Custom Boards - 2nd core can be used on rp2040

src/MF_CustomDevice/CustomDevice.cpp

@@ -1,6 +1,9 @@
 #include "mobiflight.h"
 #include "CustomDevice.h"
 #include "MFCustomDevice.h"
+#if defined(USE_2ND_CORE)
+#include <FreeRTOS.h>
+#endif
 
 /* **********************************************************************************
     Normally nothing has to be changed in this file
@@ -14,6 +17,9 @@ namespace CustomDevice
     MFCustomDevice *customDevice;
     uint8_t         customDeviceRegistered = 0;
     uint8_t         maxCustomDevices       = 0;
+#if defined(USE_2ND_CORE)
+    char payload[SERIAL_RX_BUFFER_SIZE];
+#endif
 
     bool setupArray(uint16_t count)
     {
@@ -62,9 +68,11 @@ namespace CustomDevice
     ********************************************************************************** */
     void update()
     {
+#if !defined(USE_2ND_CORE)
         for (int i = 0; i != customDeviceRegistered; i++) {
             customDevice[i].update();
         }
+#endif
     }
 
     /* **********************************************************************************
@@ -84,7 +92,19 @@ namespace CustomDevice
         int16_t messageID = cmdMessenger.readInt16Arg();  // get the messageID number
         char   *output    = cmdMessenger.readStringArg(); // get the pointer to the new raw string
         cmdMessenger.unescape(output);                    // and unescape the string if escape characters are used
-        customDevice[device].set(messageID, output);      // send the string to your custom device
+#if defined(USE_2ND_CORE)
+        // copy the message, could get be overwritten from the next message while processing on 2nd core
+        strncpy(payload, output, SERIAL_RX_BUFFER_SIZE);
+        // wait for 2nd core
+        rp2040.fifo.pop();
+        // Hmhm, how to get the function pointer to a function from class??
+        // rp2040.fifo.push((uintptr_t) &customDevice[device].set);
+        rp2040.fifo.push(device);
+        rp2040.fifo.push(messageID);
+        rp2040.fifo.push((uint32_t)&payload);
+#else
+        customDevice[device].set(messageID, output); // send the string to your custom device
+#endif
     }
 
     /* **********************************************************************************
@@ -102,5 +122,63 @@ namespace CustomDevice
                 customDevice[i].set(MESSAGEID_POWERSAVINGMODE, (char*)"0");
         }
     }
-
 } // end of namespace
+
+#if defined(USE_2ND_CORE)
+/* **********************************************************************************
+    This will run the set() function from the custom device on the 2nd core
+    Be aware NOT to use the function calls from the Pico SDK!
+    Only use the functions from the used framework from EarlePhilHower
+    If you mix them up it will give undefined behaviour and strange effects
+    see https://arduino-pico.readthedocs.io/en/latest/multicore.html
+********************************************************************************** */
+void setup1()
+{
+    // send "ready" message to 1st core
+    rp2040.fifo.push(true);
+}
+
+void loop1()
+{
+    uint8_t device;
+    int16_t messageID;
+    char   *payload;
+#ifdef MF_CUSTOMDEVICE_POLL_MS
+    uint32_t lastMillis = 0;
+#endif
+
+    while (1) {
+#ifndef MF_CUSTOMDEVICE_POLL_MS
+        // For now I don't know the reason why this is required.
+        // It might be that getting the stop command from the 1st core
+        // needs some idle time. If it is not used the 1st core stops when
+        // writing to the EEPROM which stops the 2nd core
+        delayMicroseconds(1);
+#endif  
+#ifdef MF_CUSTOMDEVICE_POLL_MS
+        if (millis() - lastMillis >= MF_CUSTOMDEVICE_POLL_MS) {
+#endif
+            for (int i = 0; i != CustomDevice::customDeviceRegistered; i++) {
+#if defined(MF_CUSTOMDEVICE_HAS_UPDATE)
+                CustomDevice::customDevice[i].update();
+#endif
+                if (rp2040.fifo.available() == 3) {
+                    // Hmhm, how to get the function pointer to a function from class??
+                    // int32_t (*func)(int16_t, char*) = (int32_t(*)(int16_t, char*)) rp2040.fifo.pop();
+                    device    = (uint8_t)rp2040.fifo.pop();
+                    messageID = (int16_t)rp2040.fifo.pop();
+                    payload   = (char *)rp2040.fifo.pop();
+                    // (*func)(messageID, payload);
+                    CustomDevice::customDevice[device].set(messageID, payload);
+                    // send ready for next message to 1st core
+                    rp2040.fifo.push(true);
+                }
+
+            }
+#ifdef MF_CUSTOMDEVICE_POLL_MS
+            lastMillis = millis();
+        }
+#endif
+    }
+}
+#endif

