Merge pull request #1 from TrackPlatformTeam/development

api-v4.1.2-hardware

.gitmodules

@@ -1,9 +0,0 @@
-[submodule "cxx_serial_support"]
- path = code/c++/cxx-api/serial_support
- url = https://github.com/wjwwood/serial.git
-[submodule "cxx_gamepad_support"]
- path = code/c++/cxx-gamepad-app/gamepad_support
- url = https://github.com/AJIOB/libstem_gamepad.git
-[submodule "cxx_libcrc"]
- path = code/c++/cxx-api/libcrc
- url = https://github.com/lammertb/libcrc.git

Arduino/README.md

@@ -0,0 +1,29 @@
+# Arduino Mega 2560
+
+В данном разделе расположены прошивки для Arduino Mega 2560 модуля.
+
+## Зависимости
+
+Все зависимости требуется устанавливать как библиотеки для `Arduino IDE`
+
+* Модуль для расчета CRC `FastCRC` ([ссылка для скачивания](https://github.com/FrankBoesing/FastCRC))
+* Модуль для поддержки диспея `Adafruit SSD1306` ([ссылка для скачивания](https://github.com/adafruit/Adafruit_SSD1306))
+* Базовый модуль для поддержки диспея (требуется для `Adafruit SSD1306`) `Adafruit GFX Library` ([ссылка для скачивания](https://github.com/adafruit/Adafruit-GFX-Library))
+* Правка исходных кодов Arduino IDE в соответствии с [этой](https://playground.arduino.cc/Main/Printf) статьей (требуется при включенных отладочных сообщениях)
+
+## Сборка
+
+Утилиты для сборки:
+
+* Arduino IDE
+* Microsoft Visual Studio with C++ compiler
+* Visual Micro plug-in ([можно скачать отсюда](http://www.visualmicro.com/page/Arduino-Visual-Studio-Downloads.aspx))
+
+Для сборки откройте файл `trackPlatform.sln` в установленной выше Microsoft Visual Studio. Далее следуйте стандартной процедуре сборки проекта в Visual Studio.
+
+P.S. **Внимание!!!** Для корректной работы прошивки в версии сборки ВСЕГДА указывать `Release`, даже с включенными при компиляции отладочными сообщениями.
+
+## Прошивка
+
+В Visual Studio в панеле VisualMicro выберите требуемый (к которому подключена Arduino для прошивки) последовательный порт, и нажмите на иконку запуска (`Build and run`).
+

code/Arduino/config/CommandsEnum.h → Arduino/config/CommandsEnum.h

@@ -9,10 +9,14 @@ enum ControllerEnum {
 };
 
 enum SensorsEnum {
- distance_sensor = '\001', //get value from single distance senceor
- distance_sensor_all = '\002', //get value from all distance senceors
- line_sensor = '\003', //get value from single line senceor
- line_sensor_all = '\004' //get value from all line senceors
+ distance_sensor = '\001', //get value from single distance sensor
+ distance_sensor_all = '\002', //get value from all distance sensors
+ line_sensor = '\003', //get value from single line sensor
+ line_sensor_all = '\004', //get value from all line sensors
+ raw_distance_sensor = '\x05', //get raw value from single distance sensor
+ raw_distance_sensor_all = '\x06', //get raw value from all distance sensors
+ raw_line_sensor = '\x07', //get raw value from single line sensor
+ raw_line_sensor_all = '\x08', //get raw value from all line sensors
 };
 
