diff --git a/include/Commands.h b/include/Commands.h index 1234c0b..26825a7 100644 --- a/include/Commands.h +++ b/include/Commands.h @@ -5,7 +5,7 @@ enum Command { RECEIVED = 3, MOTOR_H = 'H', - MOTOR_V = 'M', + MOTOR_V = 'V', BACKLIGHT = 'B', FRONTLIGHT = 'F', diff --git a/include/Serial_Comm.h b/include/Serial_Comm.h deleted file mode 100644 index c207c5a..0000000 --- a/include/Serial_Comm.h +++ /dev/null @@ -1,66 +0,0 @@ -#include -#include "Commands.h" - -/** - * @brief Read one byte from Serial and cast it to a Command - * - * @return Command - */ -Command read_command(HardwareSerial &serial); - -/** - * @brief Wait for the number of bytes to be available on Serial - * - * @param num_bytes - * @param timeout_ms - */ -void wait_for_bytes(HardwareSerial &serial, int num_bytes, unsigned long timeout_ms); - -/** - * @brief Read one byte - * - * @return int8_t - */ -int8_t read_i8(HardwareSerial &serial); - -/** - * @brief Read two bytes and convert to signed 16bit integer - * - * @return int16_t - */ -int16_t read_i16(HardwareSerial &serial); - -/** - * @brief Read four bytes and convert to signed 32bit integer - * - * @return int32_t - */ -int32_t read_i32(HardwareSerial &serial); - -/** - * @brief Write one byte corresponding to a Command - * - * @param cmd - */ -void write_command(HardwareSerial &serial, Command cmd); - -/** - * @brief Write a signed 8bit integer - * - * @param num - */ -void write_i8(HardwareSerial &serial, int8_t num); - -/** - * @brief Write a signed 16bit integer - * - * @param num - */ -void write_i16(HardwareSerial &serial, int16_t num); - -/** - * @brief Write a signed 32bit integer - * - * @param num - */ -void write_i32(HardwareSerial &serial, int32_t num); diff --git a/platformio.ini b/platformio.ini index cd5ff41..c37b59f 100644 --- a/platformio.ini +++ b/platformio.ini @@ -13,5 +13,7 @@ platform = teensy board = teensy41 framework = arduino upload_protocol = teensy-cli -lib_deps = adafruit/Adafruit NeoPixel@^1.10.1 +lib_deps = + adafruit/Adafruit NeoPixel@^1.10.1 + gitlab-simple-serial-protocol/SimpleSerialProtocol@^2.4.0 src_filter = +<*> -<.git/> -<.svn/> - - - - - diff --git a/src/Serial_Comm.cpp b/src/Serial_Comm.cpp deleted file mode 100644 index 9b46e61..0000000 --- a/src/Serial_Comm.cpp +++ /dev/null @@ -1,111 +0,0 @@ -#include "Serial_Comm.h" - -/** - * @brief Read one byte from Serial and cast it to a Command - * - * @return Command - */ -Command read_command(HardwareSerial &serial) { - return (Command) serial.read(); -} - -/** - * @brief Wait for the number of bytes to be available on Serial - * - * @param num_bytes - * @param timeout_ms - */ -void wait_for_bytes(HardwareSerial &serial, int num_bytes, unsigned long timeout_ms) { - uint32_t startTime = millis(); - // Wait for incoming bytes or exit if timeout - while ((serial.available() < num_bytes) && (millis() - startTime < timeout_ms)){ - // NOOP. - } -} - -void read_signed_bytes(HardwareSerial &serial, int8_t* buffer, size_t n) -{ - size_t i = 0; - int c; - while (i < n) - { - c = serial.read(); - if (c < 0) break; - *buffer++ = (int8_t) c; // buffer[i] = (int8_t)c; - i++; - } -} - -/** - * @brief Read one byte - * - * @return int8_t - */ -int8_t read_i8(HardwareSerial &serial) { - wait_for_bytes(serial, 1, 500); - return (int8_t) serial.read(); -} - -/** - * @brief Read two bytes and convert to signed 16bit integer - * - * @return int16_t - */ -int16_t read_i16(HardwareSerial &serial) { - int8_t buffer[2]; - wait_for_bytes(serial, 2, 