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Decluttering main.cpp

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Implemented flashing LEDs during user interaction, POST.
This commit is contained in:
jpunkt 2022-01-13 19:19:49 +01:00
parent eb35e2edce
commit 24bf68cf93
3 changed files with 224 additions and 168 deletions
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72
include/Config.h Normal file
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@ -0,0 +1,72 @@
/*-------- Pin definitions --------*/
// Vertical motor top
#define VERT_UP_PWM 3
#define VERT_UP_AIN2 4
#define VERT_UP_AIN1 5
// Vertical motor bottom
#define VERT_DOWN_PWM 9
#define VERT_DOWN_AIN2 7
#define VERT_DOWN_AIN1 8
// Horizontal motor left
#define HORZ_LEFT_PWM 24
#define HORZ_LEFT_AIN2 25
#define HORZ_LEFT_AIN1 26
// Horizontal motor right
#define HORZ_RIGHT_PWM 29
#define HORZ_RIGHT_AIN2 27
#define HORZ_RIGHT_AIN1 28
// Vertical sensors
#define VERT_END_OUTER 40
#define VERT_END_INNER 39
#define VERT_CNT_OUTER 38
#define VERT_CNT_INNER 37
// Horizontal sensors
#define HORZ_END_OUTER 33
#define HORZ_END_INNER 34
#define HORZ_CNT_INNER 36
#define HORZ_CNT_OUTER 35
// Lights
#define LED_FRONT 41
#define LED_COUNT_FRONT 26
#define LED_BACK 14
#define LED_COUNT_BACK 72
// Buttons
#define BTN_LED_BLUE 21
#define BTN_BLUE 20
#define BTN_LED_RED 17
#define BTN_RED 16
#define BTN_LED_GREEN 23
#define BTN_GREEN 22
#define BTN_LED_YELLOW 19
#define BTN_YELLOW 18
// NC (Blink-Sink)
#define NC_PIN 11
/*-------- Constants --------*/
const int ENDSTOP_OVERRIDE = 8500; // time to ignore endstop when motor starts (x 10 us)
const int SCROLL_ERROR_MS = 500; // if sensor values don't change in this time, the scroll has an error
// Blink interval constants
#define WAIT_ON_MS 200 // Blink when waiting for Serial
#define WAIT_OFF_MS 1800
#define ERROR_ON_MS 1000 // Blink when in error state
#define ERROR_OFF_MS 500
#define POST_LED_ON_MS 500 // How long to turn on each LED at POST
#define REC_COUNTDOWN_MS 5000 // In Recording mode, blink LED for the last X milliseconds
#define UI_ON_MS 500 // General user interaction blink interval
#define UI_OFF_MS 500

74
include/States.h Normal file
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@ -0,0 +1,74 @@
/*-------- State Definitions --------*/
/**
* @brief STATE 0. Power-on self test
*
*/
void state_post();
/**
* @brief STATE 1. Zero the scrolls and check if they are present
*
*/
void state_zero();
/**
* @brief STATE 2. Initialize sensor callbacks
*
*/
void state_init_callbacks();
/**
* @brief STATE 3. Wait for Raspberry Pi HELO and serial handshake
*
* set RPI_HELO2 pin high
* wait for RPI_HELO1 pin to go low (answer from pi)
*/
void state_wait_serial();
/**
* @brief MAIN STATE. Wait for serial commands and execute them
*
*/
void state_serial_com();
/**
* @brief ERROR STATE. There is no recovery except power cycling.
*
*/
void state_error();
/*-------- Transitions --------*/
/**
* @brief Transition from STATE 0 to STATE 1.
