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
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@ -9,8 +9,7 @@ Revisions history
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- Quit tail lap efect
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- Add coin to main track for BATTERY_MODE=1
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* 2020-07-09: Ver 0.9.6 - Luca
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...............................
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* 2020-12-17: Ver 0.9.6- Luca // Gitlab Commit = 0.9.6a
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- Removed dependency from "AsyncSerialLib"
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- new class SerialCommand()
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- Remove delay() (blocking) in Countdown phase
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@ -62,8 +62,7 @@ int SerialCommand::checkSerial() {
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void SerialCommand::sendCommand(char* str) {
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// get command length
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int dlen=0;
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// for(; dlen<_bufLen; dlen++ ) { // limit transmitted command length to received command buffer
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for(; dlen<80; dlen++ ) { // limit transmitted command length to received command buffer
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for(; dlen<80; dlen++ ) { // "dlen<80" to avoid infinite loop on malformed str without EOC
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if(*(str+dlen) == _eoc ){
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dlen++; // send EOC
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break;
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@ -67,8 +67,6 @@ float controller_getSpeed( controller_t* ct) {
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}
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float controller_getAccel ( void ) {
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return ACEL;
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}
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@ -19,8 +19,6 @@ extern "C"{
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#define PIN_VCC_ADC1 6
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#define PIN_VCC_ADC2 7
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enum ctr_type{
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NOT_DEFINED = 0,
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DIGITAL_MODE,
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@ -48,10 +48,12 @@ void update_track( track_t* tck, car_t* car ) {
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void process_aux_track( track_t* tck, car_t* car ){
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struct cfgtrack const* cfg = &tck->cfg.track;
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struct cfgbattery const* battery = &tck->cfg.battery;
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if ( (int)car->dist_aux == tck->ledcoin
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&& car->speed <= controller_getAccel() ) {
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car->speed = controller_getAccel ()*SPEED_BOOST_SCALER;
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car->speed = controller_getAccel() * (1.0 * battery->speed_boost_scaler);
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tck->ledcoin = COIN_RESET;
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car->battery=100;
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};
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@ -76,7 +78,8 @@ void process_main_track( track_t* tck, car_t* car ) {
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car->speed += cfg->kg * r->high ;
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}
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if (BATTERY_MODE==1) {
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if(param_option_is_active(&tck->cfg, BATTERY_MODE_OPTION)){ // Battery Mode ON
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struct cfgbattery const* battery = &tck->cfg.battery;
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if ( cfg->nled_main-(int)(car->dist) % cfg->nled_main == tck->ledcoin
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&& controller_getStatus( car->ct ) == 0 //charge battery by push switch over coin
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//&& car->speed <= controller_getAccel()
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@ -84,22 +87,24 @@ void process_main_track( track_t* tck, car_t* car ) {
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{car->charging=1;};
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if (car->charging==1){
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car->battery+=BATTERY_DELTA*2;
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car->battery+= battery->delta / 100.0 * 2;
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car->speed =0;
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if (car->battery >100){tck->ledcoin = COIN_RESET;
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car->battery=100;
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car->charging=0;
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//car->speed = controller_getAccel()*SPEED_BOOST_SCALER;
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car->speed = 0.1*SPEED_BOOST_SCALER;
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car->speed = 0.1 * battery->speed_boost_scaler;
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};
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};
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if (car->ct->flag_sw==0) {
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if ((car->battery)>=BATTERY_MIN ) {car->battery-=BATTERY_DELTA;};
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if ((car->battery)>=battery->min ) {car->battery-= battery->delta/100.0;};
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};
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if (car->ct->flag_sw==1) {
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if (car->charging==1) {car->charging=0;
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car->speed = 0.1*SPEED_BOOST_SCALER/2;
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car->speed = (0.1*battery->speed_boost_scaler)/2;
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};
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};
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};
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@ -147,16 +152,22 @@ int tracklen_configure( track_t* tck, int nled ) {
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return 0;
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}
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int autostart_configure( track_t* tck, int autostart ) {
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param_option_set(&tck->cfg, AUTOSTART_MODE_OPTION, (boolean) autostart);
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return 0;
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}
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int boxlen_configure( track_t* tck, int box_len, int boxalwaysOn ) {
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struct cfgtrack* cfg = &tck->cfg.track;
