Cleanup and lots of moved files

.gitignore

@@ -0,0 +1,5 @@
+build
+main/build
+sdkconfig.old
+*.bak
+*.old

.gitmodules

@@ -1,24 +1,24 @@
 [submodule "esp-idf"]
 	path = esp-idf
 	url = https://github.com/espressif/esp-idf.git
-[submodule "factory_test/components/bus-i2c"]
+[submodule "components/bus-i2c"]
-	path = factory_test/components/bus-i2c
+	path = components/bus-i2c
 	url = git@github.com:Nicolai-Electronics/esp32-component-bus-i2c.git
-[submodule "factory_test/components/i2c-pca9555"]
+[submodule "components/i2c-pca9555"]
-	path = factory_test/components/i2c-pca9555
+	path = components/i2c-pca9555
 	url = git@github.com:Nicolai-Electronics/esp32-component-i2c-pca9555.git
-[submodule "factory_test/components/i2c-bno055"]
+[submodule "components/i2c-bno055"]
-	path = factory_test/components/i2c-bno055
+	path = components/i2c-bno055
 	url = git@github.com:Nicolai-Electronics/esp32-component-i2c-bno055.git
-[submodule "factory_test/components/spi-ili9341"]
+[submodule "components/spi-ili9341"]
-	path = factory_test/components/spi-ili9341
+	path = components/spi-ili9341
 	url = git@github.com:Nicolai-Electronics/esp32-component-spi-ili9341.git
-[submodule "factory_test/components/spi-ice40"]
+[submodule "components/spi-ice40"]
-	path = factory_test/components/spi-ice40
+	path = components/spi-ice40
 	url = git@github.com:Nicolai-Electronics/esp32-component-spi-ice40.git
-[submodule "factory_test/components/sdcard"]
+[submodule "components/sdcard"]
-	path = factory_test/components/sdcard
+	path = components/sdcard
 	url = git@github.com:Nicolai-Electronics/esp32-component-sdcard.git
-[submodule "factory_test/components/pax-graphics"]
+[submodule "components/pax-graphics"]
-	path = factory_test/components/pax-graphics
+	path = components/pax-graphics
 	url = https://github.com/robotman2412/pax-graphics.git

CMakeLists.txt

@@ -1,3 +1,4 @@
 cmake_minimum_required(VERSION 3.5)
 include($ENV{IDF_PATH}/tools/cmake/project.cmake)
 project(main)
+

README.md

@@ -1 +1,2 @@
-# MCH2022 firmware for ESP32
+# Factory test firmware
+

build.sh

@@ -7,5 +7,4 @@ export IDF_PATH="$PWD/esp-idf"
 export IDF_EXPORT_QUIET=0
 source "$IDF_PATH"/export.sh
 
-cd factory_test
 idf.py build

build_efuse.sh

@@ -1,11 +0,0 @@
-#!/usr/bin/env bash
-
-set -e
-set -u
-
-export IDF_PATH="$PWD/esp-idf"
-export IDF_EXPORT_QUIET=0
-source "$IDF_PATH"/export.sh
-
-cd efuse
-idf.py build

clean.sh

@@ -7,6 +7,4 @@ export IDF_PATH="$PWD/esp-idf"
 export IDF_EXPORT_QUIET=0
 source "$IDF_PATH"/export.sh
 
-cd factory_test
 idf.py clean
-

command.sh

@@ -7,8 +7,6 @@ export IDF_PATH="$PWD/esp-idf"
 export IDF_EXPORT_QUIET=0
 source "$IDF_PATH"/export.sh
 