*
* @return true
* @return false
*/
bool transition_post_zero();
/**
* @brief Transition from STATE 1 to STATE 2
*
* @return true
* @return false
*/
bool transition_zero_init();
/**
* @brief Transition from STATE 2 to STATE 3
*
* @return true
* @return false
*/
bool transition_init_wait();
/**
* @brief Transition from STATE 3 to MAIN STATE
*
* @return true
* @return false
*/
bool transition_wait_sercom();

246
src/main.cpp
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@ -3,81 +3,10 @@
#include <Adafruit_NeoPixel.h>
#include <SimpleSerialProtocol.h>
#include <StateMachine.h>
#include "Config.h"
#include "Commands.h"
#include "States.h"
#include "Motor.h"
// #include "Serial_Comm.h"
/*-------- Pin definitions --------*/
// Vertical motor top
#define VERT_UP_PWM 3
#define VERT_UP_AIN2 4
#define VERT_UP_AIN1 5
// Vertical motor bottom
#define VERT_DOWN_PWM 9
#define VERT_DOWN_AIN2 7
#define VERT_DOWN_AIN1 8
// Horizontal motor left
#define HORZ_LEFT_PWM 24
#define HORZ_LEFT_AIN2 25
#define HORZ_LEFT_AIN1 26
// Horizontal motor right
#define HORZ_RIGHT_PWM 29
#define HORZ_RIGHT_AIN2 27
#define HORZ_RIGHT_AIN1 28
// Vertical sensors
#define VERT_END_OUTER 40
#define VERT_END_INNER 39
#define VERT_CNT_OUTER 38
#define VERT_CNT_INNER 37
// Horizontal sensors
#define HORZ_END_OUTER 33
#define HORZ_END_INNER 34
#define HORZ_CNT_INNER 36
#define HORZ_CNT_OUTER 35
// Lights
#define LED_FRONT 41
#define LED_COUNT_FRONT 26
#define LED_BACK 14
#define LED_COUNT_BACK 72
// Buttons
#define BTN_LED_BLUE 21
#define BTN_BLUE 20
#define BTN_LED_RED 17
#define BTN_RED 16
#define BTN_LED_GREEN 23
#define BTN_GREEN 22
#define BTN_LED_YELLOW 19
#define BTN_YELLOW 18
/*-------- Constants --------*/
const int ENDSTOP_OVERRIDE = 8500; // time to ignore endstop when motor starts (x 10 us)
const int SCROLL_ERROR_MS = 500; // if sensor values don't change in this time, the scroll has an error
/*-------- State Definitions --------*/
// States - implementations below loop()
void state_post();
void state_zero();
void state_init_callbacks();
void state_wait_serial();
void state_serial_com();
void state_error();
// Transitions - implementations below loop()
bool transition_post_zero();
bool transition_zero_init();
bool transition_init_wait();
bool transition_wait_sercom();
// Statemachine setup
StateMachine sm = StateMachine();
@ -89,14 +18,11 @@ State* S30 = sm.addState(&state_wait_serial);
State* S40 = sm.addState(&state_serial_com);
State* SER = sm.addState(&state_error);
// Heartbeat blink interval constants
#define WAIT_ON_MS 200 // Blink when waiting for Serial
#define WAIT_OFF_MS 1800
#define ERROR_ON_MS 1000 // Blink when in error state
#define ERROR_OFF_MS 500
/*-------- Variables --------*/
// Convenience array of all UI LEDs
const int UI_LED_PINS[] = {LED_BUILTIN, BTN_LED_BLUE, BTN_LED_RED, BTN_LED_YELLOW, BTN_LED_GREEN};
#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)
@ -469,23 +395,22 @@ void serial_record() {
elapsedMillis time = 0;
// TODO reset leds
digitalWrite(LED_BUILTIN, HIGH);
digitalWrite(BTN_LED_RED, HIGH);
blink_status = true;
int led[] = { BTN_LED_RED };
while (time < timeout) {
// do nothing until t - 5s
btn_red.update();
if (btn_red.isPressed())
break;
if ((timeout - time) < 5000) {
int leds[] = { LED_BUILTIN };
blink(leds, 500, 500);
// Blink LED for the last 5 seconds
if ((timeout - time) < REC_COUNTDOWN_MS) {
blink(led, UI_ON_MS, UI_OFF_MS);
}
}
digitalWrite(LED_BUILTIN, LOW);
digitalWrite(BTN_LED_RED, LOW);
serial_received();
}
@ -512,42 +437,56 @@ void serial_userinteract() {
ssp.readEot();
Serial.println("Received USER_INTERACT");
u_int8_t blue = (bt & 0x1);
u_int8_t red = (bt & 0x2) >> 1;
u_int8_t yellow = (bt & 0x4) >> 2;
u_int8_t green = (bt & 0x8) >> 3;
int enabled_btns[] = {
(bt & 0x1), // blue button
(bt & 0x2) >> 1, // red button
(bt & 0x4) >> 2, // yellow button
(bt & 0x8) >> 3 // green button
};
Serial.printf("Blink byte: B=%d, R=%d, Y=%d, G=%d; Timeout=%d\n", blue, red, yellow, green, timeout);
elapsedMillis t = 0;
const u_int8_t n_leds = blue + red + yellow + green;
int leds[n_leds];
// u_int8_t blue = (bt & 0x1);
// u_int8_t red = (bt & 0x2) >> 1;
// u_int8_t yellow = (bt & 0x4) >> 2;
// u_int8_t green = (bt & 0x8) >> 3;
