add nuevos cfgparam (battery, etc), modifica protocol, bajado uso dynamic memory
This commit is contained in:
Luca Borsari
parent
8592a958a4
commit
08e73f894e
9 changed files with 247 additions and 145 deletions
|
|
@ -9,8 +9,7 @@ Revisions history
|
|||
- Quit tail lap efect
|
||||
- Add coin to main track for BATTERY_MODE=1
|
||||
|
||||
* 2020-07-09: Ver 0.9.6 - Luca
|
||||
...............................
|
||||
* 2020-12-17: Ver 0.9.6- Luca // Gitlab Commit = 0.9.6a
|
||||
- Removed dependency from "AsyncSerialLib"
|
||||
- new class SerialCommand()
|
||||
- Remove delay() (blocking) in Countdown phase
|
||||
|
|
|
|||
|
|
@ -62,8 +62,7 @@ int SerialCommand::checkSerial() {
|
|||
void SerialCommand::sendCommand(char* str) {
|
||||
// get command length
|
||||
int dlen=0;
|
||||
// for(; dlen<_bufLen; dlen++ ) { // limit transmitted command length to received command buffer
|
||||
for(; dlen<80; dlen++ ) { // limit transmitted command length to received command buffer
|
||||
for(; dlen<80; dlen++ ) { // "dlen<80" to avoid infinite loop on malformed str without EOC
|
||||
if(*(str+dlen) == _eoc ){
|
||||
dlen++; // send EOC
|
||||
break;
|
||||
|
|
|
|||
|
|
@ -67,8 +67,6 @@ float controller_getSpeed( controller_t* ct) {
|
|||
}
|
||||
|
||||
|
||||
|
||||
|
||||
float controller_getAccel ( void ) {
|
||||
return ACEL;
|
||||
}
|
||||
|
|
|
|||
|
|
@ -19,8 +19,6 @@ extern "C"{
|
|||
#define PIN_VCC_ADC1 6
|
||||
#define PIN_VCC_ADC2 7
|
||||
|
||||
|
||||
|
||||
enum ctr_type{
|
||||
NOT_DEFINED = 0,
|
||||
DIGITAL_MODE,
|
||||
|
|
|
|||
|
|
@ -48,10 +48,12 @@ void update_track( track_t* tck, car_t* car ) {
|
|||
|
||||
void process_aux_track( track_t* tck, car_t* car ){
|
||||
struct cfgtrack const* cfg = &tck->cfg.track;
|
||||
struct cfgbattery const* battery = &tck->cfg.battery;
|
||||
|
||||
if ( (int)car->dist_aux == tck->ledcoin
|
||||
&& car->speed <= controller_getAccel() ) {
|
||||
car->speed = controller_getAccel ()*SPEED_BOOST_SCALER;
|
||||
car->speed = controller_getAccel() * (1.0 * battery->speed_boost_scaler);
|
||||
|
||||
tck->ledcoin = COIN_RESET;
|
||||
car->battery=100;
|
||||
};
|
||||
|
|
@ -76,7 +78,8 @@ void process_main_track( track_t* tck, car_t* car ) {
|
|||
car->speed += cfg->kg * r->high ;
|
||||
}
|
||||
|
||||
if (BATTERY_MODE==1) {
|
||||
if(param_option_is_active(&tck->cfg, BATTERY_MODE_OPTION)){ // Battery Mode ON
|
||||
struct cfgbattery const* battery = &tck->cfg.battery;
|
||||
if ( cfg->nled_main-(int)(car->dist) % cfg->nled_main == tck->ledcoin
|
||||
&& controller_getStatus( car->ct ) == 0 //charge battery by push switch over coin
|
||||
//&& car->speed <= controller_getAccel()
|
||||
|
|
@ -84,22 +87,24 @@ void process_main_track( track_t* tck, car_t* car ) {
|
|||
{car->charging=1;};
|
||||
|
||||
if (car->charging==1){
|
||||
car->battery+=BATTERY_DELTA*2;
|
||||
car->battery+= battery->delta / 100.0 * 2;
|
||||
|
||||
car->speed =0;
|
||||
if (car->battery >100){tck->ledcoin = COIN_RESET;
|
||||
car->battery=100;
|
||||
car->charging=0;
|
||||
//car->speed = controller_getAccel()*SPEED_BOOST_SCALER;
|
||||
car->speed = 0.1*SPEED_BOOST_SCALER;
|
||||
car->speed = 0.1 * battery->speed_boost_scaler;
|
||||
};
|
||||
};
|
||||
|
||||
if (car->ct->flag_sw==0) {
|
||||
if ((car->battery)>=BATTERY_MIN ) {car->battery-=BATTERY_DELTA;};
|
||||
if ((car->battery)>=battery->min ) {car->battery-= battery->delta/100.0;};
|
||||
|
||||
};
|
||||
if (car->ct->flag_sw==1) {
|
||||
if (car->charging==1) {car->charging=0;
|
||||
car->speed = 0.1*SPEED_BOOST_SCALER/2;
|
||||
car->speed = (0.1*battery->speed_boost_scaler)/2;
|
||||
};
|
||||
};
|
||||
};
|
||||
|
|
@ -147,16 +152,22 @@ int tracklen_configure( track_t* tck, int nled ) {
|
|||
return 0;
|
||||
}
|
||||
|
||||
int autostart_configure( track_t* tck, int autostart ) {
|
||||
param_option_set(&tck->cfg, AUTOSTART_MODE_OPTION, (boolean) autostart);
