aboutsummaryrefslogtreecommitdiff
path: root/source/main.cpp
diff options
context:
space:
mode:
Diffstat (limited to 'source/main.cpp')
-rw-r--r--source/main.cpp269
1 files changed, 269 insertions, 0 deletions
diff --git a/source/main.cpp b/source/main.cpp
new file mode 100644
index 0000000..7687b45
--- /dev/null
+++ b/source/main.cpp
@@ -0,0 +1,269 @@
+/*
+The MIT License (MIT)
+
+Copyright (c) 2016 British Broadcasting Corporation.
+This software is provided by Lancaster University by arrangement with the BBC.
+
+Permission is hereby granted, free of charge, to any person obtaining a
+copy of this software and associated documentation files (the "Software"),
+to deal in the Software without restriction, including without limitation
+the rights to use, copy, modify, merge, publish, distribute, sublicense,
+and/or sell copies of the Software, and to permit persons to whom the
+Software is furnished to do so, subject to the following conditions:
+
+The above copyright notice and this permission notice shall be included in
+all copies or substantial portions of the Software.
+
+THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL
+THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
+FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER
+DEALINGS IN THE SOFTWARE.
+*/
+#include <MicroBit.h>
+#include "MicroBitUARTService.h"
+#include "HoverBitController.h"
+#include "Screen.h"
+
+MicroBit uBit;
+MicroBitUARTService *uart;
+HoverBitController controller;
+
+bool bConnected = false;
+
+bool batteryEmpty = false;
+bool bCapLogoIsPressed = false;
+int batteryMilliVolt = 3700;
+unsigned long tmpTimer;
+bool bBLEIndicator = false;
+
+DisplayMainScreenMode displayMainScreenMode = GRAPHS;
+
+void onConnected(MicroBitEvent) {
+ bConnected = 1;
+ uBit.audio.setVolume(255);
+ uBit.audio.soundExpressions.play(ManagedString("giggle"));
+
+ // mobile app will send ASCII strings terminated with the colon character
+ ManagedString eom(":");
+
+ while (bConnected) {
+ ManagedString msg = uart->readUntil(eom);
+ char command = msg.substring(0, 1).toCharArray()[0];
+ int value = atoi(msg.substring(1, msg.length() - 1).toCharArray());
+
+ if (command == 'R') {
+ controller.Roll(value);
+ if (displayMainScreenMode == OFF) {
+ uBit.display.scroll(controller.Roll());
+ }
+ } else if (command == 'T') {
+ controller.Throttle(value);
+ if (displayMainScreenMode == OFF) {
+ uBit.display.scroll(controller.Throttle());
+ }
+ } else if (command == 'A') {
+ controller.Arm(value == 1);
+ if (displayMainScreenMode == OFF) {
+ uBit.display.scroll(controller.Arm());
+ }
+ } else if (command == 'S') {
+ controller.Servo1(value);
+ if (displayMainScreenMode == OFF) {
+ uBit.display.scroll(controller.Servo1());
+ }
+ } else {
+ uBit.display.scroll(command);
+ }
+ }
+
+}
+
+void onDisconnected(MicroBitEvent) {
+ bConnected = 0;
+ uBit.audio.soundExpressions.play(ManagedString("sad"));
+}
+
+void iconBatteryDead() {
+ MicroBitImage img(strBattDead);
+ uBit.display.print(img);
+}
+
+void iconBatteryLow() {
+ MicroBitImage img(strBattLow);
+ uBit.display.print(img);
+}
+
+void lowBattery() {
+ if (batteryEmpty) {
+ iconBatteryDead();
+ } else if (batteryMilliVolt > BATTERY_LOW_LIMIT - 50){
+ iconBatteryLow();
+ } else {
+ iconBatteryDead();
+ }
+}
+
+void iconBatteryCharging() {
+ int low = 0;
+ int high = 3;
+ if (batteryMilliVolt >= 4200) {
+ low = 3;
+ } else if (batteryMilliVolt >= 4040) {
+ low = 2;
+ } else if (batteryMilliVolt >= 3900) {
+ low = 1;
+ }
+
+ for (int i = low; i <= high; i++) {
+ MicroBitImage img(strBattLevel[i]);
+ uBit.display.print(img);
+ uBit.sleep(400);
+ }
+}
+
+void batteryLevelFullScreen() {
+ int level = 0;
+ if (controller.Arm()) {
+ level = (((batteryMilliVolt - 3400) * 3) / 500);
+ } else {
