCB/aparte_pcb/Extra board/Extra board-backups/Extra board-2025-05-22_151414.zip b/PCB/aparte_pcb/Extra board/Extra board-backups/Extra board-2025-05-22_151414.zip deleted file mode 100644 index 4eb4354..0000000 Binary files a/PCB/aparte_pcb/Extra board/Extra board-backups/Extra board-2025-05-22_151414.zip and /dev/null differ diff --git a/PCB/aparte_pcb/Extra board/Extra board-backups/Extra board-2025-05-22_154326.zip b/PCB/aparte_pcb/Extra board/Extra board-backups/Extra board-2025-05-22_154326.zip deleted file mode 100644 index 2e292ef..0000000 Binary files a/PCB/aparte_pcb/Extra board/Extra board-backups/Extra board-2025-05-22_154326.zip and /dev/null differ diff --git a/PCB/aparte_pcb/Extra board/Extra board.kicad_pcb b/PCB/aparte_pcb/Extra board/Extra board.kicad_pcb deleted file mode 100644 index cd9f074..0000000 --- a/PCB/aparte_pcb/Extra board/Extra board.kicad_pcb +++ /dev/null @@ -1,7317 +0,0 @@ -(kicad_pcb - (version 20241229) - (generator "pcbnew") - (generator_version "9.0") - (general - (thickness 1.6) - (legacy_teardrops no) - ) - (paper "A4") - (layers - (0 "F.Cu" signal) - (2 "B.Cu" signal) - (9 "F.Adhes" user "F.Adhesive") - (11 "B.Adhes" user "B.Adhesive") - (13 "F.Paste" user) - (15 "B.Paste" user) - (5 "F.SilkS" user "F.Silkscreen") - (7 "B.SilkS" user "B.Silkscreen") - (1 "F.Mask" user) - (3 "B.Mask" user) - (17 "Dwgs.User" user "User.Drawings") - (19 "Cmts.User" user "User.Comments") - (21 "Eco1.User" user "User.Eco1") - (23 "Eco2.User" user "User.Eco2") - (25 "Edge.Cuts" user) - (27 "Margin" user) - (31 "F.CrtYd" user "F.Courtyard") - (29 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+ (dnp no) + (fields_autoplaced yes) + (uuid "eff00902-df46-48d6-b115-f3d92e742cae") + (property "Reference" "#PWR011" + (at 22.86 41.91 0) + (effects + (font + (size 1.27 1.27) + ) + (hide yes) + ) + ) + (property "Value" "+5V" + (at 15.24 41.9099 90) + (effects + (font + (size 1.27 1.27) + ) + (justify left) + ) + ) + (property "Footprint" "" + (at 19.05 41.91 0) + (effects + (font + (size 1.27 1.27) + ) + (hide yes) + ) + ) + (property "Datasheet" "" + (at 19.05 41.91 0) + (effects + (font + (size 1.27 1.27) + ) + (hide yes) + ) + ) + (property "Description" "Power symbol creates a global label with name \"+5V\"" + (at 19.05 41.91 0) + (effects + (font + (size 1.27 1.27) + ) + (hide yes) + ) + ) + (pin "1" + (uuid "e91c82d2-9619-4229-a516-811d31cbbbf9") + ) + (instances + (project "" + (path "/ebdfeadc-0cb5-437f-902a-83bcc6a66eb3" + (reference "#PWR011") + (unit 1) + ) + ) + ) + ) + (symbol + (lib_id "Connector:Conn_01x10_Pin") + (at 254 48.26 0) + (mirror y) + (unit 1) + (exclude_from_sim no) + (in_bom yes) + (on_board yes) + (dnp no) + (uuid "f31f9514-ad7a-4176-94e7-d5a18eb837e2") + (property "Reference" "J1" + (at 257.048 50.038 0) + (effects + (font + (size 1.27 1.27) + ) + ) + ) + (property "Value" "Conn_01x10_Pin" + (at 263.144 51.816 0) + (effects + (font + (size 1.27 1.27) + ) + ) + ) + (property "Footprint" "Connector_JST:JST_EH_S10B-EH_1x10_P2.50mm_Horizontal" + (at 254 48.26 0) + (effects + (font + (size 1.27 1.27) + ) + (hide yes) + ) + ) + (property "Datasheet" "~" + (at 254 48.26 0) + (effects + (font + (size 1.27 1.27) + ) + (hide yes) + ) + ) + (property "Description" "Generic connector, single row, 01x10, script generated" + (at 254 48.26 0) + (effects + (font + (size 1.27 1.27) + ) + (hide yes) + ) + ) + (pin "2" + (uuid "8ab4d613-85bd-4c50-8232-19198cf89536") + ) + (pin "5" + (uuid "e3548716-9bab-4ebc-90b1-23abaf4cd436") + ) + (pin "1" + (uuid "79cd5440-77e7-41c6-a5a9-ac53708a81c3") + ) + (pin "3" + (uuid "853eccec-52e0-4ca7-ad11-ef1067e83891") + ) + (pin "6" + (uuid "6472f53e-5bf4-4d46-99d1-436872d80b73") + ) + (pin "7" + (uuid "921e036c-60e9-4b04-aab3-b15ed6c2cc54") + ) + (pin "10" + (uuid "f10a723d-0998-4d14-944d-f6e69667fc0a") + ) + (pin "9" + (uuid "244672d5-c965-4874-9778-5eab66c67423") + ) + (pin "8" + (uuid "d741b39f-35a5-4a05-9088-82485832249a") + ) + (pin "4" + (uuid "97d0e8f0-4afa-4ac9-95d1-aab3b87af367") + ) + (instances + (project "Extra board" + (path "/ebdfeadc-0cb5-437f-902a-83bcc6a66eb3" + (reference "J1") + (unit 1) + ) + ) + ) + ) + (symbol + (lib_id "power:GND") + (at 22.86 64.77 270) + (unit 1) + (exclude_from_sim no) + (in_bom yes) + (on_board yes) + (dnp no) + (uuid "ffc1e56a-6e0c-4097-95bc-082014478623") + (property "Reference" "#PWR010" + (at 16.51 64.77 0) + (effects + (font + (size 1.27 1.27) + ) + (hide yes) + ) + ) + (property "Value" "GND" + (at 19.304 64.516 0) + (effects + (font + (size 1.27 1.27) + ) + ) + ) + (property "Footprint" "" + (at 22.86 64.77 0) + (effects + (font + (size 1.27 1.27) + ) + (hide yes) + ) + ) + (property "Datasheet" "" + (at 22.86 64.77 0) + (effects + (font + (size 1.27 1.27) + ) + (hide yes) + ) + ) + (property "Description" "Power symbol creates a global label with name \"GND\" , ground" + (at 22.86 64.77 0) + (effects + (font + (size 1.27 1.27) + ) + (hide yes) + ) + ) + (pin "1" + (uuid "406a5e27-8685-4b7c-9a14-d8736ef8585b") + ) + (instances + (project "Extra board" + (path "/ebdfeadc-0cb5-437f-902a-83bcc6a66eb3" + (reference "#PWR010") + (unit 1) + ) + ) + ) + ) + (sheet_instances + (path "/" + (page "1") + ) + ) + (embedded_fonts no) +) diff --git a/PCB/aparte_pcb/midden/midden-backups/midden-2024-10-18_201849.zip b/PCB/aparte_pcb/midden/midden-backups/midden-2024-10-18_201849.zip deleted file mode 100644 index 7491e2d..0000000 Binary files a/PCB/aparte_pcb/midden/midden-backups/midden-2024-10-18_201849.zip and /dev/null differ diff --git a/PINOUT.ods b/PINOUT.ods new file mode 100644 index 0000000..23bff73 Binary files /dev/null and b/PINOUT.ods differ diff --git a/code/main/teensy_goalie/CMakeLists.txt b/code/main/teensy_goalie/CMakeLists.txt new file mode 100644 index 0000000..27e5715 --- /dev/null +++ b/code/main/teensy_goalie/CMakeLists.txt @@ -0,0 +1,38 @@ +# SPDX-License-Identifier: Apache-2.0 + +cmake_minimum_required(VERSION 3.20.0) +find_package(Zephyr REQUIRED HINTS $ENV{ZEPHYR_BASE}) +project( + player + VERSION 1.0 + DESCRIPTION "The code for the soccer player robot. https://github.com/mendelcollege-robotics/robotica" + LANGUAGES C +) + +#[===[ +# Create a static library target named "my_lib" +add_library(my_lib + STATIC + src/my_lib.c +) +target_include_directories( + my_lib + PUBLIC + ${CMAKE_CURRENT_SOURCE_DIR}/include +) + +# Create an executable target with the same name as the project name +add_executable( + ${PROJECT_NAME} + src/main.c +) + +# Link the library to the executable. PRIVATE means that the library is not +# exposed to targets that depend on this target. +target_link_libraries( + ${PROJECT_NAME} + PRIVATE + my_lib +) +]===] +target_sources(app PRIVATE src/main.c) diff --git a/code/main/teensy_goalie/prj.conf b/code/main/teensy_goalie/prj.conf new file mode 100644 index 0000000..8379fac --- /dev/null +++ b/code/main/teensy_goalie/prj.conf @@ -0,0 +1,9 @@ +CONFIG_GPIO=y +CONFIG_USB_DEVICE_INITIALIZE_AT_BOOT=y +CONFIG_PRINTK=y +CONFIG_SERIAL=y +CONFIG_UART_INTERRUPT_DRIVEN=y +CONFIG_PWM=y +CONFIG_LOG=y +CONFIG_LOG_MODE_IMMEDIATE=y +CONFIG_PWM_LOG_LEVEL_DBG=y diff --git a/code/main/teensy_goalie/src/main.c b/code/main/teensy_goalie/src/main.c index f8aff35..137e898 100644 --- a/code/main/teensy_goalie/src/main.c +++ b/code/main/teensy_goalie/src/main.c @@ -1,48 +1,17 @@ -/* - * Copyright (c) 2016 Intel Corporation - * - * SPDX-License-Identifier: Apache-2.0 - */ - #include #include +#include +#include +#include +#include #include -/* 1000 msec = 1 sec */ -#define SLEEP_TIME_MS 1000 - -/* The devicetree node identifier for the "led0" alias. */ -#define LED0_NODE DT_ALIAS(led0) - -/* - * A build error on this line means your board is unsupported. - * See the sample documentation for information on how to fix this. - */ -static const struct gpio_dt_spec led = GPIO_DT_SPEC_GET(LED0_NODE, gpios); - -int main(void) -{ - int ret; - bool led_state = true; - - if (!gpio_is_ready_dt(&led)) { - return 0; - } - - ret = gpio_pin_configure_dt(&led, GPIO_OUTPUT_ACTIVE); - if (ret < 0) { - return 0; - } - - while (1) { - ret = gpio_pin_toggle_dt(&led); - if (ret < 0) { - return 0; - } +// Settings +#define PWM_PERIOD_NS 20000000 +#define PWM_PULSE_WIDTH 1400000 +static const int32_t sleep_time_ms = 100; +static const struct gpio_dt_spec btn = GPIO_DT_SPEC_GET(DT_ALIAS(powerswitch), gpios); +static const struct gpio_dt_spec led = GPIO_DT_SPEC_GET(DT_ALIAS(redled), gpios); - led_state = !led_state; - printf("LED state: %s\n", led_state ? "ON" : "OFF"); - k_msleep(SLEEP_TIME_MS); - } - return 0; -} +#define LED0_NODE DT_ALIAS(redled) +#define PWM_LED0 DT_ALIAS(en3a) diff --git a/code/main/teensy_goalie/teensy41.overlay b/code/main/teensy_goalie/teensy41.overlay new file mode 100644 index 0000000..3b023e3 --- /dev/null +++ b/code/main/teensy_goalie/teensy41.overlay @@ -0,0 +1,58 @@ +/* + * + * This is the overlay device tree file for the teensy 4.1 in the robosoccer mendelcollege robot. + * + * For more information on overlay files see + * https://docs.zephyrproject.org/latest/build/dts/howtos.html#set-devicetree-overlays + * https://www.digikey.be/en/maker/tutorials/2025/introduction-to-zephyr-part-4-devicetree-tutorial + * + */ +/ { + aliases { + powerswitch = &soft_power_switch; + redled = &red_led; + greenled = &green_led; + bueled = &blue_led; + en3a = &pwm_dev0; + }; + + buttons { + compatible = "gpio-keys"; + debounce-interval-ms = <50>; + polling-mode; + + soft_power_switch: d5 { + gpios = <&gpio4 4 (GPIO_ACTIVE_LOW | GPIO_PULL_UP)>; + }; + }; + leds { + compatible = "gpio-leds"; + red_led: red-led { + gpios = <&gpio2 29 GPIO_ACTIVE_HIGH>; + label = "LED Pin 34 --> RED"; + }; + green_led: green-led { + gpios = <&gpio2 7 GPIO_ACTIVE_HIGH>; + label = "LED Pin 33 --> GREEN"; + }; + blue_led: blue-led { + gpios = <&gpio1 23 GPIO_ACTIVE_HIGH>; + label = "LED Pin 16 --> BLUE"; + }; + }; + pwmdevs { + compatible = "imx-pwm"; + pwm_dev0: pwm_dev_0 { + pwms = <&gpio2 10>; + }; + }; + +}; +&flexpwm1 { + status = "ok"; + flexpwm1_pwm0: flexpwm1_pwm0 { + status = "ok"; + }; + +}; + diff --git a/code/main/teensy_player/player.yaml b/code/main/teensy_player/player.yaml deleted file mode 100644 index df8f963..0000000 --- a/code/main/teensy_player/player.yaml +++ /dev/null @@ -1,46 +0,0 @@ -sample: - name: Blinky Sample -tests: - sample.basic.blinky: - tags: - - LED - - gpio - filter: dt_enabled_alias_with_parent_compat("led0", "gpio-leds") - depends_on: gpio - harness: led - integration_platforms: - - frdm_k64f - -manifest: - remotes: - # short names for project URLs - projects: - # a list of projects managed by west - defaults: - # default project attributes - self: - # configuration related to the manifest repository itself, - # i.e. the repository containing west.yml - version: "" - group-filter: - # a list of project groups to enable or disable - remotes: - - name: remote1 - url-base: https://git.example.com/base1 - - name: remote2 - url-base: https://git.example.com/base2 - projects: - - name: proj1 - description: the first example project - remote: remote1 - path: extra/project-1 - - name: proj2 - description: | - A multi-line description of the second example - project. - repo-path: my-path - remote: remote2 - revision: v1.3 - - name: proj3 - url: https://github.com/user/project-three - revision: abcde413a111 diff --git a/code/main/teensy_player/prj.conf b/code/main/teensy_player/prj.conf index 456b0fc..db01a00 100644 --- a/code/main/teensy_player/prj.conf +++ b/code/main/teensy_player/prj.conf @@ -3,3 +3,4 @@ CONFIG_USB_DEVICE_INITIALIZE_AT_BOOT=y CONFIG_PRINTK=y CONFIG_SERIAL=y CONFIG_UART_INTERRUPT_DRIVEN=y +CONFIG_PWM=y diff --git a/code/main/teensy_player/src/main.c