Implementing serial communication (works) and light fades (not yet).
This commit is contained in:
jpunkt
parent
3e740fba89
commit
300050a80f
5 changed files with 144 additions and 206 deletions
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@ -5,7 +5,7 @@ enum Command {
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RECEIVED = 3,
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MOTOR_H = 'H',
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MOTOR_V = 'M',
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MOTOR_V = 'V',
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BACKLIGHT = 'B',
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FRONTLIGHT = 'F',
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@ -1,66 +0,0 @@
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#include <Arduino.h>
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#include "Commands.h"
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/**
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* @brief Read one byte from Serial and cast it to a Command
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*
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* @return Command
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*/
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Command read_command(HardwareSerial &serial);
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/**
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* @brief Wait for the number of bytes to be available on Serial
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*
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* @param num_bytes
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* @param timeout_ms
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*/
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void wait_for_bytes(HardwareSerial &serial, int num_bytes, unsigned long timeout_ms);
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/**
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* @brief Read one byte
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*
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* @return int8_t
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*/
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int8_t read_i8(HardwareSerial &serial);
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/**
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* @brief Read two bytes and convert to signed 16bit integer
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*
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* @return int16_t
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*/
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int16_t read_i16(HardwareSerial &serial);
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/**
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* @brief Read four bytes and convert to signed 32bit integer
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*
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* @return int32_t
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*/
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int32_t read_i32(HardwareSerial &serial);
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/**
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* @brief Write one byte corresponding to a Command
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*
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* @param cmd
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*/
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void write_command(HardwareSerial &serial, Command cmd);
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/**
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* @brief Write a signed 8bit integer
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*
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* @param num
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*/
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void write_i8(HardwareSerial &serial, int8_t num);
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/**
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* @brief Write a signed 16bit integer
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*
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* @param num
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*/
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void write_i16(HardwareSerial &serial, int16_t num);
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/**
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* @brief Write a signed 32bit integer
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*
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* @param num
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*/
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void write_i32(HardwareSerial &serial, int32_t num);
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@ -13,5 +13,7 @@ platform = teensy
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board = teensy41
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framework = arduino
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upload_protocol = teensy-cli
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lib_deps = adafruit/Adafruit NeoPixel@^1.10.1
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lib_deps =
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adafruit/Adafruit NeoPixel@^1.10.1
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gitlab-simple-serial-protocol/SimpleSerialProtocol@^2.4.0
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src_filter = +<*> -<.git/> -<.svn/> -<example/> -<examples/> -<test/> -<tests/> -<scratch*>
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@ -1,111 +0,0 @@
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#include "Serial_Comm.h"
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/**
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* @brief Read one byte from Serial and cast it to a Command
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*
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* @return Command
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*/
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Command read_command(HardwareSerial &serial) {
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return (Command) serial.read();
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}
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/**
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* @brief Wait for the number of bytes to be available on Serial
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*
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* @param num_bytes
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* @param timeout_ms
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*/
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void wait_for_bytes(HardwareSerial &serial, int num_bytes, unsigned long timeout_ms) {
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uint32_t startTime = millis();
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// Wait for incoming bytes or exit if timeout
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while ((serial.available() < num_bytes) && (millis() - startTime < timeout_ms)){
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// NOOP.