+ level = (((batteryMilliVolt - 3700) * 3) / 500);
+ }
+ if (level < 0) { level = 0; }
+ if (level > 3) { level = 3; }
+ MicroBitImage img(strBattLevel[level]);
+ uBit.display.print(img);
+}
+
+void plotYLine(int y1, int y2, int x) {
+ /**
+ * Draw a line along the Y axis. y1: first pixel, y2: last pixel
+ */
+
+ if (y1 >= y2) {
+ for (int y = y2; y <= y1; y++) {
+ uBit.display.image.setPixelValue(x, y, 255);
+ }
+ }
+ else if (y1 < y2) {
+ for (int y = y1; y <= y2; y++) {
+ uBit.display.image.setPixelValue(x, y, 255);
+ }
+ }
+}
+
+void nextMainScreenDisplayMode() {
+ uBit.display.clear();
+ switch (displayMainScreenMode) {
+ case GRAPHS:
+ displayMainScreenMode = BATTERY;
+ break;
+ case BATTERY:
+ displayMainScreenMode = OFF;
+ break;
+ case OFF:
+ displayMainScreenMode = GRAPHS;
+ break;
+ }
+}
+
+void mainScreen() {
+ // uBit.display.clear();
+ bool bDelayElapsed = (uBit.systemTime() - tmpTimer) > 1000;
+ if (bDelayElapsed) { tmpTimer = uBit.systemTime(); }
+
+ switch (displayMainScreenMode) {
+ case OFF:
+ break;
+ case BATTERY:
+ uBit.display.clear();
+ batteryLevelFullScreen();
+ break;
+ case GRAPHS:
+ default:
+ uBit.display.clear();
+ if (batteryMilliVolt > 100) {
+ if (controller.Arm()) {
+ plotYLine(0, (((batteryMilliVolt - 3400) * 4) / 500), 4);
+ } else {
+ plotYLine(0, (((batteryMilliVolt - 3700) * 4) / 500), 4);
+ }
+ }
+ break;
+ }
+
+ if (bConnected) {
+ uBit.display.image.setPixelValue(0, 0, 255);
+ } else {
+ if (bDelayElapsed) { bBLEIndicator = !bBLEIndicator; }
+ if (bBLEIndicator) {
+ uBit.display.image.setPixelValue(0, 0, 0);
+ } else {
+ uBit.display.image.setPixelValue(0, 0, 255);
+ }
+ }
+}
+
+void onButtonA_press(MicroBitEvent e) {
+ controller.Roll(controller.Roll() + 3);
+}
+void onButtonB_press(MicroBitEvent e) {
+ controller.Roll(controller.Roll() - 3);
+}
+
+int main() {
+ uBit.init();
+ tmpTimer = uBit.systemTime();
+
+ // Setup serial for Spektsat communication with air:bit board
+ uBit.serial.setBaud(115200);
+ uBit.serial.redirect(uBit.io.P1, uBit.io.P2);
+
+ /* Initialize hover:bit controller module
+ * the init procedure have to be run within 100ms after air:bit power up */
+ controller.init(&uBit);
+
+ // Setup listeners
+ uBit.messageBus.listen(MICROBIT_ID_BLE, MICROBIT_BLE_EVT_CONNECTED, onConnected);
+ uBit.messageBus.listen(MICROBIT_ID_BLE, MICROBIT_BLE_EVT_DISCONNECTED, onDisconnected);
+ uBit.messageBus.listen(MICROBIT_ID_BUTTON_A, MICROBIT_BUTTON_EVT_CLICK, onButtonA_press);
+ uBit.messageBus.listen(MICROBIT_ID_BUTTON_B, MICROBIT_BUTTON_EVT_CLICK, onButtonB_press);
+
+ // uartService
+ // Note GATT table size increased from default in MicroBitConfig.h
+ // #define MICROBIT_SD_GATT_TABLE_SIZE 0x500
+ uart = new MicroBitUARTService(*uBit.ble, 32, 32);
+
+ uBit.audio.soundExpressions.play(ManagedString("hello"));
+
+ while (1) {
+ batteryMilliVolt = controller.getBatteryVoltage();
+
+ if (uBit.logo.isPressed()) {
+ if (!bCapLogoIsPressed) {
+ bCapLogoIsPressed = true;
+ nextMainScreenDisplayMode();
+ }
+ } else if (bCapLogoIsPressed ){
+ bCapLogoIsPressed = false;
+ }
+
+ if ((((&uBit.io.P0)->getAnalogValue()) < 600) && (((&uBit.io.P0)->getAnalogValue()) >= 400)) {
+ iconBatteryCharging();
+ } else if (controller.BatteryEmpty() || (batteryMilliVolt < BATTERY_LOW_LIMIT && (&uBit.io.P0)->getAnalogValue() > 300)) {
+ lowBattery();
+ } else {
+ mainScreen();
+ }
+
+ controller.HoverControl();
+ uBit.sleep(20);
+ }
+
+ // If main exits, there may still be other fibers running or registered event handlers etc.
+ // Simply release this fiber, which will mean we enter the scheduler. Worse case, we then
+ // sit in the idle task forever, in a power efficient sleep.
+ release_fiber();
+}
generated by cgit v1.2.3 (git 2.39.1) at 2025-06-27 17:13:30 +0000