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if ( boxalwaysOn != 0 && boxalwaysOn != 1 ) return -1;
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if( box_len <= 0 || box_len >= cfg->nled_total ) return -1;
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cfg->box_len = box_len;
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cfg->box_alwaysOn = boxalwaysOn;
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//cfg->box_alwaysOn = boxalwaysOn;
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param_option_set(&tck->cfg, BOX_MODE_OPTION, (boolean) boxalwaysOn);
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// Update track->boxactive
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tck->boxactive = boxalwaysOn;
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return 0;
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}
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@ -183,7 +194,7 @@ int track_configure( track_t* tck, int init_box ) {
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}
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int ramp_configure( track_t* tck, int init, int center, int end, int high, int alwaysOn ) {
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int ramp_configure( track_t* tck, int init, int center, int end, uint8_t high, int alwaysOn ) {
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struct cfgramp* ramp = &tck->cfg.ramp;
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if ( init >= tck->cfg.track.nled_main || init <= 0 ) return -1;
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@ -196,18 +207,27 @@ int ramp_configure( track_t* tck, int init, int center, int end, int high, int a
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ramp->center = center;
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ramp->end = end;
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ramp->high = high;
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ramp->alwaysOn = alwaysOn;
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param_option_set(&tck->cfg, SLOPE_MODE_OPTION, (boolean) alwaysOn);
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// Update track->rampactive
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/**
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boolean rampactive = &tck->rampactive;
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rampactive = alwaysOn;
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**/
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tck->rampactive = alwaysOn;
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return 0;
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}
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int battery_configure( track_t* tck, int delta, int min, int boost, int active ){
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struct cfgbattery* battery = &tck->cfg.battery;
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battery->delta = delta;
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battery->min = min;
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battery->speed_boost_scaler = boost;
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param_option_set(&tck->cfg, BATTERY_MODE_OPTION, (boolean) active);
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return 0;
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}
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int race_configure( track_t* tck, int startline, int nlap, int nrepeat, int finishline ) {
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struct cfgrace* race = &tck->cfg.race;
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@ -13,10 +13,12 @@ extern "C"{
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#include "olr-controller.h"
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#include "olr-param.h"
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#define SPD_MIN_TRACK_AUX 0.8
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#define BATTERY_DELTA 0.03
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#define BATTERY_MIN 60
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#define SPEED_BOOST_SCALER 10
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#define SPD_MIN_TRACK_AUX 0.8 // change track by low speed
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//#define BATTERY_DELTA 0.03 // Decrease BATTERY_DELTA on each controller activation - used in charge rate too
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//#define BATTERY_DELTA 3 // unsigned char value [1-254] / will be divided by 100 [0.01-2.54]
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//#define BATTERY_MIN 60 // Battery does not descharge below BATTERY_MIN
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//#define SPEED_BOOST_SCALER 10
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enum stcoin{
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COIN_RESET = -2,
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@ -51,11 +53,11 @@ typedef struct{
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byte nlap;
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byte repeats;
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uint32_t color;
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int trackID;
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uint8_t trackID;
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enum status st;
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bool leaving;
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float battery;
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int charging;
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bool charging;
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}car_t;
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@ -87,6 +89,8 @@ bool box_isactive( track_t* tck );
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int tracklen_configure( track_t* tck, int nled );
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int autostart_configure( track_t* tck, int autostart );
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int boxlen_configure( track_t* tck, int box_len, int boxalwaysOn );
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int physic_configure( track_t* tck, float kgp, float kfp );
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@ -97,7 +101,9 @@ void ramp_init( track_t* tck );
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bool ramp_isactive( track_t* tck );
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int ramp_configure( track_t* tck, int init, int center, int end, int high, int alwaysOn );
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int ramp_configure( track_t* tck, int init, int center, int end, uint8_t high, int alwaysOn );
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int battery_configure( track_t* tck, int delta, int min, int boost, int active );
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int race_configure( track_t* tck, int startline, int nlap, int nrepeat, int finishline );
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@ -1,27 +1,41 @@
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#include "olr-param.h"
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void param_setdefault( struct cfgparam* cfg ) {
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cfg->setted = true;
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cfg->ver = CFGPARAM_VER;