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}
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}
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void read_signed_bytes(HardwareSerial &serial, int8_t* buffer, size_t n)
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{
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size_t i = 0;
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int c;
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while (i < n)
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{
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c = serial.read();
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if (c < 0) break;
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*buffer++ = (int8_t) c; // buffer[i] = (int8_t)c;
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i++;
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}
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}
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/**
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* @brief Read one byte
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*
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* @return int8_t
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*/
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int8_t read_i8(HardwareSerial &serial) {
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wait_for_bytes(serial, 1, 500);
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return (int8_t) serial.read();
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}
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/**
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* @brief Read two bytes and convert to signed 16bit integer
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*
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* @return int16_t
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*/
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int16_t read_i16(HardwareSerial &serial) {
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int8_t buffer[2];
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wait_for_bytes(serial, 2, 500);
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read_signed_bytes(serial, buffer, 2);
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return (((int16_t) buffer[0]) & 0xff) | (((int16_t) buffer[1]) << 8 & 0xff00);
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}
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/**
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* @brief Read four bytes and convert to signed 32bit integer
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*
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* @return int32_t
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*/
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int32_t read_i32(HardwareSerial &serial) {
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int8_t buffer[4];
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wait_for_bytes(serial, 4, 200); // Wait for 4 bytes with a timeout of 200 ms
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read_signed_bytes(serial, buffer, 4);
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return (((int32_t) buffer[0]) & 0xff) | (((int32_t) buffer[1]) << 8 & 0xff00) | (((int32_t) buffer[2]) << 16 & 0xff0000) | (((int32_t) buffer[3]) << 24 & 0xff000000);
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}
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/**
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* @brief Write one byte corresponding to a Command
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*
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* @param cmd
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*/
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void write_command(HardwareSerial &serial, Command cmd) {
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uint8_t* c = (uint8_t*) &cmd;
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serial.write(c, sizeof(uint8_t));
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}
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/**
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* @brief Write a signed 8bit integer
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*
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* @param num
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*/
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void write_i8(HardwareSerial &serial, int8_t num) {
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serial.write(num);
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}
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/**
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* @brief Write a signed 16bit integer
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*
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* @param num
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*/
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void write_i16(HardwareSerial &serial, int16_t num) {
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int8_t buffer[2] = {(int8_t) (num & 0xff), (int8_t) (num >> 8)};
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serial.write((uint8_t*)&buffer, 2*sizeof(int8_t));
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}
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/**
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* @brief Write a signed 32bit integer
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*
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* @param num
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*/
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void write_i32(HardwareSerial &serial, int32_t num) {
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int8_t buffer[4] = {(int8_t) (num & 0xff), (int8_t) (num >> 8 & 0xff), (int8_t) (num >> 16 & 0xff), (int8_t) (num >> 24 & 0xff)};
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serial.write((uint8_t*)&buffer, 4*sizeof(int8_t));
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}
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167
src/main.cpp
167
src/main.cpp
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@ -1,7 +1,9 @@
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#include <Arduino.h>
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#include <Adafruit_NeoPixel.h>
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#include <SimpleSerialProtocol.h>
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#include "Commands.h"
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#include "Motor.h"
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#include "Serial_Comm.h"
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// #include "Serial_Comm.h"
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// Vertical motor top
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#define VERT_UP_PWM 3
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@ -42,6 +44,8 @@
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#define LED_BACK 14
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#define LED_COUNT_BACK 72
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void on_serial_error(uint8_t errorNum);
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volatile int32_t hor_pos;
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volatile int32_t vert_pos;
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@ -64,6 +68,15 @@ int led_n;
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u_int8_t brightness;
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u_int8_t color;
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bool serial_connected;
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// inintialize hardware constants
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const long BAUDRATE = 115200; // speed of serial connection
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const long CHARACTER_TIMEOUT = 500; // wait max 500 ms between single chars to be received
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// Create instance. Pass Serial instance. Define command-id-range within Simple Serial Protocol is listening (here: a - z)
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SimpleSerialProtocol ssp(Serial1, BAUDRATE, CHARACTER_TIMEOUT, on_serial_error, 0, 'Z'); // ASCII: 'a' - 'z' (26 byes of RAM is reserved)
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int32_t count(int pinA, int pinB) {
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if (digitalRead(pinA)) return digitalRead(pinB) ? -1 : 1;
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else return digitalRead(pinB) ? 1 : -1;
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@ -77,10 +90,11 @@ void vert_count() {
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vert_pos += count(VERT_CNT_INNER, VERT_CNT_OUTER);
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}
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/*
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Generic motor control (full speed). Call every 10us for good results.
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*/
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void mot_control(Motor mot1, Motor mot2, int32_t pos, int32_t aim) {
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/**
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* @brief Generic motor control (full speed). Call every 10us for good results.
