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Add firmware code to repo (#8)

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* Added primary stepper motor driver code to repo
* Added odometery encoder code to repo
* Added the ability to update encoder wheel ratio via ros service
Co-authored-by: Pimpest <82343504+Pimpest@users.noreply.github.com>
Co-committed-by: Pimpest <82343504+Pimpest@users.noreply.github.com>
This commit is contained in:
Pimpest
2025-04-09 14:49:19 +00:00
committed by Pimpest
parent c1b5a3ea1c
commit a4691caeed
19 changed files with 1131 additions and 4 deletions
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47
firmware/base/tusb/tusb_config.h Normal file
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#pragma once
#ifdef PICO_STDIO_USB_RESET_INTERFACE_SUPPORT_MS_OS_20_DESCRIPTOR
#undef PICO_STDIO_USB_RESET_INTERFACE_SUPPORT_MS_OS_20_DESCRIPTOR
#endif
#define CFG_TUSB_RHPORT0_MODE (OPT_MODE_DEVICE | OPT_MODE_FULL_SPEED)
#ifndef BOARD_TUD_RHPORT
#define BOARD_TUD_RHPORT 0
#endif
#ifndef BOARD_TUD_MAX_SPEED
#define BOARD_TUD_MAX_SPEED OPT_MODE_DEFAULT_SPEED
#endif
#ifndef CFG_TUSB_MCU
#error CFG_TUSB_MCU must be defined
#endif
#ifndef CFG_TUSB_OS
#define CFG_TUSB_OS OPT_OS_NONE
#endif
#ifndef CFG_TUD_ENABLED
#define CFG_TUD_ENABLED 1
#endif
#ifndef CFG_TUD_MAX_SPEED
#define CFG_TUD_MAX_SPEED BOARD_TUD_MAX_SPEED
#endif
#ifndef CFG_TUD_ENDPOINT0_SIZE
#define CFG_TUD_ENDPOINT0_SIZE 64
#endif
#define CFG_TUD_CDC 2
#define CFG_TUD_MSC 0
#define CFG_TUD_HID 0
#define CFG_TUD_MIDI 0
#define CFG_TUD_VENDOR 0
#define CFG_TUD_CDC_RX_BUFSIZE (TUD_OPT_HIGH_SPEED ? 512 : 64)
#define CFG_TUD_CDC_TX_BUFSIZE (TUD_OPT_HIGH_SPEED ? 512 : 64)
#define CFG_TUD_CDC_EP_BUFSIZE (TUD_OPT_HIGH_SPEED ? 512 : 64)
#define CFG_TUD_MSC_EP_BUFSIZE 512