500); - read_signed_bytes(serial, buffer, 2); - return (((int16_t) buffer[0]) & 0xff) | (((int16_t) buffer[1]) << 8 & 0xff00); -} - -/** - * @brief Read four bytes and convert to signed 32bit integer - * - * @return int32_t - */ -int32_t read_i32(HardwareSerial &serial) { - int8_t buffer[4]; - wait_for_bytes(serial, 4, 200); // Wait for 4 bytes with a timeout of 200 ms - read_signed_bytes(serial, buffer, 4); - return (((int32_t) buffer[0]) & 0xff) | (((int32_t) buffer[1]) << 8 & 0xff00) | (((int32_t) buffer[2]) << 16 & 0xff0000) | (((int32_t) buffer[3]) << 24 & 0xff000000); - -} - -/** - * @brief Write one byte corresponding to a Command - * - * @param cmd - */ -void write_command(HardwareSerial &serial, Command cmd) { - uint8_t* c = (uint8_t*) &cmd; - serial.write(c, sizeof(uint8_t)); -} - -/** - * @brief Write a signed 8bit integer - * - * @param num - */ -void write_i8(HardwareSerial &serial, int8_t num) { - serial.write(num); -} - -/** - * @brief Write a signed 16bit integer - * - * @param num - */ -void write_i16(HardwareSerial &serial, int16_t num) { - int8_t buffer[2] = {(int8_t) (num & 0xff), (int8_t) (num >> 8)}; - serial.write((uint8_t*)&buffer, 2*sizeof(int8_t)); -} - -/** - * @brief Write a signed 32bit integer - * - * @param num - */ -void write_i32(HardwareSerial &serial, int32_t num) { - int8_t buffer[4] = {(int8_t) (num & 0xff), (int8_t) (num >> 8 & 0xff), (int8_t) (num >> 16 & 0xff), (int8_t) (num >> 24 & 0xff)}; - serial.write((uint8_t*)&buffer, 4*sizeof(int8_t)); -} diff --git a/src/main.cpp b/src/main.cpp index 3815961..a056a89 100644 --- a/src/main.cpp +++ b/src/main.cpp @@ -1,7 +1,9 @@ #include #include +#include +#include "Commands.h" #include "Motor.h" -#include "Serial_Comm.h" +// #include "Serial_Comm.h" // Vertical motor top #define VERT_UP_PWM 3 @@ -42,6 +44,8 @@ #define LED_BACK 14 #define LED_COUNT_BACK 72 +void on_serial_error(uint8_t errorNum); + volatile int32_t hor_pos; volatile int32_t vert_pos; @@ -64,6 +68,15 @@ int led_n; u_int8_t brightness; u_int8_t color; +bool serial_connected; + +// inintialize hardware constants +const long BAUDRATE = 115200; // speed of serial connection +const long CHARACTER_TIMEOUT = 500; // wait max 500 ms between single chars to be received + +// Create instance. Pass Serial instance. Define command-id-range within Simple Serial Protocol is listening (here: a - z) +SimpleSerialProtocol ssp(Serial1, BAUDRATE, CHARACTER_TIMEOUT, on_serial_error, 0, 'Z'); // ASCII: 'a' - 'z' (26 byes of RAM is reserved) + int32_t count(int pinA, int pinB) { if (digitalRead(pinA)) return digitalRead(pinB) ? -1 : 1; else return digitalRead(pinB) ? 1 : -1; @@ -77,10 +90,11 @@ void vert_count() { vert_pos += count(VERT_CNT_INNER, VERT_CNT_OUTER); } -/* -Generic motor control (full speed). Call every 10us for good results. -*/ -void mot_control(Motor mot1, Motor mot2, int32_t pos, int32_t aim) { +/** + * @brief Generic motor control (full speed). Call every 10us for good results. + * + */ +void mot_control(Motor &mot1, Motor &mot2, int32_t pos, int32_t aim) { if (pos < aim) { mot1.run(255, false); mot2.run(127, false); @@ -94,6 +108,113 @@ void mot_control(Motor mot1, Motor mot2, int32_t pos, int32_t aim) { } } +uint8_t color_value(uint8_t col_from, uint8_t col_to, uint32_t cur_time, uint32_t duration) { + float_t perc = (float) cur_time / (float) duration; + float_t col = (float) (col_to - col_from) * perc; + return (uint8_t) (col + 0.5); +} + +void led_fade(Adafruit_NeoPixel &led, int8_t to_R, int8_t to_G, int8_t