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cfg->race.startline = true;
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cfg->race.nlap = NUMLAP;
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cfg->race.nrepeat = 1;
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cfg->race.finishline = true;
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param_option_set(cfg, BATTERY_MODE_OPTION, BATTERY_MODE);
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cfg->battery.delta = 3;
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cfg->battery.min = 60;
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cfg->battery.speed_boost_scaler = 10;
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param_option_set(cfg, AUTOSTART_MODE_OPTION, AUTOSTART_MODE);
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cfg->ramp.init = 80;
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cfg->ramp.center = 90;
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cfg->ramp.end = 100;
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cfg->ramp.high = 6;
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cfg->ramp.alwaysOn = false;
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param_option_set(cfg, SLOPE_MODE_OPTION, SLOPE_ALWAYS_ON);
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cfg->track.nled_total = MAXLED;
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cfg->track.nled_total = MAXLED; // MAXLED: Total LED number in the racetrack (default:300 -> 5mt, 60LED/mt Strip)
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cfg->track.nled_main = MAXLED; // 240 when boxes length = 60
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cfg->track.nled_aux = 0; // 60
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cfg->track.init_aux = -1; // 239
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cfg->track.box_len = BOXLEN;
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cfg->track.box_alwaysOn = false;
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param_option_set(cfg, BOX_MODE_OPTION, BOX_ALWAYS_ON);
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cfg->track.kf = 0.015; // friction constant
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cfg->track.kg = 0.006; // gravity constant - Used in Slope
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}
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void param_option_set( struct cfgparam* cfg, uint8_t option, boolean value ) {
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bitWrite(cfg->option, option, value);
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}
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boolean param_option_is_active( struct cfgparam* cfg, uint8_t option) {
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return(bitRead(cfg->option, option));
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}
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@ -10,37 +10,60 @@ extern "C"{
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#include <stdint.h>
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#include <stdbool.h>
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// Default values loaded on "D" command received (Serial Protocol)
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//////////////////////////////////////////////////////////////////
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#define MAXLED 300
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#define BOXLEN 60
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#define NUMLAP 5
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#define BATTERY_MODE false
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#define AUTOSTART_MODE true
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#define BOX_ALWAYS_ON false
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#define SLOPE_ALWAYS_ON false
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//////////////////////////////////////////////////////////////////
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#define BATTERY_MODE 1
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enum{
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// Position (bit) into the cfgparam.option byte for On|Off settings
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// Used in param_option_set()/param_option_is_active() calls
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enum cfgparam_option_bit {
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BATTERY_MODE_OPTION = 0,
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AUTOSTART_MODE_OPTION = 1,
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BOX_MODE_OPTION = 2,
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SLOPE_MODE_OPTION = 3,
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NOT_USED_1_OPTION = 4,
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NOT_USED_2_OPTION = 5,
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NOT_USED_3_OPTION = 6,
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NOT_USED_4_OPTION = 7,
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};
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enum cfgpar {
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CFGPARAM_VER = 6, // Change this value (+=1) every time the [cfgparam] struct is modified
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// This will force an update with the new [struct] to the settings
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// stored in EEPROM with an old (invalid) struct
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LEN_UID = 16,
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CFG_VER = 5, // "5" in V0.9.6 (manage "permanent" param for Box and Slope)
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};
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struct cfgrace{
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bool startline; // Used only in OLRNetwork
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int nlap;
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int nrepeat; // Used only in OLRNetwork
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uint8_t nlap;
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uint8_t nrepeat; // Used only in OLRNetwork
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bool finishline; // Used only in OLRNetwork
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};
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//
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struct cfgbattery{ // added in ver 0.9.7
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uint8_t delta; // unsigned char value [1-254] / will be divided by 100 [0.01-2.54]
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uint8_t min; // Battery does not descharge below this "min" percentage
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uint8_t speed_boost_scaler;
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} ;
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struct cfgtrack {
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int nled_total;
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int nled_main;
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int nled_aux;
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int init_aux;
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int box_len; // used to hold the Box Length if the default get changed.
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int box_len; // used to hold the Box Length if the default is changed.
