Illumination support, change core, breaks hw serial

HW serial temporarily broken due to the change in pico core. This core
has a lot more features e.g. easily changing PWM frequency and supports
both pico cores (currently unused)

platformio.ini

@@ -31,10 +31,11 @@ board = leonardo
 monitor_speed = 115200
 build_flags = -D MCU_LEONARDO
 
-[env:pico]
-platform = raspberrypi
-board = pico
-build_flags = -D MCU_PICO
+;[env:pico]
+;platform = raspberrypi
+;board = pico
+;build_flags = -D MCU_PICO
+;upload_port = /media/filip/RPI-RP2
 
 [env:bluepill]
 platform = ststm32
@@ -55,3 +56,12 @@ platform = espressif32
 board = esp-wrover-kit
 build_flags = -D MCU_ESP32
 monitor_filters = esp32_exception_decoder
+build_type = debug
+
+[env:pico]
+platform = https://github.com/maxgerhardt/platform-raspberrypi.git
+board = pico
+framework = arduino
+board_build.core = earlephilhower
+upload_port = /media/filip/RPI-RP2
+build_flags = -D MCU_PICO

src/boards.h

@@ -6,7 +6,7 @@
     #elif defined(MCU_BLUEPILL)
         #define BOARD_CUSTOM_BLUEPILL
     #elif defined(MCU_PICO)
-        #define BOARD_CUSTOM_PICO
+        #define BOARD_SANGABOARDv5
     #elif defined(MCU_ESP32)
         #define BOARD_CUSTOM_ESP32
     #else

src/config.h

@@ -27,7 +27,7 @@
  //   #define ENDSTOPS
  //   #define LIGHT_SENSOR
  //   #define STEPSTICK
- //   #define ILLUMINATION
+    #define ILLUMINATION
 
     //module configs
     #ifdef STAGE

src/main.h

@@ -13,8 +13,10 @@
     }
 #define CHECK_END_COMMAND(C) check_end_command(C)
 
+//TODO: temporarily disabled for philhower compatibilty
+//extern arduino::UART PiSerial;
+
 #ifdef BOARD_SANGABOARDv5
-    extern arduino::UART PiSerial;
 #endif
 
 struct Command

src/modules/illumination/illumination.cpp

@@ -7,35 +7,98 @@
     #include "dummyEEPROM.h"
 #endif
 
-#define WIRING_PWM_LED_NUM 1
+#define PWM_NUM 1
 #define WIRING_PWM_LEDS {25}
 //TODO: implement some fancier features of TMC controllers
 const uint8_t pwm_led_pins[] = WIRING_PWM_LEDS;
-void illumination_pwm(String command)
+void illumination_pwm_freq(String command)
 {
     //TODO: make this properly, this is just a test for hacked on/off
-    char * args[2];
+    char * args[1];
     parse_arguments(args, command, 2);
-    if (atof(args[1]) < 0.001)
-    {
-        digitalWrite(pwm_led_pins[0], LOW);//start with motor disabled
-    }
-    else
-    {
-        digitalWrite(pwm_led_pins[0], HIGH);
-    }
-    SERIAL_PORT.println("Illumination set");
+    #ifdef MCU_PICO
+        analogWriteFreq(atol(args[0]));//32khz seems sensible
+    #else
+        SERIAL_PORT.println("Feature not supported");
+    #endif
+
+    SERIAL_PORT.println("Frequency set");
     free(args[0]);
     free(args[1]);
 }
 
+void illumination_pwm(String command)
+{
+    #ifdef MCU_PICO
+    //PWM frequency is shared between both PWM outputs
+    char * args[2];
+    parse_arguments(args, command, 2);
+    uint8_t index = atoi(args[0]);
+    if (index >= PWM_NUM)
+    {
+        Serial.println("Invalid index");
+    }
+    float val = atof(args[1]);
+
+    if (val < 0.00001)
+    {
+        digitalWrite(pwm_led_pins[index], LOW);//start with motor disabled
+    }
+    #ifdef MCU_PICO
+        uint32_t pwm_val = val * 65535;
+    #else
+        uint8_t pwm_val = val*255;
+    #endif
+
+    analogWrite(pwm_led_pins[index], pwm_val);
+    SERIAL_PORT.println("Illumination set");
+    free(args[0]);
+    free(args[1]);
+    #endif
+}
+
+#define CC_EN_PIN 24 //TODO: Move to boards
 void illumination_setup()
 {
+    #ifdef MCU_PICO
+        analogWriteRange(65535);
+        analogWriteFreq(32000);//32khz seems sensible
+    #endif
     pinMode(pwm_led_pins[0], OUTPUT);
+    pinMode(CC_EN_PIN, OUTPUT);
     register_module(illumination_commands, NULL);
 }
 
+void cc_on(String command)
+{
+    digitalWrite(CC_EN_PIN, HIGH);
+}
+
+void cc_off(String command)
+{
+    digitalWrite(CC_EN_PIN, LOW);
+}
+
+void cc_up(String command)
+{
+    digitalWrite(CC_EN_PIN, LOW);
+    delayMicroseconds(30); //1-75us
+    digitalWrite(CC_EN_PIN, HIGH);
+}
+
+void cc_down(String command)
+{
+    digitalWrite(CC_EN_PIN, LOW);
+    delayMicroseconds(240); //180-300us
+    digitalWrite(CC_EN_PIN, HIGH);
+}
+
 extern const Command illumination_commands[] = {
     {"led_pwm", illumination_pwm},
+    {"led_pwm_freq", illumination_pwm_freq},
+    {"led_cc_up", cc_up},
+    {"led_cc_down", cc_down},
+    {"led_cc_on", cc_down},
+    {"led_cc_off", cc_off},
     END_COMMAND};
 #endif

src/modules/illumination/illumination.h

@@ -6,6 +6,13 @@
 #include <Arduino.h>
 
 void illumination_pwm(String command);
+void illumination_pwm_freq(String command);
+
+void cc_on(String command);
+void cc_off(String command);
+void cc_up(String command);
+void cc_down(String command);
+
 void illumination_setup();
 extern const Command illumination_commands[];
 #define ILLUMINATION_H