to_B, int8_t to_W, uint32_t time_ms) { + uint32_t startcol = led.getPixelColor(0); + Serial.printf("col = %i \n", startcol); + uint8_t from_W = (startcol & 0xff000000) >> 24; + uint8_t from_R = (startcol & 0x00ff0000) >> 16; + uint8_t from_G = (startcol & 0x0000ff00) >> 8; + uint8_t from_B = (startcol & 0x000000ff); + + Serial.printf("r = %i, g = %i, b = %i, w = %i \n", from_R, from_G, from_B, from_W); + + uint32_t start_time = millis(); + uint32_t end_time = start_time + time_ms; + + while (millis() < end_time) { + u_int32_t cur_time = millis() - start_time; + uint32_t color = led.Color(color_value(from_R, to_R, cur_time, time_ms), + color_value(from_G, to_G, cur_time, time_ms), + color_value(from_B, to_B, cur_time, time_ms), + color_value(from_W, to_W, cur_time, time_ms)); + led.fill(color); + led.show(); + // Serial.printf("t = %i, c = %i \n", cur_time, color); + } +} + +void on_serial_error(uint8_t errno) { + Serial.printf("SSP error %i \n", errno); + ssp.writeCommand(ERROR); + ssp.writeInt8(errno); + ssp.writeEot(); +} + +void serial_received() { + ssp.writeCommand(RECEIVED); + ssp.writeEot(); +} + +void serial_hello() { + ssp.readEot(); + + if (!serial_connected) { + ssp.writeCommand(HELLO); + serial_connected = true; + Serial.println("Connection established."); + } + else { + ssp.writeCommand(ALREADY_CONNECTED); + Serial.println("Handshake complete."); + } + + ssp.writeEot(); +} + +void serial_backlight() { + uint8_t r = ssp.readUnsignedInt8(); + uint8_t g = ssp.readUnsignedInt8(); + uint8_t b = ssp.readUnsignedInt8(); + uint8_t w = ssp.readUnsignedInt8(); + uint32_t t = ssp.readUnsignedInt32(); + ssp.readEot(); + Serial.printf("Received BACKLIGHT (%i, %i, %i, %i, %i) \n", r, g, b, w, t); + led_fade(led_back, r, g, b, w, t); + serial_received(); +} + +void serial_frontlight() { + ssp.readEot(); + Serial.println("Received FRONTLIGHT"); + serial_received(); +} + +void serial_motor_v() { + ssp.readEot(); + Serial.println("Received MOTOR_V"); + serial_received(); +} + +void serial_motor_h() { + ssp.readEot(); + Serial.println("Received MOTOR_H"); + serial_received(); +} + +void serial_record() { + ssp.readEot(); + Serial.println("Received RECORD"); + serial_received(); +} + +void serial_rewind() { + ssp.readEot(); + Serial.println("Received REWIND"); + serial_received(); +} + +void serial_userinteract() { + ssp.readEot(); + Serial.println("Received USER_INTERACT"); + serial_received(); +} + void setup() { Serial.begin(115200); Serial1.begin(115200); @@ -142,29 +263,21 @@ void setup() { led_front.begin(); led_front.show(); + + serial_connected = false; + + ssp.init(); + ssp.registerCommand(HELLO, serial_hello); + ssp.registerCommand(ALREADY_CONNECTED, serial_hello); + ssp.registerCommand(BACKLIGHT, serial_backlight); + ssp.registerCommand(FRONTLIGHT, serial_frontlight); + ssp.registerCommand(MOTOR_H, serial_motor_h); + ssp.registerCommand(MOTOR_V, serial_motor_v); + ssp.registerCommand(RECORD, serial_record); + ssp.registerCommand(REWIND, serial_rewind); + ssp.registerCommand(USER_INTERACT, serial_userinteract); } void loop() { - if (Serial1.available() > 0) { - Serial.printf("Serial1.available = %i \n", Serial1.available()); - Command cmd = read_command(Serial1); - switch (cmd) - { - case HELLO: - { - Serial.println("Received HELLO"); - break; - } - case MOTOR_H: - { - Serial.println("Received MOTOR_H"); - break; - } - default: - { - Serial.println("Received something."); - break; - } - } - } + ssp.loop(); } \ No newline at end of file