|
||||
return 0;
|
||||
}
|
||||
|
||||
int boxlen_configure( track_t* tck, int box_len, int boxalwaysOn ) {
|
||||
struct cfgtrack* cfg = &tck->cfg.track;
|
||||
|
||||
if ( boxalwaysOn != 0 && boxalwaysOn != 1 ) return -1;
|
||||
if( box_len <= 0 || box_len >= cfg->nled_total ) return -1;
|
||||
cfg->box_len = box_len;
|
||||
cfg->box_alwaysOn = boxalwaysOn;
|
||||
|
||||
//cfg->box_alwaysOn = boxalwaysOn;
|
||||
param_option_set(&tck->cfg, BOX_MODE_OPTION, (boolean) boxalwaysOn);
|
||||
// Update track->boxactive
|
||||
tck->boxactive = boxalwaysOn;
|
||||
|
||||
return 0;
|
||||
}
|
||||
|
||||
|
|
@ -183,7 +194,7 @@ int track_configure( track_t* tck, int init_box ) {
|
|||
}
|
||||
|
||||
|
||||
int ramp_configure( track_t* tck, int init, int center, int end, int high, int alwaysOn ) {
|
||||
int ramp_configure( track_t* tck, int init, int center, int end, uint8_t high, int alwaysOn ) {
|
||||
struct cfgramp* ramp = &tck->cfg.ramp;
|
||||
|
||||
if ( init >= tck->cfg.track.nled_main || init <= 0 ) return -1;
|
||||
|
|
@ -196,18 +207,27 @@ int ramp_configure( track_t* tck, int init, int center, int end, int high, int a
|
|||
ramp->center = center;
|
||||
ramp->end = end;
|
||||
ramp->high = high;
|
||||
ramp->alwaysOn = alwaysOn;
|
||||
|
||||
param_option_set(&tck->cfg, SLOPE_MODE_OPTION, (boolean) alwaysOn);
|
||||
// Update track->rampactive
|
||||
/**
|
||||
boolean rampactive = &tck->rampactive;
|
||||
rampactive = alwaysOn;
|
||||
**/
|
||||
tck->rampactive = alwaysOn;
|
||||
|
||||
return 0;
|
||||
}
|
||||
|
||||
int battery_configure( track_t* tck, int delta, int min, int boost, int active ){
|
||||
struct cfgbattery* battery = &tck->cfg.battery;
|
||||
|
||||
battery->delta = delta;
|
||||
battery->min = min;
|
||||
battery->speed_boost_scaler = boost;
|
||||
param_option_set(&tck->cfg, BATTERY_MODE_OPTION, (boolean) active);
|
||||
|
||||
return 0;
|
||||
}
|
||||
|
||||
|
||||
|
||||
int race_configure( track_t* tck, int startline, int nlap, int nrepeat, int finishline ) {
|
||||
struct cfgrace* race = &tck->cfg.race;
|
||||
|
||||
|
|
|
|||
|
|
@ -13,10 +13,12 @@ extern "C"{
|
|||
#include "olr-controller.h"
|
||||
#include "olr-param.h"
|
||||
|
||||
#define SPD_MIN_TRACK_AUX 0.8
|
||||
#define BATTERY_DELTA 0.03
|
||||
#define BATTERY_MIN 60
|
||||
#define SPEED_BOOST_SCALER 10
|
||||
|
||||
#define SPD_MIN_TRACK_AUX 0.8 // change track by low speed
|
||||
//#define BATTERY_DELTA 0.03 // Decrease BATTERY_DELTA on each controller activation - used in charge rate too
|
||||
//#define BATTERY_DELTA 3 // unsigned char value [1-254] / will be divided by 100 [0.01-2.54]
|
||||
//#define BATTERY_MIN 60 // Battery does not descharge below BATTERY_MIN
|
||||
//#define SPEED_BOOST_SCALER 10
|
||||
|
||||
enum stcoin{
|
||||
COIN_RESET = -2,
|
||||
|
|
@ -51,11 +53,11 @@ typedef struct{
|
|||
byte nlap;
|
||||
byte repeats;
|
||||
uint32_t color;
|
||||
int trackID;
|
||||
uint8_t trackID;
|
||||
enum status st;
|
||||
bool leaving;
|
||||
float battery;
|
||||
int charging;
|
||||
bool charging;
|
||||
}car_t;
|
||||
|
||||
|
||||
|
|
@ -87,6 +89,8 @@ bool box_isactive( track_t* tck );
|
|||
|
||||
int tracklen_configure( track_t* tck, int nled );
|
||||
|
||||
int autostart_configure( track_t* tck, int autostart );
|
||||
|
||||
int boxlen_configure( track_t* tck, int box_len, int boxalwaysOn );
|
||||
|
||||
int physic_configure( track_t* tck, float kgp, float kfp );
|
||||
|
|
@ -97,7 +101,9 @@ void ramp_init( track_t* tck );
|
|||
|
||||
bool ramp_isactive( track_t* tck );
|
||||
|
||||
int ramp_configure( track_t* tck, int init, int center, int end, int high, int alwaysOn );
|
||||
int ramp_configure( track_t* tck, int init, int center, int end, uint8_t high, int alwaysOn );
|
||||
|
||||
int battery_configure( track_t* tck, int delta, int min, int boost, int active );
|
||||
|
||||
