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--git a/build.rs b/build.rs new file mode 100644 index 0000000..b2dd9ec --- /dev/null +++ b/build.rs @@ -0,0 +1,14 @@ +use std::fs::File; +use std::io::Write; +use std::path::PathBuf; + +fn main() { + // Put the linker script somewhere the linker can find it + let out = PathBuf::from(std::env::var_os("OUT_DIR").unwrap()); + let memory_x = include_bytes!("memory.x"); + let mut f = File::create(out.join("memory.x")).unwrap(); + f.write_all(memory_x).unwrap(); + println!("cargo:rustc-link-search={}", out.display()); + println!("cargo:rerun-if-changed=build.rs"); + println!("cargo:rerun-if-changed=memory.x"); +} diff --git a/memory.x b/memory.x new file mode 100644 index 0000000..0a06ed1 --- /dev/null +++ b/memory.x @@ -0,0 +1,89 @@ +MEMORY { + BOOT2 : ORIGIN = 0x10000000, LENGTH = 0x100 + /* + * Here we assume you have 2048 KiB of Flash. This is what the Pi Pico + * has, but your board may have more or less Flash and you should adjust + * this value to suit. + */ + FLASH : ORIGIN = 0x10000100, LENGTH = 2048K - 0x100 + /* + * RAM consists of 4 banks, SRAM0-SRAM3, with a striped mapping. + * This is usually good for performance, as it distributes load on + * those banks evenly. + */ + RAM : ORIGIN = 0x20000000, LENGTH = 256K + /* + * RAM banks 4 and 5 use a direct mapping. They can be used to have + * memory areas dedicated for some specific job, improving predictability + * of access times. + * Example: Separate stacks for core0 and core1. + */ + SRAM4 : ORIGIN = 0x20040000, LENGTH = 4k + SRAM5 : ORIGIN = 0x20041000, LENGTH = 4k + + /* SRAM banks 0-3 can also be accessed directly. However, those ranges + alias with the RAM mapping, above. So don't use them at the same time! + SRAM0 : ORIGIN = 0x21000000, LENGTH = 64k + SRAM1 : ORIGIN = 0x21010000, LENGTH = 64k + SRAM2 : ORIGIN = 0x21020000, LENGTH = 64k + SRAM3 : ORIGIN = 0x21030000, LENGTH = 64k + */ +} + +EXTERN(BOOT2_FIRMWARE) + +SECTIONS { + /* ### Boot loader + * + * An executable block of code which sets up the QSPI interface for + * 'Execute-In-Place' (or XIP) mode. Also sends chip-specific commands to + * the external flash chip. + * + * Must go at the start of external flash, where the Boot ROM expects it. + */ + .boot2 ORIGIN(BOOT2) : + { + KEEP(*(.boot2)); + } > BOOT2 +} INSERT BEFORE .text; + +SECTIONS { + /* ### Boot ROM info + * + * Goes after .vector_table, to keep it in the first 512 bytes of flash, + * where picotool can find it + */ + .boot_info : ALIGN(4) + { + KEEP(*(.boot_info)); + } > FLASH + +} INSERT AFTER .vector_table; + +/* move .text to start /after/ the boot info */ +_stext = ADDR(.boot_info) + SIZEOF(.boot_info); + +SECTIONS { + /* ### Picotool 'Binary Info' Entries + * + * Picotool looks through this block (as we have pointers to it in our + * header) to find interesting information. + */ + .bi_entries : ALIGN(4) + { + /* We put this in the header */ + __bi_entries_start = .; + /* Here are the entries */ + KEEP(*(.bi_entries)); + /* Keep this block a nice round size */ + . = ALIGN(4); + /* We put this in the header */ + __bi_entries_end = .; + } > FLASH +} INSERT AFTER .text; + +SECTIONS { + .flash_end : { + __flash_binary_end = .; + } > FLASH +} INSERT AFTER .uninit; \ No newline at end of file diff --git a/src/boilerplate.rs b/src/boilerplate.rs new file mode 100644 index 0000000..c2f81e1 --- /dev/null +++ b/src/boilerplate.rs @@ -0,0 +1,53 @@ +use panic_halt as _; +use rp2040_hal::{ + Timer, + clocks::ClocksManager, + gpio::Pins, + pac::{self, I2C0, RESETS}, +}; + +#[unsafe(link_section = ".boot2")] +#[used] +pub static BOOT2: [u8; 256] = rp2040_boot2::BOOT_LOADER_GENERIC_03H; +const XTAL_FREQ_HZ: u32 = 12_000_000u32; + +pub struct PicoParts { + pub timer: Timer, + pub pins: Pins, + pub i2c0: I2C0, + pub resets: RESETS, + pub clocks: ClocksManager, +} + +pub fn setup() -> PicoParts { + let mut pac = pac::Peripherals::take().unwrap(); + let mut watchdog = rp2040_hal::Watchdog::new(pac.WATCHDOG); + let clocks = rp2040_hal::clocks::init_clocks_and_plls( + XTAL_FREQ_HZ, + pac.XOSC, + pac.CLOCKS, + pac.PLL_SYS, + pac.PLL_USB, + &mut pac.RESETS, + &mut watchdog, + ) + .unwrap(); + + let timer = rp2040_hal::Timer::new(pac.TIMER, &mut pac.RESETS, &clocks); + let sio = rp2040_hal::Sio::new(pac.SIO); + + let pins = rp2040_hal::gpio::Pins::new( + pac.IO_BANK0, + pac.PADS_BANK0, + sio.gpio_bank0, + &mut pac.RESETS, + ); + + PicoParts { + timer, + pins, + i2c0: pac.I2C0, + resets: pac.RESETS, + clocks, + } +} diff --git a/src/controller.rs b/src/controller.rs new file mode 100644 index 0000000..415e170 --- /dev/null +++ b/src/controller.rs @@ -0,0 +1,113 @@ +use embedded_hal::digital::InputPin; +use rp2040_hal::{ + Timer, + gpio::{FunctionNull, FunctionSio, Pin, PullDown, PullUp, SioInput, bank0::*}, +}; + +use crate::{ + lights::{PedestrianLight, TrafficLight}, + phases::{PHASES, Phase}, +}; + +pub struct TrafficController { + pub phase_index: usize, + pub phase_start: u64, + pub main_traffic_light: TrafficLight, + pub north_traffic_light: TrafficLight, + pub south_traffic_light: TrafficLight, + pub pedestrian_light: PedestrianLight, + pub button: Pin, PullUp>, + pub button_state: bool, +} + +impl TrafficController { + pub fn new( + gpio0: Pin, + gpio1: Pin, + gpio2: Pin, + gpio3: Pin, + gpio4: Pin, + gpio5: Pin, + gpio6: Pin, + gpio7: Pin, + gpio8: Pin, + gpio9: Pin, + gpio10: Pin, + gpio11: Pin, + ) -> Self { + Self { + phase_index: 0, + phase_start: 0, + + main_traffic_light: TrafficLight::new( + gpio0.into_push_pull_output(), + gpio1.into_push_pull_output(), + gpio2.into_push_pull_output(), + ), + + north_traffic_light: TrafficLight::new( + gpio3.into_push_pull_output(), + gpio4.into_push_pull_output(), + gpio5.into_push_pull_output(), + ), + + south_traffic_light: TrafficLight::new( + gpio6.into_push_pull_output(), + gpio7.into_push_pull_output(), + gpio8.into_push_pull_output(), + ), + + pedestrian_light: PedestrianLight::new( + gpio9.into_push_pull_output(), + gpio10.into_push_pull_output(), + ), + + button: gpio11.into_pull_up_input(), + button_state: false, + } + } + + pub fn read_inputs(&mut self) { + if !PHASES[self.phase_index].accepts_button_request { + return; + } + + if self.button.is_low().unwrap_or(false) { + self.button_state = true; + } + } + + pub fn next_phase(&mut self, now: u64) { + self.phase_index = (self.phase_index + 1) % PHASES.len(); + self.phase_start = now; + } + + pub fn apply_phase(&mut self, phase: &Phase) { + self.main_traffic_light.set(&phase.main); + self.north_traffic_light.set(&phase.north); + self.south_traffic_light.set(&phase.south); + self.pedestrian_light.set(&phase.pedestrian); + } + + pub fn execute_cycle(&mut self, timer: &Timer) { + let now = timer.get_counter().ticks(); + let elapsed = now.wrapping_sub(self.phase_start); + if elapsed < PHASES[self.phase_index].duration { + return; + } + + let previous_was_button_phase = PHASES[self.phase_index].requires_button_request; + self.next_phase(now); + if !self.button_state { + while PHASES[self.phase_index].requires_button_request { + self.next_phase(now); + } + } + let next_is_button_phase = PHASES[self.phase_index].requires_button_request; + + if !previous_was_button_phase && next_is_button_phase { + self.button_state = false; + } + self.apply_phase(&PHASES[self.phase_index]); + } +} diff --git a/src/display.rs b/src/display.rs new file mode 100644 index 0000000..e00aeb1 --- /dev/null +++ b/src/display.rs @@ -0,0 +1,64 @@ +use embedded_graphics::{ + Drawable, + geometry::Point, + mono_font::{MonoTextStyle, ascii::FONT_6X10}, + pixelcolor::BinaryColor, + text::Text, +}; +use rp2040_hal::{ + I2C, + fugit::{Rate, RateExtU32}, + gpio::{ + FunctionI2C, Pin, PullUp, + bank0::{Gpio16, Gpio17}, + }, + pac::{I2C0, RESETS}, +}; +use ssd1306::{ + I2CDisplayInterface, Ssd1306, mode::{BufferedGraphicsMode, DisplayConfig}, prelude::I2CInterface, + rotation::DisplayRotation, size::DisplaySize128x64, +}; + +type DisplayI2c = I2C< + I2C0, + ( + Pin, + Pin, + ), +>; + +type OledDisplay = + Ssd1306, DisplaySize128x64, BufferedGraphicsMode>; + +pub struct DisplayModule { + display: OledDisplay, +} + +impl DisplayModule { + pub fn new( + sda: Pin, + scl: Pin, + i2c0: I2C0, + resets: &mut RESETS, + freq: Rate, + ) -> Self { + let i2c = I2C::i2c0(i2c0, sda, scl, 400.kHz(), resets, freq); + let interface = I2CDisplayInterface::new(i2c); + let mut display = Ssd1306::new(interface, DisplaySize128x64, DisplayRotation::Rotate0) + .into_buffered_graphics_mode(); + + display.init().unwrap(); + + Self { display } + } + + pub fn print(&mut self, text: &str) { + let style = MonoTextStyle::new(&FONT_6X10, BinaryColor::On); + + Text::new(text, Point::new(0, 16), style) + .draw(&mut self.display) + .unwrap(); + + self.display.flush().unwrap(); + } +} diff --git a/src/lights.rs b/src/lights.rs new file mode 100644 index 0000000..2c0cf5e --- /dev/null +++ b/src/lights.rs @@ -0,0 +1,89 @@ +use embedded_hal::digital::OutputPin; +use rp2040_hal::gpio::{FunctionSio, Pin, PinId, PullDown, SioOutput}; + +#[derive(Debug, Clone)] +pub enum TrafficLightColor { + Red, + Yellow, + Green, + RedYellow, +} + +pub struct TrafficLight { + red_light: Pin, PullDown>, + yellow_light: Pin, PullDown>, + green_light: Pin, PullDown>, +} + +impl TrafficLight { + pub fn new( + red_light: Pin, PullDown>, + yellow_light: Pin, PullDown>, + green_light: Pin, PullDown>, + ) -> Self { + Self { + red_light, + yellow_light, + green_light, + } + } + + pub fn set(&mut self, color: &TrafficLightColor) { + self.red_light.set_low().ok(); + self.yellow_light.set_low().ok(); + self.green_light.set_low().ok(); + + match color { + TrafficLightColor::Red => { + self.red_light.set_high().ok(); + } + TrafficLightColor::Yellow => { + self.yellow_light.set_high().ok(); + } + TrafficLightColor::Green => { + self.green_light.set_high().ok(); + } + TrafficLightColor::RedYellow => { + self.red_light.set_high().ok(); + self.yellow_light.set_high().ok(); + } + } + } +} + +#[derive(Debug, Clone)] +pub enum PedestrianLightColor { + Red, + Green, +} + +pub struct PedestrianLight { + red_light: Pin, PullDown>, + green_light: Pin, PullDown>, +} + +impl PedestrianLight { + pub fn new( + red_light: Pin, PullDown>, + green_light: Pin, PullDown>, + ) -> Self { + Self { + red_light, + green_light, + } + } + + pub fn set(&mut self, color: &PedestrianLightColor) { + self.red_light.set_low().ok(); + self.green_light.set_low().ok(); + + match color { + PedestrianLightColor::Red => { + self.red_light.set_high().ok(); + } + PedestrianLightColor::Green => { + self.green_light.set_high().ok(); + } + } + } +} diff --git a/src/main.rs b/src/main.rs new file mode 100644 index 0000000..9502925 --- /dev/null +++ b/src/main.rs @@ -0,0 +1,57 @@ +#![no_std] +#![no_main] + +mod boilerplate; +mod controller; +mod display; +mod lights; +mod phases; + +use boilerplate::*; +use controller::*; +use phases::*; +use rp2040_hal::Clock; + +use crate::display::DisplayModule; + +#[rp2040_hal::entry] +fn main() -> ! { + let PicoParts { + timer, + pins, + i2c0, + mut resets, + clocks, + } = setup(); + + let mut display = { + let sda = pins.gpio16.reconfigure(); + let scl = pins.gpio17.reconfigure(); + let freq = clocks.system_clock.freq(); + + DisplayModule::new(sda, scl, i2c0, &mut resets, freq) + }; + display.print("Hello Pico"); + + let mut traffic_controller = TrafficController::new( + pins.gpio0, + pins.gpio1, + pins.gpio2, + pins.gpio3, + pins.gpio4, + pins.gpio5, + pins.gpio6, + pins.gpio7, + pins.gpio8, + pins.gpio9, + pins.gpio10, + pins.gpio11, + ); + traffic_controller.phase_start = timer.get_counter().ticks(); + traffic_controller.apply_phase(&PHASES[0]); + + loop { + traffic_controller.read_inputs(); + traffic_controller.execute_cycle(&timer); + } +} diff --git a/src/phases.rs b/src/phases.rs new file mode 100644 index 0000000..f05dc8e --- /dev/null +++ b/src/phases.rs @@ -0,0 +1,140 @@ +use crate::lights::{PedestrianLightColor, TrafficLightColor}; + +pub struct Phase { + pub duration: u64, + pub main: TrafficLightColor, + pub north: TrafficLightColor, + pub south: TrafficLightColor, + pub pedestrian: PedestrianLightColor, + pub requires_button_request: bool, + pub accepts_button_request: bool, +} + +pub const PHASES: [Phase; 14] = [ + Phase { + duration: 500_000, + main: TrafficLightColor::RedYellow, + north: TrafficLightColor::Red, + south: TrafficLightColor::Red, + pedestrian: PedestrianLightColor::Red, + requires_button_request: false, + accepts_button_request: true, + }, + Phase { + duration: 500_000, + main: TrafficLightColor::Green, + north: TrafficLightColor::Red, + south: TrafficLightColor::Red, + pedestrian: PedestrianLightColor::Red, + requires_button_request: false, + accepts_button_request: true, + }, + Phase { + duration: 500_000, + main: TrafficLightColor::Yellow, + north: TrafficLightColor::Red, + south: TrafficLightColor::Red, + pedestrian: PedestrianLightColor::Red, + requires_button_request: false, + accepts_button_request: true, + }, + Phase { + duration: 500_000, + main: TrafficLightColor::Red, + north: TrafficLightColor::Red, + south: TrafficLightColor::Red, + pedestrian: PedestrianLightColor::Red, + requires_button_request: false, + accepts_button_request: true, + }, + Phase { + duration: 500_000, + main: TrafficLightColor::Red, + north: TrafficLightColor::RedYellow, + south: TrafficLightColor::Red, + pedestrian: PedestrianLightColor::Red, + requires_button_request: false, + accepts_button_request: true, + }, + Phase { + duration: 500_000, + main: TrafficLightColor::Red, + north: TrafficLightColor::Green, + south: TrafficLightColor::Red, + pedestrian: PedestrianLightColor::Red, + requires_button_request: false, + accepts_button_request: true, + }, + Phase { + duration: 500_000, + main: TrafficLightColor::Red, + north: TrafficLightColor::Yellow, + south: TrafficLightColor::Red, + pedestrian: PedestrianLightColor::Red, + requires_button_request: false, + accepts_button_request: true, + }, + Phase { + duration: 500_000, + main: TrafficLightColor::Red, + north: TrafficLightColor::Red, + south: TrafficLightColor::Red, + pedestrian: PedestrianLightColor::Red, + requires_button_request: false, + accepts_button_request: true, + }, + Phase { + duration: 500_000, + main: TrafficLightColor::Red, + north: TrafficLightColor::Red, + south: TrafficLightColor::RedYellow, + pedestrian: PedestrianLightColor::Red, + requires_button_request: false, + accepts_button_request: true, + }, + Phase { + duration: 500_000, + main: TrafficLightColor::Red, + north: TrafficLightColor::Red, + south: TrafficLightColor::Green, + pedestrian: PedestrianLightColor::Red, + requires_button_request: false, + accepts_button_request: true, + }, + Phase { + duration: 500_000, + main: TrafficLightColor::Red, + north: TrafficLightColor::Red, + south: TrafficLightColor::Yellow, + pedestrian: PedestrianLightColor::Red, + requires_button_request: false, + accepts_button_request: true, + }, + Phase { + duration: 500_000, + main: TrafficLightColor::Red, + north: TrafficLightColor::Red, + south: TrafficLightColor::Red, + pedestrian: PedestrianLightColor::Red, + requires_button_request: false, + accepts_button_request: true, + }, + Phase { + duration: 500_000, + main: TrafficLightColor::Red, + north: TrafficLightColor::Red, + south: TrafficLightColor::Red, + pedestrian: PedestrianLightColor::Green, + requires_button_request: true, + accepts_button_request: false, + }, + Phase { + duration: 500_000, + main: TrafficLightColor::Red, + north: TrafficLightColor::Red, + south: TrafficLightColor::Red, + pedestrian: PedestrianLightColor::Red, + requires_button_request: true, + accepts_button_request: false, + }, +];