replace openocd with openocd v0.12.0, and add new interfaces for load…

…ing to rp2040

workspace/scripts/files/bash/load_rp2040.sh

@@ -5,4 +5,15 @@ set -e
 
 export LC_ALL=C
 
-openocd -f interface/raspberrypi-swd.cfg -f target/rp2040.cfg -c "init" -c "reset halt" -c "load_image /usr/local/bin/main.elf" -c "resume 0x20000000" -c "exit" || true
+
+# Check if the Raspberry Pi version is 5
+RPI_MODEL=$(grep -o "Raspberry Pi 5" /proc/cpuinfo)
+
+# Choose the correct interface based on Raspberry Pi version
+if [ "$RPI_MODEL" = "Raspberry Pi 5" ]; then
+    INTERFACE=interface/raspberrypi-linuxgpiod-chip4.cfg
+else
+    INTERFACE=interface/raspberrypi-linuxgpiod-chip0.cfg
+fi
+
+openocd -f $INTERFACE -f target/rp2040.cfg -c "init" -c "reset halt" -c "load_image /usr/local/bin/main.elf" -c "resume 0x20000000" -c "exit" || true

workspace/scripts/files/config.example.ini

@@ -32,14 +32,17 @@ samples_per_second=0.2
 ir_led_intensity=50
 
 # lower to remove heating artifacts, but may introduce more noise in the OD. Must be between 0 and 1.
-pd_reference_ema=0.8
+pd_reference_ema=0.9
 
 # populate with your local AC frequency (typically 50 or 60) to get slightly reduced noise. Inferred from data otherwise.
 # local_ac_hz=
 
 # use the most recent calibration file, if available
 use_calibration=1
 
+# apply a smoothing penalizer
+smoothing_penalizer=700.0
+
 [od_config.photodiode_channel]
 # Default IR photodiode channel(s) to use and its angle relative to the IR LED(s),
 # OR choose the reference photodiode using the keyword REF.

workspace/scripts/files/system/openocd/scripts/interface/raspberrypi-linuxgpiod-chip0.cfg

@@ -0,0 +1,3 @@
+adapter driver linuxgpiod
+adapter gpio swclk 25 -chip 0
+adapter gpio swdio 24 -chip 0

workspace/scripts/files/system/openocd/scripts/interface/raspberrypi-linuxgpiod-chip4.cfg

@@ -0,0 +1,3 @@
+adapter driver linuxgpiod
+adapter gpio swclk 25 -chip 4
+adapter gpio swdio 24 -chip 4