From be84308e01ecc9e8de2997ab030420b401e06596 Mon Sep 17 00:00:00 2001 From: lonkaars Date: Mon, 9 May 2022 14:58:59 +0200 Subject: added boilerplate source and header files --- .clang-format | 4 +++- robot/calibration.c | 1 + robot/calibration.h | 9 +++++++++ robot/consts.h | 33 +++++++++++++++++++++++++++++++++ robot/errcatch.c | 3 +++ robot/errcatch.h | 4 ++++ robot/grid.c | 1 + robot/grid.h | 8 ++++++++ robot/halt.c | 1 + robot/halt.h | 8 ++++++++ robot/hypervisor.c | 16 ++++++++++++++++ robot/hypervisor.h | 8 ++++++++ robot/io.c | 3 +++ robot/io.h | 4 ++++ robot/main.c | 34 ++++++---------------------------- robot/main.h | 4 ++++ robot/makefile | 2 +- robot/maze.c | 1 + robot/maze.h | 8 ++++++++ robot/modes.c | 3 +++ robot/modes.h | 10 ++++++++++ robot/readme.md | 10 +++++----- robot/sercomm.c | 3 +++ robot/sercomm.h | 9 +++++++++ robot/setup.c | 11 +++++++++++ robot/setup.h | 12 ++++++++++++ 26 files changed, 175 insertions(+), 35 deletions(-) create mode 100644 robot/calibration.c create mode 100644 robot/calibration.h create mode 100644 robot/consts.h create mode 100644 robot/errcatch.c create mode 100644 robot/errcatch.h create mode 100644 robot/grid.c create mode 100644 robot/grid.h create mode 100644 robot/halt.c create mode 100644 robot/halt.h create mode 100644 robot/hypervisor.c create mode 100644 robot/hypervisor.h create mode 100644 robot/io.c create mode 100644 robot/io.h create mode 100644 robot/main.h create mode 100644 robot/maze.c create mode 100644 robot/maze.h create mode 100644 robot/modes.c create mode 100644 robot/modes.h create mode 100644 robot/sercomm.c create mode 100644 robot/sercomm.h create mode 100644 robot/setup.c create mode 100644 robot/setup.h diff --git a/.clang-format b/.clang-format index c7d6b0a..77e33d7 100644 --- a/.clang-format +++ b/.clang-format @@ -1,14 +1,16 @@ --- AccessModifierOffset: 0 +AlignConsecutiveAssignments: true +AllowShortLoopsOnASingleLine: true BasedOnStyle: LLVM BreakBeforeBraces: Attach ColumnLimit: 100 +IndentCaseLabels: true IndentWidth: '4' Language: Cpp Standard: Cpp11 TabWidth: '4' UseTab: Always -IndentCaseLabels: true ... # vim: ft=yaml diff --git a/robot/calibration.c b/robot/calibration.c new file mode 100644 index 0000000..7788532 --- /dev/null +++ b/robot/calibration.c @@ -0,0 +1 @@ +#include "calibration.h" diff --git a/robot/calibration.h b/robot/calibration.h new file mode 100644 index 0000000..13b80b9 --- /dev/null +++ b/robot/calibration.h @@ -0,0 +1,9 @@ +#pragma once + +/** + * calibration mode + * + * turns robot on its own axis 360 degress, and aligns the front sensors with + * the line if found, else triggers halt mode (emergency) + */ +void w2_mode_calb_main(); diff --git a/robot/consts.h b/robot/consts.h new file mode 100644 index 0000000..6530528 --- /dev/null +++ b/robot/consts.h @@ -0,0 +1,33 @@ +#pragma once + +#ifndef BUILD_STR +// should be defined with -DBUILD_STR in makefile +#define BUILD_STR ("????????") +#endif + +#define W2_MAX_MODULE_CYCLE_MS (20) +#define W2_SERIAL_BAUD (9600) + +#define W2_ERR_TYPE_CRIT (0b00 << 6) +#define W2_ERR_TYPE_WARN (0b01 << 6) +#define W2_ERR_TYPE_INFO (0b10 << 6) +#define W2_ERR_TYPE_VERB (0b11 << 6) + +/** + * enum storing all error codes + * + * error codes are between 0-63 because the two most significant bits are + * reserved for error type checking + */ +enum w2_e_errorcodes { + // critical error codes + W2_ERR_CONN_LOST = 0x00 | W2_ERR_TYPE_CRIT, + W2_ERR_COM_UNAVAILABLE = 0x01 | W2_ERR_TYPE_CRIT, // client-only + W2_ERR_LINE_LOST = 0x02 | W2_ERR_TYPE_CRIT, + W2_ERR_OBSTACLE_STUCK = 0x03 | W2_ERR_TYPE_CRIT, + + // warnings + W2_ERR_BATTERY_LOW = 0x00 | W2_ERR_TYPE_WARN, + W2_ERR_OBSTACLE_DETECTED = 0x01 | W2_ERR_TYPE_WARN, + W2_ERR_CYCLE_EXPIRED = 0x02 | W2_ERR_TYPE_WARN, +}; diff --git a/robot/errcatch.c b/robot/errcatch.c new file mode 100644 index 0000000..5d2b33f --- /dev/null +++ b/robot/errcatch.c @@ -0,0 +1,3 @@ +#include "errcatch.h" + +void w2_errcatch_main() {} diff --git a/robot/errcatch.h b/robot/errcatch.h new file mode 100644 index 0000000..c816051 --- /dev/null +++ b/robot/errcatch.h @@ -0,0 +1,4 @@ +#pragma once + +/** error-handler module main */ +void w2_errcatch_main(); diff --git a/robot/grid.c b/robot/grid.c new file mode 100644 index 0000000..0c83272 --- /dev/null +++ b/robot/grid.c @@ -0,0 +1 @@ +#include "grid.h" diff --git a/robot/grid.h b/robot/grid.h new file mode 100644 index 0000000..3fd54d9 --- /dev/null +++ b/robot/grid.h @@ -0,0 +1,8 @@ +#pragma once + +/** + * warehouse mode + * + * processes orders from the order buffer + */ +void w2_mode_grid_main(); diff --git a/robot/halt.c b/robot/halt.c new file mode 100644 index 0000000..6bf1cad --- /dev/null +++ b/robot/halt.c @@ -0,0 +1 @@ +#include "halt.h" diff --git a/robot/halt.h b/robot/halt.h new file mode 100644 index 0000000..e88bde4 --- /dev/null +++ b/robot/halt.h @@ -0,0 +1,8 @@ +#pragma once + +/** + * halt (emergency) mode + * + * stops all execution until emergency status is manually cleared by the user + */ +void w2_mode_halt_main(); diff --git a/robot/hypervisor.c b/robot/hypervisor.c new file mode 100644 index 0000000..db0700d --- /dev/null +++ b/robot/hypervisor.c @@ -0,0 +1,16 @@ +#include "hypervisor.h" +#include "errcatch.h" +#include "io.h" +#include "modes.h" +#include "sercomm.h" + +void w2_hypervisor_main() { + w2_sercomm_main(); + w2_errcatch_main(); + w2_io_main(); + + // start timer + w2_modes_main(); + // stop timer + // throw error if cycle expired +} diff --git a/robot/hypervisor.h b/robot/hypervisor.h new file mode 100644 index 0000000..0e73259 --- /dev/null +++ b/robot/hypervisor.h @@ -0,0 +1,8 @@ +#pragma once + +/** + * backbone of all other modules + * + * stores global variables and controls when other modules run + */ +void w2_hypervisor_main(); diff --git a/robot/io.c b/robot/io.c new file mode 100644 index 0000000..4a85458 --- /dev/null +++ b/robot/io.c @@ -0,0 +1,3 @@ +#include "io.h" + +void w2_io_main() {} diff --git a/robot/io.h b/robot/io.h new file mode 100644 index 0000000..14fe0af --- /dev/null +++ b/robot/io.h @@ -0,0 +1,4 @@ +#pragma once + +/** i/o module main */ +void w2_io_main(); diff --git a/robot/main.c b/robot/main.c index 21d0e5c..fbfd38b 100644 --- a/robot/main.c +++ b/robot/main.c @@ -1,34 +1,12 @@ -#include -#include +#include "main.h" +#include "hypervisor.h" +#include "setup.h" int main() { - play("L50 c>c"); - serial_set_baud_rate(9600); + w2_setup_main(); - char *buf = malloc(20); - unsigned int counter = 0; - - while (1) { - serial_receive_blocking(buf, 1, 65e3); - - switch (buf[0]) { - case 0x7f: { - counter--; - lcd_goto_xy(counter, 0); - print(" "); - lcd_goto_xy(counter, 0); - break; - } - default: { - print(&buf[0]); - counter++; - if (counter > 20) { - counter = 0; - lcd_goto_xy(0, 0); - } - } - } - } + for (;;) w2_hypervisor_main(); + // satisfy compiler return 0; } diff --git a/robot/main.h b/robot/main.h new file mode 100644 index 0000000..5b0a1b2 --- /dev/null +++ b/robot/main.h @@ -0,0 +1,4 @@ +#pragma once + +/** program entrypoint */ +int main(); diff --git a/robot/makefile b/robot/makefile index d01ad30..e4366d8 100644 --- a/robot/makefile +++ b/robot/makefile @@ -8,7 +8,7 @@ AVRDUDE_DEVICE ?