implement battery measurement and target area switching

1 files changed, 31 insertions, 3 deletions

diff --git a/robot/io.c b/robot/io.c
index 560b66f..8add1e9 100644
--- a/robot/io.c
+++ b/robot/io.c
@@ -1,11 +1,16 @@
-#include "io.h"
+#include <stdio.h>
+
 #include "../shared/consts.h"
 #include "../shared/errcatch.h"
+#include "../shared/util.h"
 #include "hypervisor.h"
+#include "io.h"
 #include "modes.h"
 #include "orangutan_shim.h"
 
-bool g_w2_io_object_detected = false;
+uint16_t g_w2_io_battery_mv		   = 0;
+uint8_t g_w2_io_battery_percentage = 0;
+bool g_w2_io_object_detected	   = false;
 
 void w2_io_object_detection() {
 	unsigned int front_distance = analog_read(W2_SIDE_SENSOR_PIN);
@@ -27,9 +32,32 @@ void w2_io_object_detection() {
 	}
 }
 
+void w2_io_battery_logic() {
+	if (w2_hypervisor_time_end(W2_TIMER_BATTERY_MEASUREMENT) <= W2_BATTERY_MEAS_FREQ) return;
+	w2_hypervisor_time_start(W2_TIMER_BATTERY_MEASUREMENT);
+
+	g_w2_io_battery_mv = 0;
+	for (int i = 0; i < W2_BATTERY_SAMPLES; i++)
+		g_w2_io_battery_mv += read_battery_millivolts() / W2_BATTERY_SAMPLES;
+	g_w2_io_battery_percentage = W2_RANGE(
+		0, (g_w2_io_battery_mv - W2_BATTERY_EMPTY) * 100 / (W2_BATTERY_FULL - W2_BATTERY_EMPTY),
+		100);
+
+	char battery_percent[9];
+	sprintf(battery_percent, "%i%%  ", g_w2_io_battery_percentage);
+	lcd_goto_xy(0, 1);
+	print(battery_percent);
+
+	if (g_w2_io_battery_percentage <= W2_BATTERY_PERCENTAGE_LOW &&
+		g_w2_target_area != W2_AREA_CHRG) {
+		w2_errcatch_throw(W2_E_WARN_BATTERY_LOW);
+		g_w2_target_area = W2_AREA_CHRG;
+	}
+}
+
 void w2_io_main() {
 	w2_io_object_detection();
-	// TODO: battery status
+	w2_io_battery_logic();
 
 	return;
 }