ValveController implementation

.vscode/settings.json

@@ -15,8 +15,63 @@
     },
   },
   "clang-format.executable": "C:/qt/qt-creator-8_win_x64/bin/clang-format.exe",
+  "clang-format.style": "file",
   "editor.formatOnSave": true,
   "[cpp]": {
     "editor.defaultFormatter": "demiaochen.clang-format-indent-4",
   },
+  "files.associations": {
+    "array": "cpp",
+    "atomic": "cpp",
+    "bit": "cpp",
+    "*.tcc": "cpp",
+    "cctype": "cpp",
+    "clocale": "cpp",
+    "cmath": "cpp",
+    "compare": "cpp",
+    "complex": "cpp",
+    "concepts": "cpp",
+    "cstdarg": "cpp",
+    "cstddef": "cpp",
+    "cstdint": "cpp",
+    "cstdio": "cpp",
+    "cstdlib": "cpp",
+    "cwchar": "cpp",
+    "cwctype": "cpp",
+    "deque": "cpp",
+    "list": "cpp",
+    "unordered_map": "cpp",
+    "vector": "cpp",
+    "exception": "cpp",
+    "algorithm": "cpp",
+    "functional": "cpp",
+    "iterator": "cpp",
+    "memory": "cpp",
+    "memory_resource": "cpp",
+    "numeric": "cpp",
+    "optional": "cpp",
+    "random": "cpp",
+    "string": "cpp",
+    "string_view": "cpp",
+    "system_error": "cpp",
+    "tuple": "cpp",
+    "type_traits": "cpp",
+    "utility": "cpp",
+    "initializer_list": "cpp",
+    "iosfwd": "cpp",
+    "iostream": "cpp",
+    "istream": "cpp",
+    "limits": "cpp",
+    "new": "cpp",
+    "ostream": "cpp",
+    "ranges": "cpp",
+    "sstream": "cpp",
+    "stdexcept": "cpp",
+    "streambuf": "cpp",
+    "cinttypes": "cpp",
+    "typeinfo": "cpp",
+    "chrono": "cpp",
+    "ctime": "cpp",
+    "ratio": "cpp"
+  },
 }

CMakeLists.txt

@@ -5,10 +5,6 @@ cmake_minimum_required(VERSION 3.13)
 set(CMAKE_C_STANDARD 11)
 set(CMAKE_CXX_STANDARD 17)
 
-# Initialise pico_sdk from installed location
-# (note this can come from environment, CMake cache etc)
-#set(PICO_SDK_PATH "C:/workRaspberry_Pi/Pico_SDK_v1.5.1/pico-sdk")
-
 set(PICO_BOARD pico CACHE STRING "Board type")
 
 # Pull in Raspberry Pi Pico SDK (must be before project)
@@ -23,8 +19,6 @@ project(ValveController C CXX ASM)
 # Initialise the Raspberry Pi Pico SDK
 pico_sdk_init()
 
-# Add executable. Default name is the project name, version 0.1
-
 add_executable(ValveController ValveController.cpp)
 
 pico_set_program_name(ValveController "ValveController")
@@ -34,8 +28,7 @@ pico_enable_stdio_uart(ValveController 1)
 pico_enable_stdio_usb(ValveController 0)
 
 # Add the standard library to the build
-target_link_libraries(ValveController
+target_link_libraries(ValveController pico_stdlib)
-        pico_stdlib)
 
 # Add the standard include files to the build
 target_include_directories(ValveController PRIVATE
@@ -44,8 +37,7 @@ target_include_directories(ValveController PRIVATE
 )
 
 # Add any user requested libraries
-target_link_libraries(ValveController 
+target_link_libraries(ValveController)
-        )
 
 pico_add_extra_outputs(ValveController)
 

ValveController.cpp

@@ -1,3 +1,4 @@
+#include <chrono>
 #include <pico/stdlib.h>
 
 void gpio_init_out(uint gpio) {
@@ -6,45 +7,110 @@ void gpio_init_out(uint gpio) {
 	gpio_set_function(gpio, GPIO_FUNC_SIO);
 }
 
