From cef95354c69745f782a95d37f4b0e7bbf02e106a Mon Sep 17 00:00:00 2001
From: lonkaars <loek@pipeframe.xyz>
Date: Wed, 24 May 2023 18:03:05 +0200
Subject: uart working

---
 zumo/.gitignore          |  1 -
 zumo/pidtest.cpp         | 18 ------------------
 zumo/pidtest.mk          | 21 ---------------------
 zumo/pidtest/.gitignore  |  1 +
 zumo/pidtest/makefile    | 21 +++++++++++++++++++++
 zumo/pidtest/pidtest.cpp | 18 ++++++++++++++++++
 zumo/protocol.cpp        | 18 +++++++++++++++++-
 zumo/protocol.h          |  3 +++
 zumo/zumo.ino            |  3 ---
 9 files changed, 60 insertions(+), 44 deletions(-)
 delete mode 100644 zumo/pidtest.cpp
 delete mode 100644 zumo/pidtest.mk
 create mode 100644 zumo/pidtest/.gitignore
 create mode 100644 zumo/pidtest/makefile
 create mode 100644 zumo/pidtest/pidtest.cpp

(limited to 'zumo')

diff --git a/zumo/.gitignore b/zumo/.gitignore
index e45f7a2..5761abc 100644
--- a/zumo/.gitignore
+++ b/zumo/.gitignore
@@ -1,2 +1 @@
 *.o
-pidtest
diff --git a/zumo/pidtest.cpp b/zumo/pidtest.cpp
deleted file mode 100644
index b9ce50b..0000000
--- a/zumo/pidtest.cpp
+++ /dev/null
@@ -1,18 +0,0 @@
-#include <cstdio>
-#include <random>
-
-#include "pid.h"
-
-int main() {
-	float P, I, D;
-	P = -0.02;
-	I = 0.13;
-	D = -300;
-	PID test(P, I, D);
-	test.reset(0.0);
-
-	fprintf(stderr, "P: %.3f :: I: %.3f :: D: %.3f\n", P, I, D);
-	for (unsigned int i = 0; i < 100; i++) {
-		printf("%2.8f\n", test.iter(i < 50 ? 1.0 : 0.0));
-	}
-}
diff --git a/zumo/pidtest.mk b/zumo/pidtest.mk
deleted file mode 100644
index 5ffe1e1..0000000
--- a/zumo/pidtest.mk
+++ /dev/null
@@ -1,21 +0,0 @@
-CPP = g++
-LD = g++
-RM = rm -f
-CFLAGS =
-LFLAGS =
-TARGET = pidtest
-
-SRCS := pidtest.cpp pid.cpp
-OBJS := pidtest.o pid.o
-
-all: pidtest
-
-%.o: %.cpp
-	$(CPP) -c $(CFLAGS) $< -o $@
-
-$(TARGET): $(OBJS)
-	$(LD) $^ $(LFLAGS) -o $@
-
-clean:
-	$(RM) $(TARGET) $(OBJS)
-
diff --git a/zumo/pidtest/.gitignore b/zumo/pidtest/.gitignore
new file mode 100644
index 0000000..41dc46e
--- /dev/null
+++ b/zumo/pidtest/.gitignore
@@ -0,0 +1 @@
+pidtest
diff --git a/zumo/pidtest/makefile b/zumo/pidtest/makefile
new file mode 100644
index 0000000..832d60b
--- /dev/null
+++ b/zumo/pidtest/makefile
@@ -0,0 +1,21 @@
+CPP = g++
+LD = g++
+RM = rm -f
+CFLAGS =
+LFLAGS =
+TARGET = pidtest
+
+SRCS := pidtest.cpp ../pid.cpp
+OBJS := pidtest.o ../pid.o
+
+all: pidtest
+
+%.o: %.cpp
+	$(CPP) -c $(CFLAGS) $< -o $@
+
+$(TARGET): $(OBJS)
+	$(LD) $^ $(LFLAGS) -o $@
+
+clean:
+	$(RM) $(TARGET) $(OBJS)
+
diff --git a/zumo/pidtest/pidtest.cpp b/zumo/pidtest/pidtest.cpp
new file mode 100644
index 0000000..4d047fb
--- /dev/null
+++ b/zumo/pidtest/pidtest.cpp
@@ -0,0 +1,18 @@
+#include <cstdio>
+#include <random>
+
+#include "../pid.h"
+
+int main() {
+	float P, I, D;
+	P = -0.02;
+	I = 0.13;
+	D = -300;
+	PID test(P, I, D);
+	test.reset(0.0);
+
+	fprintf(stderr, "P: %.3f :: I: %.3f :: D: %.3f\n", P, I, D);
+	for (unsigned int i = 0; i < 100; i++) {
+		printf("%2.8f\n", test.iter(i < 50 ? 1.0 : 0.0));
+	}
+}
diff --git a/zumo/protocol.cpp b/zumo/protocol.cpp
index fea8a00..f11827c 100644
--- a/zumo/protocol.cpp
+++ b/zumo/protocol.cpp
@@ -1,4 +1,6 @@
 #include <Zumo32U4Motors.h>
+#include <Arduino.h>
+#include <Wire.h>
 
 #include "protocol.h"
 
@@ -34,6 +36,20 @@ void apply_state(dui_state_t *state) {
 	// TODO: print sign on OLED screen
 }
 
+inline bool rx() { return !digitalRead(DUI_PINOUT_NICLA_RX); }
+
 unsigned char uart_read() {
-	return 0x00;
+	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 662a5ce..9db7902 100644
--- a/zumo/protocol.h
+++ b/zumo/protocol.h
@@ -1,5 +1,8 @@
 #pragma once
 
+#define DUI_PINOUT_NICLA_TX 13
+#define DUI_PINOUT_NICLA_RX 14
+
 typedef enum {
 	DUI_CMD_NULL,
 	DUI_CMD_SIGN,
diff --git a/zumo/zumo.ino b/zumo/zumo.ino
index c65c2f9..e53513b 100644
--- a/zumo/zumo.ino
+++ b/zumo/zumo.ino
@@ -5,9 +5,6 @@
 #include "protocol.h"
 #include "pid.h"
 
-#define DUI_PINOUT_NICLA_TX 13
-#define DUI_PINOUT_NICLA_RX 14
-
 dui_state_t g_dui_target_state = {
 	.steer = 1.0f,
 	.speed = 1.0f,
-- 
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