-cd factory_test
-
 if [ "$#" -eq 2 ]; then
     idf.py $2 -p $1
 else

components/mch2022-bsp/CMakeLists.txt

@@ -0,0 +1,14 @@
+idf_component_register(
+    SRCS "hardware.c" "rp2040.c"
+    INCLUDE_DIRS "."
+    REQUIRES
+        "appfs"
+        "bus-i2c"
+        "i2c-bno055"
+        "i2c-pca9555"
+        "pax-graphics"
+        "renze-graphics"
+        "sdcard"
+        "spi-ice40"
+        "spi-ili9341"
+)

components/mch2022-bsp/esp_efuse_custom_table.csv

@@ -0,0 +1,16 @@
+# After editing this file, run the command manually "make efuse_custom_table" or "idf.py efuse_custom_table"
+
+# WR_DIS_EFUSE_RD_DISABLE,                 EFUSE_BLK0,    0,     1,    Write protection for RD_DIS, ADC_VREF
+WR_DIS_WR_DIS,                             EFUSE_BLK0,    1,     1,    Write protection for WR_DIS
+# WR_DIS_FLASH_CRYPT_CNT,                  EFUSE_BLK0,    2,     1,    Write protection for FLASH_CRYPT_CNT, UART_DOWNLOAD_DIS
+WR_DIS_MAC_AND_CHIP_INFO,                  EFUSE_BLK0,    3,     1,    Write protection for MAC, MAC_CRC, CIP_VER_REV1, CHIP_VERSION, CHIP_PACKAGE
+WR_DIS_XPD,                                EFUSE_BLK0,    5,     1,    Write protection for XPD_SDIO_FORCE, XPD_SDIO_REG, XPD_SDIO_TIEH
+WR_DIS_SPI_PAD,                            EFUSE_BLK0,    6,     1,    Write protection for CHIP_VER_REV2, SPI_PAD_CONFIG
+# WR_DIS_BLK1,                             EFUSE_BLK0,    7,     1,    Write protection for WR_DIS_BLK1
+# WR_DIS_BLK2,                             EFUSE_BLK0,    8,     1,    Write protection for WR_DIS_BLK2
+# WR_DIS_BLK3,                             EFUSE_BLK0,    9,     1,    Write protection for WR_DIS_BLK3, MAC_VERSION
+WR_DIS_SCHEME_KEY_CRYPT,                   EFUSE_BLK0,   10,     1,    Write protection for CODING_SCHEME, KEY_STATUS, FLASH_CRYPT_CONFIG, BLK3_PART_RESERVE
+WR_DIS_ABS_DONE_0,                         EFUSE_BLK0,   12,     1,    Write protection for ABS_DONE_0
+WR_DIS_ABS_DONE_1,                         EFUSE_BLK0,   13,     1,    Write protection for ABS_DONE_1
+WR_DIS_JTAG_DISABLE,                       EFUSE_BLK0,   14,     1,    Write protection for JTAG_DISABLE
+WR_DIS_CONSOLE_DEBUG_AND_DISABLE_DL_CRYPT, EFUSE_BLK0,   15,     1,    Write protection for CONSOLE_DEBUG_DISABLE, DISABLE_DL

components/mch2022-bsp/hardware.c

@@ -4,6 +4,7 @@
 #include <driver/gpio.h>
 #include "managed_i2c.h"
 #include "sdcard.h"
+#include "rp2040.h"
 
 static const char *TAG = "hardware";
 
@@ -11,21 +12,23 @@ static PCA9555 dev_pca9555 = {0};
 static BNO055  dev_bno055  = {0};
 static ILI9341 dev_ili9341 = {0};
 static ICE40   dev_ice40   = {0};
+static RP2040  dev_rp2040  = {0};
 
-// Wrapper functions for linking the ICE40 component to the PCA9555 component
+esp_err_t ice40_get_done_wrapper(bool* done) {
-esp_err_t ice40_get_done_wrapper(bool* done) { return pca9555_get_gpio_value(&dev_pca9555, PCA9555_PIN_FPGA_CDONE, done); }
+    return pca9555_get_gpio_value(&dev_pca9555, PCA9555_PIN_FPGA_CDONE, done);
-esp_err_t ice40_set_reset_wrapper(bool reset) { return pca9555_set_gpio_value(&dev_pca9555, PCA9555_PIN_FPGA_RESET, reset); }
+}
 
-esp_err_t hardware_init() {
+esp_err_t ice40_set_reset_wrapper(bool reset) {
+    return pca9555_set_gpio_value(&dev_pca9555, PCA9555_PIN_FPGA_RESET, reset);
+}
+
+void ili9341_set_lcd_mode(bool mode) {
+    rp2040_set_lcd_mode(&dev_rp2040, (lcd_mode_t) mode);
+}
+
+static esp_err_t _bus_init() {
     esp_err_t res;
 
