diff options
| -rw-r--r-- | robot/io.c | 20 | ||||
| -rw-r--r-- | robot/io.h | 49 | ||||
| -rw-r--r-- | robot/mode_dirc.c | 7 | ||||
| -rw-r--r-- | robot/setup.c | 4 | ||||
| -rw-r--r-- | shared/protocol.h | 53 |
5 files changed, 75 insertions, 58 deletions
@@ -1,9 +1,11 @@ -#include "io.h" +#include <string.h> + #include "../shared/consts.h" +#include "io.h" #include "modes.h" #include "orangutan_shim.h" -w2_io_all g_w2_io; +w2_s_io_all g_w2_io; void w2_io_main() { g_w2_io.button[0].pressed = get_single_debounced_button_press(BUTTON_A); @@ -11,11 +13,11 @@ void w2_io_main() { g_w2_io.button[2].pressed = get_single_debounced_button_press(BUTTON_C); g_w2_io.button[3].pressed = get_single_debounced_button_press(TOP_BUTTON); g_w2_io.button[4].pressed = get_single_debounced_button_press(BOTTOM_BUTTON); + unsigned int sensor_values[5]; qtr_read(sensor_values, QTR_EMITTERS_ON); - for (int i = 0; i < 5; i++) { - g_w2_io.qtr[i].range = sensor_values[i]; - } + for (int i = 0; i < 5; i++) g_w2_io.qtr[i].range = sensor_values[i]; + // TODO average voltage over mutiple samples sensor g_w2_io.battery.charge_level = analog_read(W2_BATTERY_PIN); g_w2_io.front_distance.detection = analog_read(W2_FRONT_SENSOR_PIN); @@ -24,6 +26,10 @@ void w2_io_main() { set_motors(g_w2_io.motor_left.speed, g_w2_io.motor_right.speed); red_led(g_w2_io.led_red.on); green_led(g_w2_io.led_green.on); - print(g_w2_io.lcd.text); -}; + // TODO don't do this every cycle + char text_copy[17]; + memcpy((char *)text_copy, g_w2_io.lcd.text, 16); + text_copy[16] = 0x00; + print(text_copy); +}; @@ -1,48 +1,9 @@ #pragma once -#include <stdbool.h> -#include <stdint.h> -#include <stdlib.h> -void w2_io_main(); - -typedef struct { - bool pressed; -} w2_s_i_push; - -typedef struct { - uint16_t range; -} w2_s_i_contrast; - -typedef struct { - uint16_t detection; -} w2_s_i_distance; - -typedef struct { - uint16_t charge_level; -} w2_s_i_battery; +#include "../shared/protocol.h" -typedef struct { - int speed; -} w2_s_o_motor; - -typedef struct { - bool on; -} w2_s_o_led; - -typedef struct { - char text[17]; // 16 chars + '\0' -} w2_s_o_display; - -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; +/** i/o module main */ +void w2_io_main(); - 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_io_all; +/** global struct containing all i/o */ +extern w2_s_io_all g_w2_io; diff --git a/robot/mode_dirc.c b/robot/mode_dirc.c index 0bbf3cb..9ed9fef 100644 --- a/robot/mode_dirc.c +++ b/robot/mode_dirc.c @@ -1,7 +1,10 @@ #include "mode_dirc.h" -#include "orangutan_shim.h" +#include "io.h" int16_t g_w2_mode_dirc_motor_l = 0; int16_t g_w2_mode_dirc_motor_r = 0; -void w2_mode_dirc() { set_motors(g_w2_mode_dirc_motor_l, g_w2_mode_dirc_motor_r); } +void w2_mode_dirc() { + g_w2_io.motor_left.speed = g_w2_mode_dirc_motor_l; + g_w2_io.motor_right.speed = g_w2_mode_dirc_motor_r; +} diff --git a/robot/setup.c b/robot/setup.c index 06c8fa4..2c426a3 100644 --- a/robot/setup.c +++ b/robot/setup.c @@ -16,10 +16,6 @@ void w2_setup_main() { // check endianness g_w2_endianness = *_ptest; - // reset underside leds - red_led(0); - green_led(0); - // clear lcd clear(); diff --git a/shared/protocol.h b/shared/protocol.h index 057f67d..b997ec6 100644 --- a/shared/protocol.h +++ b/shared/protocol.h @@ -1,5 +1,6 @@ #pragma once +#include <stdbool.h> #include <stdint.h> #include <stdlib.h> @@ -48,6 +49,56 @@ 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 { + int 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; @@ -134,7 +185,7 @@ typedef struct { typedef struct { uint8_t opcode; - // TODO: sensor data + w2_s_io_all io; } w2_s_cmd_sens_tx; typedef struct { |