diff options
| -rw-r--r-- | .clang-format | 1 | ||||
| -rw-r--r-- | robot/calibration.h | 2 | ||||
| -rw-r--r-- | robot/errcatch.c | 4 | ||||
| -rw-r--r-- | robot/errcatch.h | 10 | ||||
| -rw-r--r-- | robot/grid.h | 2 | ||||
| -rw-r--r-- | robot/halt.c | 4 | ||||
| -rw-r--r-- | robot/halt.h | 2 | ||||
| -rw-r--r-- | robot/hypervisor.c | 11 | ||||
| -rw-r--r-- | robot/maze.h | 2 | ||||
| -rw-r--r-- | robot/modes.c | 5 | ||||
| -rw-r--r-- | robot/setup.c | 10 | ||||
| -rw-r--r-- | robot/setup.h | 1 |
12 files changed, 44 insertions, 10 deletions
diff --git a/.clang-format b/.clang-format index 77e33d7..2f7e218 100644 --- a/.clang-format +++ b/.clang-format @@ -1,6 +1,7 @@ --- AccessModifierOffset: 0 AlignConsecutiveAssignments: true +AllowShortIfStatementsOnASingleLine: WithoutElse AllowShortLoopsOnASingleLine: true BasedOnStyle: LLVM BreakBeforeBraces: Attach diff --git a/robot/calibration.h b/robot/calibration.h index 13b80b9..5c1af38 100644 --- a/robot/calibration.h +++ b/robot/calibration.h @@ -6,4 +6,4 @@ * turns robot on its own axis 360 degress, and aligns the front sensors with * the line if found, else triggers halt mode (emergency) */ -void w2_mode_calb_main(); +void w2_mode_calb(); diff --git a/robot/errcatch.c b/robot/errcatch.c index 5d2b33f..5b42bb4 100644 --- a/robot/errcatch.c +++ b/robot/errcatch.c @@ -1,3 +1,7 @@ #include "errcatch.h" void w2_errcatch_main() {} + +void w2_errcatch_throw_msg(enum w2_e_errorcodes code, uint16_t length, const char *message) {} + +void w2_errcatch_throw(enum w2_e_errorcodes code) { w2_errcatch_throw_msg(code, 0, ""); } diff --git a/robot/errcatch.h b/robot/errcatch.h index c816051..48e2a75 100644 --- a/robot/errcatch.h +++ b/robot/errcatch.h @@ -1,4 +1,14 @@ #pragma once +#include <stdint.h> + +#include "consts.h" + /** error-handler module main */ void w2_errcatch_main(); + +/** append error to error buffer */ +void w2_errcatch_throw(enum w2_e_errorcodes code); + +/** append error to error buffer (with debug message) */ +void w2_errcatch_throw_msg(enum w2_e_errorcodes code, uint16_t length, const char *message); diff --git a/robot/grid.h b/robot/grid.h index 3fd54d9..fcf9100 100644 --- a/robot/grid.h +++ b/robot/grid.h @@ -5,4 +5,4 @@ * * processes orders from the order buffer */ -void w2_mode_grid_main(); +void w2_mode_grid(); diff --git a/robot/halt.c b/robot/halt.c index 6bf1cad..2f159f0 100644 --- a/robot/halt.c +++ b/robot/halt.c @@ -1 +1,5 @@ +#include <stdbool.h> + #include "halt.h" + +void w2_mode_halt() { return; } diff --git a/robot/halt.h b/robot/halt.h index e88bde4..d92905e 100644 --- a/robot/halt.h +++ b/robot/halt.h @@ -5,4 +5,4 @@ * * stops all execution until emergency status is manually cleared by the user */ -void w2_mode_halt_main(); +void w2_mode_halt(); diff --git a/robot/hypervisor.c b/robot/hypervisor.c index db0700d..381d9af 100644 --- a/robot/hypervisor.c +++ b/robot/hypervisor.c @@ -1,5 +1,8 @@ -#include "hypervisor.h" +#include <pololu/orangutan.h> + +#include "consts.h" #include "errcatch.h" +#include "hypervisor.h" #include "io.h" #include "modes.h" #include "sercomm.h" @@ -9,8 +12,8 @@ void w2_hypervisor_main() { w2_errcatch_main(); w2_io_main(); - // start timer + time_reset(); w2_modes_main(); - // stop timer - // throw error if cycle expired + unsigned long elapsed_ms = get_ms(); + if (elapsed_ms > W2_MAX_MODULE_CYCLE_MS) w2_errcatch_throw(W2_ERR_CYCLE_EXPIRED); } diff --git a/robot/maze.h b/robot/maze.h index 640bf9c..9fbeb8c 100644 --- a/robot/maze.h +++ b/robot/maze.h @@ -5,4 +5,4 @@ * * finds route out of maze */ -void w2_mode_maze_main(); +void w2_mode_maze(); diff --git a/robot/modes.c b/robot/modes.c index c5b979c..c22875c 100644 --- a/robot/modes.c +++ b/robot/modes.c @@ -1,3 +1,6 @@ #include "modes.h" +#include "halt.h" -void w2_modes_main() {} +void (*g_w2_current_mode)() = &w2_mode_halt; + +void w2_modes_main() { (*g_w2_current_mode)(); } diff --git a/robot/setup.c b/robot/setup.c index 0652911..10001c7 100644 --- a/robot/setup.c +++ b/robot/setup.c @@ -1,11 +1,21 @@ #include <pololu/orangutan.h> +#include <stdlib.h> #include "consts.h" +#include "halt.h" +#include "modes.h" #include "setup.h" void w2_setup_main() { serial_set_baud_rate(W2_SERIAL_BAUD); + // reset underside leds + red_led(0); + green_led(0); + + // clear lcd + clear(); + // indicate startup done play("L50 c>c"); } diff --git a/robot/setup.h b/robot/setup.h index 9d94326..17ac78d 100644 --- a/robot/setup.h +++ b/robot/setup.h @@ -5,7 +5,6 @@ * * configures: * - serial connection (wixel) - * - timer0 for cycle duration measurement * - lcd display * - underside leds */ |