Add ICE40 FPGA support

.gitmodules

@@ -18,3 +18,7 @@
 	path = factory_test/components/spi-ili9341
 	url = git@github.com:Nicolai-Electronics/esp32-component-spi-ili9341.git
 	branch = master
+[submodule "factory_test/components/spi-ice40"]
+	path = factory_test/components/spi-ice40
+	url = git@github.com:Nicolai-Electronics/esp32-component-spi-ice40.git
+	branch = master

factory_test/components/spi-ice40

@@ -0,0 +1 @@
+Subproject commit 3c7ce5ba461f770d330c5a7a8a129b9f13568ed5

factory_test/main/hardware.c

@@ -10,6 +10,11 @@ static const char *TAG = "hardware";
 PCA9555 dev_pca9555 = {0};
 BNO055  dev_bno055   = {0};
 ILI9341 dev_ili9341 = {0};
+ICE40   dev_ice40 = {0};
+
+// Wrapper functions for linking the ICE40 component to the PCA9555 component
+esp_err_t ice40_get_done_wrapper(bool* 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 res;
@@ -21,6 +26,20 @@ esp_err_t hardware_init() {
         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) {
+        ESP_LOGE(TAG, "Initializing system I2C bus failed");
+        return res;
+    }
+    
+    // User I2C bus
+    res = i2c_init(I2C_BUS_EXT, GPIO_I2C_EXT_SDA, GPIO_I2C_EXT_SCL, I2C_SPEED_EXT, false, false);
+    if (res != ESP_OK) {
+        ESP_LOGE(TAG, "Initializing user I2C bus failed");
+        return res;
+    }
+
     // SPI bus
     spi_bus_config_t busConfiguration = {0};
     busConfiguration.mosi_io_num     = GPIO_SPI_MOSI;
@@ -35,6 +54,42 @@ esp_err_t hardware_init() {
         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) {
+        ESP_LOGE(TAG, "Initializing PCA9555 failed");
+        return res;
+    }
+    
+    res = pca9555_set_gpio_direction(&dev_pca9555, PCA9555_PIN_FPGA_RESET, true);
+    if (res != ESP_OK) {
+        ESP_LOGE(TAG, "Setting the FPGA reset pin on the PCA9555 to output failed");
+        return res;
+    }
+    
+    res = pca9555_set_gpio_value(&dev_pca9555, PCA9555_PIN_FPGA_RESET, false);
+    if (res != ESP_OK) {
+        ESP_LOGE(TAG, "Setting the FPGA reset pin on the PCA9555 to low failed");
+        return res;
+    }
+    
+    // FPGA
+    dev_ice40.spi_bus = SPI_BUS;
+    dev_ice40.pin_cs = GPIO_SPI_CS_FPGA;
+    dev_ice40.pin_done = -1;
+    dev_ice40.pin_reset = -1;
+    dev_ice40.pin_int = GPIO_INT_FPGA;
+    dev_ice40.spi_speed = 60000000; // 60MHz
+    dev_ice40.spi_max_transfer_size = SPI_MAX_TRANSFER_SIZE;
+    dev_ice40.get_done = ice40_get_done_wrapper;
+    dev_ice40.set_reset = ice40_set_reset_wrapper;
+
+    res = ice40_init(&dev_ice40);
+    if (res != ESP_OK) {
+        ESP_LOGE(TAG, "Initializing FPGA failed");
+        return res;
+    }
+
     // LCD display
     dev_ili9341.spi_bus   = SPI_BUS;
     dev_ili9341.pin_cs    = GPIO_SPI_CS_LCD;
@@ -59,20 +114,6 @@ esp_err_t hardware_init() {
         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) {
-        ESP_LOGE(TAG, "Initializing system I2C bus 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) {
-        ESP_LOGE(TAG, "Initializing PCA9555 failed");
-        return res;
-    }
-    
     // BNO055 sensor on system I2C bus
     
     res = bno055_init(&dev_bno055, I2C_BUS_SYS, BNO055_ADDR, GPIO_INT_BNO055, true);
@@ -81,13 +122,6 @@ esp_err_t hardware_init() {
         return res;
     }
 
-    // User I2C bus
-    res = i2c_init(I2C_BUS_EXT, GPIO_I2C_EXT_SDA, GPIO_I2C_EXT_SCL, I2C_SPEED_EXT, false, false);
-    if (res != ESP_OK) {
-        ESP_LOGE(TAG, "Initializing user I2C bus failed");
-        return res;
-    }
-
     return res;
 }
 