 enum AreaType {

Arduino/config/Constants.cpp

@@ -0,0 +1,192 @@
+#include "Constants.h"
+
+/* Buffer initialisation */
+namespace
+{
+ const uint8_t kUsbIconBuffer[] PROGMEM = {
+ 0x00, 0x00, 0x0F, 0xF0, 0x08, 0x10, 0x08, 0x10, 0x0A, 0x50, 0x08, 0x10, 0x08, 0x10, 0x3F, 0xFC,
+ 0x20, 0x04, 0x20, 0x04, 0x20, 0x04, 0x20, 0x04, 0x30, 0x0C, 0x10, 0x08, 0x1F, 0xF8, 0x00, 0x00
+ };
+ const uint8_t kBluetoothIconBuffer[] PROGMEM = {
+ 0x00, 0x00, 0x01, 0x80, 0x01, 0xC0, 0x09, 0x60, 0x0D, 0x30, 0x07, 0x60, 0x03, 0xC0, 0x01, 0x80,
+ 0x03, 0xC0, 0x07, 0x60, 0x0D, 0x30, 0x09, 0x60, 0x01, 0xC0, 0x01, 0x80, 0x00, 0x00, 0x00, 0x00
+ };
+ const uint8_t kWiFiIconBuffer[] PROGMEM = {
+ 0x00, 0x00, 0x60, 0x00, 0x7C, 0x00, 0x07, 0x00, 0x61, 0xC0, 0x78, 0x60, 0x0E, 0x30, 0x03, 0x10,
+ 0x61, 0x98, 0x78, 0xC8, 0x0C, 0x4C, 0x06, 0x64, 0x62, 0x24, 0x73, 0x36, 0x73, 0x36, 0x00, 0x00
+ };
+ const uint8_t kStatusGoodIconBuffer[] PROGMEM = {
+ 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x0C, 0x00, 0x1C, 0x00, 0x38, 0x00, 0x70,
+ 0x30, 0xE0, 0x39, 0xC0, 0x1F, 0x80, 0x0F, 0x00, 0x06, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00
+ };
+ const uint8_t kStatusBadIconBuffer[] PROGMEM = {
+ 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x0C, 0x18, 0x1E, 0x3C, 0x1F, 0x7C, 0x0F, 0xF8, 0x07, 0xF0,
+ 0x03, 0xE0, 0x07, 0xF0, 0x0F, 0xF8, 0x1F, 0x7C, 0x1E, 0x3C, 0x0C, 0x18, 0x00, 0x00, 0x00, 0x00
+ };
+ const uint8_t kStatusResolvingIconBuffer[] PROGMEM = {
+ 0x00, 0x00, 0x00, 0x00, 0x03, 0xC0, 0x04, 0x30, 0x28, 0x08, 0x30, 0x04, 0x38, 0x04, 0x00, 0x04,
+ 0x20, 0x00, 0x20, 0x1C, 0x20, 0x0C, 0x10, 0x14, 0x0C, 0x20, 0x03, 0xC0, 0x00, 0x00, 0x00, 0x00
+ };
+ //const uint8_t kLineBuffer[] PROGMEM = {
+ // 0x00, 0x00, 0x00, 0x00, 0x18, 0x30, 0x60, 0xFE, 0xC6, 0x6C, 0x38, 0x10, 0x00, 0x00, 0x00, 0x00,
+ // 0x00, 0x00, 0x00, 0x00, 0x0C, 0x06, 0x03, 0x3F, 0x31, 0x1B, 0x0E, 0x04, 0x00, 0x00, 0x00, 0x00
+ //};
+
+ const uint8_t* const kStatusIcons[] = {
+ kStatusGoodIconBuffer,
+ kStatusBadIconBuffer,
+ kStatusResolvingIconBuffer
+ };
+
+ const uint8_t kDisplayPinConfig[] = {
+ 46, 
+ 47
+ };
+}
+
+/* Bluetooth (Hardware Serial3) */
+// const uint8_t Constants::bluetooth_RX = 15;
+// const uint8_t Constants::bluetooth_TX = 14;
+const uint32_t Constants::kBluetoothSerialSpeed = 9600;
+
+/* Wi-fi (Hardware Serial2) */
+// const uint8_t Constants::wifi_RX = 17;
+// const uint8_t Constants::wifi_TX = 16;
+const uint32_t Constants::kWifiSerialSpeed = 115200;
+const uint32_t Constants::kWifiHandshakeWaitMs = 30000;
+
+/* USB (Hardware Serial) */
+// const uint8_t Constants::usb_RX = 0;
+// const uint8_t Constants::usb_TX = 1;
+const uint32_t Constants::kUsbSerialSpeed = 9600;
+
+/* Debug serial (Hardware Serial1) */
+//const uint8_t Constants::dbg_uart_RX = 19;
+//const uint8_t Constants::dbg_uart_TX = 18;
+const uint32_t Constants::kDbgUartSpeed = 9600;
+
+/* Movement controller (L298N) */
+const uint8_t Constants::kLeftEngineEnable = 11;
+const uint8_t Constants::kLeftEngineStraightPin = 7;
+const uint8_t Constants::kLeftEngineReversePin = 6;
+const uint8_t Constants::kRightEngineStraightPin = 5;
+const uint8_t Constants::kRightEngineReversePin = 4;
+const uint8_t Constants::kRightEngineEnable = 10;
