diff options
Diffstat (limited to 'shared')
| -rw-r--r-- | shared/consts.h | 31 | ||||
| -rw-r--r-- | shared/io.h | 59 | ||||
| -rw-r--r-- | shared/modes.h | 11 | ||||
| -rw-r--r-- | shared/protocol.c | 5 | ||||
| -rw-r--r-- | shared/protocol.h | 14 | ||||
| -rw-r--r-- | shared/util.c | 7 | ||||
| -rw-r--r-- | shared/util.h | 4 |
7 files changed, 37 insertions, 94 deletions
diff --git a/shared/consts.h b/shared/consts.h index cd6dff1..9c2358f 100644 --- a/shared/consts.h +++ b/shared/consts.h @@ -4,7 +4,7 @@ #ifndef W2_BUILD_STR // is defined by CFLAGS += -DW2_BUILD_STR in makefile -#define W2_BUILD_STR ("????????") +#define W2_BUILD_STR "????????" #endif #if !defined W2_HOST_WIN32 && !defined W2_HOST_LINUX @@ -13,27 +13,38 @@ #endif /** serial baud rate (bit/s) */ -#define W2_SERIAL_BAUD (9600) +#define W2_SERIAL_BAUD 9600 /** size of input (receive) buffer (in bytes) */ -#define W2_SERIAL_READ_BUFFER_SIZE (255) +#define W2_SERIAL_READ_BUFFER_SIZE 255 /** size of the error handling buffer (in errors, not bytes) */ -#define W2_ERROR_BUFFER_SIZE (16) +#define W2_ERROR_BUFFER_SIZE 16 /** size of the serial communication buffer (in messages, not bytes) */ -#define W2_SERCOMM_BUFFER_SIZE (16) +#define W2_SERCOMM_BUFFER_SIZE 16 /** size of mode history buffer */ -#define W2_MODE_HISTORY_BUFFER_SIZE (8) +#define W2_MODE_HISTORY_BUFFER_SIZE 8 /** max logic module execution time in milliseconds */ -#define W2_MAX_MODULE_CYCLE_MS (20) +#define W2_MAX_MODULE_CYCLE_MS 20 /** exponential moving average new measurement weight (double 0-1) */ -#define W2_EMA_WEIGHT (0.10) +#define W2_EMA_WEIGHT 0.10 /** minimal time between pings */ -#define W2_PING_FREQUENCY (1e3) +#define W2_PING_FREQUENCY 1e3 /** max time between ping and answer */ -#define W2_PING_TIMEOUT (5e3) +#define W2_PING_TIMEOUT 5e3 + +/** default map width/height */ +#define W2_MAP_DEFAULT_HEIGHT 5 +#define W2_MAP_DEFAULT_WIDTH 5 + +/** distance too close schmitt trigger low threshold */ +#define W2_IO_DISTANCE_CLOSE_THRESHOLD 400 +/** distance too close schmitt trigger high threshold */ +#define W2_IO_DISTANCE_FAR_THRESHOLD 100 +/** go into emergency mode if object still present after n ms */ +#define W2_IO_DISTANCE_TOO_CLOSE_TIMEOUT 5e3 /** front-facing distance sensor pinout */ #define W2_FRONT_SENSOR_PIN 5 diff --git a/shared/io.h b/shared/io.h deleted file mode 100644 index 584ad1e..0000000 --- a/shared/io.h +++ /dev/null @@ -1,59 +0,0 @@ -#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/modes.h b/shared/modes.h index ff939ea..b58a760 100644 --- a/shared/modes.h +++ b/shared/modes.h @@ -1,6 +1,6 @@ #pragma once -#define W2_MODE_COUNT 8 +#define W2_MODE_COUNT 7 /** mode constants */ typedef enum { @@ -8,9 +8,8 @@ typedef enum { W2_M_MAZE = 0, W2_M_GRID = 1, W2_M_HALT = 2, - W2_M_LCAL = 3, - W2_M_CHRG = 4, - W2_M_DIRC = 5, - W2_M_SPIN = 6, - W2_M_SCAL = 7, + W2_M_CHRG = 3, + W2_M_DIRC = 4, + W2_M_SPIN = 5, + W2_M_SCAL = 6, } w2_e_mode; diff --git a/shared/protocol.c b/shared/protocol.c index 9be1d31..02d746a 100644 --- a/shared/protocol.c +++ b/shared/protocol.c @@ -18,8 +18,6 @@ void w2_cmd_setup_handlers() { g_w2_cmd_handlers[W2_CMD_BOMD | W2_CMDDIR_TX] = w2_cmd_bomd_tx; g_w2_cmd_handlers[W2_CMD_SRES | W2_CMDDIR_RX] = w2_cmd_sres_rx; g_w2_cmd_handlers[W2_CMD_MCFG | W2_CMDDIR_RX] = w2_cmd_mcfg_rx; - g_w2_cmd_handlers[W2_CMD_SENS | W2_CMDDIR_RX] = w2_cmd_sens_rx; - g_w2_cmd_handlers[W2_CMD_SENS | W2_CMDDIR_TX] = w2_cmd_sens_tx; g_w2_cmd_handlers[W2_CMD_INFO | W2_CMDDIR_RX] = w2_cmd_info_rx; g_w2_cmd_handlers[W2_CMD_INFO | W2_CMDDIR_TX] = w2_cmd_info_tx; g_w2_cmd_handlers[W2_CMD_DISP | W2_CMDDIR_RX] = w2_cmd_disp_rx; @@ -46,9 +44,6 @@ size_t w2_cmd_sizeof(uint8_t data[W2_SERIAL_READ_BUFFER_SIZE], uint8_t data_leng if (data[0] == (W2_CMD_SRES | W2_CMDDIR_RX)) return sizeof(w2_s_cmd_sres_rx); - if (data[0] == (W2_CMD_SENS | W2_CMDDIR_RX)) return sizeof(w2_s_cmd_sens_rx); - if (data[0] == (W2_CMD_SENS | W2_CMDDIR_TX)) return sizeof(w2_s_cmd_sens_tx); - if (data[0] == (W2_CMD_INFO | W2_CMDDIR_RX)) return sizeof(w2_s_cmd_info_rx); if (data[0] == (W2_CMD_INFO | W2_CMDDIR_TX)) return sizeof(w2_s_cmd_info_tx); diff --git a/shared/protocol.h b/shared/protocol.h index 02d5526..5e1a12b 100644 --- a/shared/protocol.h +++ b/shared/protocol.h @@ -8,7 +8,6 @@ #include "bin.h" #include "bool.h" #include "consts.h" -#include "io.h" #define W2_SERIAL_START_BYTE 0xff @@ -136,15 +135,6 @@ typedef struct { typedef struct { uint8_t opcode; -} w2_s_cmd_sens_rx; - -typedef struct { - uint8_t opcode; - w2_s_io_all io; -} w2_s_cmd_sens_tx; - -typedef struct { - uint8_t opcode; } w2_s_cmd_info_rx; typedef struct { @@ -205,10 +195,6 @@ void w2_cmd_bomd_tx(w2_s_bin *data); void w2_cmd_sres_rx(w2_s_bin *data); /** handler for mcfg_rx (on complete message) */ void w2_cmd_mcfg_rx(w2_s_bin *data); -/** handler for sens_rx (on complete message) */ -void w2_cmd_sens_rx(w2_s_bin *data); -/** handler for sens_tx (on complete message) */ -void w2_cmd_sens_tx(w2_s_bin *data); /** handler for info_rx (on complete message) */ void w2_cmd_info_rx(w2_s_bin *data); /** handler for info_tx (on complete message) */ diff --git a/shared/util.c b/shared/util.c index 68503e8..6c5bb1a 100644 --- a/shared/util.c +++ b/shared/util.c @@ -6,3 +6,10 @@ unsigned long w2_util_exp_mov_avg(unsigned long current_avg, unsigned long new_m } int w2_sign(int n) { return (n > 0) - (n < 0); } + +unsigned int w2_newline_count(char *str, unsigned int len) { + unsigned int newlines = 0; + for (unsigned int i = 0; i < len; i++) + if (str[i] == '\n') newlines++; + return newlines; +} diff --git a/shared/util.h b/shared/util.h index 230c3e4..806af3a 100644 --- a/shared/util.h +++ b/shared/util.h @@ -6,5 +6,9 @@ #define W2_MAX(a, b) (((a) > (b)) ? (a) : (b)) #define W2_RANGE(min, val, max) W2_MIN(max, W2_MAX(val, min)) +/** calculate exponential moving average */ unsigned long w2_util_exp_mov_avg(unsigned long current_avg, unsigned long new_meas); +/** return the sign of a number (-1 or 1) */ int w2_sign(int n); +/** return amount of newline characters */ +unsigned int w2_newline_count(char *str, unsigned int len); |