void displaySettings() {
char mode_buf[32];
snprintf(mode_buf, sizeof(mode_buf), "%s", "settings");
/* TODO : Settings display
* We display all settings lines, highlighting the active row
* Static display of settings, bitmapLine under active row
* 0,0 mode buffer
* 0,12 tcr buffer
* 0,24 flip buffer
* 0,36
* Line at 0,(currentSetting * 13)
* */
char item1[32];
char item2[32];
char item3[32];
char item4[32];
double tcr = ctx.settings.tcrValue * 100000;
int cleanTCR = (int)tcr;
snprintf(item1, sizeof(item1), "%s: %d", "TCR", cleanTCR);
snprintf(item2, sizeof(item2), "%d", ctx.atomizer.resistance);
int pos = ctx.settings.setPos * 12 + 10;
Display_Clear();
Display_PutText(0, 0, mode_buf, FONT_DEJAVU_8PT);
Display_PutText(0, 12, item1, FONT_DEJAVU_8PT);
Display_PutText(0, 24, item2, FONT_DEJAVU_8PT);
Display_PutPixels(0, pos, bitmapLine, bitmapLineWidth, bitmapLineHeight);
Display_Update();
}
task main()
{
Task_Kill(displayDiagnostics);
Display_Clear();
initializeGlobalVariables(); // Defined in "initialize.h", this intializes all struct members.
const int finish_delay = 4*1000; // MAGIC_NUM: milliseconds to delay when program ends. // TODO: Figure out why the delay is nowhere near this.
TFileHandle IO_handle;
TFileIOResult IO_result;
const string filename = "_reset_pods.txt";
const string filename_temp = "_reset_pods_tmp.txt"; // temp makes the filename too long??
int file_size = 0;
short rotation[POD_NUM] = {0,0,0,0};
// Read in all the values of the pods from a text file.
OpenRead(IO_handle, IO_result, filename, file_size); // TODO: Add more error handling.
if (IO_result==ioRsltSuccess) {
nxtDisplayTextLine(0, "Read from file");
nxtDisplayTextLine(1, "\"_reset_pods.txt\"");
} else if (IO_result==ioRsltFileNotFound) {
OpenRead(IO_handle, IO_result, filename_temp, file_size); // TODO: Add more error handling.
if (IO_result==ioRsltSuccess) {
nxtDisplayTextLine(0, "Read from file");
nxtDisplayTextLine(1, "\"_pods_tmp.txt\"");
} else if ( (IO_result==ioRsltFileNotFound) ||
(IO_result==ioRsltNoSpace) ||
(IO_result==ioRsltNoMoreFiles) ) {
nxtDisplayTextLine(2, "No data file.");
nxtDisplayTextLine(3, "Terminating.");
Time_Wait(finish_delay);
return; // The only way to break out of this function?
}
} else if ((IO_result==ioRsltNoSpace)||(IO_result==ioRsltNoMoreFiles)) {
nxtDisplayTextLine(2, "No data file.");
nxtDisplayTextLine(3, "Terminating.");
Time_Wait(finish_delay);
return; // The only way to break out of this function?
}
for (int i=POD_FR; i<(int)POD_NUM; i++) {
ReadShort(IO_handle, IO_result, rotation[i]);
}
Close(IO_handle, IO_result);
nxtDisplayTextLine(3, "FL:%5d FR:%5d", rotation[POD_FL], rotation[POD_FR]);
nxtDisplayTextLine(4, "BL:%5d BR:%5d", rotation[POD_BL], rotation[POD_BR]);
nxtDisplayCenteredTextLine(6, "Press [ENTER] to");
nxtDisplayCenteredTextLine(7, "end program.");
do {
Buttons_UpdateData();
Time_Wait(100); // MAGIC_NUM: Arbitrary LCD refresh delay.