+
+/* Distanse controller */
+const uint8_t Constants::kDistanceSensorReadPin = A2;
+const uint8_t Constants::kDistanceSensorAPin = 33;
+const uint8_t Constants::kDistanceSensorBPin = 32;
+const uint8_t Constants::kDistanceSensorCPin = A3;
+
+/* Line controller */
+// A = 0, B = 1, C = 2
+const uint8_t Constants::kLineSensorReadPin = A0;
+const uint8_t Constants::kLineSensorAPin = 31;
+const uint8_t Constants::kLineSensorBPin = 30;
+const uint8_t Constants::kLineSensorCPin = A1;
+
+/* Servo controller */
+const uint8_t Constants::kServoHorizontalPin = 34;
+const uint8_t Constants::kServoVerticalPin = 35;
+
+/* Display SSD1306 controller */
+//const uint8_t Constants::kDisplaySpiMosiPin = 51;
+//const uint8_t Constants::kDisplaySpiClkPin = 52;
+const uint8_t Constants::kDisplayDcPin = 49;
+const uint8_t Constants::kDisplayCsPin = 48;
+const uint8_t Constants::kDisplayResetPin = -1;
+
+const char Constants::kCommandsDelimetr = ';';
+const char Constants::kCommandsStopSymbol = '|';
+const uint32_t Constants::kCommandsWaitTime = 50;
+
+/* Class constants */
+const uint8_t Constants::kMinSpeed = 0;
+const uint8_t Constants::kMaxSpeed = 255;
+const uint16_t Constants::kServoDelay = 20;
+
+const uint8_t Constants::kCountDistanceSensors = 5;
+const int16_t Constants::kSensorDelay = 10;
+
+const uint8_t Constants::kCountLineSensors = 5;
+const uint16_t Constants::kMinimalLineBound = 270;
+
+const uint32_t Constants::kWaitCommandTimeInMs = 5000;
+
+const String Constants::kGoodAnswer = "OK";
+const String Constants::kBadAnswer = "ERROR";
+
+/* USB image */
+const ImageConfiguration Constants::kUsbImageConfiguration =
+{
+ 0,
+ 0,
+ 16,
+ 16,
+};
+const ImageConfiguration Constants::kBluetoothImageConfiguration =
+{
+ 0,
+ 16,
+ 16,
+ 16,
+};
+const ImageConfiguration Constants::kWifiImageConfiguration =
+{
+ 0,
+ 32,
+ 16,
+ 16,
+};
+const ImageConfiguration Constants::kStatusImageConfiguration =
+{
+ 0,
+ 48,
+ 16,
+ 16,
+};
+const ImageConfiguration Constants::kLineImageConfiguration =
+{
+ 17,
+ 0,
+ 1,
+ 64,
+};
+const ImageConfiguration Constants::kPrintAreaImageConfiguration =
+{
+ 19,
+ 0,
+ 109,
+ 64,
+};
+
+const uint8_t* Constants::kUsbImage = kUsbIconBuffer;
+const uint8_t* Constants::kBluetoothImage = kBluetoothIconBuffer;
+const uint8_t* Constants::kWifiImage = kWiFiIconBuffer;
+const uint8_t* const* Constants::kStatusImages = kStatusIcons;
+const uint8_t Constants::kStatusImagesNum = sizeof(kStatusIcons) / sizeof(kStatusIcons[0]);
+
+const uint8_t* Constants::kDisplayTogglePins = kDisplayPinConfig;
+const uint8_t Constants::kDisplayTogglePinAmount = sizeof(kDisplayPinConfig) / sizeof(kDisplayPinConfig[0]);
+
+const String Constants::kBluetoothHeader = "Bluetooth";
+const String Constants::kBluetoothAp = "TrackPlatformBT";
+const String Constants::kBluetoothPassword = "7777";
+
+const String Constants::kWifiHeader = "Wi-Fi";
+const String Constants::kWifiAp = "TrackPlatformWiFi";
+const String Constants::kWifiPassword = "1234567890";
+const String Constants::kWifiIp = "192.168.4.1";
+
+const String Constants::kDebugHeader = "Debug";
+
+const String Constants::kHardwareInfoHeader = "Firmware";
+
+Constants::Constants()
+{
+}
+
+Constants::~Constants()
+{
+}

