Merge pull request #10 from AllenNeuralDynamics/dev/updated_harp_time

Non-deterministic AUX UART fix

.gitmodules

@@ -1,3 +1,6 @@
 [submodule "firmware/lib/harp.core.rp2040"]
 	path = firmware/lib/harp.core.rp2040
 	url = [email protected]:AllenNeuralDynamics/harp.core.rp2040.git
+[submodule "firmware/lib/pico.async-uart"]
+	path = firmware/lib/pico.async-uart
+	url = [email protected]:AllenNeuralDynamics/pico.async-uart.git

firmware/CMakeLists.txt

@@ -8,6 +8,8 @@ add_definitions(-DGIT_HASH="${COMMIT_ID}") # Usable in source code.
 #add_definitions(-DDEBUG) # Uncomment for debugging
 
 
+#set(PICO_PLATFORM rp2040) # rp2040 is the default.
+
 # PICO_SDK_PATH must be defined.
 include(${PICO_SDK_PATH}/pico_sdk_init.cmake)
 
@@ -16,14 +18,14 @@ set(CMAKE_CXX_STANDARD 17)
 # Enable try/catch exception interface.
 #set(PICO_CXX_ENABLE_EXCEPTIONS 1)
 
+#set(PICO_COPY_TO_RAM 1)
+
 project(white_rabbit)
 
 pico_sdk_init()
-add_subdirectory(lib/harp.core.rp2040/firmware) # Path to harp.core.rp2040.
 
-add_library(uart_nonblocking
-    src/uart_nonblocking.cpp
-)
+add_subdirectory(lib/harp.core.rp2040/firmware) # Path to harp.core.rp2040.
+add_subdirectory(lib/pico.async-uart) # Path to uart_nonblocking and soft_uart
 
 add_library(white_rabbit_app
     src/white_rabbit_app.cpp
@@ -35,12 +37,12 @@ add_executable(${PROJECT_NAME}
 
 include_directories(inc)
 
-target_link_libraries(uart_nonblocking hardware_dma hardware_timer pico_stdlib)
 target_link_libraries(white_rabbit_app harp_core harp_c_app harp_sync
-                      hardware_divider pico_stdlib uart_nonblocking hardware_dma)
+                      hardware_divider pico_stdlib uart_nonblocking pio_uart
+                      hardware_pio hardware_dma soft_uart)
 
 target_link_libraries(${PROJECT_NAME} harp_core harp_c_app harp_sync pico_stdlib
-                      hardware_dma hardware_timer uart_nonblocking
+                      hardware_dma hardware_timer uart_nonblocking pio_uart
                       white_rabbit_app)
 
 pico_add_extra_outputs(${PROJECT_NAME})

firmware/README.md

@@ -12,7 +12,7 @@ This project uses the [Pico SDK](https://github.com/raspberrypi/pico-sdk/tree/ma
 The SDK needs to be downloaded and installed to a known folder on your PC.
 Note that the PICO SDK also contains submodules (including TinyUSB), so you must ensure that they are also fetched with:
 ````
-git clone git clone git@github.com:raspberrypi/pico-sdk.git
+git clone [email protected]:raspberrypi/pico-sdk.git
 git submodule update --init --recursive
 ````
 

firmware/inc/config.h

@@ -8,7 +8,7 @@
 
 #define FW_VERSION_MAJOR (0)
 #define FW_VERSION_MINOR (1)
-#define FW_VERSION_PATCH (1)
+#define FW_VERSION_PATCH (2)
 
 
 #define HARP_CORE_LED_PIN (25)
@@ -40,8 +40,7 @@
 #define MAX_AUX_SYNC_BAUDRATE (1'000'000UL) // Aux Baud rate should be slower
                                             // than this value.
 #define AUX_PIN (0)
-#define AUX_SYNC_START_OFFSET_US (0) // Offset from spec to account for
-                                      // transmission time.
+#define AUX_SYNC_START_OFFSET_US (0)
 
 #define LED0_PIN (24)
 #define LED1_PIN (25)

firmware/inc/white_rabbit_app.h

@@ -10,6 +10,7 @@
 #include <harp_c_app.h>
 #include <harp_synchronizer.h>
 #include <uart_nonblocking.h>
+#include <soft_uart.h>
 #include <core_registers.h>
 #include <pico/divider.h> // for fast hardware division.
 #ifdef DEBUG
@@ -34,7 +35,7 @@ const size_t REG_COUNT{5};
 
 // pre-computed value for when to emit periodic counter msgs.
 extern uint32_t counter_interval_us;
-extern uint32_t last_msg_emit_time_us;
+extern uint64_t last_msg_emit_time_us;
 extern bool was_synced;
 
 #pragma pack(push, 1)