int race_configure( track_t* tck, int startline, int nlap, int nrepeat, int finishline );
|
||||
|
||||
|
|
|
|||
|
|
@ -1,27 +1,41 @@
|
|||
#include "olr-param.h"
|
||||
|
||||
void param_setdefault( struct cfgparam* cfg ) {
|
||||
cfg->setted = true;
|
||||
cfg->ver = CFGPARAM_VER;
|
||||
|
||||
cfg->race.startline = true;
|
||||
cfg->race.nlap = NUMLAP;
|
||||
cfg->race.nrepeat = 1;
|
||||
cfg->race.finishline = true;
|
||||
|
||||
param_option_set(cfg, BATTERY_MODE_OPTION, BATTERY_MODE);
|
||||
cfg->battery.delta = 3;
|
||||
cfg->battery.min = 60;
|
||||
cfg->battery.speed_boost_scaler = 10;
|
||||
|
||||
param_option_set(cfg, AUTOSTART_MODE_OPTION, AUTOSTART_MODE);
|
||||
|
||||
cfg->ramp.init = 80;
|
||||
cfg->ramp.center = 90;
|
||||
cfg->ramp.end = 100;
|
||||
cfg->ramp.high = 6;
|
||||
cfg->ramp.alwaysOn = false;
|
||||
param_option_set(cfg, SLOPE_MODE_OPTION, SLOPE_ALWAYS_ON);
|
||||
|
||||
cfg->track.nled_total = MAXLED;
|
||||
cfg->track.nled_total = MAXLED; // MAXLED: Total LED number in the racetrack (default:300 -> 5mt, 60LED/mt Strip)
|
||||
cfg->track.nled_main = MAXLED; // 240 when boxes length = 60
|
||||
cfg->track.nled_aux = 0; // 60
|
||||
cfg->track.init_aux = -1; // 239
|
||||
cfg->track.box_len = BOXLEN;
|
||||
cfg->track.box_alwaysOn = false;
|
||||
param_option_set(cfg, BOX_MODE_OPTION, BOX_ALWAYS_ON);
|
||||
|
||||
cfg->track.kf = 0.015; // friction constant
|
||||
cfg->track.kg = 0.006; // gravity constant - Used in Slope
|
||||
|
||||
}
|
||||
|
||||
void param_option_set( struct cfgparam* cfg, uint8_t option, boolean value ) {
|
||||
bitWrite(cfg->option, option, value);
|
||||
}
|
||||
boolean param_option_is_active( struct cfgparam* cfg, uint8_t option) {
|
||||
return(bitRead(cfg->option, option));
|
||||
}
|
||||
|
|
|
|||
|
|
@ -10,37 +10,60 @@ extern "C"{
|
|||
#include <stdint.h>
|
||||
#include <stdbool.h>
|
||||
|
||||
// Default values loaded on "D" command received (Serial Protocol)
|
||||
//////////////////////////////////////////////////////////////////
|
||||
#define MAXLED 300
|
||||
#define BOXLEN 60
|
||||
#define NUMLAP 5
|
||||
#define BATTERY_MODE false
|
||||
#define AUTOSTART_MODE true
|
||||
#define BOX_ALWAYS_ON false
|
||||
#define SLOPE_ALWAYS_ON false
|
||||
//////////////////////////////////////////////////////////////////
|
||||
|
||||
#define BATTERY_MODE 1
|
||||
|
||||
enum{
|
||||
// Position (bit) into the cfgparam.option byte for On|Off settings
|
||||
// Used in param_option_set()/param_option_is_active() calls
|
||||
enum cfgparam_option_bit {
|
||||
BATTERY_MODE_OPTION = 0,
|
||||
AUTOSTART_MODE_OPTION = 1,
|
||||
BOX_MODE_OPTION = 2,
|
||||
SLOPE_MODE_OPTION = 3,
|
||||
NOT_USED_1_OPTION = 4,
|
||||
NOT_USED_2_OPTION = 5,
|
||||
NOT_USED_3_OPTION = 6,
|
||||
NOT_USED_4_OPTION = 7,
|
||||
};
|
||||
|
||||
enum cfgpar {
|
||||
CFGPARAM_VER = 6, // Change this value (+=1) every time the [cfgparam] struct is modified
|
||||
// This will force an update with the new [struct] to the settings
|
||||
// stored in EEPROM with an old (invalid) struct
|
||||
LEN_UID = 16,
|
||||
CFG_VER = 5, // "5" in V0.9.6 (manage "permanent" param for Box and Slope)
|
||||
};
|
||||
|
||||
struct cfgrace{
|
||||
bool startline; // Used only in OLRNetwork
|
||||
int nlap;
|
||||
int nrepeat; // Used only in OLRNetwork
|
||||
uint8_t nlap;
|
||||
uint8_t nrepeat; // Used only in OLRNetwork
|
||||
bool finishline; // Used only in OLRNetwork
|
||||
};
|
||||
|
||||
//
|
||||
struct cfgbattery{ // added in ver 0.9.7
|
||||
uint8_t delta; // unsigned char value [1-254] / will be divided by 100 [0.01-2.54]
|
||||
uint8_t min; // Battery does not descharge below this "min" percentage
|
||||
uint8_t speed_boost_scaler;
|
||||
} ;
|
||||
|
||||
struct cfgtrack {
|
||||
int nled_total;
|
||||
int nled_main;
|
||||
int nled_aux;
|
||||
int init_aux;
|
||||
int box_len; // used to hold the Box Length if the default get changed.
