teste2

.devcontainer/devcontainer.json

@@ -26,29 +26,8 @@
 				"ms-vscode.cpptools-themes",
 				"ms-vscode.vscode-serial-monitor",
 				"twxs.cmake",
-				"wokwi.wokwi-vscode",
-				"seunlanlege.action-buttons"
-			]
-		},
-		"settings":{
-			"cmake.statusbar.advanced": {
-			"cpack": {"statusBarVisibility": "hidden"},
-            "debug": {
-                "statusBarVisibility": "hidden",
-            	"inheritDefault": "hidden"
-            },
-            "launch": {
-                "visibility": "visible"
-            },
-            "build": {
-                "visibility": "hidden"
-            },
-            "buildTarget": {
-				"statusBarVisibility": "hidden",
-                "visibility": "hidden"
-            }
-
-        }
+				"wokwi.wokwi-vscode"
+			  ]
 		}
 	}
 

.github/workflows/cppcheck.yml

@@ -10,4 +10,4 @@ jobs:
       - uses: actions/checkout@v4
       - uses: insper-embarcados/actions-cppcheck@v1
         with:
-          c_file: main/main.c
+          c_file: pico-edge/main.cpp

.github/workflows/embedded-check.yml

@@ -8,6 +8,7 @@ jobs:
     runs-on: ubuntu-latest
     steps:
       - uses: actions/checkout@v4
-      - uses: insper-embarcados/actions-embedded-check@v1
+      - uses: insper-embarcados/actions-embedded-check@v2
         with:
-          c_file: main/main.c
+          c_file: pico-edge/main.cpp
+          rtos: true

.vscode/launch.json

@@ -14,15 +14,11 @@
             "configFiles": ["interface/cmsis-dap.cfg", "target/rp2040.cfg"],
             "svdFile": "${env:PICO_SDK_PATH}/src/rp2040/hardware_regs/rp2040.svd",
             "runToEntryPoint": "main",
-            "openOCDLaunchCommands": [
-                "adapter speed 5000"
-            ],
             // Work around for stopping at main on restart
             "postRestartCommands": [
                 "break main",
                 "continue"
-            ],
-
+            ]
         }
     ]
 }

.vscode/settings.json

@@ -2,46 +2,23 @@
     // These settings tweaks to the cmake plugin will ensure
     // that you debug using cortex-debug instead of trying to launch
     // a Pico binary on the host
-
+    "cmake.statusbar.advanced": {
+        "debug": {
+            "visibility": "hidden"
+        },
+        "launch": {
+            "visibility": "hidden"
+        },
+        "build": {
+            "visibility": "hidden"
+        },
+        "buildTarget": {
+            "visibility": "hidden"
+        }
+    },
     "cmake.buildBeforeRun": true,
-    "cmake.configureOnOpen": true,
-    "cmake.ctest.allowParallelJobs": true,
-    "cmake.parallelJobs": 8,
     "C_Cpp.default.configurationProvider": "ms-vscode.cmake-tools",
-
-
-    // actions task buttons
-    "actionButtons": {
-		 "defaultColor": "#ff0034", // Can also use string color names.
-		 "loadNpmCommands":false, // Disables automatic generation of actions for npm commands.
-		 "reloadButton":"", // Custom reload button text or icon (default ↻). null value enables automatic reload on configuration change
-		 "commands": [
-			 {
-				"name": "$(rocket) ",
-				"color": "white",
-				"useVsCodeApi": true,
-				"command": "workbench.action.tasks.runTask",
-				"args": ["Flash"]
-		     }
-		 ]
-	 },
-
-     // CMake Tools Status Bar Configuration
-     "cmake.statusbar.advanced": {
-         "debug": {
-             "visibility": "hidden"
-         },
-         "launch": {
-             "visibility": "visible"
-         },
-         "build": {
-             "visibility": "hidden"
-         },
-         "buildTarget": {
-             "visibility": "hidden"
-         }
-}
-
-
-}
-
+    "files.associations": {
+        "gpio.h": "c"
+    }
+}

CMakeLists.txt

@@ -1,33 +1,86 @@
-cmake_minimum_required(VERSION 3.12)
+cmake_minimum_required(VERSION 3.13.1)
+
+set(PROJECT_FOLDER .)
 
