voroskoi/RP2040-decoder - Change UAB3QWX6I6PF4BRKRV6C7QKQMEYESRIALOFSOP3P5NAX2SHXABTQC

Add initial EMF measuring

Created by voroskoi on July 20, 2025

UAB3QWX6I6PF4BRKRV6C7QKQMEYESRIALOFSOP3P5NAX2SHXABTQC

Dependencies

In channels

main

Change contents

Insertion in src/main.zig at line 5 [2.50]

[2.181]

const chip = pico.compatibility.chip;
const interrupt = microzig.cpu.interrupt;

Deletion in src/main.zig at line 8 [2.50]
B:BD[2.228] → [2.228:270]
```
const interrupt = microzig.cpu.interrupt;
```
Deletion in src/main.zig at line 18 [2.50]
∅:D[4.128] → [2.436:475]
B:BD[2.436] → [2.436:475]
```
const chip = pico.compatibility.chip;
```

Insertion in src/main.zig at line 28 [2.50]

[2.3837]

[4.233]

const pin_conf = pico.pins.GlobalConfiguration{
    .GPIO14 = .{ .name = "led", .direction = .out },
    .GPIO16 = .{ .name = "mot2", .direction = .out },
    .GPIO17 = .{ .name = "mot1", .direction = .out },
    .GPIO18 = .{ .name = "speed", .function = .PWM1_A },
    .GPIO26 = .{ .name = "m1emf", .function = .ADC0 },
    .GPIO27 = .{ .name = "m2emf", .function = .ADC1 },
};
const pins = pin_conf.pins();

Replacement in src/main.zig at line 41 [2.50]

B:BD[6.41] → [6.41:72]

const led = pico.gpio.num(14);

[6.41]

[2.5787]

fn less(_: void, a: u12, b: u12) bool {
    return a < b;
}

Insertion in src/main.zig at line 46 [2.50]
[2.5810]
[2.5810]
```
    pin_conf.apply();
```
Deletion in src/main.zig at line 56 [2.50]
B:BD[6.111] → [6.111:168]
```
    led.set_direction(.out);
    led.set_function(.sio);
```

Insertion in src/main.zig at line 66 [2.50]

[7.538]

[2.6533]


    { // Motor stuff
        const PWM_WRAP = 1000;
        const EMF_ARRAY_SIZE = 100;
        const EMF_CUTOUT = 15;
        pins.speed.slice().set_wrap(PWM_WRAP);
        pins.speed.slice().enable();
        // stop
        pins.mot1.put(1);
        pins.mot2.put(1);
        std.log.debug("Motor stopped for {d} ms", .{1000});
        pico.time.sleep_ms(1000);
        // start
        var level: usize = PWM_WRAP / 2;
        while (level < PWM_WRAP) : (level += 50) {
            pins.speed.set_level(@truncate(level));
            pins.mot1.put(1);
            pins.mot2.put(0);
            pico.time.sleep_ms(2000);
            { // Measure Back-EMF
                // Switch to free running mode
                pins.mot1.put(0);
                pins.mot2.put(0);
                pico.time.sleep_us(100);
                // Prepare ADC
                pico.adc.select_input(pins.m1emf);
                pico.adc.apply(.{
                    .sample_frequency = null,
                    .round_robin = null,
                    .temp_sensor_enabled = false,
                    .fifo = null,
                }); // apply calls enable
                // Actual measurring
                pico.adc.start(.free_running);
                var emfs: [EMF_ARRAY_SIZE]u12 = undefined;
                for (0..EMF_ARRAY_SIZE) |i| {
                    emfs[i] = try pico.adc.read_result();
                }

Replacement in src/main.zig at line 111 [2.50]

B:BD[2.6534] → [2.6534:6600]

    // preamble
    for (0..10) |_| {
        DDC.Test.sendOne();

[2.6534]

[2.6600]

                // Measuring done, switch the motor back on
                pico.adc.set_enabled(false);
                pins.mot1.put(1);
                pins.mot2.put(0);
                // Sort results, so we can cut out the low and high part
                std.sort.pdq(u12, &emfs, {}, less);
                // Calculate average EMF
                var sum: u16 = 0;
                for (EMF_CUTOUT..EMF_ARRAY_SIZE - EMF_CUTOUT) |i| {
                    sum += emfs[i];
                }
                const m1emf = sum / (EMF_ARRAY_SIZE - 2 * EMF_CUTOUT);
                std.log.debug("M1EMF: {d} -> {any}", .{ m1emf, emfs[15 .. emfs.len - 15] });
            }
            pico.time.sleep_ms(1000);
        }
        // pins.mot1.put(1);
        // pins.mot2.put(0);
        // pico.time.sleep_ms(5000);

Deletion in src/main.zig at line 135 [2.50]
B:BD[2.6606] → [2.6606:6631]
```
    DDC.Test.sendZero();
```

Replacement in src/main.zig at line 136 [2.50]

B:BD[2.6691] → [2.6691:6885]

    // address
    DDC.Test.sendByte(0b00110111);
    DDC.Test.sendZero();
    DDC.Test.sendByte(0b01110100);
    DDC.Test.sendZero();
    DDC.Test.sendByte(0b01000011);
    DDC.Test.sendOne();