|
||||
int box_len; // used to hold the Box Length if the default is changed.
|
||||
// it's not possible to implicitly store it in nled_main,nled_aux
|
||||
// because, if these are different to the default, box gets always activated
|
||||
// (the software does not chek "box_isactive" to draw car position)
|
||||
bool box_alwaysOn; // added in ver 0.9.6
|
||||
|
||||
|
||||
float kf;
|
||||
float kg;
|
||||
|
||||
|
|
@ -51,8 +74,7 @@ struct cfgramp {
|
|||
int init;
|
||||
int center;
|
||||
int end;
|
||||
int high;
|
||||
bool alwaysOn; // added in ver 0.9.6
|
||||
uint8_t high;
|
||||
};
|
||||
|
||||
struct brdinfo {
|
||||
|
|
@ -60,8 +82,10 @@ struct brdinfo {
|
|||
};
|
||||
|
||||
struct cfgparam {
|
||||
bool setted;
|
||||
uint8_t ver; // Version of this [cfgparam] struct
|
||||
uint8_t option; // Bit-mapped byte to store 'active' on|off for options (Battery, AutoStart, BoxalwaysOn, etc)
|
||||
struct cfgrace race; // added in ver 0.9.d
|
||||
struct cfgbattery battery;
|
||||
struct cfgtrack track;
|
||||
struct cfgramp ramp;
|
||||
struct brdinfo info;
|
||||
|
|
@ -69,6 +93,8 @@ struct cfgparam {
|
|||
|
||||
|
||||
void param_setdefault( struct cfgparam* cfg );
|
||||
void param_option_set( struct cfgparam* cfg, uint8_t option, boolean value );
|
||||
boolean param_option_is_active( struct cfgparam* cfg, uint8_t option);
|
||||
|
||||
#ifdef __cplusplus
|
||||
} // extern "C"
|
||||
|
|
|
|||
|
|
@ -31,11 +31,11 @@
|
|||
*/
|
||||
|
||||
|
||||
// 2021/07/14 - Ver 0.9.6b
|
||||
// 2021/07/14 - Ver 0.9.6 - lab branch
|
||||
// --see changelog.txt
|
||||
|
||||
char const softwareId[] = "A4P0"; // A4P -> A = Open LED Race, 4P0 = Game ID (4P = 4 Players, 0=Type 0)
|
||||
char const version[] = "0.9.6b";
|
||||
char const version[] = "0.9.6";
|
||||
|
||||
|
||||
|
||||
|
|
@ -49,7 +49,15 @@ char const version[] = "0.9.6b";
|
|||
#define PIN_LED 2 // R 500 ohms to DI pin for WS2812 and WS2813, for WS2813 BI pin of first LED to GND , CAP 1000 uF to VCC 5v/GND,power supplie 5V 2A
|
||||
#define PIN_AUDIO 3 // through CAP 2uf to speaker 8 ohms
|
||||
|
||||
#define REC_COMMAND_BUFLEN 32
|
||||
#define REC_COMMAND_BUFLEN 32 // received command buffer size
|
||||
// At the moment, the largest received command is RAMP CONFIGURATION (A)
|
||||
// ex: A1400,1430,1460,12,0[EOC] (for a 1500 LED strip)
|
||||
// 21 CHAR
|
||||
#define TX_COMMAND_BUFLEN 48 // send command buffer size
|
||||
// At the moment, the largest send command is Q
|
||||
// ex: QTK:1500,1500,0,-1,60,0,0.006,0.015,1[EOC] (for a 1500 LED strip)
|
||||
// 37 CHAR
|
||||
|
||||
#define EOL '\n' // End of Command char used in Protocol
|
||||
|
||||
#define COLOR1 track.Color(255,0,0)
|
||||
|
|
@ -69,8 +77,6 @@ char const version[] = "0.9.6b";
|
|||
|
||||
#define NEWRACE_DELAY 5000
|
||||
|
||||
#define AUTO_START 0
|
||||
|
||||
enum{
|
||||
MAX_CARS = 4,
|
||||
};
|
||||
|
|
@ -140,11 +146,6 @@ static track_t tck;
|
|||
|
||||
static int const eeadrInfo = 0;
|
||||
|
||||
char txbuff[64];
|
||||
|
||||
|
||||
|
||||
|
||||