= m168 CFLAGS=-g -Wall -mcall-prologues -mmcu=$(MCU) $(DEVICE_SPECIFIC_CFLAGS) -Os LDFLAGS=-Wl,-gc-sections -lpololu_$(DEVICE) -Wl,-relax -PORT ?= /dev/ttyACM1 +PORT ?= /dev/ttyACM0 SOURCES := $(wildcard *.c) HEADERS := $(wildcard *.h) diff --git a/robot/maze.c b/robot/maze.c new file mode 100644 index 0000000..a27414f --- /dev/null +++ b/robot/maze.c @@ -0,0 +1 @@ +#include "maze.h" diff --git a/robot/maze.h b/robot/maze.h new file mode 100644 index 0000000..640bf9c --- /dev/null +++ b/robot/maze.h @@ -0,0 +1,8 @@ +#pragma once + +/** + * maze mode + * + * finds route out of maze + */ +void w2_mode_maze_main(); diff --git a/robot/modes.c b/robot/modes.c new file mode 100644 index 0000000..c5b979c --- /dev/null +++ b/robot/modes.c @@ -0,0 +1,3 @@ +#include "modes.h" + +void w2_modes_main() {} diff --git a/robot/modes.h b/robot/modes.h new file mode 100644 index 0000000..dd34690 --- /dev/null +++ b/robot/modes.h @@ -0,0 +1,10 @@ +#pragma once + +extern void (*g_w2_current_mode)(); + +/** + * mode logic + * + * executes mode in g_w2_current_mode + */ +void w2_modes_main(); diff --git a/robot/readme.md b/robot/readme.md index 03c842b..998c8b1 100644 --- a/robot/readme.md +++ b/robot/readme.md @@ -28,10 +28,10 @@ majority of the control logic. ``` ┌──────────────────────────────────────────────────────────────────────┐ │ "Hypervisor" │ -└────────┬───────────────────┬──────────────────┬───────────────┬──────┘ -┌────────┴─────────┐┌────────┴───────┐┌─────────┴────────┐┌─────┴──────┐ -│ PC communication ││ Error handling ││ I/O Read & Write ││ Mode logic │ -└──────────────────┘└────────────────┘└──────────────────┘└─────┬──────┘ +└────────┬──────────────────┬──────────────────┬────────────────┬──────┘ +┌────────┴───────┐┌─────────┴────────┐┌────────┴─────────┐┌─────┴──────┐ +│ Error handling ││ I/O Read & Write ││ PC communication ││ Mode logic │ +└────────────────┘└──────────────────┘└──────────────────┘└─────┬──────┘ ┌──────────┬──────────────┬───────────────┤ ┌───┴──┐┌──────┴────┐┌────────┴───────┐┌──────┴──────┐ *modes* -> │ Maze ││ Warehouse ││ Emergency stop ││ Calibration │ @@ -84,6 +84,6 @@ this list will probably get updated from time to time: 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. -- constants should be placed in `consts.h` +- general constants should be placed in `consts.h` - run `make format` as a seperate commit in case of breaking changes diff --git a/robot/sercomm.c b/robot/sercomm.c new file mode 100644 index 0000000..a0eed3a --- /dev/null +++ b/robot/sercomm.c @@ -0,0 +1,3 @@ +#include "sercomm.h" + +void w2_sercomm_main() {} diff --git a/robot/sercomm.h b/robot/sercomm.h new file mode 100644 index 0000000..58c79b9 --- /dev/null +++ b/robot/sercomm.h @@ -0,0 +1,9 @@ +#pragma once + +/** + * serial pc-robot communication module + * + * - reads and parses incoming serial data + * - sends all data in the message buffer + */ +void w2_sercomm_main(); diff --git a/robot/setup.c b/robot/setup.c new file mode 100644 index 0000000..0652911 --- /dev/null +++ b/robot/setup.c @@ -0,0 +1,11 @@ +#include + +#include "consts.h" +#include "setup.h" + +void w2_setup_main() { + serial_set_baud_rate(W2_SERIAL_BAUD); + + // indicate startup done + play("L50 c>c"); +} diff --git a/robot/setup.h b/robot/setup.h new file mode 100644 index 0000000..9d94326 --- /dev/null +++ b/robot/setup.h @@ -0,0 +1,12 @@ +#pragma once + +/** + * runs once at startup, plays beep when setup finishes + * + * configures: + * - serial connection (wixel) + * - timer0 for cycle duration measurement + * - lcd display + * - underside leds + */ +void w2_setup_main(); -- cgit v1.2.3