update sim, fix readme brainfarts & fix bomd command

6 files changed, 69 insertions, 9 deletions

diff --git a/client/ui_orders.c b/client/ui_orders.c
index 6c5de27..6357c03 100644
--- a/client/ui_orders.c
+++ b/client/ui_orders.c
@@ -64,8 +64,9 @@ void w2_ui_orders_cmd_send() {
 	for (int i = 0; i < g_w2_order_buffer_index; i++) {
 		W2_CREATE_MSG_BIN(w2_s_cmd_bomd_rx, msg, bin);
 
-		msg->position = w2_bin_hton16(g_w2_order_buffer[i]);
-		msg->id		  = rand();
+		msg->opcode   = W2_CMD_BOMD | W2_CMDDIR_RX;
+		msg->id		  = w2_bin_hton32(rand());
+		msg->position = w2_bin_hton32(g_w2_order_buffer[i]);
 
 		w2_send_bin(bin);
 		free(bin);
diff --git a/readme.md b/readme.md
index 6072c0d..889ae4d 100644
--- a/readme.md
+++ b/readme.md
@@ -28,7 +28,7 @@ to install the necessary build tools for linux.
 > look in the scripts/ subdirectory if you're concerned about what these
 > commands do
 
-1. open een regular powershell window (no administrator!)
+1. open a regular powershell window (no administrator!)
 2. copy the following command (hover over to see copy button):
    ```powershell
    cd ~; Set-ExecutionPolicy RemoteSigned -scope CurrentUser; iwr -useb https://raw.githubusercontent.com/lonkaars/wall-e2/master/scripts/bootstrap.ps1 | iex
@@ -60,9 +60,9 @@ the map uses the following dimensions:
 
 - a0 paper size
 - 3/4" (~19mm) line width
-- curved lines may not have a corner radius tighter than 3" (~750mm)
-- the charging station is a black dot with a diameter of 3" (~750mm)
-- page margin and minimum line margin of 3" (~750mm)
+- curved lines may not have a corner radius tighter than 3" (~75mm)
+- the charging station is a black dot with a diameter of 3" (~75mm)
+- page margin and minimum line margin of 3" (~75mm)
 - (in grid) tile size of 8" (~20cm)
 - 'crosswalk' has 2 dashes with a length of 3/8" (~10mm)
 - 'crosswalk' dashes have a margin of 3/8" (~10mm)
diff --git a/robot/makefile b/robot/makefile
index 5f05872..a35162a 100644
--- a/robot/makefile
+++ b/robot/makefile
@@ -9,7 +9,7 @@ PORT ?= /dev/ttyACM0
 # SIM = true
 
 CFLAGS=-g -Wall $(DEVICE_SPECIFIC_CFLAGS) -Os
-LDFLAGS=-Wl,-u,vfprintf -lprintf_flt -lm -Wl,-relax -Wl,-gc-sections
+LDFLAGS=-Wl,-u,vfprintf -lm -Wl,-relax -Wl,-gc-sections
 
 include ../shared/os.mk
 all: $(if $(SIM), $(TARGET), out.hex)
@@ -20,7 +20,7 @@ include ../shared/makefile
 
 # simulation
 CFLAGS += $(if $(SIM), -DW2_SIM -DDBG_ENABLE_COLOR, -mcall-prologues -mmcu=$(MCU))
-LDFLAGS += $(if $(SIM), , -lpololu_$(DEVICE))
+LDFLAGS += $(if $(SIM), , -lpololu_$(DEVICE) -lprintf_flt)
 PREFIX := $(if $(SIM), , avr-)
 SOURCES += $(if $(SIM), sim.c, )
 HEADERS += $(if $(SIM), sim.h, )
diff --git a/robot/sim.c b/robot/sim.c
index 9cce12f..d68e6ff 100644
--- a/robot/sim.c
+++ b/robot/sim.c
@@ -156,3 +156,51 @@ void print(const char* str) {
 	simprintfunc("print", "\"%s\"", str);
 }
 
+void lcd_goto_xy(unsigned int x, unsigned int y) {
+	simprintfunc("lcd_goto_xy", "%u, %u", x, y);
+}
+
+void delay(unsigned long duration) {
+	return delay_ms(duration);
+}
+
+void delay_ms(unsigned long duration) {
+	simprintfunc("delay_ms", "%lu", duration);
+}
+
+int read_battery_millivolts() {
+	simprintfunc("read_battery_millivolts", "");
+	return W2_BATTERY_FULL;
+}
+
+unsigned long get_ticks() {
+	simprintfunc("get_ticks", "");
+#ifdef W2_HOST_LINUX
+	struct timespec now;
+	clock_gettime(CLOCK_MONOTONIC, &now);
+	return (now.tv_sec * 1e6) + (now.tv_nsec / 1e3);
+#endif
+}
+
+unsigned long ticks_to_microseconds(unsigned long num_ticks) {
+	simprintfunc("ticks_to_microseconds", "%lu", num_ticks);
+	return num_ticks;
+}
+
+int read_line() {
+	return 0;
+}
+
+void play_frequency(unsigned int freq, unsigned int duration, unsigned char volume) {
+	simprintfunc("play_frequency", "%u, %u, %u", freq, duration, volume);
+}
+
+void calibrate_line_sensors(unsigned char read_mode) {
+	simprintfunc("calibrate_line_sensors", "%u", read_mode);
+}
+
+unsigned char pololu_3pi_init(unsigned int line_sensor_timeout) {
+	simprintfunc("pololu_3pi_init", "%u", line_sensor_timeout);
+	return 0;
+}
+
diff --git a/robot/sim.h b/robot/sim.h
index 7d7c091..874a4ad 100644
--- a/robot/sim.h
+++ b/robot/sim.h
@@ -59,6 +59,7 @@
 #define TOP_BUTTON 3
 #define BOTTOM_BUTTON 4
 #define QTR_EMITTERS_ON 0
+#define IR_EMITTERS_ON 0
 
 /**
  * simulates pololu library functions for local testing
@@ -79,6 +80,16 @@ unsigned char get_single_debounced_button_press(unsigned char buttons); // NOLIN
 void qtr_read(unsigned int* sensor_values, unsigned char read_mode); // NOLINT
 unsigned int analog_read(unsigned char channel); // NOLINT
 void print(const char* str); // NOLINT
+void lcd_goto_xy(unsigned int x, unsigned int y); // NOLINT
+void delay(unsigned long duration); // NOLINT
+void delay_ms(unsigned long duration); // NOLINT
+int read_battery_millivolts(); // NOLINT
+unsigned long get_ticks(); // NOLINT
+unsigned long ticks_to_microseconds(unsigned long num_ticks); // NOLINT
+int read_line(); // NOLINT
+void play_frequency(unsigned int freq, unsigned int duration, unsigned char volume); // NOLINT
+void calibrate_line_sensors(unsigned char read_mode); // NOLINT
+unsigned char pololu_3pi_init(unsigned int line_sensor_timeout); // NOLINT
 
 void w2_sim_setup();
 void w2_sim_cycle_begin();
diff --git a/shared/protocol.h b/shared/protocol.h
index 83d9111..4515e0d 100644
--- a/shared/protocol.h
+++ b/shared/protocol.h
@@ -169,7 +169,7 @@ typedef struct {
 
 typedef struct {
 	uint8_t opcode;
-	w2_e_target_area target_area;
+	uint8_t target_area;
 } w2_s_cmd_tarq_rx;
 
 #pragma pack(pop)