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-rw-r--r--client/main.c5
-rw-r--r--client/main.h1
-rw-r--r--client/time.h1
-rw-r--r--client/ui.c2
-rw-r--r--protocol.md6
-rw-r--r--robot/errcatch.c2
-rw-r--r--robot/hypervisor.h3
-rw-r--r--robot/io.c34
-rw-r--r--robot/io.h6
-rw-r--r--robot/sercomm.c15
-rw-r--r--shared/consts.h11
-rw-r--r--shared/protocol.h1
12 files changed, 70 insertions, 17 deletions
diff --git a/client/main.c b/client/main.c
index 4d7f484..4eed232 100644
--- a/client/main.c
+++ b/client/main.c
@@ -33,5 +33,10 @@ int main(int argc, char **argv) {
g_w2_state.ping_received = false;
w2_send_ping();
}
+
+ if (w2_timer_end(W2_TIMER_INFO) > W2_BATTERY_MEAS_FREQ) {
+ w2_send_info();
+ w2_timer_start(W2_TIMER_INFO);
+ }
}
}
diff --git a/client/main.h b/client/main.h
index b72b507..e215ae6 100644
--- a/client/main.h
+++ b/client/main.h
@@ -9,7 +9,6 @@ typedef struct {
bool ping_timeout;
bool connected;
- uint8_t battery_level;
uint8_t mode;
diff --git a/client/time.h b/client/time.h
index a989c5c..130f91a 100644
--- a/client/time.h
+++ b/client/time.h
@@ -6,6 +6,7 @@ extern unsigned long g_w2_client_timers[W2_CLIENT_TIMER_COUNT];
typedef enum {
W2_TIMER_PING = 0,
W2_TIMER_UPDATE = 1,
+ W2_TIMER_INFO = 2,
} w2_e_client_timers;
void w2_timer_start(w2_e_client_timers label);
diff --git a/client/ui.c b/client/ui.c
index 6bc0986..61f9d0e 100644
--- a/client/ui.c
+++ b/client/ui.c
@@ -87,7 +87,7 @@ void w2_ui_paint_statusbar() {
sprintf(temp, "(%s)", g_w2_state.info.build_str);
w2_wmvaddstr(g_w2_ui_pad_statusbar, 0, g_w2_ui_width / 2 - strlen(temp) / 2, temp);
- sprintf(temp, "%s %imv", W2_UI_BATT_STAT_BATTERY, g_w2_state.info.battery_mv);
+ sprintf(temp, "%s %i%%", W2_UI_BATT_STAT_BATTERY, g_w2_state.info.battery_percent);
w2_wmvaddstr(g_w2_ui_pad_statusbar, 0, g_w2_ui_width - strlen(temp), temp);
sprintf(temp, "[%s]", g_w2_mode_strings[g_w2_state.mode]);
diff --git a/protocol.md b/protocol.md
index 4139a22..9bb5a76 100644
--- a/protocol.md
+++ b/protocol.md
@@ -299,7 +299,7 @@ packet.
requests robot info
-#### robot info response (`r --> c`) (42 bytes)
+#### robot info response (`r --> c`) (45 bytes)
|type|description|
|-:|-|
@@ -311,6 +311,8 @@ requests robot info
|`uint8_t`|exponential moving average modes module cycle time (ms)|
|`uint32_t`|total robot uptime (s)|
|`uint8_t`|current mode code|
+|`uint16_t`|battery level (millivolts)|
+|`uint8_t`|battery level (percentage)|
robot info response
@@ -324,7 +326,7 @@ robot info response
### TARQ
-#### set target area (`r <-- c`) (1 byte)
+#### set target area (`r <-- c`) (2 bytes)
|type|description|
|-:|-|
diff --git a/robot/errcatch.c b/robot/errcatch.c
index 6a3452c..27026b5 100644
--- a/robot/errcatch.c
+++ b/robot/errcatch.c
@@ -46,6 +46,8 @@ void w2_errcatch_handle_error(w2_s_error *error) {
break;
case W2_E_WARN_PING_TIMEOUT:
break;
+ case W2_E_WARN_BATTERY_LOW:
+ break;
default: {
g_w2_error_uncaught = true;
#ifdef W2_SIM
diff --git a/robot/hypervisor.h b/robot/hypervisor.h
index ba58977..ad7d493 100644
--- a/robot/hypervisor.h
+++ b/robot/hypervisor.h
@@ -8,10 +8,11 @@