static unsigned long lastmillis = 0;
|
||||
|
||||
SoftTimer customDelay = SoftTimer(); // non blocking delay()
|
||||
|
|
@ -160,8 +161,6 @@ int win_music[] = {
|
|||
3136
|
||||
};
|
||||
|
||||
//int TBEEP=3;
|
||||
|
||||
char tracksID[ NUM_TRACKS ][2] ={"U","M","B","I","O"};
|
||||
|
||||
/* ----------- Function prototypes ------------------- */
|
||||
|
|
@ -175,10 +174,11 @@ void print_cars_positions( car_t* cars);
|
|||
void run_racecycle( void );
|
||||
void draw_winner( track_t* tck, uint32_t color);
|
||||
|
||||
|
||||
char cmd[REC_COMMAND_BUFLEN]; // Stores command received by ReadSerialComand()
|
||||
SerialCommand serialCommand = SerialCommand(cmd, REC_COMMAND_BUFLEN, EOL, &Serial); // get complete command from serial
|
||||
|
||||
char txbuff[TX_COMMAND_BUFLEN];
|
||||
|
||||
Adafruit_NeoPixel track;
|
||||
|
||||
|
||||
|
|
@ -218,7 +218,7 @@ void setup() {
|
|||
|
||||
|
||||
// Check Box before Physic/Sound to allow user to have Box and Physics with no sound
|
||||
if(digitalRead(DIG_CONTROL_2)==0 || tck.cfg.track.box_alwaysOn ) { //push switch 2 on reset for activate boxes (pit lane)
|
||||
if(digitalRead(DIG_CONTROL_2)==0 || param_option_is_active(&tck.cfg, BOX_MODE_OPTION) ) { //push switch 2 on reset for activate boxes (pit lane)
|
||||
box_init( &tck );
|
||||
track_configure( &tck, tck.cfg.track.nled_total - tck.cfg.track.box_len );
|
||||
draw_box_entrypoint( &tck );
|
||||
|
|
@ -226,7 +226,7 @@ void setup() {
|
|||
track_configure( &tck, 0 );
|
||||
}
|
||||
|
||||
if( digitalRead(DIG_CONTROL_1)==0 || tck.cfg.ramp.alwaysOn ) { //push switch 1 on reset for activate physics
|
||||
if( digitalRead(DIG_CONTROL_1)==0 || param_option_is_active(&tck.cfg, SLOPE_MODE_OPTION) ) { // push switch 1 on reset for activate physics
|
||||
ramp_init( &tck );
|
||||
draw_ramp( &tck );
|
||||
track.show();
|
||||
|
|
@ -278,7 +278,8 @@ void loop() {
|
|||
break;
|
||||
|
||||
case READY:
|
||||
{if (AUTO_START==1){
|
||||
{ if(param_option_is_active(&tck.cfg, AUTOSTART_MODE_OPTION)){ // Auto-Start Mode ON
|
||||
|
||||
if(customDelay.elapsed()) {
|
||||
for( int i = 0; i < race.numcars; ++i) {
|
||||
car_resetPosition( &cars[i] );
|
||||
|
|
@ -348,8 +349,9 @@ void loop() {
|
|||
draw_coin( &tck );
|
||||
else if( millis() > tck.ledtime )
|
||||
tck.ledcoin = random( 20, tck.cfg.track.nled_aux - 20 );
|
||||
}
|
||||
else if (BATTERY_MODE==1){
|
||||
|
||||
} else {
|
||||
if ( param_option_is_active(&tck.cfg, BATTERY_MODE_OPTION) ) { // Battery Mode ON
|
||||
if( tck.ledcoin == COIN_RESET ) {
|
||||
tck.ledcoin = COIN_WAIT;
|
||||
tck.ledtime = millis() + random(3000,8000);
|
||||
|
|
@ -359,8 +361,7 @@ void loop() {
|
|||
else if( millis() > tck.ledtime )
|
||||
tck.ledcoin = random( LED_SEMAPHORE+4, tck.cfg.track.nled_main - 60); //valid zone from random charge (semaphore to 1 meter before to start-finish position
|
||||
}
|
||||
|
||||
|
||||
}
|
||||
|
||||
for( int i = 0; i < race.numcars; ++i ) {
|
||||
run_racecycle( &cars[i], i );
|
||||
|
|
@ -378,7 +379,7 @@ void loop() {
|
|||
|
||||
// Print p command!!!