-void gpio_callback(uint gpio, uint32_t events) {}
+void gpio_init_input(uint gpio) {
+	gpio_set_dir(gpio, GPIO_IN);
+	gpio_pull_up(gpio);
+	gpio_set_function(gpio, GPIO_FUNC_SIO);
+}
 
 class Valve {
 public:
+	enum class State {
+		Unknown,
+		Opening,
+		Opened,
+		Closing,
+		Closed
+	};
+
 	Valve(uint gpio_motor1, uint gpio_motor2, uint gpio_start, uint gpio_end)
-        : motor1(gpio_motor1), motor2(gpio_motor2), start_pin(gpio_start),
+		: motor1(gpio_motor1)
-          end_pin(gpio_end) {
+		, motor2(gpio_motor2)
+		, start_pin(gpio_start)
+		, end_pin(gpio_end) {
 		gpio_init_out(motor1);
 		gpio_init_out(motor2);
-        gpio_set_irq_enabled_with_callback(start_pin, GPIO_IRQ_EDGE_RISE, true,
+		gpio_init(start_pin);
-                                           &gpio_callback);
+		gpio_init(end_pin);
-        gpio_set_irq_enabled_with_callback(end_pin, GPIO_IRQ_EDGE_RISE, true,
+		start_time = std::chrono::steady_clock::now();
-                                           &gpio_callback);
 	}
 
 	void open() {
+		if (state == State::Opening) {
+			return;
+		}
 		gpio_put(motor2, 0);
 		gpio_put(motor1, 1);
+		state      = State::Opening;
+		start_time = std::chrono::steady_clock::now();
 	}
 
 	void close() {
+		if (state == State::Closing) {
+			return;
+		}
 		gpio_put(motor1, 0);
 		gpio_put(motor2, 1);
+		state      = State::Closing;
+		start_time = std::chrono::steady_clock::now();
 	}
 
+	State process() {
+		if (state == State::Opening && gpio_get(start_pin) == 0) {
+			gpio_put(motor1, 0);
+			state = State::Opened;
+		}
+		if (state == State::Closing && gpio_get(end_pin) == 0) {
+			gpio_put(motor2, 0);
+			state = State::Closed;
+		}
+		if (state == State::Opening || state == State::Closing) {
+			using namespace std::chrono;
+			if (duration_cast<seconds>(steady_clock::now() - start_time) > timeout) {
+				gpio_put(motor1, 0);
+				gpio_put(motor2, 0);
+				state = State::Unknown;
+			}
+		}
+		return state;
+	}
+
+	State getState() const { return state; }
+
 private:
 	uint motor1, motor2;
 	uint start_pin, end_pin;
+	State state                  = State::Unknown;
+	std::chrono::seconds timeout = std::chrono::seconds(10);
+	decltype(std::chrono::steady_clock::now()) start_time;
 };
 
 int main() {
-    Valve *v = new Valve(0, 1, 4, 5);
+	Valve cold_valve{10, 11, 12, 13};
+	Valve hot_valve{21, 20, 19, 18};
 
+	const int button_open  = 14;
+	const int button_close = 15;
 	gpio_init_out(PICO_DEFAULT_LED_PIN);
+	gpio_init_input(button_open);
+	gpio_init_input(button_close);
+
+	const int tick_ms = 500;
 	while (true) {
+		if (gpio_get(button_open) == 0) {
+			cold_valve.open();
+			hot_valve.open();
+		}
+		if (gpio_get(button_close) == 0) {
+			cold_valve.close();
+			hot_valve.close();
+		}
 		gpio_put(PICO_DEFAULT_LED_PIN, 1);
-        sleep_ms(200);
+		sleep_ms(tick_ms / 2);
+		cold_valve.process();
+		hot_valve.process();
 		gpio_put(PICO_DEFAULT_LED_PIN, 0);
-        sleep_ms(200);
+		sleep_ms(tick_ms / 2);
 	}
 	return 0;
 }