#include "../shared/protocol.h"
/** amount of parallel timers */
-#define W2_HYPERVISOR_TIMER_COUNT 2
+#define W2_HYPERVISOR_TIMER_COUNT 3
#define W2_TIMER_PING 0
#define W2_TIMER_OBJECT_DETECTION 1
+#define W2_TIMER_BATTERY_MEASUREMENT 2
extern uint64_t g_w2_hypervisor_cycles;
extern uint64_t g_w2_hypervisor_uptime_qs;
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;
}
diff --git a/robot/io.h b/robot/io.h
index 31fe410..5e469bb 100644
--- a/robot/io.h
+++ b/robot/io.h
@@ -1,9 +1,11 @@
#pragma once
-#include "../shared/bool.h"
-
/** @file io.h */
+#include "../shared/bool.h"
+
+extern uint16_t g_w2_io_battery_mv;
+extern uint8_t g_w2_io_battery_percentage;
extern bool g_w2_io_object_detected;
/** @brief i/o module main */
diff --git a/robot/sercomm.c b/robot/sercomm.c
index a04d35f..0f251d2 100644
--- a/robot/sercomm.c
+++ b/robot/sercomm.c
@@ -154,13 +154,14 @@ void w2_cmd_info_rx(w2_s_bin *data) {
W2_CREATE_MSG_BIN(w2_s_cmd_info_tx, res_msg, res_bin);
res_msg->opcode = W2_CMD_INFO | W2_CMDDIR_TX;
strncpy((char *)res_msg->build_str, W2_BUILD_STR, sizeof(res_msg->build_str));
- res_msg->errcatch_ms = (uint8_t)g_w2_hypervisor_ema_errcatch_qs / 1e3;
- res_msg->io_ms = (uint8_t)g_w2_hypervisor_ema_io_qs / 1e3;
- res_msg->sercomm_ms = (uint8_t)g_w2_hypervisor_ema_sercomm_qs / 1e3;
- res_msg->mode_ms = (uint8_t)g_w2_hypervisor_ema_mode_qs / 1e3;
- res_msg->uptime_s = w2_bin_hton32((uint32_t)(g_w2_hypervisor_uptime_qs / 1e6));
- res_msg->mode = g_w2_mode_history[g_w2_mode_history_index];
- res_msg->battery_mv = w2_bin_hton16(read_battery_millivolts());
+ res_msg->errcatch_ms = (uint8_t)g_w2_hypervisor_ema_errcatch_qs / 1e3;
+ res_msg->io_ms = (uint8_t)g_w2_hypervisor_ema_io_qs / 1e3;
+ res_msg->sercomm_ms = (uint8_t)g_w2_hypervisor_ema_sercomm_qs / 1e3;
+ res_msg->mode_ms = (uint8_t)g_w2_hypervisor_ema_mode_qs / 1e3;
+ res_msg->uptime_s = w2_bin_hton32((uint32_t)(g_w2_hypervisor_uptime_qs / 1e6));
+ res_msg->mode = g_w2_mode_history[g_w2_mode_history_index];
+ res_msg->battery_mv = w2_bin_hton16(g_w2_io_battery_mv);
+ res_msg->battery_percent = g_w2_io_battery_percentage;
w2_sercomm_append_msg(res_bin);
free(res_bin);
diff --git a/shared/consts.h b/shared/consts.h
index 9c2358f..b6be4a4 100644
--- a/shared/consts.h
+++ b/shared/consts.h
@@ -52,3 +52,14 @@
#define W2_BATTERY_PIN 6
/** side-facing distance sensor pinout */
#define W2_SIDE_SENSOR_PIN 7
+
+/** battery voltage measurement sample count */
+#define W2_BATTERY_SAMPLES 10
+/** battery full voltage (millivolts) */
+#define W2_BATTERY_FULL 4500
+/** battery empty voltage (millivolts) */
+#define W2_BATTERY_EMPTY 3300
+/** battery measurement interval (milliseconds) */
+#define W2_BATTERY_MEAS_FREQ 10e3
+/** battery low level percentage (target charging station) */
+#define W2_BATTERY_PERCENTAGE_LOW 30
diff --git a/shared/protocol.h b/shared/protocol.h
index c13e56c..83d9111 100644
--- a/shared/protocol.h
+++ b/shared/protocol.h
@@ -155,6 +155,7 @@ typedef struct {
uint32_t uptime_s;
uint8_t mode;
uint16_t battery_mv;
+ uint8_t battery_percent;
} w2_s_cmd_info_tx;
typedef struct {