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-rw-r--r--source/HoverBitController.cpp89
-rw-r--r--source/HoverBitController.h68
-rw-r--r--source/Screen.cpp206
-rw-r--r--source/Screen.h73
-rw-r--r--source/main.cpp296
5 files changed, 347 insertions, 385 deletions
diff --git a/source/HoverBitController.cpp b/source/HoverBitController.cpp
index 65ebf17..301fdeb 100644
--- a/source/HoverBitController.cpp
+++ b/source/HoverBitController.cpp
@@ -22,19 +22,15 @@ 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 "HoverBitController.h"
/**
* Init method for HoverBitController, this sets everything to the default values.
* It also initializes the airbit-pcb with some protocol magic.
- *
- * @param _uBit the MicroBit instance
*/
-void HoverBitController::init(MicroBit* _uBit) {
- uBit = _uBit;
+void HoverBitController::init() {
mainController = false;
- batteryEmpty = false;
+ bBatteryEmpty = false;
batteryMilliVolt = 3700;
batteryFactor = 4.42;
@@ -44,37 +40,54 @@ void HoverBitController::init(MicroBit* _uBit) {
roll = 0;
yaw = 0;
throttle = 0;
- failSafeC = 0;
+ lastReceiveTime = uBit.systemTime();
- /* I am not completly sure what this does, but it seems to me like this is
- putting the air:bit board in some kind of "bind-mode", on the spec-sheet
- there isn't any documentation for what 20 pulses means tho... */
- (*uBit).sleep(100);
+ /* I am not completly sure what this does, according to the hover:bit guys
+ this is some magic to disable gyro-control of the lift fan. */
+ uBit.sleep(100);
int o;
for (o = 0; o < 20; o++) {
AirBit(-90, 0, 90, 0, 90, 0, 0);
- (*uBit).sleep(20);
+ uBit.sleep(20);
}
}
/**
* This is not implemented yet.
*/
-void HoverBitController::failSafe(void) {
- // throttle = 0;
- // roll = 0;
- // yaw = 0;
- // arm = 0;
- // failSafeC++;
+bool HoverBitController::failSafe(void) {
+ unsigned long deltaReceiveTime = uBit.systemTime() - lastReceiveTime;
+ if (deltaReceiveTime > FSAFE_TLIM_ARM) {
+ arm = 0;
+ AirBit(0, 0, 0, 0, 0, 0 + 45, servo_1);
+ }
+ if (deltaReceiveTime > FSAFE_TLIM_THROTTLE) {
+ throttle = 0;
+ roll = 0;
+ AirBit(0, arm, 0, 0, 0, 0 + 45, servo_1);
+ }
+ return (deltaReceiveTime > FSAFE_TLIM_THROTTLE) || (deltaReceiveTime > FSAFE_TLIM_ARM);
}
/**
* This returns the current voltage of the battery.
*/
-unsigned int HoverBitController::getBatteryVoltage() {
+unsigned int HoverBitController::GetBatteryVoltage() {
float batteryFactor = 4.42;
int batteryMilliVolt = 3700;
- return ((float)((&(*uBit).io.P0)->getAnalogValue()) * batteryFactor * 0.05) + ((float)batteryMilliVolt * 0.95);
+ return ((float)((&uBit.io.P0)->getAnalogValue()) * batteryFactor * 0.05) + ((float)batteryMilliVolt * 0.95);
+}
+
+/**
+ * Check wether battery level is too low.
+ */
+void HoverBitController::checkBattery() {
+ if (GetBatteryVoltage() < BATTERY_LOW_LIMIT - 60) {
+ bBatteryEmpty = true;
+ throttle = 0;
+ arm = 0;
+ roll = 0;
+ }
}
/**
@@ -137,14 +150,20 @@ void HoverBitController::AirBit(int Pitch,int Arm,int Roll,int Throttle,int Yaw,
buf[13] = aux1S & 255;
buf[14] = (6 << 2) | ((aux2S >> 8) & 3);
buf[15] = aux2S & 255;
- (*uBit).serial.send(buf, 16, SYNC_SPINWAIT);
+ uBit.serial.send(buf, 16, SYNC_SPINWAIT);
}
/**
* Method that sends commands with the current values for all parameters.
