From 31c0ec6191af1a9d8f491876942a404d4f85468a Mon Sep 17 00:00:00 2001 From: Jakob Stendahl Date: Wed, 24 Feb 2021 11:45:14 +0100 Subject: :truck: Move header files to inc folder --- inc/HoverBitController.h | 75 ++++++++++++++++++++++++++++++++++++++++++++++++ inc/Screen.h | 73 ++++++++++++++++++++++++++++++++++++++++++++++ 2 files changed, 148 insertions(+) create mode 100644 inc/HoverBitController.h create mode 100644 inc/Screen.h (limited to 'inc') diff --git a/inc/HoverBitController.h b/inc/HoverBitController.h new file mode 100644 index 0000000..0c2960a --- /dev/null +++ b/inc/HoverBitController.h @@ -0,0 +1,75 @@ +/* +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 + +#define BATTERY_LOW_LIMIT 3500 +#define FSAFE_TLIM_THROTTLE 1000 // When to cut the throttle +#define FSAFE_TLIM_ARM 5000 // When to disarm + +/** + * This class can be used to interface with a AirBit card for controlling a HOVER:BIT kit. + * + * A lot of the features of the airbit is ignored here and made easy to understand if all + * you want to do is use it for a hoverbit. + */ +class HoverBitController { + private: + MicroBit* uBit; + + int buzzer; + int servo_1; + int arm; + int roll; + int pitch; + int yaw; + int throttle; + unsigned long lastReceiveTime; + + bool mainController; + bool batteryEmpty; + int batteryMilliVolt; + float batteryFactor; + + bool failSafe(void); + void AirBit(int Pitch,int Arm,int Roll,int Throttle,int Yaw,int Aux1,int Aux2); + + public: + void init(MicroBit* _uBit); + unsigned int GetBatteryVoltage(void); + void HoverControl(); + + int Throttle(); + void Throttle(int _throttle); + int Rudder(); + void Rudder(int _rudder); + bool Arm(); + void Arm(bool _arm); + bool BatteryEmpty(); +}; + +#endif // HOVERBITCONTROLLER_H_ diff --git a/inc/Screen.h b/inc/Screen.h new file mode 100644 index 0000000..b60ba2b --- /dev/null +++ b/inc/Screen.h @@ -0,0 +1,73 @@ +/* +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 + +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_ -- cgit v1.2.3 From 93562d1954b07c1a24a06347152d691d9c1ea35a Mon Sep 17 00:00:00 2001 From: Jakob Stendahl Date: Wed, 24 Feb 2021 13:00:16 +0100 Subject: :lipstick: Make bluetooth symbol flash when not connected --- inc/Screen.h | 6 ++++++ source/main.cpp | 20 +++++++++++++++++++- 2 files changed, 25 insertions(+), 1 deletion(-) (limited to 'inc') diff --git a/inc/Screen.h b/inc/Screen.h index b60ba2b..e141a86 100644 --- a/inc/Screen.h +++ b/inc/Screen.h @@ -67,6 +67,12 @@ static const char* const strBattLevel[] = { 000,255,255,255,000\n\ 000,255,255,255,000\n" }; +const char* const bluetoothSymbol = "\ + 000,000,255,255,000\n\ + 255,000,255,000,255\n\ + 000,255,255,255,000\n\ + 255,000,255,000,255\n\ + 000,000,255,255,000\n"; void plotYLine(MicroBit *uBit, int y1, int y2, int x); diff --git a/source/main.cpp b/source/main.cpp index 815d560..27481a9 100644 --- a/source/main.cpp +++ b/source/main.cpp @@ -193,7 +193,25 @@ void mainScreen() { bool bDelayElapsed = (uBit.systemTime() - tmpTimer) > 1000; if (bDelayElapsed) { tmpTimer = uBit.systemTime(); } - if (bDelayElapsed && bConnected) { uart->send(ManagedString("B:") + ManagedString(batteryMilliVolt)); } + if (bConnected) { + if (bDelayElapsed) { + uart->send(ManagedString("B:") + ManagedString(batteryMilliVolt)); + } + } else { + if (bDelayElapsed) { + bBLEIndicator = !bBLEIndicator; + uBit.display.clear(); + if (bBLEIndicator) { + MicroBitImage img(bluetoothSymbol); + uBit.display.print(img); + } else { + // Need to actually see this to know if I want to flash only + // blank screen or with battery. + //batteryLevelFullScreen(); + } + } + return; + } switch (displayMainScreenMode) { case OFF: -- cgit v1.2.3 From 7989505bf43c6dd0ea846f075337261f52e7bd5f Mon Sep 17 00:00:00 2001 From: Jakob Stendahl Date: Wed, 24 Feb 2021 13:37:24 +0100 Subject: :art: Use extern MicroBit instead of sending pointer to classes --- inc/HoverBitController.h | 6 +++--- source/HoverBitController.cpp | 21 ++++++++++----------- source/main.cpp | 2 +- 3 files changed, 14 insertions(+), 15 deletions(-) (limited to 'inc') diff --git a/inc/HoverBitController.h b/inc/HoverBitController.h index 0c2960a..80ad173 100644 --- a/inc/HoverBitController.h +++ b/inc/HoverBitController.h @@ -31,6 +31,8 @@ DEALINGS IN THE SOFTWARE. #define FSAFE_TLIM_THROTTLE 1000 // When to cut the throttle #define FSAFE_TLIM_ARM 5000 // When to disarm +extern MicroBit uBit; + /** * This class can be used to interface with a AirBit card for controlling a HOVER:BIT kit. * @@ -39,8 +41,6 @@ DEALINGS IN THE SOFTWARE. */ class HoverBitController { private: - MicroBit* uBit; - int buzzer; int servo_1; int arm; @@ -59,7 +59,7 @@ class HoverBitController { void AirBit(int Pitch,int Arm,int Roll,int Throttle,int Yaw,int Aux1,int Aux2); public: - void init(MicroBit* _uBit); + void init(); unsigned int GetBatteryVoltage(void); void HoverControl(); diff --git a/source/HoverBitController.cpp b/source/HoverBitController.cpp index fc4c51b..2e908c3 100644 --- a/source/HoverBitController.cpp +++ b/source/HoverBitController.cpp @@ -31,8 +31,7 @@ DEALINGS IN THE SOFTWARE. * * @param _uBit the MicroBit instance */ -void HoverBitController::init(MicroBit* _uBit) { - uBit = _uBit; +void HoverBitController::init() { mainController = false; batteryEmpty = false; batteryMilliVolt = 3700; @@ -44,16 +43,16 @@ void HoverBitController::init(MicroBit* _uBit) { roll = 0; yaw = 0; throttle = 0; - lastReceiveTime = uBit->systemTime(); + 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); + 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); } } @@ -61,7 +60,7 @@ void HoverBitController::init(MicroBit* _uBit) { * This is not implemented yet. */ bool HoverBitController::failSafe(void) { - unsigned long deltaReceiveTime = uBit->systemTime() - lastReceiveTime; + unsigned long deltaReceiveTime = uBit.systemTime() - lastReceiveTime; if (deltaReceiveTime > FSAFE_TLIM_THROTTLE) { Throttle(0); Rudder(0); @@ -80,7 +79,7 @@ bool HoverBitController::failSafe(void) { 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); } /** @@ -143,7 +142,7 @@ 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); } /** @@ -162,7 +161,7 @@ void HoverBitController::Throttle(int _throttle) { if (_throttle > 99) { throttle = 100; } else if (_throttle < 0) { throttle = 0; } else { throttle = _throttle; } - lastReceiveTime = uBit->systemTime(); + lastReceiveTime = uBit.systemTime(); } int HoverBitController::Rudder() { // The AirBit uses the roll parameter to control the hoverbit's rudder. @@ -173,14 +172,14 @@ void HoverBitController::Rudder(int _rudder) { if (_rudder > 90) { roll = 90; } else if (_rudder < -90) { roll = -90; } else { roll = _rudder; } - lastReceiveTime = uBit->systemTime(); + lastReceiveTime = uBit.systemTime(); } bool HoverBitController::Arm() { return (arm == 1); } void HoverBitController::Arm(bool _arm) { arm = (int)_arm; - lastReceiveTime = uBit->systemTime(); + lastReceiveTime = uBit.systemTime(); } bool HoverBitController::BatteryEmpty() { return batteryEmpty; diff --git a/source/main.cpp b/source/main.cpp index 8d5e837..de11801 100644 --- a/source/main.cpp +++ b/source/main.cpp @@ -258,7 +258,7 @@ int main() { /* Initialize hover:bit controller module * the init procedure have to be run within 100ms after air:bit power up */ - controller.init(&uBit); + controller.init(); // Setup listeners uBit.messageBus.listen(MICROBIT_ID_BLE, MICROBIT_BLE_EVT_CONNECTED, onConnected); -- cgit v1.2.3 From 4cceee770b44a7a9606543087bb89901574c7540 Mon Sep 17 00:00:00 2001 From: Jakob Stendahl Date: Sun, 28 Feb 2021 11:50:15 +0100 Subject: :art: Move display related code to Screen.cpp --- inc/Screen.h | 35 +++++++- source/Screen.cpp | 234 +++++++++++++++++++++++++++++++++++++++++++++++++++++- source/main.cpp | 165 +++----------------------------------- 3 files changed, 277 insertions(+), 157 deletions(-) (limited to 'inc') diff --git a/inc/Screen.h b/inc/Screen.h index e141a86..abac919 100644 --- a/inc/Screen.h +++ b/inc/Screen.h @@ -26,6 +26,10 @@ DEALINGS IN THE SOFTWARE. #define SCREEN_H_ #include +#include "HoverBitController.h" + +extern MicroBit uBit; +extern HoverBitController controller; enum DisplayMainScreenMode { GRAPHS, BATTERY, OFF }; @@ -74,6 +78,35 @@ const char* const bluetoothSymbol = "\ 255,000,255,000,255\n\ 000,000,255,255,000\n"; -void plotYLine(MicroBit *uBit, int y1, int y2, int x); +class HoverBitDisplay { + private: + DisplayMainScreenMode screenMode; + unsigned int tmpTimer; + bool BLEconnected; + bool bBLEIndicator; + bool flipFrame; + bool isPause; + + void lowBattery(); + void BLENotConnected(); + void mainScreen(); + void showGraphs(); + + public: + void mode(DisplayMainScreenMode mode); + DisplayMainScreenMode mode(); + void nextMode(); + void pause(); + void pause(bool p); + void update(); + void updateBLEState(bool connected); +}; + +void plotYLine(int y1, int y2, int x); +void plotXLine(int x1, int x2, int y); +void iconBatteryDead(); +void iconBatteryLow(); +void iconBatteryCharging(); +void batteryLevelFullScreen(); #endif // SCREEN_H_ diff --git a/source/Screen.cpp b/source/Screen.cpp index c778798..ad52247 100644 --- a/source/Screen.cpp +++ b/source/Screen.cpp @@ -24,18 +24,246 @@ 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(); + + flipFrame = (uBit.systemTime() - tmpTimer) > 1000; + if (flipFrame) { tmpTimer = uBit.systemTime(); } + + 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 { + mainScreen(); + } +} + +/** + * 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() >> (12 - 1) & 1)) == 1)) { + bBLEIndicator = !bBLEIndicator; + uBit.display.clear(); + if (bBLEIndicator) { + MicroBitImage img(bluetoothSymbol); + uBit.display.print(img); + } else { + // Need to actually see this to know if I want to flash only + // blank screen or with battery. + //batteryLevelFullScreen(); + } + } +} + +/** + * Method that does the "default" main screen mode. + * Called when in a connected "normal" operating state. + */ +void HoverBitDisplay::mainScreen() { + switch (displayMainScreenMode) { + case OFF: + break; + case BATTERY: + uBit.display.clear(); + batteryLevelFullScreen(); + break; + case GRAPHS: + default: + showGraphs(); + break; + } +} + +/** + * 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/main.cpp b/source/main.cpp index de11801..3c3f626 100644 --- a/source/main.cpp +++ b/source/main.cpp @@ -33,24 +33,20 @@ DEALINGS IN THE SOFTWARE. 