|
||||
unsigned long nowmillis = millis();
|
||||
if( abs( nowmillis - lastmillis ) > 100 ){
|
||||
if( abs( nowmillis - lastmillis ) > 500 ){
|
||||
lastmillis = nowmillis;
|
||||
print_cars_positions( cars );
|
||||
}
|
||||
|
|
@ -403,12 +404,12 @@ void loop() {
|
|||
|
||||
default:
|
||||
{
|
||||
sprintf( txbuff, "Software Error in main loop switch()");
|
||||
sprintf( txbuff, "SwErr-01");
|
||||
printdebug( txbuff, WARNING );
|
||||
break;
|
||||
}
|
||||
|
||||
} // switch
|
||||
} // switch race.phase
|
||||
|
||||
}
|
||||
|
||||
|
|
@ -496,23 +497,19 @@ void print_cars_positions( car_t* cars ) {
|
|||
|
||||
for( int i = 0; i < race.numcars; ++i ) {
|
||||
int const rpos = get_relative_position( &cars[i] );
|
||||
if (BATTERY_MODE==1) {sprintf( txbuff, "p%d%s%d,%d,%d%c", i + 1, tracksID[cars[i].trackID], cars[i].nlap, rpos,(int)cars[i].battery, EOL );}
|
||||
else {sprintf( txbuff, "p%d%s%d,%d%c", i + 1, tracksID[cars[i].trackID], cars[i].nlap, rpos, EOL );};
|
||||
sprintf( txbuff, "p%d%s%d,%d,%d%c", i + 1, tracksID[cars[i].trackID], cars[i].nlap, rpos,(int)cars[i].battery, EOL );
|
||||
serialCommand.sendCommand(txbuff);
|
||||
//sendCommand(txbuff);
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
|
||||
|
||||
/*
|
||||
* non-blocking version
|
||||
*/
|
||||
boolean start_race_done( ) {
|
||||
if(countdown_new_phase){
|
||||
countdown_new_phase=false;
|
||||
//customDelay.start(CONTDOWN_PHASE_DURATION);
|
||||
customDelay.start(CONTDOWN_PHASE_DURATION);
|
||||
strip_clear( &tck );
|
||||
if(ramp_isactive( &tck )) draw_ramp( &tck );
|
||||
|
|
@ -533,7 +530,6 @@ boolean start_race_done( ) {
|
|||
track.setPixelColor(LED_SEMAPHORE-2, track.Color(0,255,0));
|
||||
break;
|
||||
case 4:
|
||||
//customDelay.start(CONTDOWN_STARTSOUND_DURATION);
|
||||
customDelay.start(CONTDOWN_STARTSOUND_DURATION);
|
||||
tone(PIN_AUDIO,880);
|
||||
track.setPixelColor(LED_SEMAPHORE-2, track.Color(0,0,0));
|
||||
|
|
@ -614,23 +610,29 @@ void draw_car_tail( track_t* tck, car_t* car ) {
|
|||
|
||||
void draw_car( track_t* tck, car_t* car ) {
|
||||
struct cfgtrack const* cfg = &tck->cfg.track;
|
||||
struct cfgbattery const* battery = &tck->cfg.battery;
|
||||
|
||||
switch ( car->trackID ){
|
||||
case TRACK_MAIN:
|
||||
for(int i=0; i<=1; ++i )
|
||||
track.setPixelColor( ((word)car->dist % cfg->nled_main) - i, car->color );
|
||||
if (BATTERY_MODE==1) {if ( car->charging==1 ) {track.setPixelColor( ((word)car->dist % cfg->nled_main) - 2, 0x010100 * 50*(millis()/(201-2*(byte)car->battery)%2));}
|
||||
else if (car->battery<=BATTERY_MIN)
|
||||
if(param_option_is_active(&tck->cfg, BATTERY_MODE_OPTION)){ // Battery Mode ON
|
||||
if ( car->charging==1 ) {
|
||||
track.setPixelColor( ((word)car->dist % cfg->nled_main) - 2, 0x010100 * 50*(millis()/(201-2*(byte)car->battery)%2));
|
||||
} else if (car->battery <= battery->min)
|
||||
if ((millis()%100)>50) track.setPixelColor( ((word)car->dist % cfg->nled_main) - 2, WARNING_BLINK_COLOR );
|
||||
}
|
||||
break;
|
||||
case TRACK_AUX:
|
||||
for(int i=0; i<=1; ++i )
|
||||
track.setPixelColor( (word)(cfg->nled_main + cfg->nled_aux - car->dist_aux) + i, car->color);
|
||||
if (BATTERY_MODE==1) {if ( car->charging==1 ) {track.setPixelColor( (word)(cfg->nled_main + cfg->nled_aux - car->dist_aux) + 2, 0x010100 * 50*(millis()/(201-2*(byte)car->battery)%2));}
|
||||
else if (car->battery<=BATTERY_MIN)