} while (Buttons_Released(NXT_BUTTON_YES)==false);
}
void displayVW() {
char mode_buf[3];
char out_buf[5];
char bat_buf[5];
snprintf(mode_buf, sizeof(mode_buf), "%s", "vw");
snprintf(out_buf, sizeof(out_buf), "%dw", ctx.settings.tW/1000);
snprintf(bat_buf, sizeof(bat_buf), "%d%%", ctx.battery.percent);
Display_Clear();
Display_PutPixels(4, 2, bitmapBottle, bitmapBottleWidth, bitmapBottleHeight);
Display_PutText(24, 0, mode_buf, FONT_DEJAVU_8PT);
Display_PutPixels(0, 112, bitmapLine, bitmapLineWidth, bitmapLineHeight);
Display_PutText(0, 116, out_buf, FONT_DEJAVU_8PT);
Display_PutText(32, 116, bat_buf, FONT_DEJAVU_8PT);
Display_Update();
}
void Display_Init() {
switch(Dataflash_info.hwVersion) {
case 102:
case 103:
case 106:
case 108:
case 109:
case 111:
Display_type = DISPLAY_SSD1327;
break;
default:
Display_type = DISPLAY_SSD1306;
break;
}
Display_Clear();
Display_SSD_Init();
}
int main() {
uint8_t state;
char buf[100];
while(1) {
// Build state report
state = Button_GetState();
sprintf(buf, "Mask: %02X\n\nFire: %d\nRight: %d\nLeft: %d",
state,
(state & BUTTON_MASK_FIRE) ? 1 : 0,
(state & BUTTON_MASK_RIGHT) ? 1 : 0,
(state & BUTTON_MASK_LEFT) ? 1 : 0);
// Clear and blit text
Display_Clear();
Display_PutText(0, 0, buf, FONT_DEJAVU_8PT);
Display_Update();
}
}
void displayFiring() {
char temp_buf[12];
char out_buf[5];
snprintf(temp_buf, sizeof(temp_buf), "%dc", (int)ctx.coil.temp);
snprintf(out_buf, sizeof(out_buf), "%dw",
(ctx.atomizer.voltage * ctx.atomizer.current) / 1000000);
Display_Clear();
int lines;
lines = numLines();
for(int i = 0; i < lines; i += 2) {
Display_PutPixels(0, i, bitmapLine, bitmapLineWidth, bitmapLineHeight);
}
Display_PutPixels(0, 112, bitmapLine, bitmapLineWidth, bitmapLineHeight);
Display_PutText(0, 116, temp_buf, FONT_DEJAVU_8PT);
Display_PutText(32, 116, out_buf, FONT_DEJAVU_8PT);
Display_Update();
}
// Main
int main() {
// initial settings, will change to user interactive / eeprom
ctx.settings.mode = 3;
ctx.settings.maxCtrlWatts = 75000;
ctx.settings.maxWatts = 75000;
ctx.settings.minTemp = 60;
ctx.settings.maxTemp = 300;
ctx.settings.tcrValue = 0.00092;
ctx.settings.tT = 248;
ctx.settings.tW = 56000;
ctx.settings.lockRes = false;
ctx.settings.flip = false;
ctx.settings.stealth = false;
ctx.settings.lock = false;
ctx.settings.timeout = 10;
// init timers
uint8_t timeTimer;
timeTimer = Timer_CreateTimer(1, 1, incrementTime, 1);
uint8_t loopTimer;
loopTimer = Timer_CreateTimer(FPS, 1, readyLoop, 1);
// init atomizer
Atomizer_SetErrorLock(true);
// main loop, rest is event handling
while(1) {
loop = 0;
// collect runtime data
collectData();
// do controls
doControls();
if(ctx.state.firing) {
displayFiring();
} else {
if(ctx.state.idleTimer < 20) {
switch(ctx.settings.mode) {
case 0: // settings
displaySettings();
break;
case 1: // vw
displayVW();
break;
case 2: // bp
displayBP();
break;
case 3: // tc
displayTC();
break;
}
} else {
// switch to low power mode
Display_Clear();
Display_Update();
sleep();
}
}
// waste time until loop refresh timer is ready
while(loop == 0) {}
}
return 0;
}
task Display()
{
typedef enum DisplayMode {
DISP_FCS, // Default FCS screen.
DISP_ENCODERS, // Raw encoder values.
DISP_LIFT, // PID, status, mode
DISP_HOPPER, // Maths variables.
DISP_SENSORS, // Might need to split this into two screens.
DISP_JOYSTICKS, // For convenience. TODO: Add buttons, D-pad, etc.?
DISP_NUM
};
Task_Spawn(displayDiagnostics); // Explicit here: this is only spawned when buttons are pressed.
