fix protocol implementation

7 files changed, 113 insertions, 48 deletions

diff --git a/zumo/control.cpp b/zumo/control.cpp
new file mode 100644
index 0000000..263c145
--- /dev/null
+++ b/zumo/control.cpp
@@ -0,0 +1,37 @@
+#include <Zumo32U4Motors.h>
+#include <Arduino.h>
+#include <Wire.h>
+
+#include "protocol.h"
+
+#define DUI_SPEED_MOD 96.0f
+#define DUI_MOTOR_DIFF 0.6f
+
+void apply_state(dui_state_t *state) {
+	float motor_l = 0.5f * state->speed * (+1.f * state->steer * DUI_MOTOR_DIFF - DUI_MOTOR_DIFF + 2) * state->speed_mod * DUI_SPEED_MOD;
+	float motor_r = 0.5f * state->speed * (-1.f * state->steer * DUI_MOTOR_DIFF - DUI_MOTOR_DIFF + 2) * state->speed_mod * DUI_SPEED_MOD;
+
+	Zumo32U4Motors::setLeftSpeed((int16_t) motor_l);
+	Zumo32U4Motors::setRightSpeed((int16_t) motor_r);
+
+	// TODO: print sign on OLED screen
+}
+
+inline bool rx() { return !digitalRead(DUI_PINOUT_NICLA_RX); }
+
+unsigned char uart_read() {
+	if (rx() == true) return 0x00; // return immediately if line is idle
+
+	delayMicroseconds(1500); // wait out start bit
+
+	unsigned char byte = 0x00;
+	for (unsigned int i = 0; i < 8; i++) {
+		byte = (byte << 1) | rx();
+		delayMicroseconds(1000);
+	}
+
+	delayMicroseconds(1000); // wait out stop bit
+
+	return byte;
+}
+
diff --git a/zumo/control.h b/zumo/control.h
new file mode 100644
index 0000000..12ecbd7
--- /dev/null
+++ b/zumo/control.h
@@ -0,0 +1,12 @@
+#pragma once
+
+#include "protocol.h"
+
+#define DUI_PINOUT_NICLA_TX 13
+#define DUI_PINOUT_NICLA_RX 14
+
+/** @brief non blocking read byte */
+unsigned char uart_read();
+/** @brief apply state to motors */
+void apply_state(dui_state_t* state);
+
diff --git a/zumo/protocol.cpp b/zumo/protocol.cpp
index f11827c..ab8397a 100644
--- a/zumo/protocol.cpp
+++ b/zumo/protocol.cpp
@@ -1,55 +1,21 @@
-#include <Zumo32U4Motors.h>
-#include <Arduino.h>
-#include <Wire.h>
-
 #include "protocol.h"
 
-#define DUI_SPEED_MOD 96.0f
-#define DUI_MOTOR_DIFF 0.6f
-
 #define DUI_CMD_NULL 0x00
 #define DUI_CMD_SIGN_START 0x01
 #define DUI_CMD_SIGN_END 0x0f
-#define DUI_CMD_STEER_START 0x10
-#define DUI_CMD_STEER_END 0x1f
-#define DUI_CMD_SPEED_START 0x20
-#define DUI_CMD_SPEED_END 0xff
+#define DUI_CMD_SPEED_START 0x10
+#define DUI_CMD_SPEED_END 0x1f
+#define DUI_CMD_STEER_START 0x20
+#define DUI_CMD_STEER_END 0xff
 
 void handle_cmd(unsigned char cmd, dui_state_t *state) {
 	if (cmd == DUI_CMD_NULL) return;
 	else if (DUI_CMD_SIGN_START <= cmd && cmd <= DUI_CMD_SIGN_END) {
 		state->current_sign = (dui_e_sign) (cmd - DUI_CMD_SIGN_START);
-	} else if (DUI_CMD_STEER_START <= cmd && cmd <= DUI_CMD_STEER_END) {
-		state->steer = (float) (cmd - DUI_CMD_STEER_START) / (float) (DUI_CMD_STEER_END - DUI_CMD_STEER_START);
 	} else if (DUI_CMD_SPEED_START <= cmd && cmd <= DUI_CMD_SPEED_END) {
-		state->speed = ((float) (cmd - DUI_CMD_SPEED_START) / (float) (DUI_CMD_SPEED_START - DUI_CMD_SPEED_END) * (float) 2 - (float) 1);
+		state->speed = (float) (cmd - DUI_CMD_SPEED_START) / (float) (DUI_CMD_SPEED_END - DUI_CMD_SPEED_START);
+	} else if (DUI_CMD_STEER_START <= cmd && cmd <= DUI_CMD_STEER_END) {
+		state->steer = (float) (cmd - DUI_CMD_STEER_START) / (float) (DUI_CMD_STEER_END - DUI_CMD_STEER_START) * (float) 2 - (float) 1;
 	}
 }
 