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")); } void onDisconnected(MicroBitEvent) { bConnected = 0; + hoverBitDisplay.updateBLEState(false); uBit.audio.soundExpressions.play(ManagedString("sad")); } @@ -107,150 +103,22 @@ void onDelim(MicroBitEvent) { uart->send(accString); } -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() { - bool bDelayElapsed = (uBit.systemTime() - tmpTimer) > 1000; - if (bDelayElapsed) { tmpTimer = uBit.systemTime(); } - - if (bConnected) { - if (bDelayElapsed) { - uart->send(ManagedString("B:") + ManagedString(batteryMilliVolt)); - } - } else { - if (bDelayElapsed) { - bBLEIndicator = !bBLEIndicator; - uBit.display.clear(); - if (bBLEIndicator) { - MicroBitImage img(bluetoothSymbol); - uBit.display.print(img); - } else { - // Need to actually see this to know if I want to flash only - // blank screen or with battery. - //batteryLevelFullScreen(); - } - } - return; - } - - 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; - } -} - void onButtonA_press(MicroBitEvent e) { - nextMainScreenDisplayMode(); + hoverBitDisplay.nextMode(); } + void onButtonB_press(MicroBitEvent e) { } + void onButtonAB_press(MicroBitEvent e) { - DisplayMainScreenMode tmpDMode = displayMainScreenMode; - displayMainScreenMode = OFF; + hoverBitDisplay.pause(); uBit.display.scroll(VERSION); - displayMainScreenMode = tmpDMode; + 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); @@ -273,30 +141,21 @@ int main() { // 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); + uart->eventOn(BLE_UART_DELIM); uBit.audio.soundExpressions.play(ManagedString("hello")); while (1) { - batteryMilliVolt = controller.GetBatteryVoltage(); - if (uBit.logo.isPressed()) { if (!bCapLogoIsPressed) { bCapLogoIsPressed = true; - nextMainScreenDisplayMode(); + hoverBitDisplay.nextMode(); } - } else if (bCapLogoIsPressed ){ + } 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(); uBit.sleep(20); } -- cgit v1.2.3 From c4554532612d139de31723267cb1c3192ff6d4a8 Mon Sep 17 00:00:00 2001 From: Jakob Stendahl Date: Sun, 28 Feb 2021 11:50:53 +0100 Subject: :sparkles: Add emptyBattery code --- inc/HoverBitController.h | 3 ++- source/HoverBitController.cpp | 21 +++++++++++++++++++-- 2 files changed, 21 insertions(+), 3 deletions(-) (limited to 'inc') diff --git a/inc/HoverBitController.h b/inc/HoverBitController.h index 80ad173..f2c10b7 100644 --- a/inc/HoverBitController.h +++ b/inc/HoverBitController.h @@ -51,11 +51,12 @@ class HoverBitController { unsigned long lastReceiveTime; bool mainController; - bool batteryEmpty; + bool bBatteryEmpty; int batteryMilliVolt; float batteryFactor; bool failSafe(void); + void checkBattery(); void AirBit(int Pitch,int Arm,int Roll,int Throttle,int Yaw,int Aux1,int Aux2); public: diff --git a/source/HoverBitController.cpp b/source/HoverBitController.cpp index df9893e..1ecc21b 100644 --- a/source/HoverBitController.cpp +++ b/source/HoverBitController.cpp @@ -32,7 +32,7 @@ DEALINGS IN THE SOFTWARE. */ void HoverBitController::init() { mainController = false; - batteryEmpty = false; + bBatteryEmpty = false; batteryMilliVolt = 3700; batteryFactor = 4.42; @@ -81,6 +81,18 @@ unsigned int HoverBitController::GetBatteryVoltage() { 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); + Rudder(0); + } +} + /** * Method for sending commands to the AirBit-card, * this code is translated from the ts-code in MakeKit's original hex-file. @@ -148,6 +160,10 @@ void HoverBitController::AirBit(int