b/code/main/teensy_player/src/main.c index 5b04ac2..3f84f88 100644 --- a/code/main/teensy_player/src/main.c +++ b/code/main/teensy_player/src/main.c @@ -7,8 +7,10 @@ #include #include -/* size of stack area used by each thread */ -#define GEN_THRESD_STACKSIZE 1024 +/* Stack sizes (now only one size)*/ +/* To figure out how much is necessary: */ +/* https://zephyr-docs.listenai.com/guides/debug_tools/thread-analyzer.html */ +#define GENERAL_THREAD_STACKSIZE 1024 /*the pinout configuration*/ /*https://docs.zephyrproject.org/latest/boards/pjrc/teensy4/doc/index.html*/ @@ -18,23 +20,21 @@ #define m1pwm1 DT_ALIAS(GPIO4_6) /*pin 4*/ #define m1pwm2 DT_ALIAS(GPIO4_5) /*pin 3*/ /*encoder pins*/ -#define m1encoA 32 /*pin 32*//*encoder number 1*/ -#define Nm1encoA INT_TO_POINTER(0) /*gives encoder number N*/ -#define m1encoB 31 /*pin 31*//*encoder number 2*/ -#define Nm1encoB INT_TO_POINTER(1) /*gives encoder number N*/ - +#define m1encoA 32 /*pin 32 && encoder number 0*/ +#define Nm1encoA INT_TO_POINTER(0) +#define m1encoB 31 /*pin 31 && encoder number 1*/ +#define Nm1encoB INT_TO_POINTER(1) /*set priorities*/ -#define ENC_ISR_PRIO 1 /* set encoder interrupt service routine*/ - +#define ENC_ISR_PRIO 1 -/*variables*/ /*encoders/PWM/PID*/ #define NUM_ENCODERS 2 /*how many encoder pins there are*/ -volatile int encCount[NUM_ENCODERS] = {0}; /*sets all encoder counts to 0 changes of state*/ +volatile int encCount[NUM_ENCODERS] = {0}; /*misc*/ -#define MY_IRQ_FLAGS 0 /*no IRQ flags*/ +#define NO_IRQ_FLAGS 0 +#define PWM_PERIOD_µS 1600 /*The lengt of an full PWM cycle in microseconds*/ void ENCO_ISR(void *encN){ /*adds one to the encoder where a change of state is detected*/ @@ -46,9 +46,9 @@ void ENCO_ISR(void *encN){ } void ENC_ISR_installer(void){ - /*sets up the interupts for the encoder at same priority, need to configure FIFO in case of simultaneous call*/ - IRQ_CONNECT(m1encoA, ENC_ISR_PRIO, ENCO_ISR, '0', MY_IRQ_FLAGS); - IRQ_CONNECT(m1encoB, ENC_ISR_PRIO, ENCO_ISR, '1', MY_IRQ_FLAGS); + /*sets up the interrupts for the encoder at same priority, need to configure FIFO in case of simultaneous call*/ + IRQ_CONNECT(m1encoA, ENC_ISR_PRIO, ENCO_ISR, '0', NO_IRQ_FLAGS); + IRQ_CONNECT(m1encoB, ENC_ISR_PRIO, ENCO_ISR, '1', NO_IRQ_FLAGS); } int main(void){} diff --git a/nutige-bronnen.txt b/nutige-bronnen.txt index e14a9c9..20c99ff 100644 --- a/nutige-bronnen.txt +++ b/nutige-bronnen.txt @@ -81,5 +81,6 @@ specifieke dingen: https://docs.zephyrproject.org/latest/build/kconfig/menuconfig.html https://www.zephyrproject.org/zephyrrtos-threads-work-queues-message-queues-and-how-we-use-them/https://docs.zephyrproject.org/latest/kernel/services/threads/ https://www.digikey.be/en/maker/profiles/72825bdd887a427eaf8d960b6505adac?y=74af3695201f4abfab26c5045ada74a7&g=newest&o=72825bdd887a427eaf8d960b6505adac&page=1&show=yes + https://docs.zephyrproject.org/latest/build/dts/bindings.html -- cgit v1.2.3