src/MF_Stepper/Stepper.cpp

@@ -7,12 +7,22 @@
 #include "mobiflight.h"
 #include "MFStepper.h"
 #include "Stepper.h"
+#if defined(STEPPER_ON_2ND_CORE)
+#include <FreeRTOS.h>
+#endif
 
 namespace Stepper
 {
     MFStepper *steppers;
     uint8_t    steppersRegistered = 0;
     uint8_t    maxSteppers        = 0;
+#if defined(STEPPER_ON_2ND_CORE)
+    enum {
+        FUNC_MOVETO = 1,
+        FUNC_ZETZERO,
+        FUNC_SPEEDACCEL
+    };
+#endif
 
     bool setupArray(uint16_t count)
     {
@@ -61,7 +71,16 @@ namespace Stepper
 
         if (stepper >= steppersRegistered)
             return;
+#if defined(STEPPER_ON_2ND_CORE)
+        // wait for 2nd core
+        rp2040.fifo.pop();
+        rp2040.fifo.push(FUNC_MOVETO);
+        rp2040.fifo.push(stepper);
+        rp2040.fifo.push(newPos);
+        rp2040.fifo.push(false);
+#else
         steppers[stepper].moveTo(newPos);
+#endif
     }
 
     void OnReset()
@@ -79,7 +98,16 @@ namespace Stepper
 
         if (stepper >= steppersRegistered)
             return;
+#if defined(STEPPER_ON_2ND_CORE)
+        // wait for 2nd core
+        rp2040.fifo.pop();
+        rp2040.fifo.push(FUNC_ZETZERO);
+        rp2040.fifo.push(stepper);
+        rp2040.fifo.push(false);
+        rp2040.fifo.push(false);
+#else
         steppers[stepper].setZero();
+#endif
     }
 
     void OnSetSpeedAccel()
@@ -90,15 +118,25 @@ namespace Stepper
 
         if (stepper >= steppersRegistered)
             return;
+#if defined(STEPPER_ON_2ND_CORE)
+        rp2040.fifo.pop(); // wait for 2nd core
+        rp2040.fifo.push(FUNC_SPEEDACCEL);
+        rp2040.fifo.push(stepper);
+        rp2040.fifo.push(maxSpeed);
+        rp2040.fifo.push(maxAccel);
+#else
         steppers[stepper].setMaxSpeed(maxSpeed);
         steppers[stepper].setAcceleration(maxAccel);
+#endif
     }
 
     void update()
     {
+#if !defined(STEPPER_ON_2ND_CORE)
         for (uint8_t i = 0; i < steppersRegistered; i++) {
             steppers[i].update();
         }
+#endif
     }
 
     void PowerSave(bool state)
@@ -110,4 +148,45 @@ namespace Stepper
 
 } // namespace
 
+#if defined(STEPPER_ON_2ND_CORE)
+/* **********************************************************************************
+    This will run the set() function from the custom device on the 2nd core
+    Be aware NOT to use the function calls from the Pico SDK!
+    Only use the functions from the used framework from EarlePhilHower
+    If you mix them up it will give undefined behaviour and strange effects
+    see https://arduino-pico.readthedocs.io/en/latest/multicore.html
+********************************************************************************** */
+void setup1()
+{
+    rp2040.fifo.push(true); // inform core 1 to be ready
+}
+
+void loop1()
+{
+    uint8_t  command, stepper;
+    int32_t param1, param2;
+
+    while (1) {
+        for (uint8_t i = 0; i < Stepper::steppersRegistered; ++i) {
+            Stepper::steppers[i].update();
+            if (rp2040.fifo.available()) {
+                command = (uint8_t)rp2040.fifo.pop();
+                stepper = (uint8_t)rp2040.fifo.pop();
+                param1  = (int32_t)rp2040.fifo.pop();
+                param2  = (int32_t)rp2040.fifo.pop();
+                if (command == Stepper::FUNC_MOVETO) {
+                    Stepper::steppers[stepper].moveTo(param1);
+                } else if (command == Stepper::FUNC_ZETZERO) {
+                    Stepper::steppers[stepper].setZero();
+                } else if (command == Stepper::FUNC_SPEEDACCEL) {
+                    Stepper::steppers[stepper].setMaxSpeed(param1);
+                    Stepper::steppers[stepper].setAcceleration(param2);
+                }
+                rp2040.fifo.push(true); // inform core 1 to be ready for next command
+            }
+        }
+    }
+}
+#endif
+
 // Stepper.cpp