|
||||
if ((millis()%100)>50) track.setPixelColor( (word)(cfg->nled_main + cfg->nled_aux - car->dist_aux) + 2, WARNING_BLINK_COLOR);
|
||||
if(param_option_is_active(&tck->cfg, BATTERY_MODE_OPTION)){ // Battery Mode ON
|
||||
|
||||
if ( car->charging==1 ) {
|
||||
track.setPixelColor( (word)(cfg->nled_main + cfg->nled_aux - car->dist_aux) + 2, 0x010100 * 50*(millis()/(201-2*(byte)car->battery)%2));
|
||||
} else if (car->battery <= battery->min)
|
||||
if ((millis()%100)>50)
|
||||
track.setPixelColor( (word)(cfg->nled_main + cfg->nled_aux - car->dist_aux) + 2, WARNING_BLINK_COLOR);
|
||||
}
|
||||
break;
|
||||
}
|
||||
|
|
@ -865,6 +867,52 @@ ack_t manageSerialCommand() {
|
|||
}
|
||||
break;
|
||||
|
||||
case 'E' : // Parse Battery configuration -> Edelta,min,boost,active
|
||||
{
|
||||
ack.type = cmd[0];
|
||||
|
||||
char * pch = strtok (cmd,"E");
|
||||
if( !pch ) return ack;
|
||||
|
||||
pch = strtok (pch, "," );
|
||||
if( !pch ) return ack;
|
||||
int delta = atoi( pch );
|
||||
|
||||
pch = strtok (NULL, "," );
|
||||
if( !pch ) return ack;
|
||||
int min = atoi( pch );
|
||||
|
||||
pch = strtok (NULL, "," );
|
||||
if( !pch ) return ack;
|
||||
int boost = atoi( pch );
|
||||
|
||||
pch = strtok (NULL, ",");
|
||||
if( !pch ) return ack;
|
||||
int active = atoi( pch );
|
||||
|
||||
int err = battery_configure( &tck, delta, min, boost, active );
|
||||
if( err ) return ack;
|
||||
ack.rp = OK;
|
||||
|
||||
}
|
||||
break;
|
||||
|
||||
case 'G' : //Parse Autostart configuration -> Gautostart
|
||||
{
|
||||
ack.type = cmd[0];
|
||||
|
||||
char * pch = strtok (cmd,"G");
|
||||
if( !pch ) return ack;
|
||||
|
||||
int autostart = atoi( cmd + 1 );
|
||||
int err = autostart_configure( &tck, autostart);
|
||||
if( err ) return ack;
|
||||
|
||||
ack.rp = OK;
|
||||
}
|
||||
break;
|
||||
|
||||
|
||||
case 'K': // Parse Physic simulation parameters
|
||||
{
|
||||
ack.type = cmd[0];
|
||||
|
|
@ -899,8 +947,8 @@ ack_t manageSerialCommand() {
|
|||
// Update box/slope active in current Track Struct with values
|
||||
// just loaded (for show_cfgpars_onstrip())
|
||||
struct cfgparam const* cfg = &tck.cfg;
|
||||
tck.boxactive = cfg->track.box_alwaysOn;
|
||||
tck.rampactive = cfg->ramp.alwaysOn;
|
||||
tck.boxactive = param_option_is_active(&tck.cfg, BOX_MODE_OPTION);
|
||||
tck.rampactive = param_option_is_active(&tck.cfg, SLOPE_MODE_OPTION);
|
||||
|
||||
show_cfgpars_onstrip();
|
||||
}
|
||||
|
|
@ -944,28 +992,39 @@ ack_t manageSerialCommand() {
|
|||
case 'Q': // Get current configuration Info
|
||||
{
|
||||
struct cfgparam const* cfg = &tck.cfg;
|
||||
sprintf( txbuff, "%s:%d,%d,%d,%d,%d,%d,%d.%03d,%d.%03d%c", "QTRACK",
|
||||
sprintf( txbuff, "%s:%d,%d,%d,%d,%d,%d,%d.%03d,%d.%03d,%d%c", "QTK",
|
||||
cfg->track.nled_total,
|
||||
cfg->track.nled_main,
|
||||
cfg->track.nled_aux,
|
||||
cfg->track.init_aux,
|
||||
cfg->track.box_len,
|
||||
cfg->track.box_alwaysOn,
|
||||
//cfg->track.box_alwaysOn,
|
||||
param_option_is_active(&tck.cfg, BOX_MODE_OPTION),
|
||||
(int)cfg->track.kg, (int)(cfg->track.kg*1000)%1000, // std arduino sprintf() missing %f
|
||||
(int)cfg->track.kf, (int)(cfg->track.kf*1000)%1000, // std arduino sprintf() missing %f
|
||||
param_option_is_active(&tck.cfg, AUTOSTART_MODE_OPTION),
|
||||
EOL );
|
||||
serialCommand.sendCommand(txbuff);
|
||||
|
||||