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*
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*/
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void mot_control(Motor &mot1, Motor &mot2, int32_t pos, int32_t aim) {
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if (pos < aim) {
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mot1.run(255, false);
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mot2.run(127, false);
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@ -94,6 +108,113 @@ void mot_control(Motor mot1, Motor mot2, int32_t pos, int32_t aim) {
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}
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}
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uint8_t color_value(uint8_t col_from, uint8_t col_to, uint32_t cur_time, uint32_t duration) {
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float_t perc = (float) cur_time / (float) duration;
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float_t col = (float) (col_to - col_from) * perc;
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return (uint8_t) (col + 0.5);
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}
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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) {
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uint32_t startcol = led.getPixelColor(0);
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Serial.printf("col = %i \n", startcol);
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uint8_t from_W = (startcol & 0xff000000) >> 24;
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uint8_t from_R = (startcol & 0x00ff0000) >> 16;
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uint8_t from_G = (startcol & 0x0000ff00) >> 8;
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uint8_t from_B = (startcol & 0x000000ff);
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Serial.printf("r = %i, g = %i, b = %i, w = %i \n", from_R, from_G, from_B, from_W);
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uint32_t start_time = millis();
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uint32_t end_time = start_time + time_ms;
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while (millis() < end_time) {
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u_int32_t cur_time = millis() - start_time;
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uint32_t color = led.Color(color_value(from_R, to_R, cur_time, time_ms),
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color_value(from_G, to_G, cur_time, time_ms),
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color_value(from_B, to_B, cur_time, time_ms),
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color_value(from_W, to_W, cur_time, time_ms));
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led.fill(color);
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led.show();
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// Serial.printf("t = %i, c = %i \n", cur_time, color);
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}
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}
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void on_serial_error(uint8_t errno) {
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Serial.printf("SSP error %i \n", errno);
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ssp.writeCommand(ERROR);
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ssp.writeInt8(errno);
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ssp.writeEot();
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}
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void serial_received() {
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ssp.writeCommand(RECEIVED);
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ssp.writeEot();
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}
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void serial_hello() {
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ssp.readEot();
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if (!serial_connected) {
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ssp.writeCommand(HELLO);
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serial_connected = true;
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Serial.println("Connection established.");
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}
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else {
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ssp.writeCommand(ALREADY_CONNECTED);
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Serial.println("Handshake complete.");
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}
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ssp.writeEot();
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}
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void serial_backlight() {
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uint8_t r = ssp.readUnsignedInt8();
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uint8_t g = ssp.readUnsignedInt8();
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uint8_t b = ssp.readUnsignedInt8();
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uint8_t w = ssp.readUnsignedInt8();
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uint32_t t = ssp.readUnsignedInt32();
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ssp.readEot();
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Serial.printf("Received BACKLIGHT (%i, %i, %i, %i, %i) \n", r, g, b, w, t);
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led_fade(led_back, r, g, b, w, t);
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serial_received();
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}
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void serial_frontlight() {
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ssp.readEot();
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Serial.println("Received FRONTLIGHT");
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serial_received();
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}
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void serial_motor_v() {
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ssp.readEot();
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Serial.println("Received MOTOR_V");
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serial_received();
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}
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void serial_motor_h() {
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ssp.readEot();
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Serial.println("Received MOTOR_H");
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serial_received();
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}
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void serial_record() {
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ssp.readEot();
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Serial.println("Received RECORD");
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serial_received();
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}
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void serial_rewind() {
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ssp.readEot();
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Serial.println("Received REWIND");
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serial_received();
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}
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void serial_userinteract() {
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ssp.readEot();
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Serial.println("Received USER_INTERACT");
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serial_received();
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}
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void setup() {
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Serial.begin(115200);
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Serial1.begin(115200);
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@ -142,29 +263,21 @@ void setup() {
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led_front.begin();
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led_front.show();
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serial_connected = false;
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ssp.init();
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ssp.registerCommand(HELLO, serial_hello);
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ssp.registerCommand(ALREADY_CONNECTED, serial_hello);
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ssp.registerCommand(BACKLIGHT, serial_backlight);
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ssp.registerCommand(FRONTLIGHT, serial_frontlight);
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ssp.registerCommand(MOTOR_H, serial_motor_h);
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ssp.registerCommand(MOTOR_V, serial_motor_v);
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ssp.registerCommand(RECORD, serial_record);
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ssp.registerCommand(REWIND, serial_rewind);
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ssp.registerCommand(USER_INTERACT, serial_userinteract);
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}
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void loop() {
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if (Serial1.available() > 0) {
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Serial.printf("Serial1.available = %i \n", Serial1.available());
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Command cmd = read_command(Serial1);
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switch (cmd)
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{
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case HELLO:
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{
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Serial.println("Received HELLO");
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break;
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}
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case MOTOR_H:
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{
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Serial.println("Received MOTOR_H");
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break;
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}
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default:
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{
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Serial.println("Received something.");
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break;
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}
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}
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}
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ssp.loop();
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}
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