-# Pull in SDK (must be before project)
 include(pico_sdk_import.cmake)
 
-include(pico_extras_import_optional.cmake)
 
-project(pico_emb C CXX ASM)
-set(CMAKE_C_STANDARD 11)
-set(CMAKE_CXX_STANDARD 17)
+# Pull in FreeRTOS
+set(FREERTOS_KERNEL_PATH ${CMAKE_CURRENT_LIST_DIR}/freertos/FreeRTOS-Kernel)
+include(freertos/FreeRTOS_Kernel_import.cmake)
+
+
 
-if(PICO_SDK_VERSION_STRING VERSION_LESS "1.3.0")
-  message(
-    FATAL_ERROR
-      "Raspberry Pi Pico SDK version 1.3.0 (or later) required. Your version is ${PICO_SDK_VERSION_STRING}"
-  )
-endif()
 
-# Initialize the SDK
+project(lab-ia C CXX ASM)
+set(CMAKE_C_STANDARD 11)
+set(CMAKE_CXX_STANDARD 11)
+
 pico_sdk_init()
 
-add_compile_options(
-  -Wall -Wno-format # int != int32_t as far as the compiler is concerned because
-                    # gcc has int32_t as long int
-  -Wno-unused-function # we have some for the docs that aren't called
+add_definitions(-DEIDSP_QUANTIZE_FILTERBANK=0
+                -DEI_CLASSIFIER_TFLITE_ENABLE_CMSIS_NN=0
+                -DARM_MATH_LOOPUNROLL
+                )
+
+add_subdirectory(Fusion)
+add_subdirectory(mpu-data-forwarding)
+
+
+add_executable(pico-edge 
+              pico-edge/main.cpp
+              edge-impulse-sdk/porting/ei_classifier_porting.h
+)
+
+include(${PROJECT_FOLDER}/edge-impulse-sdk/cmake/utils.cmake)
+
+target_link_libraries(pico-edge PRIVATE 
+    pico_stdlib 
+    FreeRTOS-Kernel 
+    FreeRTOS-Kernel-Heap4
+    hardware_i2c
+    Fusion
+    )
+
+
+target_include_directories(mpu-data-forwarding PRIVATE
+    ${PROJECT_FOLDER}/freertos
+    ${PROJECT_FOLDER}
 )
 
-if(CMAKE_C_COMPILER_ID STREQUAL "GNU")
-  add_compile_options(-Wno-maybe-uninitialized)
-endif()
 
-# Codes subdir:
-add_subdirectory(main)
+target_include_directories(pico-edge PRIVATE
+    ${PROJECT_FOLDER}/tflite-model
+    ${PROJECT_FOLDER}/model-parameters
+    ${PROJECT_FOLDER}/freertos
+    ${PROJECT_FOLDER}
+)
+
+
+
+# enable usb output, disable uart output
+pico_enable_stdio_usb(pico-edge 0)
+pico_enable_stdio_uart(pico-edge 1)
+pico_enable_stdio_usb(mpu-data-forwarding 0)
+pico_enable_stdio_uart(mpu-data-forwarding 1)
+
+RECURSIVE_FIND_FILE(SOURCE_FILES "${PROJECT_FOLDER}/edge-impulse-sdk" "*.cpp")
+RECURSIVE_FIND_FILE(MODEL_FILES "${PROJECT_FOLDER}/tflite-model" "*.cpp")
+RECURSIVE_FIND_FILE(CC_FILES "${PROJECT_FOLDER}/edge-impulse-sdk" "*.cc")
+RECURSIVE_FIND_FILE(C_FILES "${PROJECT_FOLDER}/edge-impulse-sdk" "*.c")
+
+list(APPEND SOURCE_FILES ${S_FILES})
+list(APPEND SOURCE_FILES ${C_FILES})
+list(APPEND SOURCE_FILES ${CC_FILES})
+list(APPEND SOURCE_FILES ${MODEL_FILES})
+
+# add all sources to the project
+target_sources(pico-edge PRIVATE ${SOURCE_FILES})
+target_sources(mpu-data-forwarding PRIVATE ${SOURCE_FILES})
+
+
+target_compile_options(pico-edge PRIVATE -Wall)
+
+
+
+

Fusion/CMakeLists.txt

@@ -0,0 +1,11 @@
+file(GLOB_RECURSE files "*.c")
+
+add_library(Fusion ${files})
+
+target_include_directories(Fusion PUBLIC
+    ${CMAKE_CURRENT_SOURCE_DIR}
+)
+
+if(UNIX AND NOT APPLE)
+    target_link_libraries(Fusion m) # link math library for Linux
+endif()

Fusion/Fusion.h

@@ -0,0 +1,32 @@
+/**
+ * @file Fusion.h
+ * @author Seb Madgwick
+ * @brief Main header file for the Fusion library.  This is the only file that
+ * needs to be included when using the library.
+ */
+
+#ifndef FUSION_H
+#define FUSION_H
+
+//------------------------------------------------------------------------------
+// Includes
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+#include "FusionAhrs.h"
+#include "FusionAxes.h"
+#include "FusionCalibration.h"
+#include "FusionCompass.h"
+#include "FusionConvention.h"
+#include "FusionMath.h"
+#include "FusionOffset.h"
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif
+//------------------------------------------------------------------------------
+// End of file