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Small refactoring to clean up code (a bit)

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jpunkt 2022-01-25 20:22:37 +01:00
parent 6295ad4f15
commit 0ec8c51ef6
3 changed files with 95 additions and 67 deletions
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26
include/ColorHelpers.h Normal file
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@ -0,0 +1,26 @@
#ifndef COLORHELPERS_H
#define COLORHELPERS_H
#include <Arduino.h>
/**
* @brief Helper function to calculate a fractional value of perc between col_from and col_to
*
* @param col_from 8bit lower bound value
* @param col_to 8bit upper bound value
* @param perc fraction between 0 and 1
* @return uint8_t
*/
uint8_t color_value(uint8_t col_from, uint8_t col_to, float_t perc);
/**
* @brief Helper function to calculate color transitions between two 32bit color values
*
* @param col_from
* @param col_to
* @param perc
* @return uint32_t
*/
uint32_t color_value(uint32_t col_from, uint32_t col_to, float_t perc);
#endif

37
src/ColorHelpers.cpp Normal file
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@ -0,0 +1,37 @@
#include "ColorHelpers.h"
/**
* @brief Helper function to calculate transition between two colors
*
* @param col_from 8bit color value start
* @param col_to 8bit color value end
* @param perc percentage in float
* @return uint8_t 8bit color value at percentage of transition
*/
uint8_t color_value(uint8_t col_from, uint8_t col_to, float_t perc) {
float_t col;
if (col_from < col_to) {
col = col_from + (float) (col_to - col_from) * perc;
} else {
col = col_from - (float) (col_from - col_to) * perc;
}
return (uint8_t) (col + 0.5);
}
/**
* @brief Helper function to calculate transition between two colors
*
* @param col_from
* @param col_to
* @param perc
* @return uint32_t
*/
uint32_t color_value(uint32_t col_from, uint32_t col_to, float_t perc) {
uint32_t result = 0;
for (uint8_t i = 0; i < 4; i++) {
uint8_t cf = (col_from & (0xff << (i*8))) >> (i*8);
uint8_t ct = (col_to & (0xff << (i*8))) >> (i*8);
result = result | (color_value(cf, ct, perc) << (i*8));
}
return result;
}

99
src/main.cpp
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@ -7,6 +7,7 @@
#include "Commands.h"
#include "States.h"
#include "Motor.h"
#include "ColorHelpers.h"
// Statemachine setup
StateMachine sm = StateMachine();
@ -23,10 +24,6 @@ State* SER = sm.addState(&state_error);
const int UI_LED_PINS[] = {LED_BUILTIN, BTN_LED_BLUE, BTN_LED_RED, BTN_LED_GREEN, BTN_LED_YELLOW};
#define N_LEDS (sizeof(UI_LED_PINS) / sizeof(UI_LED_PINS[0]))
// Heartbeat blinker timer
elapsedMillis blink_time;
bool blink_status; // boolean to hold led status (needed to let more than one led blink)
// Statemachine booleans
bool handshake_complete;
@ -114,6 +111,36 @@ const long CHARACTER_TIMEOUT = 500; // wait max 500 ms between single chars to b
// Create instance. Pass Serial instance. Define command-id-range within Simple Serial Protocol is listening (here: a - z)
SimpleSerialProtocol ssp(Serial1, BAUDRATE, CHARACTER_TIMEOUT, serial_on_error, 0, 100);
// Heartbeat blinker timer
elapsedMillis blink_time;
bool blink_status; // boolean to hold led status (needed to let more than one led blink)
/**
* @brief Blink the internal LED with defined on- and off- times. Call in loop to blink.
*
* @param on_interval time LED stays on in millis
* @param off_interval time LED is off in millis
*/
template <size_t N>
void blink(int (&led_pin)[N], uint32_t on_interval, uint32_t off_interval) {
if (blink_status) {
if (blink_time >= on_interval) {
blink_status = false;
for (const int &led : led_pin)
digitalWrite(led, LOW);
blink_time = blink_time - on_interval;
}
} else {
if (blink_time >= off_interval) {
blink_status = true;
for (const int &led : led_pin)
digitalWrite(led, HIGH);
blink_time = blink_time - off_interval;
}
}
}
/**
* @brief Generic encoder logic for callbacks
*
@ -152,31 +179,6 @@ void vert_count() {
pos_lastchange[VERTICAL] = 0;
}
/**
* @brief Blink the internal LED with defined on- and off- times. Call in loop to blink.
*
* @param on_interval time LED stays on in millis
* @param off_interval time LED is off in millis
*/
template <size_t N>
void blink(int (&led_pin)[N], uint32_t on_interval, uint32_t off_interval) {
if (blink_status) {
if (blink_time >= on_interval) {
blink_status = false;
for (const int &led : led_pin)
digitalWrite(led, LOW);
blink_time = blink_time - on_interval;
}
} else {
if (blink_time >= off_interval) {
blink_status = true;
for (const int &led : led_pin)
digitalWrite(led, HIGH);
blink_time = blink_time - off_interval;
}
}
}
/**
* @brief Generic scroll zeroing code
*
@ -260,43 +262,7 @@ void serial_received(uint8_t response) {
}
/**
* @brief Helper function to calculate transition between two colors
*
* @param col_from 8bit color value start
* @param col_to 8bit color value end
* @param perc percentage in float
* @return uint8_t 8bit color value at percentage of transition
*/
uint8_t color_value(uint8_t col_from, uint8_t col_to, float_t perc) {
float_t col;
if (col_from < col_to) {
col = col_from + (float) (col_to - col_from) * perc;
} else {
col = col_from - (float) (col_from - col_to) * perc;
}
return (uint8_t) (col + 0.5);
}
/**
* @brief Helper function to calculate transition between two colors
*
* @param col_from
* @param col_to
* @param perc
* @return uint32_t
*/
uint32_t color_value(uint32_t col_from, uint32_t col_to, float_t perc) {
uint32_t result = 0;
for (uint8_t i = 0; i < 4; i++) {
uint8_t cf = (col_from & (0xff << (i*8))) >> (i*8);
uint8_t ct = (col_to & (0xff << (i*8))) >> (i*8);
result = result | (color_value(cf, ct, perc) << (i*8));
}
return result;
}
/**
* @brief Generic motor control (full speed). Call every 10us for good results.
* @brief Generic motor control (4 speeds, range 1..4). Call every 10us for good results.
*
*/
bool mot_control(Motor &mot1, Motor &mot2, volatile int16_t &pos, int16_t &aim, int16_t &speed) {
@ -540,7 +506,6 @@ void serial_userinteract() {
Serial.printf("Blink byte: B=%d, R=%d, Y=%d, G=%d; Timeout=%d\n", enabled_btns[0], enabled_btns[1], enabled_btns[2], enabled_btns[3], timeout);
const u_int8_t n_leds = enabled_btns[0] + enabled_btns[1] + enabled_btns[2] + enabled_btns[3];
int leds[] = {
enabled_btns[0] ? BTN_LED_BLUE : NC_PIN,
enabled_btns[1] ? BTN_LED_RED : NC_PIN,