-    // Interrupts
-    res = gpio_install_isr_service(0);
-    if (res != ESP_OK) {
-        ESP_LOGE(TAG, "Initializing ISR service failed");
-        return res;
-    }
-    
     // System I2C bus
     res = i2c_init(I2C_BUS_SYS, GPIO_I2C_SYS_SDA, GPIO_I2C_SYS_SCL, I2C_SPEED_SYS, false, false);
     if (res != ESP_OK) {
@@ -54,6 +57,36 @@ esp_err_t hardware_init() {
         return res;
     }
 
+    return ESP_OK;
+}
+
+// Board init
+
+esp_err_t board_init() {
+    esp_err_t res;
+
+    // Interrupts
+    res = gpio_install_isr_service(0);
+    if (res != ESP_OK) {
+        ESP_LOGE(TAG, "Initializing ISR service failed");
+        return res;
+    }
+
+    // Communication busses
+    res = _bus_init();
+    if (res != ESP_OK) return res;
+    
+    // RP2040 co-processor
+    dev_rp2040.i2c_bus = I2C_BUS_SYS;
+    dev_rp2040.i2c_address = RP2040_ADDR;
+    dev_rp2040.pin_interrupt = GPIO_INT_RP2040;
+    
+    res = rp2040_init(&dev_rp2040);
+    if (res != ESP_OK) {
+        ESP_LOGE(TAG, "Initializing RP2040 failed");
+        return res;
+    }
+
     // PCA9555 IO expander on system I2C bus
     res = pca9555_init(&dev_pca9555, I2C_BUS_SYS, PCA9555_ADDR, GPIO_INT_PCA9555);
     if (res != ESP_OK) {
@@ -84,7 +117,7 @@ esp_err_t hardware_init() {
     pca9555_set_gpio_polarity(&dev_pca9555, PCA9555_PIN_BTN_JOY_RIGHT, true);
     pca9555_set_gpio_polarity(&dev_pca9555, PCA9555_PIN_BTN_BACK, true);
     pca9555_set_gpio_polarity(&dev_pca9555, PCA9555_PIN_BTN_ACCEPT, true);
-    dev_pca9555.pin_state = 0; // Reset all pin states so that the interrupt function doesn't trigger all the handlers because we inverted the polarity
+    dev_pca9555.pin_state = 0;
 
     // FPGA
     dev_ice40.spi_bus = SPI_BUS;
@@ -112,7 +145,7 @@ esp_err_t hardware_init() {
     dev_ili9341.color_mode = true; // Blue and red channels are swapped
     dev_ili9341.spi_speed = 60000000; // 60MHz
     dev_ili9341.spi_max_transfer_size = SPI_MAX_TRANSFER_SIZE;
-    dev_ili9341.callback = NULL; // Callback for changing LCD mode between ESP32 and FPGA
+    dev_ili9341.callback = ili9341_set_lcd_mode; // Callback for changing LCD mode between ESP32 and FPGA
 
     res = ili9341_init(&dev_ili9341);
     if (res != ESP_OK) {
@@ -127,7 +160,6 @@ esp_err_t hardware_init() {
         ESP_LOGE(TAG, "Initializing BNO055 failed");
         return res;
     }
-
     return res;
 }
 
@@ -146,3 +178,7 @@ ILI9341* get_ili9341() {
 ICE40* get_ice40() {
     return &dev_ice40;
 }
+
+RP2040* get_rp2040() {
+    return &dev_rp2040;
+}

components/mch2022-bsp/hardware.h

@@ -7,15 +7,10 @@
 #include "bno055.h"
 #include "ili9341.h"
 #include "ice40.h"
-
+#include "rp2040.h"
-esp_err_t hardware_init();
-PCA9555* get_pca9555();
-BNO055* get_bno055();
-ILI9341* get_ili9341();
-ICE40* get_ice40();
 