DisplayMode isMode = DISP_FCS;
// We don't need to wait for start. ;)
while (true) {
Buttons_UpdateData();
switch (isMode) {
case DISP_FCS :
break;
case DISP_ENCODERS :
nxtDisplayTextLine(0, "Lift : %+6i", lift_pos);
nxtDisplayTextLine(1, "Mtr L: %+6i", Motor_GetEncoder(encoder_L));
nxtDisplayTextLine(2, "Mtr R: %+6i", Motor_GetEncoder(encoder_R));
break;
case DISP_SENSORS :
nxtDisplayTextLine(0, "Angle: %3i", heading);
nxtDisplayTextLine(1, "IR A : %3i", IR_A);
nxtDisplayTextLine(2, "IR B : %3i", IR_B);
nxtDisplayTextLine(3, "IR C : %3i", IR_C);
nxtDisplayTextLine(4, "IR D : %3i", IR_D);
nxtDisplayTextLine(5, "IR E : %3i", IR_E);
break;
case DISP_LIFT :
string lift_manual_str;
string lift_status_str;
if (is_lift_manual) {
lift_manual_str = "MANUAL";
} else {
lift_manual_str = "PID";
}
if (isDown) {
lift_status_str = "DOWN";
} else {
lift_status_str = "UP";
}
nxtDisplayCenteredTextLine(0, "Lift-%s-%s", lift_manual_str, lift_status_str);
nxtDisplayTextLine(1, "Pos: %+6i", lift_pos);
nxtDisplayTextLine(2, "Tgt: %+6i", lift_target);
nxtDisplayTextLine(3, "Pwr: %+3.3f", power_lift);
nxtDisplayCenteredTextLine(4, "%+4i %+4i %+4i", term_P_lift, term_I_lift, term_D_lift);
break;
case DISP_HOPPER :
nxtDisplayTextLine(0, "XYZ %+2.1f %+2.1f %3i", hopper_x_pos, hopper_y_pos, hopper_z_pos);
nxtDisplayTextLine(1, "XYZ %+2.1f %+2.1f %3i", hopper_x_target, hopper_y_target, hopper_z_target);
nxtDisplayTextLine(2, "k,i %+4i %+4i", hopper_theta, hopper_phi);
nxtDisplayTextLine(3, "r,h %3.1f %3.1f", hopper_r, hopper_h);
nxtDisplayTextLine(4, "encdr: %+6d", hopper_pos);
nxtDisplayTextLine(5, "tgt : %+6d", hopper_target);
break;
case DISP_JOYSTICKS :
nxtDisplayCenteredTextLine(0, "--Driver I:--");
nxtDisplayCenteredTextLine(1, "LX:%4i RX:%4i", joystick.joy1_x1, joystick.joy1_x2);
nxtDisplayCenteredTextLine(2, "LY:%4i RY:%4i", joystick.joy1_y1, joystick.joy1_y2);
nxtDisplayCenteredTextLine(4, "--Driver II:--");
nxtDisplayCenteredTextLine(5, "LX:%4i RX:%4i", joystick.joy2_x1, joystick.joy2_x2);
nxtDisplayCenteredTextLine(6, "LY:%4i RY:%4i", joystick.joy2_y1, joystick.joy2_y2);
break;
default :
nxtDisplayCenteredTextLine(2, "Debug info");
nxtDisplayCenteredTextLine(3, "for this screen");
nxtDisplayCenteredTextLine(4, "is not currently");
nxtDisplayCenteredTextLine(5, "available.");
break;
}
if (Buttons_Released(NXT_BUTTON_L)==true) {
Display_Clear();
isMode = (DisplayMode)((isMode+DISP_NUM-1)%DISP_NUM);
if (isMode==DISP_FCS) {
Task_Spawn(displayDiagnostics);
} else {
Task_Kill(displayDiagnostics);
}
}
if (Buttons_Released(NXT_BUTTON_R)==true) {
Display_Clear();
isMode = (DisplayMode)((isMode+DISP_NUM+1)%DISP_NUM);
if (isMode==DISP_FCS) {
Task_Spawn(displayDiagnostics);
} else {
Task_Kill(displayDiagnostics);
}
}
Time_Wait(50); // MAGIC_NUM: Prevents the LCD from updating itself to death.
}
}
