diff options
Diffstat (limited to 'robot')
| -rw-r--r-- | robot/errcatch.c | 2 | ||||
| -rw-r--r-- | robot/hypervisor.h | 3 | ||||
| -rw-r--r-- | robot/io.c | 34 | ||||
| -rw-r--r-- | robot/io.h | 6 | ||||
| -rw-r--r-- | robot/sercomm.c | 15 |
5 files changed, 47 insertions, 13 deletions
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; @@ -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; } @@ -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); |