*/
void HoverBitController::HoverControl() {
- AirBit(0, arm, 0, throttle, roll, roll + 45, servo_1);
+ checkBattery();
+ if (BatteryEmpty()) {
+ arm = 0;
+ }
+ if (!failSafe()) {
+ AirBit(0, arm, 0, throttle, roll, roll + 45, servo_1);
+ }
}
int HoverBitController::Throttle() {
@@ -154,29 +173,27 @@ void HoverBitController::Throttle(int _throttle) {
if (_throttle > 99) { throttle = 100; }
else if (_throttle < 0) { throttle = 0; }
else { throttle = _throttle; }
+ lastReceiveTime = uBit.systemTime();
}
-int HoverBitController::Servo1() {
- return servo_1;
-}
-void HoverBitController::Servo1(int _servo1) {
- if (_servo1 > 180) { servo_1 = 180; }
- else if (_servo1 < 0) { servo_1 = 0; }
- else { servo_1 = _servo1; }
-}
-int HoverBitController::Roll() {
+int HoverBitController::Rudder() {
+ // The AirBit uses the roll parameter to control the hoverbit's rudder.
return roll;
}
-void HoverBitController::Roll(int _roll) {
- if (_roll > 90) { roll = 90; }
- else if (_roll < -90) { roll = -90; }
- else { roll = _roll; }
+void HoverBitController::Rudder(int _rudder) {
+ // The AirBit uses the roll parameter to control the hoverbit's rudder.
+ if (_rudder > 90) { roll = 90; }
+ else if (_rudder < -90) { roll = -90; }
+ else { roll = _rudder; }
+ lastReceiveTime = uBit.systemTime();
}
bool HoverBitController::Arm() {
return (arm == 1);
}
void HoverBitController::Arm(bool _arm) {
arm = (int)_arm;
+ lastReceiveTime = uBit.systemTime();
}
bool HoverBitController::BatteryEmpty() {
- return batteryEmpty;
+ checkBattery();
+ return bBatteryEmpty;
}
diff --git a/source/HoverBitController.h b/source/HoverBitController.h
deleted file mode 100644
index 4963cd1..0000000
--- a/source/HoverBitController.h
+++ /dev/null
@@ -1,68 +0,0 @@
-/*
-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.
-*/
-#ifndef HOVERBITCONTROLLER_H_
-#define HOVERBITCONTROLLER_H_
-
-#include <MicroBit.h>
-
-#define BATTERY_LOW_LIMIT 3500
-
-class HoverBitController {
- private:
- MicroBit* uBit;
-
- int buzzer;
- int servo_1;
- int arm;
- int roll;
- int pitch;
- int yaw;
- int throttle;
- int failSafeC;
-
- bool mainController;
- bool batteryEmpty;
- int batteryMilliVolt;
- float batteryFactor;
-
- public:
- void init(MicroBit* _uBit);
- void failSafe(void);
- unsigned int getBatteryVoltage(void);
- void AirBit(int Pitch,int Arm,int Roll,int Throttle,int Yaw,int Aux1,int Aux2);
- void HoverControl();
-
- int Throttle();
- void Throttle(int _throttle);
- int Servo1();
- void Servo1(int _servo1);
- int Roll();
- void Roll(int _roll);
- bool Arm();
- void Arm(bool _arm);
- bool BatteryEmpty();
-};
-
-#endif // HOVERBITCONTROLLER_H_
diff --git a/source/Screen.cpp b/source/Screen.cpp
index c778798..f961994 100644
--- a/source/Screen.cpp
+++ b/source/Screen.cpp
@@ -24,18 +24,218 @@ DEALINGS IN THE SOFTWARE.
*/
#include "Screen.h"
+DisplayMainScreenMode displayMainScreenMode = OFF;
+
/**
* Method for plotting a line, gotten from wonder-bit-source.
*/
-void plotYLine(MicroBit *uBit, int y1, int y2, int x) {
+void plotYLine(int y1, int y2, int x) {
if (y1 >= y2) {
for (int y = y2; y <= y1; y++) {
- (*uBit).display.image.setPixelValue(x, y, 255);
+ 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);
+ uBit.display.image.setPixelValue(x, y, 255);
+ }
+ }
+}
+
+/**
+ * Draw a line along the X axis
+ */
+void plotXLine(int x1, int x2, int y) {
+
+ if (x1 >= x2) {
+ for (int x = x2; x <= x1; x++) {
+ uBit.display.image.setPixelValue(x, y, 255);
+ }
+ }
+ else if (x1 < x2) {
+ for (int x = x1; x <= x2; x++) {
+ uBit.display.image.setPixelValue(x, y, 255);
+ }
+ }
+ }
+
+/**
+ * Display the dead battery icon.
