diff options
| -rw-r--r-- | robot/io.h | 2 | ||||
| -rw-r--r-- | robot/readme.md | 20 | ||||
| -rw-r--r-- | shared/bool.h | 9 | ||||
| -rw-r--r-- | shared/io.h | 59 | ||||
| -rw-r--r-- | shared/protocol.h | 56 |
5 files changed, 82 insertions, 64 deletions
@@ -2,7 +2,7 @@ /** @file io.h */ -#include "../shared/protocol.h" +#include "../shared/io.h" /** @brief i/o module main */ void w2_io_main(); diff --git a/robot/readme.md b/robot/readme.md index b27c06f..25e730f 100644 --- a/robot/readme.md +++ b/robot/readme.md @@ -72,15 +72,15 @@ what they're supposed to do: this list will probably get updated from time to time: -- modules shouldn't create any global state variables, they should use `static` - variables instead. -- modules are run cyclically, so they shouldn't take more than +- logic modules shouldn't create any global state variables if possible, they + should use `static` variables instead +- logic modules are run cyclically, so they shouldn't take more than `W2_MAX_MODULE_CYCLE_MS` to execute (this is an arbitrary number, and may be - changed). + changed) - documentation comments should follow the [javadoc-style doxygen format](https://wiki.scilab.org/Doxygen%20documentation%20Examples) and be - placed in header (.h) files if possible. this only applies to public members - (e.g. no local variables or module-internal code). + placed in header (.h) files. this only applies to public members (e.g. no + local variables or module-internal code) - code style is mostly handled by `clang-format` and `clang-tidy`, but you should still follow these naming conventions (`<angle brackets>` indicate placeholders): @@ -93,15 +93,15 @@ this list will probably get updated from time to time: |enum|`w2_e_<name>`|`w2_e_errorcodes`; `w2_e_serial_commands`| this again only applies to public members. local variables should still have - short descriptive names, but shouldn't be prefixed with `w2_*`. + short descriptive names, but shouldn't be prefixed with `w2_*` - arbitrary numbers should be aliased to `#define` statements or `enum`s if - part of a series. + part of a series - general constants should be placed in `consts.h` - don't import `<pololu/orangutan.h>` directly, instead use `"orangutan_shim.h"` to keep code compatible with the simulator - don't use `<stdbool.h>`, instead use `"../shared/protocol.h"`. this makes sure that `bool` values are equal to `uint8_t`. they're functionally - identical. + identical ## todo @@ -119,6 +119,8 @@ global todo: placing the robot and pressing a button (maybe make this a seperate mode) - [ ] create labeled timer functions like nodejs `console.time()` and `console.timeEnd()` (use for serial read timeout constraint) +- [ ] `serial_parse` doesn't properly handle escaped `0xff` bytes in listen + mode ### hypervisor diff --git a/shared/bool.h b/shared/bool.h new file mode 100644 index 0000000..9ea97f7 --- /dev/null +++ b/shared/bool.h @@ -0,0 +1,9 @@ +#pragma once + +#include <stdint.h> + +/** @file bool.h */ + +typedef uint8_t bool; +#define false 0 /* NOLINT */ +#define true 1 /* NOLINT */ diff --git a/shared/io.h b/shared/io.h new file mode 100644 index 0000000..584ad1e --- /dev/null +++ b/shared/io.h @@ -0,0 +1,59 @@ +#pragma once + +#include <stdio.h> + +#include "bool.h" + +#pragma pack(push, 1) + +/** momentary button input struct */ +typedef struct { + bool pressed; +} w2_s_i_push; + +/** qtr contrast sensor input struct */ +typedef struct { + uint16_t range; +} w2_s_i_contrast; + +/** distance sensor input struct */ +typedef struct { + uint16_t detection; +} w2_s_i_distance; + +/** battery input struct */ +typedef struct { + uint16_t charge_level; +} w2_s_i_battery; + +/** motor output struct */ +typedef struct { + int16_t speed; +} w2_s_o_motor; + +/** underside led output struct */ +typedef struct { + bool on; +} w2_s_o_led; + +/** lcd output struct */ +typedef struct { + char text[16]; +} w2_s_o_display; + +/** struct containing all i/o */ +typedef struct { + w2_s_i_push button[5]; + w2_s_i_contrast qtr[5]; + w2_s_i_distance front_distance; + w2_s_i_distance side_distance; + w2_s_i_battery battery; + + w2_s_o_motor motor_left; + w2_s_o_motor motor_right; + w2_s_o_led led_red; + w2_s_o_led led_green; + w2_s_o_display lcd; +} w2_s_io_all; + +#pragma pack(pop) diff --git a/shared/protocol.h b/shared/protocol.h index 05cde03..2e1e4ea 100644 --- a/shared/protocol.h +++ b/shared/protocol.h @@ -6,11 +6,9 @@ #include <stdlib.h> #include "bin.h" +#include "bool.h" #include "consts.h" - -typedef uint8_t bool; -#define false 0 /* NOLINT */ -#define true 1 /* NOLINT */ +#include "io.h" #define W2_SERIAL_START_BYTE 0xff @@ -54,56 +52,6 @@ typedef enum { #pragma pack(push, 1) -/** momentary button input struct */ -typedef struct { - bool pressed; -} w2_s_i_push; - -/** qtr contrast sensor input struct */ -typedef struct { - uint16_t range; -} w2_s_i_contrast; - -/** distance sensor input struct */ -typedef struct { - uint16_t detection; -} w2_s_i_distance; - -/** battery input struct */ -typedef struct { - uint16_t charge_level; -} w2_s_i_battery; - -/** motor output struct */ -typedef struct { - int16_t speed; -} w2_s_o_motor; - -/** underside led output struct */ -typedef struct { - bool on; -} w2_s_o_led; - -/** lcd output struct */ -typedef struct { - char text[16]; -} w2_s_o_display; - -/** struct containing all i/o */ -typedef struct { - w2_s_i_push button[5]; - w2_s_i_contrast qtr[5]; - w2_s_i_distance front_distance; - w2_s_i_distance side_distance; - w2_s_i_battery battery; - - w2_s_o_motor motor_left; - w2_s_o_motor motor_right; - w2_s_o_led led_red; - w2_s_o_led led_green; - w2_s_o_display lcd; -} w2_s_io_all; - typedef struct { uint8_t opcode; uint8_t id; |