feat: update component metadata timestamp and enhance RP2040 simulator for accurate PIO stepping and servo calibration
David Montero Crespo
parent
43f13e1bc2
commit
aac3465d49
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@ -1,6 +1,6 @@
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{
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"version": "1.0.0",
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"generatedAt": "2026-03-20T17:33:38.631Z",
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"generatedAt": "2026-03-21T20:08:10.580Z",
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"components": [
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{
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"id": "arduino-mega",
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@ -294,13 +294,26 @@ export class RP2040Simulator {
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this.stepPIO();
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break;
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}
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clock.tick(jump);
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const jumped = Math.ceil(jump / CYCLE_NANOS);
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cyclesDone += jumped;
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this.totalCycles += jumped;
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// Step PIO proportionally during the jump
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const pioSteps = Math.floor(jumped / pioDiv);
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for (let i = 0; i < pioSteps && i < 2000; i++) this.stepPIO();
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// Advance clock incrementally per PIO step so GPIO transitions
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// get accurate timestamps (not all lumped at the end of the jump).
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const nanoPerPioStep = pioDiv * CYCLE_NANOS;
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const maxSteps = Math.min(pioSteps, 50000);
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let nanosStepped = 0;
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for (let i = 0; i < maxSteps; i++) {
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clock.tick(nanoPerPioStep);
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nanosStepped += nanoPerPioStep;
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this.totalCycles += pioDiv;
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this.stepPIO();
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}
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// Tick any remaining nanoseconds not covered by PIO steps
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const remaining = jump - nanosStepped;
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if (remaining > 0) {
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clock.tick(remaining);
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this.totalCycles += Math.ceil(remaining / CYCLE_NANOS);
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}
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cyclesDone += jumped;
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this.flushScheduledPinChanges();
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} else {
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break;
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@ -312,7 +325,7 @@ export class RP2040Simulator {
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this.totalCycles += cycles;
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// Step PIO synchronously at the PIO clock rate
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this.pioStepAccum += cycles;
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if (this.pioStepAccum >= pioDiv) {
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while (this.pioStepAccum >= pioDiv) {
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this.pioStepAccum -= pioDiv;
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this.stepPIO();
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}
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@ -323,20 +336,31 @@ export class RP2040Simulator {
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frameCount++;
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if (frameCount % 60 === 0) {
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console.log(`[RP2040] Frame ${frameCount}, PC: 0x${core.PC.toString(16)}`);
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// PIO diagnostic: check GPIO 15 state and PIO status
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// PIO diagnostic: check GPIO 15 state and PIO1 status (servo uses PIO1)
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// eslint-disable-next-line @typescript-eslint/no-explicit-any
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const rp = this.rp2040 as any;
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if (rp && frameCount <= 300) {
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const gpio15 = rp.gpio[15];
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const pio0 = rp.pio[0];
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const pio1 = rp.pio[1];
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const funcSel = gpio15 ? (gpio15.ctrl & 0x1f) : -1;
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const pioStopped = pio0 ? pio0.stopped : true;
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const pioPinVal = pio0 ? ((pio0.pinValues >> 15) & 1) : -1;
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const pioPinDir = pio0 ? ((pio0.pinDirections >> 15) & 1) : -1;
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const pio1Stopped = pio1 ? pio1.stopped : true;
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const pio1PinVal = pio1 ? ((pio1.pinValues >> 15) & 1) : -1;
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const pio1PinDir = pio1 ? ((pio1.pinDirections >> 15) & 1) : -1;
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// Find clockDivInt for first enabled machine in PIO1
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let pio1ClkDiv = 'N/A';
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if (pio1?.machines) {
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for (const m of pio1.machines) {
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if (m.enabled) {
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pio1ClkDiv = `${m.clockDivInt}.${m.clockDivFrac || 0}`;
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break;
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}
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}
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}
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console.log(
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`[RP2040 PIO diag] gpio15.funcSel=${funcSel} (6=PIO0)` +
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` pio0.stopped=${pioStopped} pinVal[15]=${pioPinVal} pinDir[15]=${pioPinDir}` +
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` onPinChangeWithTime=${!!this.onPinChangeWithTime}`
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`[RP2040 PIO diag] pioDiv=${pioDiv}` +
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` gpio15.funcSel=${funcSel} (7=PIO1)` +
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` pio1.stopped=${pio1Stopped} pinVal[15]=${pio1PinVal} pinDir[15]=${pio1PinDir}` +
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` pio1.clkDiv=${pio1ClkDiv}`
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);
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}
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}
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@ -283,6 +283,13 @@ PartSimulationRegistry.register('servo', {
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let riseTimeMs = -1;
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let logCount = 0;
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// Self-calibrating pulse range: the PIO clock divider may not match
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// exactly, producing pulses offset from the standard 544-2400µs range.
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// Track the minimum observed pulse (= 0° reference) and map using the
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// known standard spread (MAX_PULSE_US - MIN_PULSE_US = 1856µs).
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let observedMin = Infinity;
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const EXPECTED_SPREAD = MAX_PULSE_US - MIN_PULSE_US; // 1856
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avrSimulator.onPinChangeWithTime = (pin, state, timeMs) => {
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if (pin !== pinSIG) return;
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if (logCount < 10) {
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@ -294,14 +301,32 @@ PartSimulationRegistry.register('servo', {
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} else if (riseTimeMs >= 0) {
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const pulseUs = (timeMs - riseTimeMs) * 1000;
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riseTimeMs = -1;
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// Reject noise: only consider pulses in a reasonable servo range
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if (pulseUs < 100 || pulseUs > 25000) return;
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if (logCount <= 12) {
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console.log(`[Servo RP2040] pulseUs=${pulseUs.toFixed(1)}`);
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console.log(`[Servo RP2040] pulseUs=${pulseUs.toFixed(1)} observedMin=${observedMin.toFixed(1)}`);
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}
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// Update calibration baseline
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if (pulseUs < observedMin) observedMin = pulseUs;
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// Try standard range first
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if (pulseUs >= MIN_PULSE_US && pulseUs <= MAX_PULSE_US) {
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const angle = Math.round(
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((pulseUs - MIN_PULSE_US) / (MAX_PULSE_US - MIN_PULSE_US)) * 180
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((pulseUs - MIN_PULSE_US) / EXPECTED_SPREAD) * 180
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);
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el.angle = angle;
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el.angle = Math.max(0, Math.min(180, angle));
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} else if (observedMin < Infinity) {
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// Self-calibrated range: use observedMin as 0° reference
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const rangeMax = observedMin + EXPECTED_SPREAD;
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if (pulseUs >= observedMin - 50 && pulseUs <= rangeMax + 200) {
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const angle = Math.round(
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((pulseUs - observedMin) / EXPECTED_SPREAD) * 180
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);
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el.angle = Math.max(0, Math.min(180, angle));
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}
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}
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}
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};
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