voroskoi/RP2040-decoder - Change 6GJR2V3AYCEJWLBP2KMTWUNO332MG5OFEUNPCNSSNF5BJKXA3VTQC

work-work

Created by voroskoi on July 19, 2025

6GJR2V3AYCEJWLBP2KMTWUNO332MG5OFEUNPCNSSNF5BJKXA3VTQC

Dependencies

In channels

main

Change contents

Insertion in src/pid.zig at line 6 [4.32]
[4.174]
[4.174]
```
const DDC = @import("ddc.zig");
```
Insertion in src/pid.zig at line 18 [4.32]
[4.386]
[4.386]
```
sp: DDC.Speed = .stop,
```

Replacement in src/pid.zig at line 30 [4.32]

B:BD[4.652] → [4.652:712]

        .ki = ki * interrupt,
        .kd = kd / interrupt,

[4.652]

[4.712]

        .ki = ki * @as(VariableType, @floatFromInt(interrupt)),
        .kd = kd / @as(VariableType, @floatFromInt(interrupt)),

Replacement in src/pid.zig at line 37 [4.32]

B:BD[4.739] → [4.739:823]

pub fn compute(self: @This(), input: VariableType, sp: VariableType) VariableType {

[4.739]

[4.823]

pub fn compute(self: @This(), input: VariableType) VariableType {

Replacement in src/pid.zig at line 39 [4.32]

B:BD[4.847] → [4.847:889]

    const err: VariableType = sp - input;

[4.847]

[4.889]

    const err: VariableType = @as(VariableType, @floatFromInt(@intFromEnum(self.sp))) - input;

Replacement in src/pid.zig at line 50 [4.32]
B:BD[4.1147] → [4.1147:1179]
```
    setAlarm(PID_INTERRUPT_MS);
```
[4.1147]
[4.1179]
```
    // setAlarm(PID_INTERRUPT_MS);
```
Deletion in src/main.zig at line 2 [2.50]
B:BD[2.79] → [2.79:115]
```
const builtin = @import("builtin");
```

Replacement in src/main.zig at line 30 [2.50]

B:BD[3.257] → [4.1512:1569]

var pid = PID.init(PID.PID_INTERRUPT_MS, 2.0, 0.2, 1.0);

[3.257]

[5.40]

var pid = PID.init(PID.PID_INTERRUPT_MS, 2.1, 0.03, 100);

Deletion in src/main.zig at line 43 [2.50]
B:BD[2.6007] → [5.73:111]
```
    // XXX: core1 alive indicator LED
```

Deletion in src/main.zig at line 46 [2.50]

B:BD[4.1610] → [4.1610:1611]

B:BD[4.1611] → [5.169:339]


    // timer interrupt for PID
    // PID.setAlarm(PID.PID_INTERRUPT_MS);
    // peripherals.TIMER.INTE.modify(.{ .ALARM_0 = 1 });
    // interrupt.enable(.TIMER_IRQ_0);

Insertion in src/main.zig at line 51 [2.50]

[2.6382]

    interrupt.set_priority(.IO_IRQ_BANK0, .highest);

Replacement in src/main.zig at line 54 [2.50]
B:BD[2.6420] → [5.340:375]
```
    interrupt.enable_interrupts();
```
[2.6420]
[2.6533]
```
    // interrupt.enable_interrupts();
```

Insertion in src/main.zig at line 85 [2.50]

[4.1844]

    pico.multicore.fifo.write_blocking(12);
    pico.time.sleep_ms(5000);
    pico.multicore.fifo.write_blocking(20);
    pico.time.sleep_ms(5000);

Insertion in src/main.zig at line 99 [2.50]
[5.644]
[4.2094]
```
    interrupt.set_priority(.TIMER_IRQ_0, .lowest);
```

Replacement in src/main.zig at line 103 [2.50]

B:BD[4.2150] → [4.2150:2178]

        microzig.cpu.wfi();

[4.2150]

[4.2178]

        if (pico.multicore.fifo.read()) |raw_speed| {
            const speed: DDC.Speed = @enumFromInt(@as(u5, @truncate(raw_speed)));
            std.log.info("CPU{d}, speed: {}", .{ pico.get_cpu_id(), speed });
            pid.sp = speed;
        }

Replacement in src/main.zig at line 112 [2.50]

B:BD[4.2227] → [4.2227:2309]

    const cs = microzig.interrupt.enter_critical_section();
    defer cs.leave();

[4.2227]

[4.2309]

    // const cs = microzig.interrupt.enter_critical_section();
    // defer cs.leave();
    std.log.debug("CPU{d} timerInterrupt start...", .{pico.get_cpu_id()});

Replacement in src/main.zig at line 119 [2.50]

B:BD[4.2453] → [5.645:745]

    // Just for testing core1
    // led.put(1);
    // pico.time.sleep_ms(200);
    // led.put(0);

[4.2453]

[4.2496]

    led.put(1);

Replacement in src/main.zig at line 121 [2.50]

B:BD[4.2497] → [5.746:849]

    // const sp: f32 = 50;
    // const input: f32 = 25;
    // const output = pid.compute(input, sp);

[4.2497]

[5.849]

    const input: f32 = 5;
    _ = pid.compute(input);
    // FIXME: printing float kills everything...