Pitch,int Arm,int Roll,int Throttle,int Yaw, * Method that sends commands with the current values for all parameters. */ void HoverBitController::HoverControl() { + checkBattery(); + if (BatteryEmpty()) { + Arm(0); + } if (!failSafe()) { AirBit(0, arm, 0, throttle, roll, roll + 45, servo_1); } @@ -181,5 +197,6 @@ void HoverBitController::Arm(bool _arm) { lastReceiveTime = uBit.systemTime(); } bool HoverBitController::BatteryEmpty() { - return batteryEmpty; + checkBattery(); + return bBatteryEmpty; } -- cgit v1.2.3 From 820e89ead9577c7aa4b7ef10f363daf8a28247ac Mon Sep 17 00:00:00 2001 From: Jakob Stendahl Date: Tue, 8 Jun 2021 00:56:19 +0200 Subject: :sparkles: Do lots of small tweaks --- CMakeLists.txt | 11 ----------- inc/Screen.h | 2 -- source/HoverBitController.cpp | 29 +++++++++++++---------------- source/Screen.cpp | 38 +++++--------------------------------- source/main.cpp | 35 ++++++++++++++--------------------- 5 files changed, 32 insertions(+), 83 deletions(-) (limited to 'inc') diff --git a/CMakeLists.txt b/CMakeLists.txt index 879568c..e2130f4 100644 --- a/CMakeLists.txt +++ b/CMakeLists.txt @@ -82,17 +82,6 @@ SET(CODAL_OUTPUT_NAME ${device.device}) SET(CODAL_TARGET_PROCESSOR ${device.processor}) SET(CODAL_TARGET_CPU_ARCHITECTURE ${device.architecture}) -# if this is the first build, lets copy a sample main.cpp from the target if available. -if(NOT EXISTS ${CMAKE_CURRENT_LIST_DIR}/${CODAL_APP_SOURCE_DIR} AND EXISTS ${CMAKE_CURRENT_LIST_DIR}/${LIB_DEST}/${codal.target.name}/samples/main.cpp) - FILE(COPY ${CMAKE_CURRENT_LIST_DIR}/${LIB_DEST}/${codal.target.name}/samples/main.cpp DESTINATION ${CMAKE_CURRENT_LIST_DIR}/${CODAL_APP_SOURCE_DIR}) -endif() - -#copy samples and remove main.cpp -if(NOT EXISTS ${CMAKE_CURRENT_LIST_DIR}/samples AND EXISTS ${CMAKE_CURRENT_LIST_DIR}/${LIB_DEST}/${codal.target.name}/samples/) - FILE(COPY ${CMAKE_CURRENT_LIST_DIR}/${LIB_DEST}/${codal.target.name}/samples DESTINATION ${CMAKE_CURRENT_LIST_DIR}) - FILE(REMOVE ${CMAKE_CURRENT_LIST_DIR}/samples/main.cpp) -endif() - #################### SET(TOOLCHAIN ${device.toolchain}) diff --git a/inc/Screen.h b/inc/Screen.h index abac919..0ea7b8c 100644 --- a/inc/Screen.h +++ b/inc/Screen.h @@ -83,8 +83,6 @@ class HoverBitDisplay { DisplayMainScreenMode screenMode; unsigned int tmpTimer; bool BLEconnected; - bool bBLEIndicator; - bool flipFrame; bool isPause; void lowBattery(); diff --git a/source/HoverBitController.cpp b/source/HoverBitController.cpp index 1ecc21b..301fdeb 100644 --- a/source/HoverBitController.cpp +++ b/source/HoverBitController.cpp @@ -27,8 +27,6 @@ DEALINGS IN THE SOFTWARE. /** * 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() { mainController = false; @@ -44,9 +42,8 @@ void HoverBitController::init() { throttle = 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... */ + /* 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++) { @@ -60,14 +57,14 @@ void HoverBitController::init() { */ bool HoverBitController::failSafe(void) { unsigned long deltaReceiveTime = uBit.systemTime() - lastReceiveTime; - if (deltaReceiveTime > FSAFE_TLIM_THROTTLE) { - Throttle(0); - Rudder(0); - AirBit(0, arm, 0, throttle, roll, roll + 45, servo_1); - } if (deltaReceiveTime > FSAFE_TLIM_ARM) { - Arm(0); - AirBit(0, arm, 0, throttle, roll, roll + 45, servo_1); + 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); } @@ -87,9 +84,9 @@ unsigned int HoverBitController::GetBatteryVoltage() { void HoverBitController::checkBattery() { if (GetBatteryVoltage() < BATTERY_LOW_LIMIT - 60) { bBatteryEmpty = true; - Throttle(0); - Arm(0); - Rudder(0); + throttle = 0; + arm = 0; + roll = 0; } } @@ -162,7 +159,7 @@ void HoverBitController::AirBit(int Pitch,int Arm,int Roll,int Throttle,int Yaw, void HoverBitController::HoverControl() { checkBattery(); if (BatteryEmpty()) { - Arm(0); + arm = 0; } if (!failSafe()) { AirBit(0, arm, 0, throttle, roll, roll + 45, servo_1); diff --git a/source/Screen.cpp b/source/Screen.cpp index ad52247..f961994 100644 --- a/source/Screen.cpp +++ b/source/Screen.cpp @@ -179,9 +179,6 @@ void HoverBitDisplay::update() { if (isPause) { return; } int batteryMilliVolt = controller.GetBatteryVoltage(); - flipFrame = (uBit.systemTime() - tmpTimer) > 1000; - if (flipFrame) { tmpTimer = uBit.systemTime(); } - 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)) { @@ -189,7 +186,7 @@ void HoverBitDisplay::update() { } else if (!BLEconnected) { BLENotConnected(); } else { - mainScreen(); + showGraphs(); } } @@ -211,39 +208,14 @@ void HoverBitDisplay::lowBattery() { * Flashes a bluetooth symbol on screen. */ void HoverBitDisplay::BLENotConnected() { - if ((((uBit.systemTime() >> (12 - 1) & 1)) == 1)) { - bBLEIndicator = !bBLEIndicator; + if (uBit.systemTime() % 1000 > 250) { + MicroBitImage img(bluetoothSymbol); + uBit.display.print(img); + } else { uBit.display.clear(); - if (bBLEIndicator) { - MicroBitImage img(bluetoothSymbol); - uBit.display.print(img); - } else { - // Need to actually see this to know if I want to flash only - // blank screen or with battery. - //batteryLevelFullScreen(); - } } } -/** - * Method that does the "default" main screen mode. - * Called when in a connected "normal" operating state. - */ -void HoverBitDisplay::mainScreen() { - switch (displayMainScreenMode) { - case OFF: - break; - case BATTERY: - uBit.display.clear(); - batteryLevelFullScreen(); - break; - case GRAPHS: - default: - showGraphs(); - break; - } -} - /** * Show the GRAPH displayMainScreenMode */ diff --git a/source/main.cpp b/source/main.cpp index 6f3332b..16e665a 100644 --- a/source/main.cpp +++ b/source/main.cpp @@ -52,6 +52,7 @@ void onDisconnected(MicroBitEvent) { 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(); @@ -120,13 +121,6 @@ void onDelim(MicroBitEvent) { uart->send(accString); } -void onButtonA_press(MicroBitEvent e) { - hoverBitDisplay.nextMode(); -} - -void onButtonB_press(MicroBitEvent e) { -} - void onButtonAB_press(MicroBitEvent e) { hoverBitDisplay.pause(); uBit.display.scroll(VERSION); @@ -135,14 +129,15 @@ void onButtonAB_press(MicroBitEvent e) { int main() { uBit.init(); - uBit.audio.setVolume(255); // 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 */ + /* 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 @@ -150,8 +145,6 @@ int main() { uBit.messageBus.listen(MICROBIT_ID_BLE, MICROBIT_BLE_EVT_DISCONNECTED, onDisconnected); uBit.messageBus.listen(MICROBIT_ID_BLE_UART, MICROBIT_UART_S_EVT_DELIM_MATCH, onDelim); - 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_BUTTON_AB, MICROBIT_BUTTON_EVT_CLICK, onButtonAB_press); // uartService @@ -160,21 +153,21 @@ int main() { 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) { - if (uBit.logo.isPressed()) { - if (!bCapLogoIsPressed) { - bCapLogoIsPressed = true; - hoverBitDisplay.nextMode(); - } - } else if (bCapLogoIsPressed) { - bCapLogoIsPressed = false; - } - 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. -- cgit v1.2.3