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);
// TODO add leds
// for (int i = 0; i < n_leds; i++) {
// leds[i] =
// }
// {LED_BUILTIN, BTN_LED_BLUE, BTN_LED_RED, BTN_LED_YELLOW, BTN_LED_GREEN};
// for (const int &led : leds) {
// digitalWrite(led, LOW);
// }
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,
enabled_btns[2] ? BTN_LED_YELLOW : NC_PIN,
enabled_btns[3] ? BTN_LED_GREEN : NC_PIN
};
for (const int &led : leds) {
digitalWrite(led, LOW);
}
blink_status = false;
uint8_t btn_pressed = 0;
while (t < timeout)
elapsedMillis t = 0;
while ((timeout == 0) || (t < timeout))
{
// blink(leds, 500, 500);
blink(leds, UI_ON_MS, UI_OFF_MS);
// TODO use bitmask
btn_blue.update();
btn_red.update();
btn_yellow.update();
btn_green.update();
if (enabled_btns[0]) btn_blue.update();
if (enabled_btns[1]) btn_red.update();
if (enabled_btns[2]) btn_yellow.update();
if (enabled_btns[3]) btn_green.update();
btn_pressed = (blue && btn_blue.pressed() ? 0x1 : 0) |
(red && btn_red.pressed() ? 0x2 : 0) |
(yellow && btn_yellow.pressed() ? 0x4 : 0) |
(green && btn_green.pressed() ? 0x8 : 0);
btn_pressed = (enabled_btns[0] && btn_blue.pressed() ? 0x1 : 0) |
(enabled_btns[1] && btn_red.pressed() ? 0x2 : 0) |
(enabled_btns[2] && btn_yellow.pressed() ? 0x4 : 0) |
(enabled_btns[3] && btn_green.pressed() ? 0x8 : 0);
if (btn_pressed > 0) break;
}
for (const int &led : leds) {
digitalWrite(led, LOW);
}
blink_status = false;
serial_received(btn_pressed);
}
@ -586,8 +525,11 @@ void setup() {
Serial.begin(115200);
Serial1.begin(115200);
pinMode(LED_BUILTIN, OUTPUT);
digitalWrite(LED_BUILTIN, LOW);
// initialize LEDs
for (const int &led : UI_LED_PINS) {
pinMode(led, OUTPUT);
digitalWrite(led, LOW);
}
btn_blue.attach(BTN_BLUE, INPUT_PULLUP);
btn_red.attach(BTN_RED, INPUT_PULLUP);
@ -670,42 +612,34 @@ void loop() {
sm.run();
}
/**
* @brief State Power-On-Self-Test
*
*/
void state_post() {
if (sm.executeOnce) {
digitalWrite(LED_BUILTIN, HIGH);
for (const int &led : UI_LED_PINS) {
digitalWrite(led, HIGH);
delay(POST_LED_ON_MS);
digitalWrite(led, LOW);
}
}
Serial.println("State POST.");
}
/**
* @brief State Zeroing motors
*
*/
void state_zero() {
Serial.println("State Zeroing.");
// zero_motor(vert_up, vert_down, VERT_END_INNER, VERT_END_OUTER);
// zero_motor(horz_left, horz_right, HORZ_END_OUTER, HORZ_END_INNER); // TODO check this
zero_motor(vert_up, vert_down, VERT_END_INNER, VERT_END_OUTER);
zero_motor(horz_left, horz_right, HORZ_END_OUTER, HORZ_END_INNER);
}
/**
* @brief State Initialize callbacks (for counting)
*
*/
void state_init_callbacks() {
Serial.println("State Initialize Callbacks.");
attachInterrupt(digitalPinToInterrupt(HORZ_CNT_INNER), hor_count, CHANGE);
attachInterrupt(digitalPinToInterrupt(VERT_CNT_INNER), vert_count, CHANGE);
}
/**
* @brief State wait for serial handshake
*
*/
void state_wait_serial() {
if (sm.executeOnce) {
serial_connected = false;
@ -716,15 +650,12 @@ void state_wait_serial() {
blink_status = false;
}
int leds[] = {LED_BUILTIN};
blink(leds, WAIT_ON_MS, WAIT_OFF_MS);
int led[] = {LED_BUILTIN};
blink(led, WAIT_ON_MS, WAIT_OFF_MS);
ssp.loop();
}
/**
* @brief State accept serial communications
*
*/
void state_serial_com() {
if (sm.executeOnce) {
digitalWrite(LED_BUILTIN, LOW);
@ -734,54 +665,33 @@ void state_serial_com() {
ssp.loop();
}
/**
* @brief State an error occurred
*
*/
void state_error() {
if (sm.executeOnce) {
Serial.println("State Error.");
blink_status = digitalRead(LED_BUILTIN);
}
int leds[] = { LED_BUILTIN };
blink(leds, ERROR_ON_MS, ERROR_OFF_MS);
int led[] = { LED_BUILTIN };
blink(led, ERROR_ON_MS, ERROR_OFF_MS);
}
/**
* @brief Transition POST to zeroing. Always true.
*
* @return true
*/
bool transition_post_zero() {
return true;
}
/**
* @brief Transition zeroing to callback initialisation. Always true.
*
* @return true
*/
bool transition_zero_init() {
return true;
}
/**
* @brief Transition callback initialisation to wait for serial handshake. Always true.
*
* @return true
*/
bool transition_init_wait() {
return true;
}
/**
* @brief Transition serial handshake to serial communication. True when handshake complete.
*
* @return true
* @return false
*/
bool transition_wait_sercom() {
// digitalWrite(LED_BUILTIN, LOW);
return handshake_complete;
}