 // Interrupts
-#define GPIO_INT_STM32   0
+#define GPIO_INT_RP2040  0
 #define GPIO_INT_PCA9555 34
 #define GPIO_INT_BNO055  36
 #define GPIO_INT_FPGA    39
@@ -39,8 +34,8 @@ ICE40* get_ice40();
 
 // PCA9555 IO expander
 #define PCA9555_ADDR               0x26
-#define PCA9555_PIN_STM32_RESET   0
+#define PCA9555_PIN_RP2040_RESET   0
-#define PCA9555_PIN_STM32_BOOT0   1
+#define PCA9555_PIN_RP2040_BOOTSEL 1
 #define PCA9555_PIN_FPGA_RESET     2
 #define PCA9555_PIN_FPGA_CDONE     3
 #define PCA9555_PIN_BTN_START      5
@@ -55,6 +50,9 @@ ICE40* get_ice40();
 #define PCA9555_PIN_BTN_BACK       14
 #define PCA9555_PIN_BTN_ACCEPT     15
 
+// RP2040 co-processor
+#define RP2040_ADDR 0x17
+
 // BNO055 sensor
 #define BNO055_ADDR 0x28
 
@@ -68,10 +66,18 @@ ICE40* get_ice40();
 #define GPIO_SPI_CLK          18
 #define GPIO_SPI_MOSI         23
 #define GPIO_SPI_MISO         35
-#define GPIO_SPI_CS_STM32     19
+#define GPIO_SPI_CS_RP2040    19
 #define GPIO_SPI_CS_FPGA      27
 #define GPIO_SPI_CS_LCD       32
 #define GPIO_SPI_DC_LCD       33
 #define SPI_BUS               VSPI_HOST
 #define SPI_MAX_TRANSFER_SIZE 4094
 #define SPI_DMA_CHANNEL       2
+
+esp_err_t board_init();
+
+PCA9555* get_pca9555();
+BNO055* get_bno055();
+ILI9341* get_ili9341();
+ICE40* get_ice40();
+RP2040* get_rp2040();