[2.6691]

[2.6885]

    // { // DDC testing
    //     // preamble
    //     for (0..10) |_| {
    //         DDC.Test.sendOne();
    //     }
    //     DDC.Test.sendZero();

Replacement in src/main.zig at line 143 [2.50]

B:BD[2.6886] → [6.376:589]

    if (ddc.packets.readItem()) |packet| {
        std.log.debug(
            "packet address: {d} speed: {} instruction: {}",
            .{ packet.address, packet.speed(), packet.instruction },
        );
    }

[2.6886]

[3.594]

    //     // address
    //     DDC.Test.sendByte(0b00110111);
    //     DDC.Test.sendZero();
    //     DDC.Test.sendByte(0b01110100);
    //     DDC.Test.sendZero();
    //     DDC.Test.sendByte(0b01000011);
    //     DDC.Test.sendOne();
    //     if (ddc.packets.readItem()) |packet| {
    //         std.log.debug(
    //             "packet address: {d} speed: {} instruction: {}",
    //             .{ packet.address, packet.speed(), packet.instruction },
    //         );
    //     }

Replacement in src/main.zig at line 158 [2.50]
B:BD[3.595] → [4.258:289]
∅:D[4.289] → [3.622:641]
B:BD[3.622] → [3.622:641]
```
    const cv = DDC.CV.default;
    cv.validate();
```
[3.595]
[3.641]
```
    //     const cv = DDC.CV.default;
    //     cv.validate();
```

Replacement in src/main.zig at line 161 [2.50]

B:BD[3.642] → [5.1761:1842]

    // Expected to be 8
    std.log.debug("vstart CV: {d}", .{cv.getCV(2 - 1)});

[3.642]

[3.718]

    //     // Expected to be 8
    //     std.log.debug("vstart CV: {d}", .{cv.getCV(2 - 1)});

Replacement in src/main.zig at line 164 [2.50]
B:BD[3.719] → [3.719:740]
```
    ddc.listen(&cv);
```
[3.719]
[5.1843]
```
    //     ddc.listen(&cv);
```

Replacement in src/main.zig at line 166 [2.50]

B:BD[5.1844] → [7.539:687]

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

[5.1844]

[7.687]

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

Replacement in src/main.zig at line 196 [2.50]

B:BD[7.1082] → [7.1082:1157]

    std.log.debug("CPU{d} timerInterrupt start...", .{pico.get_cpu_id()});

[7.1082]

[5.2309]

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

Replacement in src/main.zig at line 201 [2.50]
B:BD[5.2453] → [7.1158:1174]
```
    led.put(1);
```
[5.2453]
[5.2496]
```
    pins.led.put(1);
```
Replacement in src/main.zig at line 204 [2.50]
B:BD[7.1201] → [8.0:39]
```
    const output = pid.compute(input);
```
[7.1201]
[7.1229]
```
    _ = pid.compute(input);
```

Replacement in src/main.zig at line 207 [2.50]

B:BD[7.1278] → [8.40:193]

    std.log.debug("SP: {} in: {d} out: {d}", .{
        pid.sp,
        @as(i32, @intFromFloat(input)),
        @as(i32, @intFromFloat(output)),
    });

[7.1278]

[7.1279]

    // std.log.debug("SP: {} in: {d} out: {d}", .{
    //     pid.sp,
    //     @as(i32, @intFromFloat(input)),
    //     @as(i32, @intFromFloat(output)),
    // });

Replacement in src/main.zig at line 215 [2.50]
B:BD[7.1321] → [7.1321:1337]
```
    led.put(0);
```
[7.1321]
[7.1337]
```
    pins.led.put(0);
```

Replacement in src/main.zig at line 217 [2.50]

B:BD[7.1338] → [7.1338:1410]

    std.log.debug("CPU{d} timerInterrupt done.", .{pico.get_cpu_id()});

[7.1338]

[5.2568]

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

Add initial EMF measuring

Dependencies

In channels

Change contents

Insertion in src/main.zig at line 5 [2.50]

Deletion in src/main.zig at line 8 [2.50]

Deletion in src/main.zig at line 18 [2.50]

Insertion in src/main.zig at line 28 [2.50]

Replacement in src/main.zig at line 41 [2.50]

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

Deletion in src/main.zig at line 56 [2.50]

Insertion in src/main.zig at line 66 [2.50]

Replacement in src/main.zig at line 111 [2.50]

Deletion in src/main.zig at line 135 [2.50]

Replacement in src/main.zig at line 136 [2.50]

Replacement in src/main.zig at line 143 [2.50]

Replacement in src/main.zig at line 158 [2.50]

Replacement in src/main.zig at line 161 [2.50]

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

Replacement in src/main.zig at line 166 [2.50]

Replacement in src/main.zig at line 196 [2.50]

Replacement in src/main.zig at line 201 [2.50]

Replacement in src/main.zig at line 204 [2.50]

Replacement in src/main.zig at line 207 [2.50]

Replacement in src/main.zig at line 215 [2.50]

Replacement in src/main.zig at line 217 [2.50]