+ */
+void iconBatteryDead() {
+ MicroBitImage img(strBattDead);
+ uBit.display.print(img);
+}
+
+/**
+ * Display the low battery icon.
+ */
+void iconBatteryLow() {
+ MicroBitImage img(strBattLow);
+ uBit.display.print(img);
+}
+
+/**
+ * Show a battery charging icon.
+ */
+void iconBatteryCharging() {
+ int batteryMilliVolt = controller.GetBatteryVoltage();
+ 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);
+ }
+}
+
+/**
+ * Display the appropriate battery icon based on battery voltage.
+ */
+void batteryLevelFullScreen() {
+ int batteryMilliVolt = controller.GetBatteryVoltage();
+ 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);
+}
+
+/**
+ * Get DisplayScreenMode.
+ */
+DisplayMainScreenMode HoverBitDisplay::mode() {
+ return screenMode;
+}
+
+/**
+ * Set DisplayScreenMode.
+ */
+void HoverBitDisplay::mode(DisplayMainScreenMode mode) {
+ screenMode = mode;
+}
+
+/**
+ * Go to the next HoverBitDisplay mode.
+ */
+void HoverBitDisplay::nextMode() {
+ uBit.display.clear();
+ switch (screenMode) {
+ case GRAPHS:
+ screenMode = BATTERY;
+ break;
+ case BATTERY:
+ screenMode = OFF;
+ break;
+ case OFF:
+ screenMode = GRAPHS;
+ break;
+ }
+}
+
+/**
+ * Pause the HoverBitDisplay module, this means that you are
+ * free to print what you want without this module interefering
+ */
+void HoverBitDisplay::pause() {
+ pause(true);
+}
+
+/**
+ * Turn on or off HoverBitDisplay pause.
+ */
+void HoverBitDisplay::pause(bool p) {
+ if (p) {
+ uBit.display.clear();
+ }
+ isPause = p;
+}
+
+/**
+ * Set BLE connected state, this determines if the bluetooth icon is
+ * shown on screen or not.
+ */
+void HoverBitDisplay::updateBLEState(bool connected) {
+ BLEconnected = connected;
+}
+
+/**
+ * This updates the matrix display to what should be displayed now.
+ */
+void HoverBitDisplay::update() {
+ if (isPause) { return; }
+ int batteryMilliVolt = controller.GetBatteryVoltage();
+
+ 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 if (!BLEconnected) {
+ BLENotConnected();
+ } else {
+ showGraphs();
+ }
+}
+
+/**
+ * Displays dead or low battery icon.
+ */
+void HoverBitDisplay::lowBattery() {
+ if (controller.BatteryEmpty()) {
+ iconBatteryDead();
+ } else if (controller.GetBatteryVoltage() > BATTERY_LOW_LIMIT - 50) {
+ iconBatteryLow();
+ } else {
+ iconBatteryDead();
+ }
+}
+
+/**
+ * Called by HoverBitDisplay::update when BLEConnected is false.
+ * Flashes a bluetooth symbol on screen.
+ */
+void HoverBitDisplay::BLENotConnected() {
+ if (uBit.systemTime() % 1000 > 250) {
+ MicroBitImage img(bluetoothSymbol);
+ uBit.display.print(img);
+ } else {
+ uBit.display.clear();
+ }
+}
+
+/**
+ * Show the GRAPH displayMainScreenMode
+ */
+void HoverBitDisplay::showGraphs() {
+ uBit.display.clear();
+ if (controller.Arm()) {
+ if (uBit.systemTime() % 500 > 250) {
+ uBit.display.image.setPixelValue(0, 0, 255);
+ }
+ }
+ uBit.display.image.setPixelValue(0, (100 - controller.Throttle()) / 25, 255);
+ uBit.display.image.setPixelValue((45 - controller.Rudder()) / 18, 2, 255);
+ int batteryMilliVolt = controller.GetBatteryVoltage();
+ if (batteryMilliVolt > 100) {
+ if (controller.Arm()) {
+ plotYLine(0, (((batteryMilliVolt - 3400) * 4) / 500), 4);
+ } else {
+ plotYLine(0, (((batteryMilliVolt - 3700) * 4) / 500), 4);
}
+ } else if (uBit.systemTime() % 500 > 250) {
+ uBit.display.image.setPixelValue(4, 4, 255);
}
}
diff --git a/source/Screen.h b/source/Screen.h
deleted file mode 100644
index b60ba2b..0000000
--- a/source/Screen.h
+++ /dev/null
@@ -1,73 +0,0 @@
-/*
-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.