-void apply_state(dui_state_t *state) {
-	float motor_l = 0.5f * state->speed * (+1.f * state->steer * DUI_MOTOR_DIFF - DUI_MOTOR_DIFF + 2) * state->speed_mod * DUI_SPEED_MOD;
-	float motor_r = 0.5f * state->speed * (-1.f * state->steer * DUI_MOTOR_DIFF - DUI_MOTOR_DIFF + 2) * state->speed_mod * DUI_SPEED_MOD;
-
-	Zumo32U4Motors::setLeftSpeed((int16_t) motor_l);
-	Zumo32U4Motors::setRightSpeed((int16_t) motor_r);
-
-	// TODO: print sign on OLED screen
-}
-
-inline bool rx() { return !digitalRead(DUI_PINOUT_NICLA_RX); }
-
-unsigned char uart_read() {
-	if (rx() == true) return 0x00; // return immediately if line is idle
-
-	delayMicroseconds(1500); // wait out start bit
-
-	unsigned char byte = 0x00;
-	for (unsigned int i = 0; i < 8; i++) {
-		byte = (byte << 1) | rx();
-		delayMicroseconds(1000);
-	}
-
-	delayMicroseconds(1000); // wait out stop bit
-
-	return byte;
-}
diff --git a/zumo/protocol.h b/zumo/protocol.h
index 9db7902..a1f9951 100644
--- a/zumo/protocol.h
+++ b/zumo/protocol.h
@@ -1,8 +1,5 @@
 #pragma once
 
-#define DUI_PINOUT_NICLA_TX 13
-#define DUI_PINOUT_NICLA_RX 14
-
 typedef enum {
 	DUI_CMD_NULL,
 	DUI_CMD_SIGN,
@@ -29,10 +26,6 @@ typedef struct {
 	float speed_mod; /** @brief global speed multiplier */
 } dui_state_t;
 
-/** @brief non blocking read byte */
-unsigned char uart_read();
 /** @brief read and apply cmd to state */
 void handle_cmd(unsigned char cmd, dui_state_t *state);
-/** @brief apply state to motors */
-void apply_state(dui_state_t* state);
 
diff --git a/zumo/protocoltest/.gitignore b/zumo/protocoltest/.gitignore
new file mode 100644
index 0000000..fb5d35f
--- /dev/null
+++ b/zumo/protocoltest/.gitignore
@@ -0,0 +1 @@
+protocoltest
diff --git a/zumo/protocoltest/makefile b/zumo/protocoltest/makefile
new file mode 100644
index 0000000..7a69352
--- /dev/null
+++ b/zumo/protocoltest/makefile
@@ -0,0 +1,21 @@
+CPP = g++
+LD = g++
+RM = rm -f
+CFLAGS =
+LFLAGS =
+TARGET = protocoltest
+
+SRCS := $(TARGET).cpp ../protocol.cpp
+OBJS := $(TARGET).o ../protocol.o
+
+all: $(TARGET)
+
+%.o: %.cpp
+	$(CPP) -c $(CFLAGS) $< -o $@
+
+$(TARGET): $(OBJS)
+	$(LD) $^ $(LFLAGS) -o $@
+
+clean:
+	$(RM) $(TARGET) $(OBJS)
+
diff --git a/zumo/protocoltest/protocoltest.cpp b/zumo/protocoltest/protocoltest.cpp
new file mode 100644
index 0000000..461221e
--- /dev/null
+++ b/zumo/protocoltest/protocoltest.cpp
@@ -0,0 +1,35 @@
+#include <cstdio>
+#include <random>
+
+#include "../protocol.h"
+
+void print_state(dui_state_t* s) {
+	printf("{ steer = %1.3f\n  speed = %1.3f }\n", s->steer, s->speed);
+}
+
+void test_case(unsigned char cmd, dui_state_t* s) {
+	printf("\ncmd in = 0x%02x\n", cmd);
+	handle_cmd(cmd, s);
+	print_state(s);
+}
+
+int main() {
+	dui_state_t state = {
+		.steer = 0.f,
+		.speed = 1.f,
+		.current_sign = DUI_SIGN_NONE,
+		.speed_mod = 1.f,
+	};
+
+	test_case(0x00, &state);
+	test_case(0x01, &state);
+	test_case(0x02, &state);
+	test_case(0x10, &state);
+	test_case(0x15, &state);
+	test_case(0x1f, &state);
+	test_case(0x20, &state);
+	test_case(0x25, &state);
+	test_case(0x2f, &state);
+	test_case(0x88, &state);
+	test_case(0xff, &state);
+}