components/mch2022-bsp/rp2040.c

@@ -0,0 +1,127 @@
+/**
+ * Copyright (c) 2022 Nicolai Electronics
+ *
+ * SPDX-License-Identifier: MIT
+ */
+
+#include <sdkconfig.h>
+#include <driver/gpio.h>
+#include "rp2040.h"
+#include "managed_i2c.h"
+
+static const char *TAG = "RP2040";
+
+esp_err_t rp2040_init(RP2040* device) {
+    esp_err_t res;
+
+    uint8_t firmware_version;
+    res = rp2040_get_firmware_version(device, &firmware_version);
+    if (res != ESP_OK) return res;
+
+    if (firmware_version != 1) {
+        ESP_LOGE(TAG, "Unsupported RP2040 firmware version (%u) found", firmware_version);
+        return ESP_ERR_INVALID_VERSION;
+    }
+
+    res = i2c_read_reg(device->i2c_bus, device->i2c_address, RP2040_REG_GPIO_DIR, &device->_gpio_direction, 1);
+    if (res != ESP_OK) return res;
+
+    res = i2c_read_reg(device->i2c_bus, device->i2c_address, RP2040_REG_GPIO_OUT, &device->_gpio_value, 1);
+    if (res != ESP_OK) return res;
+
+    return ESP_OK;
+}
+
+esp_err_t rp2040_get_firmware_version(RP2040* device, uint8_t* version) {
+    return i2c_read_reg(device->i2c_bus, device->i2c_address, RP2040_REG_FW_VER, version, 1);
+}
+
+esp_err_t rp2040_get_gpio_dir(RP2040* device, uint8_t gpio, bool* direction) {
+    esp_err_t res = i2c_read_reg(device->i2c_bus, device->i2c_address, RP2040_REG_GPIO_DIR, &device->_gpio_direction, 1);
+    if (res != ESP_OK) return res;
+    *direction = (device->_gpio_direction >> gpio) & 0x01;
+    return ESP_OK;
+}
+esp_err_t rp2040_set_gpio_dir(RP2040* device, uint8_t gpio, bool direction) {
+    if (direction) {
+        device->_gpio_direction |= 1UL << gpio;
+    } else {
+        device->_gpio_direction &= ~(1UL << gpio);
+    }
+    return i2c_write_reg_n(device->i2c_bus, device->i2c_address, RP2040_REG_GPIO_DIR, &device->_gpio_direction, 1);
+}
+
+esp_err_t rp2040_get_gpio_value(RP2040* device, uint8_t gpio, bool* value) {
+    uint8_t reg_value;
+    esp_err_t res = i2c_read_reg(device->i2c_bus, device->i2c_address, RP2040_REG_GPIO_IN, &reg_value, 1);
+    if (res != ESP_OK) return res;
+    *value = (reg_value >> gpio) & 0x01;
+    return ESP_OK;    
+}
+
+esp_err_t rp2040_set_gpio_value(RP2040* device, uint8_t gpio, bool value) {
+    if (value) {
+        device->_gpio_value |= 1UL << gpio;
+    } else {
+        device->_gpio_value &= ~(1UL << gpio);
+    }
+    return i2c_write_reg_n(device->i2c_bus, device->i2c_address, RP2040_REG_GPIO_OUT, &device->_gpio_value, 1);
+}
+
+esp_err_t rp2040_get_lcd_mode(RP2040* device, lcd_mode_t* mode) {
+    return i2c_read_reg(device->i2c_bus, device->i2c_address, RP2040_REG_LCD_MODE, (uint8_t*) mode, 1);
+}
+
+esp_err_t rp2040_set_lcd_mode(RP2040* device, lcd_mode_t mode) {
+    return i2c_write_reg_n(device->i2c_bus, device->i2c_address, RP2040_REG_LCD_MODE, (uint8_t*) &mode, 1);
+}
+
+esp_err_t rp2040_get_lcd_backlight(RP2040* device, uint8_t* brightness) {
+    return i2c_read_reg(device->i2c_bus, device->i2c_address, RP2040_REG_LCD_BACKLIGHT, brightness, 1);
+}
+
+esp_err_t rp2040_set_lcd_backlight(RP2040* device, uint8_t brightness) {
+    return i2c_write_reg_n(device->i2c_bus, device->i2c_address, RP2040_REG_LCD_BACKLIGHT, &brightness, 1);
+}
+
+esp_err_t rp2040_get_led_mode(RP2040* device, bool* enabled, bool* automatic_flush) {
+    uint8_t value;
+    esp_err_t res = i2c_read_reg(device->i2c_bus, device->i2c_address, RP2040_REG_LED_MODE, &value, 1);
+    if (res != ESP_OK) return res;
+    *enabled = (value >> 0) & 0x01;
+    *automatic_flush = (value >> 1) & 0x01;
+    return ESP_OK;
+}
+
+esp_err_t rp2040_set_led_mode(RP2040* device, bool enabled, bool automatic_flush) {
+    uint8_t value = enabled | (automatic_flush << 1);
+    return i2c_write_reg_n(device->i2c_bus, device->i2c_address, RP2040_REG_LED_MODE, &value, 1);
+}
+
+esp_err_t rp2040_get_led_value(RP2040* device, uint8_t led, uint8_t* red, uint8_t* green, uint8_t* blue) {
+    if (led > 5) return ESP_ERR_NOT_FOUND;
+    uint8_t value[3];
+    esp_err_t res = i2c_read_reg(device->i2c_bus, device->i2c_address, RP2040_REG_LED_R0 + (led * 3), value, 3);
+    if (res != ESP_OK) return res;
+    *red = value[0];
+    *green = value[1];
+    *blue = value[2];
+    return ESP_OK;
+}
+
+esp_err_t rp2040_set_led_value(RP2040* device, uint8_t led, uint8_t red, uint8_t green, uint8_t blue) {
+    if (led > 5) return ESP_ERR_NOT_FOUND;
+    uint8_t value[3];
+    value[0] = red;
+    value[1] = green;
+    value[2] = blue;
+    return i2c_write_reg_n(device->i2c_bus, device->i2c_address, RP2040_REG_LED_R0 + (led * 3), value, 3);
+}
+
+esp_err_t rp2040_get_led_values(RP2040* device, uint8_t* buffer) {
+    return i2c_read_reg(device->i2c_bus, device->i2c_address, RP2040_REG_LED_R0, buffer, 15);
+}
+
+esp_err_t rp2040_set_led_values(RP2040* device, uint8_t* buffer) {
+    return i2c_write_reg_n(device->i2c_bus, device->i2c_address, RP2040_REG_LED_R0, buffer, 15);
+}