-*/
-#ifndef SCREEN_H_
-#define SCREEN_H_
-
-#include <MicroBit.h>
-
-enum DisplayMainScreenMode { GRAPHS, BATTERY, OFF };
-
-const char* const strBattDead = "\
- 000,255,255,255,000\n\
- 255,000,255,000,255\n\
- 255,255,255,255,255\n\
- 000,255,000,255,000\n\
- 000,255,000,255,000\n";
-const char* const strBattLow = "\
- 000,000,255,000,000\n\
- 000,255,255,255,000\n\
- 000,255,000,255,000\n\
- 000,255,000,255,000\n\
- 000,255,255,255,000\n";
-static const char* const strBattLevel[] = {
- "\
- 000,000,255,000,000\n\
- 000,255,000,255,000\n\
- 000,255,000,255,000\n\
- 000,255,000,255,000\n\
- 000,255,255,255,000\n",
- "\
- 000,000,255,000,000\n\
- 000,255,000,255,000\n\
- 000,255,000,255,000\n\
- 000,255,255,255,000\n\
- 000,255,255,255,000\n",
- "\
- 000,000,255,000,000\n\
- 000,255,000,255,000\n\
- 000,255,255,255,000\n\
- 000,255,255,255,000\n\
- 000,255,255,255,000\n",
- "\
- 000,000,255,000,000\n\
- 000,255,255,255,000\n\
- 000,255,255,255,000\n\
- 000,255,255,255,000\n\
- 000,255,255,255,000\n"
-};
-
-void plotYLine(MicroBit *uBit, int y1, int y2, int x);
-
-#endif // SCREEN_H_
diff --git a/source/main.cpp b/source/main.cpp
index caf8ffe..d2848c9 100644
--- a/source/main.cpp
+++ b/source/main.cpp
@@ -27,261 +27,147 @@ DEALINGS IN THE SOFTWARE.
#include "HoverBitController.h"
#include "Screen.h"
+#define VERSION "1.0.0"
+#define BLE_UART_DELIM ":"
+
MicroBit uBit;
MicroBitUARTService *uart;
HoverBitController controller;
+HoverBitDisplay hoverBitDisplay;
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;
+ hoverBitDisplay.updateBLEState(true);
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);
- int length = msg.length();
- const char* command = msg.toCharArray();
-
- ManagedString accString("ACC:");
-
- char cCommand = command[0];
- char cChar;
- int startI = 1;
- bool bEOC = false;
- int valLength = 0;
-
- for (int i = 1; i < length; i++) {
- cChar = command[i];
-
- if (i >= length - 1) {
- bEOC = true;
- valLength = i - startI + 1;
- } else if (cChar == 'R' || cChar == 'T' || cChar == 'A' || cChar == 'S') {
- bEOC = true;
- valLength = i - startI;
- }
-
- if (bEOC) {
- /* We will just assume that we end up with a valid integer here */
- int value = atoi(msg.substring(startI, startI + valLength).toCharArray());
-
- if (cCommand == 'R') {
- controller.Roll(value);
- accString = accString + ManagedString("R") + ManagedString(controller.Roll());
- } else if (cCommand == 'T') {
- controller.Throttle(value);
- accString = accString + ManagedString("T") + ManagedString(controller.Throttle());
- } else if (cCommand == 'A') {
- controller.Arm(value == 1);
- accString = accString + ManagedString("A") + ManagedString(controller.Arm());
- } else if (cCommand == 'S') {
- controller.Servo1(value);
- accString = accString + ManagedString("S") + ManagedString(controller.Servo1());
- }
-
- cCommand = cChar;
- startI = i+1;
- bEOC = false;
- }
- }
- // @TODO: Move this to the hoverControl module, we would rather like to have that there, or in the main loop.
- // it could also be in the same clause as the batttery sending, but we might want to have it more
- // dependent on actual received values.
