Implementing serial communication (interim commit).

include/Commands.h

@@ -0,0 +1,20 @@
+enum Command {
+  HELLO = 0,
+  ALREADY_CONNECTED = 1,
+  ERROR = 2,
+  RECEIVED = 3,
+
+  MOTOR_H = 'H',
+  MOTOR_V = 'M',
+
+  BACKLIGHT = 'B',
+  FRONTLIGHT = 'F',
+
+  USER_INTERACT = 'U',
+  
+  RECORD = 'C',
+  REWIND = 'R',
+  EOT = '\n'
+};
+
+typedef enum Command Command;

include/Serial_Comm.h

@@ -0,0 +1,66 @@
+#include <Arduino.h>
+#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);

platformio.ini

@@ -14,3 +14,4 @@ board = teensy41
 framework = arduino
 upload_protocol = teensy-cli
 lib_deps = adafruit/Adafruit NeoPixel@^1.10.1
+src_filter = +<*> -<.git/> -<.svn/> -<example/> -<examples/> -<test/> -<tests/> -<scratch*>

src/Serial_Comm.cpp

@@ -0,0 +1,111 @@
+#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));
+}

src/main.cpp

@@ -1,6 +1,7 @@
 #include <Arduino.h>
 #include <Adafruit_NeoPixel.h>
 #include "Motor.h"
+#include "Serial_Comm.h"
 
 // Vertical motor top
 #define VERT_UP_PWM   3
@@ -95,6 +96,7 @@ void mot_control(Motor mot1, Motor mot2, int32_t pos, int32_t aim) {
 
 void setup() {
   Serial.begin(115200);
+  Serial1.begin(115200);
 
   pinMode(LED_BUILTIN, OUTPUT);
 
@@ -143,36 +145,26 @@ void setup() {
 }
 
 void loop() {
-  // led_front.setPixelColor(led_n, 0, 0, 0, led_on ? 255 : 0);
+  if (Serial1.available() > 0) {
-  uint32_t c = led_back.Color((color == 0 || color == 1 || color == 2 || color == 9) ? brightness : 0,
+    Serial.printf("Serial1.available = %i \n", Serial1.available());
-                               (color == 2 || color == 3 || color == 4 || color == 8) ? brightness : 0,
+    Command cmd = read_command(Serial1);
-                               (color == 4 || color == 5 || color == 6 || color == 9) ? brightness : 0,
+    switch (cmd)
-                               (color == 6 || color == 7 || color == 0 || color == 8) ? brightness : 0);
+    {
-  if (back) {
+    case HELLO:
-    led_back.fill(c);
+      {
-    led_back.show();
+        Serial.println("Received HELLO");
-  } else {
+        break;
-    led_front.fill(c);
-    led_front.show();
       }
-  delay(10);
+    case MOTOR_H:
-
+      {
-  if (led_on && (brightness < 255)) {
+        Serial.println("Received MOTOR_H");
-    brightness++;
+        break;
-  } else if (!led_on && (brightness > 0)) {
+      }
-    brightness--;
+    default:
-  } else {
+      {
-    if (!led_on) {
+        Serial.println("Received something.");
-      if (color < 9) color++;
+        break;
-      else {
-        color = 0;
-        back = !back;
       }
     }
-    led_on = !led_on;
-  }
-
-  if (brightness % 8 == 0) {
-    Serial.printf("hor_pos %i | \t vert_pos %i \n", hor_pos, vert_pos);
   }
 }

src/scratch.cpp

@@ -0,0 +1,50 @@
+#include <Arduino.h>
+#include <Adafruit_NeoPixel.h>
+
+// Lights
+#define LED_FRONT 41
+#define LED_COUNT_FRONT 26
+
+#define LED_BACK  14
+#define LED_COUNT_BACK 72
+
+Adafruit_NeoPixel led_front(LED_COUNT_FRONT, LED_FRONT, NEO_GBRW + NEO_KHZ800);
+Adafruit_NeoPixel led_back(LED_COUNT_BACK, LED_BACK, NEO_GBRW + NEO_KHZ800);
+
+bool back;
+bool led_on;
+int led_n;
+u_int8_t brightness;
+u_int8_t color;
+
+void led_loop() {
+  // LED test loop, for reference..
+
+  uint32_t c = led_back.Color((color == 0 || color == 1 || color == 2 || color == 9) ? brightness : 0,
+                               (color == 2 || color == 3 || color == 4 || color == 8) ? brightness : 0,
+                               (color == 4 || color == 5 || color == 6 || color == 9) ? brightness : 0,
+                               (color == 6 || color == 7 || color == 0 || color == 8) ? brightness : 0);
+  if (back) {
+    led_back.fill(c);
+    led_back.show();
+  } else {
+    led_front.fill(c);
+    led_front.show();
+  }
+  delay(10);
+
+  if (led_on && (brightness < 255)) {
+    brightness++;
+  } else if (!led_on && (brightness > 0)) {
+    brightness--;
+  } else {
+    if (!led_on) {
+      if (color < 9) color++;
+      else {
+        color = 0;
+        back = !back;
+      }
+    }
+    led_on = !led_on;
+  }
+}