components/mch2022-bsp/rp2040.h

@@ -0,0 +1,77 @@
+#pragma once
+
+#include <esp_err.h>
+#include <esp_log.h>
+#include <stdint.h>
+#include <freertos/FreeRTOS.h>
+#include <freertos/semphr.h>
+#include <freertos/task.h>
+
+enum {
+    RP2040_REG_FW_VER = 0,
+    RP2040_REG_GPIO_DIR,
+    RP2040_REG_GPIO_IN,
+    RP2040_REG_GPIO_OUT,
+    RP2040_REG_LCD_MODE,
+    RP2040_REG_LCD_BACKLIGHT,
+    RP2040_REG_LED_MODE,
+    RP2040_REG_LED_R0,
+    RP2040_REG_LED_G0,
+    RP2040_REG_LED_B0,
+    RP2040_REG_LED_R1,
+    RP2040_REG_LED_G1,
+    RP2040_REG_LED_B1,
+    RP2040_REG_LED_R2,
+    RP2040_REG_LED_G2,
+    RP2040_REG_LED_B2,
+    RP2040_REG_LED_R3,
+    RP2040_REG_LED_G3,
+    RP2040_REG_LED_B3,
+    RP2040_REG_LED_R4,
+    RP2040_REG_LED_G4,
+    RP2040_REG_LED_B4,
+};
+
+typedef enum {
+    LCD_MODE_SPI = 0,
+    LCD_MODE_PARALLEL = 1
+} lcd_mode_t;
+
+typedef void (*rp2040_intr_t)();
+
+typedef struct {
+    int              i2c_bus;
+    int              i2c_address;
+    int              pin_interrupt;
+    rp2040_intr_t    _intr_handler;
+    TaskHandle_t     _intr_task_handle;
+    xSemaphoreHandle _intr_trigger;
+    xSemaphoreHandle _mux;
+    uint8_t          _gpio_direction;
+    uint8_t          _gpio_value;
+} RP2040;
+
+esp_err_t rp2040_init(RP2040* device);
+
+esp_err_t rp2040_get_firmware_version(RP2040* device, uint8_t* version);
+
+esp_err_t rp2040_get_gpio_dir(RP2040* device, uint8_t gpio, bool* direction);
+esp_err_t rp2040_set_gpio_dir(RP2040* device, uint8_t gpio, bool direction);
+
+esp_err_t rp2040_get_gpio_value(RP2040* device, uint8_t gpio, bool* value);
+esp_err_t rp2040_set_gpio_value(RP2040* device, uint8_t gpio, bool value);
+
+esp_err_t rp2040_get_lcd_mode(RP2040* device, lcd_mode_t* mode);
+esp_err_t rp2040_set_lcd_mode(RP2040* device, lcd_mode_t mode);
+
+esp_err_t rp2040_get_lcd_backlight(RP2040* device, uint8_t* brightness);
+esp_err_t rp2040_set_lcd_backlight(RP2040* device, uint8_t brightness);
+
+esp_err_t rp2040_get_led_mode(RP2040* device, bool* enabled, bool* automatic_flush);
+esp_err_t rp2040_set_led_mode(RP2040* device, bool enabled, bool automatic_flush);
+
+esp_err_t rp2040_get_led_value(RP2040* device, uint8_t led, uint8_t* red, uint8_t* green, uint8_t* blue);
+esp_err_t rp2040_set_led_value(RP2040* device, uint8_t led, uint8_t red, uint8_t green, uint8_t blue);
+
+esp_err_t rp2040_get_led_values(RP2040* device, uint8_t* buffer); // Expects a buffer that can fit 15 bytes (R, G, B * 5 LEDs)
+esp_err_t rp2040_set_led_values(RP2040* device, uint8_t* buffer); // Expects a buffer that can contains 15 bytes (R, G, B * 5 LEDs)