Insertion in src/main.zig at line 125 [2.50]

[5.923]

[4.2568]


    PID.setAlarm(PID.PID_INTERRUPT_MS);
    led.put(0);
    std.log.debug("CPU{d} timerInterrupt done.", .{pico.get_cpu_id()});

Replacement in src/main.zig at line 134 [2.50]

B:BD[4.2610] → [5.924:1006]

    const cs = microzig.interrupt.enter_critical_section();
    defer cs.leave();

[4.2610]

[4.2698]

    // const cs = microzig.interrupt.enter_critical_section();
    // defer cs.leave();
    // std.log.debug("CPU{d} gpioInterrupt start...", .{pico.get_cpu_id()});

Replacement in src/main.zig at line 141 [2.50]

B:BD[4.2816] → [4.2816:3219]

    if (builtin.mode == .Debug) {
        const fstate = peripherals.IO_BANK0.PROC0_INTF1.read();
        if (fstate.GPIO15_LEVEL_LOW == 1) state.GPIO15_EDGE_LOW = 1;
        if (fstate.GPIO15_LEVEL_HIGH == 1) state.GPIO15_EDGE_HIGH = 1;
        // disable forcing
        peripherals.IO_BANK0.PROC0_INTF1.modify(.{
            .GPIO15_EDGE_HIGH = 0,
            .GPIO15_EDGE_LOW = 0,
        });
    }

[4.2816]

[4.3219]

    // Handle forced state for testing purposes
    const fstate = peripherals.IO_BANK0.PROC0_INTF1.read();
    if (fstate.GPIO15_LEVEL_LOW == 1) state.GPIO15_EDGE_LOW = 1;
    if (fstate.GPIO15_LEVEL_HIGH == 1) state.GPIO15_EDGE_HIGH = 1;
    // disable forcing
    peripherals.IO_BANK0.PROC0_INTF1.modify(.{
        .GPIO15_EDGE_HIGH = 0,
        .GPIO15_EDGE_LOW = 0,
    });

Replacement in src/main.zig at line 154 [2.50]

B:BD[4.3338] → [4.3338:3448]

    // std.log.debug("gpioInterrupt LOW: {d} HIGH: {d}", .{ state.GPIO15_EDGE_LOW, state.GPIO15_EDGE_HIGH });

[4.3338]

[4.3448]

    // std.log.debug(
    //     "CPU{d} gpioInterrupt LOW: {d} HIGH: {d}",
    //     .{ pico.get_cpu_id(), state.GPIO15_EDGE_LOW, state.GPIO15_EDGE_HIGH },
    // );

Insertion in src/main.zig at line 164 [2.50]

[4.3596]

    // std.log.debug("CPU{d} gpioInterrupt stop.", .{pico.get_cpu_id()});

Insertion in src/ddc.zig at line 8 [3.427]

[3.586]


pub const Speed = enum(u5) { stop, stopi, estop, estopi, step1, step2, step3, step4, step5, step6, step7, step8, step9, step10, step11, step12, step13, step14, step15, step16, step17, step18, step19, step20, step21, step22, step23, step24, step25, step26, step27, step28 };

Deletion in src/ddc.zig at line 24 [3.427]

B:BD[3.1329] → [3.1329:1604]


    const Speed = enum(u5) { stop, stopi, estop, estopi, step1, step2, step3, step4, step5, step6, step7, step8, step9, step10, step11, step12, step13, step14, step15, step16, step17, step18, step19, step20, step21, step22, step23, step24, step25, step26, step27, step28 };

Deletion in build.zig at line 11 [2.8053]
B:BD[2.8330] → [2.8330:8383]
```
    const optimize = b.standardOptimizeOption(.{});
```
Replacement in build.zig at line 15 [2.8053]
B:BD[2.8516] → [2.8516:8546]
```
        .optimize = optimize,
```
[2.8516]
[2.8546]
```
        .optimize = .ReleaseSmall,
```