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// it's not possible to implicitly store it in nled_main,nled_aux
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// because, if these are different to the default, box gets always activated
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// (the software does not chek "box_isactive" to draw car position)
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bool box_alwaysOn; // added in ver 0.9.6
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float kf;
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float kg;
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@ -51,8 +74,7 @@ struct cfgramp {
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int init;
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int center;
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int end;
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int high;
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bool alwaysOn; // added in ver 0.9.6
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uint8_t high;
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};
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struct brdinfo {
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@ -60,8 +82,10 @@ struct brdinfo {
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};
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struct cfgparam {
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bool setted;
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uint8_t ver; // Version of this [cfgparam] struct
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uint8_t option; // Bit-mapped byte to store 'active' on|off for options (Battery, AutoStart, BoxalwaysOn, etc)
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struct cfgrace race; // added in ver 0.9.d
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struct cfgbattery battery;
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struct cfgtrack track;
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struct cfgramp ramp;
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struct brdinfo info;
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@ -69,6 +93,8 @@ struct cfgparam {
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void param_setdefault( struct cfgparam* cfg );
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void param_option_set( struct cfgparam* cfg, uint8_t option, boolean value );
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boolean param_option_is_active( struct cfgparam* cfg, uint8_t option);
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#ifdef __cplusplus
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} // extern "C"
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@ -31,11 +31,11 @@
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*/
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// 2021/07/14 - Ver 0.9.6b
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// 2021/07/14 - Ver 0.9.6 - lab branch
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// --see changelog.txt
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char const softwareId[] = "A4P0"; // A4P -> A = Open LED Race, 4P0 = Game ID (4P = 4 Players, 0=Type 0)
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char const version[] = "0.9.6b";
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char const version[] = "0.9.6";
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@ -49,7 +49,15 @@ char const version[] = "0.9.6b";
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#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
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#define PIN_AUDIO 3 // through CAP 2uf to speaker 8 ohms
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#define REC_COMMAND_BUFLEN 32
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#define REC_COMMAND_BUFLEN 32 // received command buffer size
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// At the moment, the largest received command is RAMP CONFIGURATION (A)
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// ex: A1400,1430,1460,12,0[EOC] (for a 1500 LED strip)
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// 21 CHAR
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#define TX_COMMAND_BUFLEN 48 // send command buffer size
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// At the moment, the largest send command is Q
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// ex: QTK:1500,1500,0,-1,60,0,0.006,0.015,1[EOC] (for a 1500 LED strip)
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// 37 CHAR
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#define EOL '\n' // End of Command char used in Protocol
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#define COLOR1 track.Color(255,0,0)
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@ -69,8 +77,6 @@ char const version[] = "0.9.6b";
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#define NEWRACE_DELAY 5000
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#define AUTO_START 0
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enum{
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MAX_CARS = 4,
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};
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@ -140,11 +146,6 @@ static track_t tck;
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static int const eeadrInfo = 0;
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char txbuff[64];
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static unsigned long lastmillis = 0;
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SoftTimer customDelay = SoftTimer(); // non blocking delay()
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@ -160,8 +161,6 @@ int win_music[] = {
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3136
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};
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//int TBEEP=3;
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char tracksID[ NUM_TRACKS ][2] ={"U","M","B","I","O"};
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/* ----------- Function prototypes ------------------- */
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@ -175,10 +174,11 @@ void print_cars_positions( car_t* cars);
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void run_racecycle( void );
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void draw_winner( track_t* tck, uint32_t color);
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char cmd[REC_COMMAND_BUFLEN]; // Stores command received by ReadSerialComand()
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SerialCommand serialCommand = SerialCommand(cmd, REC_COMMAND_BUFLEN, EOL, &Serial); // get complete command from serial
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char txbuff[TX_COMMAND_BUFLEN];
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Adafruit_NeoPixel track;
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@ -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 ) {
|
||||
/**
|
||||
// Ignore EEPROM params during development of a new version of the [cfgparam]
|
||||
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 );
|
||||
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);
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
|
||||
|
||||
/*
|
||||
* 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);
|
||||
}
|
||||
**/
|
||||
|
|
|
|||
Loading…
Add table
Reference in a new issue