@@ -102,3 +136,7 @@ BNO055* get_bno055() {
 ILI9341* get_ili9341() {
     return &dev_ili9341;
 }
+
+ICE40* get_ice40() {
+    return &dev_ice40;
+}

factory_test/main/hardware.h

@@ -6,11 +6,13 @@
 #include "pca9555.h"
 #include "bno055.h"
 #include "ili9341.h"
+#include "ice40.h"
 
 esp_err_t hardware_init();
 PCA9555* get_pca9555();
 BNO055* get_bno055();
 ILI9341* get_ili9341();
+ICE40* get_ice40();
 
 // Interrupts
 #define GPIO_INT_STM32   0
@@ -33,7 +35,7 @@ ILI9341* get_ili9341();
 #define GPIO_I2C_SYS_SCL 21
 #define GPIO_I2C_SYS_SDA 22
 #define I2C_BUS_SYS      0
-#define I2C_SPEED_SYS    20000
+#define I2C_SPEED_SYS    20000 // 20kHz
 
 // PCA9555 IO expander
 #define PCA9555_ADDR              0x26
@@ -60,7 +62,7 @@ ILI9341* get_ili9341();
 #define GPIO_I2C_EXT_SCL 25
 #define GPIO_I2C_EXT_SDA 26
 #define I2C_BUS_EXT      1
-#define I2C_SPEED_EXT    40000
+#define I2C_SPEED_EXT    20000 // 20 kHz
 
 // SPI bus
 #define GPIO_SPI_CLK          18

factory_test/main/main.c

@@ -8,21 +8,42 @@
 #include <esp_err.h>
 #include <esp_log.h>
 #include "hardware.h"
+#include "bitstream.h"
 
 static const char *TAG = "main";
 
 bool calibrate = true;
+bool display_bno_value = true;
 ILI9341* ili9341 = NULL;
+ICE40* ice40 = NULL;
 uint8_t* framebuffer = NULL;
 
 void button_handler(uint8_t pin, bool value) {
     switch(pin) {
-        case PCA9555_PIN_BTN_START:
+        case PCA9555_PIN_BTN_START: {
             printf("Start button %s\n", value ? "pressed" : "released");
+            if (value) {
+                esp_err_t res = ice40_load_bitstream(ice40, bitstream, bitstream_length);
+                if (res != ESP_OK) {
+                    ESP_LOGE(TAG, "Failed to program the FPGA (%d)", res);
+                } else {
+                    printf("FPGA enabled\n");
+                }
+            }
             break;
-        case PCA9555_PIN_BTN_SELECT:
+        }
+        case PCA9555_PIN_BTN_SELECT: {
             printf("Select button %s\n", value ? "pressed" : "released");
+            if (value) {
+                esp_err_t res = ice40_disable(ice40);
+                if (res != ESP_OK) {
+                    ESP_LOGE(TAG, "Failed to disable the FPGA (%d)", res);
+                } else {
+                    printf("FPGA disabled\n");
+                }
+            }
             break;
+        }
         case PCA9555_PIN_BTN_MENU:
             printf("Menu button %s\n", value ? "pressed" : "released");
             break;
@@ -46,9 +67,10 @@ void button_handler(uint8_t pin, bool value) {
             break;
         case PCA9555_PIN_BTN_BACK:
             printf("Back button %s\n", value ? "pressed" : "released");
+            display_bno_value = value;
             break;
         case PCA9555_PIN_BTN_ACCEPT:
-            //printf("Accept button %s\n", value ? "pressed" : "released");
+            printf("Accept button %s\n", value ? "pressed" : "released");
             if (value) calibrate = true;
             break;
         default:
@@ -121,6 +143,7 @@ void app_main(void) {
     }
     
     ili9341 = get_ili9341();
+    ice40 = get_ice40();
     
     framebuffer = heap_caps_malloc(ILI9341_BUFFER_SIZE, MALLOC_CAP_8BIT);
     if (framebuffer == NULL) {
@@ -224,8 +247,10 @@ void app_main(void) {
         printf("Linear acceleration (m/s²) x = %5.8f y = %5.8f z = %5.8f\n", linear_acceleration.x, linear_acceleration.y, linear_acceleration.z);
         printf("Gravity (m/s²)             x = %5.8f y = %5.8f z = %5.8f\n", gravity.x, gravity.y, gravity.z);*/
 
+        if (display_bno_value) {
             printf("Magnetic (uT) x: %5.4f y: %5.4f z: %5.4f  Rotation (deg): x: %5.4f y: %5.4f z: %5.4f \n", magnetism.x, magnetism.y, magnetism.z, rotation.x, rotation.y, rotation.z);
         }
+    }
     
     free(framebuffer);
 }