sprintf( txbuff, "%s:%d,%d,%d,%d,%d%c", "QRAMP",
|
||||
sprintf( txbuff, "%s:%d,%d,%d,%d,%d%c", "QRP",
|
||||
cfg->ramp.init,
|
||||
cfg->ramp.center,
|
||||
cfg->ramp.end,
|
||||
cfg->ramp.high,
|
||||
cfg->ramp.alwaysOn,
|
||||
//cfg->ramp.alwaysOn,
|
||||
param_option_is_active(&tck.cfg, SLOPE_MODE_OPTION),
|
||||
EOL );
|
||||
serialCommand.sendCommand(txbuff);
|
||||
|
||||
sprintf( txbuff, "%s:%d,%d,%d,%d%c", "QRACE",
|
||||
sprintf( txbuff, "%s:%d,%d,%d,%d%c", "QBT",
|
||||
cfg->battery.delta,
|
||||
cfg->battery.min,
|
||||
cfg->battery.speed_boost_scaler,
|
||||
param_option_is_active(&tck.cfg, BATTERY_MODE_OPTION),
|
||||
EOL );
|
||||
serialCommand.sendCommand(txbuff);
|
||||
|
||||
sprintf( txbuff, "%s:%d,%d,%d,%d%c", "QRC",
|
||||
cfg->race.startline,
|
||||
cfg->race.nlap,
|
||||
cfg->race.nrepeat,
|
||||
|
|
@ -1028,46 +1087,29 @@ void enter_configuration_mode(){
|
|||
|
||||
|
||||
void param_load( struct cfgparam* cfg ) {
|
||||
int cfgversion;
|
||||
int eeAdress = eeadrInfo;
|
||||
EEPROM.get( eeAdress, tck.cfg );
|
||||
eeAdress += sizeof( cfgparam );
|
||||
EEPROM.get( eeAdress, cfgversion );
|
||||
|
||||
sprintf( txbuff, "%s:%d%c", "Parameters Loaded from EEPROM - Cfg ver", cfgversion, EOL );
|
||||
serialCommand.sendCommand(txbuff);
|
||||
|
||||
if ( cfgversion != CFG_VER ) {
|
||||
param_setdefault( &tck.cfg );
|
||||
eeAdress = 0;
|
||||
EEPROM.put( eeAdress, tck.cfg );
|
||||
eeAdress += sizeof( cfgparam );
|
||||
EEPROM.put( eeAdress, CFG_VER );
|
||||
sprintf( txbuff, "%s%c", "DEFAULT PAREMETRS LOADED (and Stored in EEPROM)", EOL );
|
||||
serialCommand.sendCommand(txbuff);
|
||||
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
|
||||
|
||||
/*
|
||||
* Custon Non-Blocking Delay() functions
|
||||
* customDelayStart(unsigned long timeout)
|
||||
* customDelayElapsed
|
||||
*/
|
||||
/**
|
||||
unsigned long customDelay_startTime=0;
|
||||
unsigned long customDelay_timeout=0;
|
||||
void customDelayStart(unsigned long tout) {
|
||||
customDelay_timeout=tout;
|
||||
customDelay_startTime=millis();
|
||||
}
|
||||
boolean customDelayElapsed(){
|
||||
if((millis() - customDelay_startTime) > customDelay_timeout) {
|
||||
return(true);
|
||||
}
|
||||
return(false);
|
||||
}
|
||||
// Ignore EEPROM params during development of a new version of the [cfgparam]
|
||||
param_setdefault( &tck.cfg );
|
||||
sprintf( txbuff, "%s%c", "Temporary....DEFAULT PAREMETRS LOADED ", EOL );
|
||||
serialCommand.sendCommand(txbuff);
|
||||
return;
|
||||
**/
|
||||
|
||||
EEPROM.get( eeadrInfo, tck.cfg );
|
||||
|
||||
sprintf( txbuff, "%s:%d%c", "EEPROM-v", tck.cfg.ver, EOL );
|
||||
serialCommand.sendCommand(txbuff);
|
||||
|
||||
if ( tck.cfg.ver != CFGPARAM_VER ) { // [cfgparam.ver] read form EEPROM != [#define CFGPARAM_VER] in the code
|
||||
// Each time a new version of the code modify the [cfgparam] struct, [#define CFGPARAM_VER] is also
|
||||
// changed to force the code enter here.
|
||||
// The previous values stored in EEPROM are invalid and need to be reset-to-default and
|
||||
// stored in the EEPROM again with the new "structure"
|
||||
param_setdefault( &tck.cfg );
|
||||
EEPROM.put( eeadrInfo, tck.cfg );
|
||||
sprintf( txbuff, "%s:%d%c", "DEFAULT->EEPROM-v)", tck.cfg.ver, EOL );
|
||||
serialCommand.sendCommand(txbuff);
|
||||
}
|
||||
|
||||
}
|
||||
|
|
|
|||
Loading…
Add table
Reference in a new issue