- uart->send(accString);
- }
-
}
void onDisconnected(MicroBitEvent) {
bConnected = 0;
+ hoverBitDisplay.updateBLEState(false);
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);
+void onDelim(MicroBitEvent) {
+ ManagedString msg = uart->readUntil(BLE_UART_DELIM);
+ uBit.display.image.setPixelValue(1, 0, 255);
+
+ int length = msg.length();
+ const char* command = msg.toCharArray();
+
+ ManagedString accString("ACC:");
+
+ char cCommand = command[0];
+ char cChar;
+ int startI = 1;
+ bool bEOC = false;
+ int valLength = 0;
+
+ for (int i = 1; i < length; i++) {
+ cChar = command[i];
+
+ if (i >= length - 1) {
+ bEOC = true;
+ valLength = i - startI + 1;
+ } else if (cChar == 'R' || // Roll
+ cChar == 'T' || // Throttle
+ cChar == 'A' || // Arm
+ cChar == 'S' || // (Servo1) Keeping this for compatability
+ cChar == 'D' // DisplayMainScreenMode
+ ) {
+ bEOC = true;
+ valLength = i - startI;
}
- }
- 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() {
- bool bDelayElapsed = (uBit.systemTime() - tmpTimer) > 1000;
- if (bDelayElapsed) { tmpTimer = uBit.systemTime(); }
- if (bDelayElapsed && bConnected) { uart->send(ManagedString("B:") + ManagedString(batteryMilliVolt)); }
-
- 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);
+ if (bEOC) {
+ /* We will just assume that we end up with a valid integer here */
+ int value = atoi(msg.substring(startI, startI + valLength).toCharArray());
+
+ if (cCommand == 'R') {
+ controller.Rudder(value);
+ accString = accString + ManagedString("R") + ManagedString(controller.Rudder());
+ } else if (cCommand == 'T') {
+ controller.Throttle(value);
+ accString = accString + ManagedString("T") + ManagedString(controller.Throttle());
+ } else if (cCommand == 'A') {
+ controller.Arm(value == 1);
+ accString = accString + ManagedString("A") + ManagedString(controller.Arm());
+ } else if (cCommand == 'D') {
+ switch (value) {
+ case 0:
+ hoverBitDisplay.mode(GRAPHS);
+ break;
+ case 1:
+ hoverBitDisplay.mode(BATTERY);
+ break;
+ case 2:
+ hoverBitDisplay.mode(OFF);
+ break;
}
+ } else {
+ // We ignore it :)
}
- 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);
+ cCommand = cChar;
+ startI = i+1;
+ bEOC = false;
}
}
+ // @TODO: Move this to the hoverControl module, we would rather like to have that there, or in the main loop.
+ // it could also be in the same clause as the batttery sending, but we might want to have it more
+ // dependent on actual received values.
+ uart->send(accString);
}
-void onButtonA_press(MicroBitEvent e) {
-}
-void onButtonB_press(MicroBitEvent e) {
+void onButtonAB_press(MicroBitEvent e) {
+ hoverBitDisplay.pause();
+ uBit.display.scroll(VERSION);
+ hoverBitDisplay.pause(false);
}
int main() {
uBit.init();
- uBit.audio.setVolume(255);
- 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);
+ /* Initialize hover:bit controller module, these timeouts are some voodo
+ magic I don't quite understand. But for the init method to function
+ as we want, there should be a relatively long delay here. */
+ uBit.sleep(3000);
+ controller.init();
// 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);
+ uBit.messageBus.listen(MICROBIT_ID_BLE_UART, MICROBIT_UART_S_EVT_DELIM_MATCH, onDelim);
+
+ uBit.messageBus.listen(MICROBIT_ID_BUTTON_AB, MICROBIT_BUTTON_EVT_CLICK, onButtonAB_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);
+ uart->eventOn(BLE_UART_DELIM);
+ uBit.audio.setVolume(20);
uBit.audio.soundExpressions.play(ManagedString("hello"));
+ hoverBitDisplay.mode(GRAPHS);
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();
- }
-
+ hoverBitDisplay.update();
controller.HoverControl();
+ if (uBit.systemTime() % 2000 > 1900) {
+ uart->send(
+ ManagedString("B:")
+ + ManagedString((int)controller.GetBatteryVoltage())
+ );
+ }
uBit.sleep(20);
+ schedule();
}
// If main exits, there may still be other fibers running or registered event handlers etc.
generated by cgit v1.2.3 (git 2.39.1) at 2025-06-27 13:02:16 +0000