code/Arduino/config/Constants.h → Arduino/config/Constants.h

@@ -1,5 +1,6 @@
 #pragma once
 #include <Arduino.h>
+#include "ImageConfiguration.h"
 
 class Constants
 {
@@ -11,6 +12,7 @@ class Constants
  // static const uint8_t wifi_RX;
  // static const uint8_t wifi_TX;
  static const uint32_t kWifiSerialSpeed;
+ static const uint32_t kWifiHandshakeWaitMs;
 
  // static const uint8_t usb_RX;
  // static const uint8_t usb_TX;
@@ -40,6 +42,10 @@ class Constants
  static const uint8_t kServoHorizontalPin;
  static const uint8_t kServoVerticalPin;
 
+ static const uint8_t kDisplayDcPin;
+ static const uint8_t kDisplayCsPin;
+ static const uint8_t kDisplayResetPin;
+
  static const char kCommandsDelimetr;
  static const char kCommandsStopSymbol;
  static const uint32_t kCommandsWaitTime;
@@ -59,6 +65,35 @@ class Constants
  static const String kGoodAnswer;
  static const String kBadAnswer;
 
+ static const ImageConfiguration kUsbImageConfiguration;
+ static const ImageConfiguration kBluetoothImageConfiguration;
+ static const ImageConfiguration kWifiImageConfiguration;
+ static const ImageConfiguration kStatusImageConfiguration;
+ static const ImageConfiguration kLineImageConfiguration;
+ static const ImageConfiguration kPrintAreaImageConfiguration;
+
+ static const uint8_t* kUsbImage;
+ static const uint8_t* kBluetoothImage;
+ static const uint8_t* kWifiImage;
+ static const uint8_t* const* kStatusImages;
+ static const uint8_t kStatusImagesNum;
+
+ static const uint8_t* kDisplayTogglePins;
+ static const uint8_t kDisplayTogglePinAmount;
+
+ static const String kBluetoothHeader;
+ static const String kBluetoothAp;
+ static const String kBluetoothPassword;
+
+ static const String kWifiHeader;
+ static const String kWifiAp;
+ static const String kWifiPassword;
+ static const String kWifiIp;
+
+ static const String kDebugHeader;
+
+ static const String kHardwareInfoHeader;
+
  Constants();
  ~Constants();
 };

Arduino/config/ImageConfiguration.h

@@ -0,0 +1,16 @@
+/**
+ * @(#) ImageConfiguration.h
+ */
+
+#ifndef IMAGECONFIGURATION_H_H
+#define IMAGECONFIGURATION_H_H
+
+struct ImageConfiguration
+{
+ const int16_t x_pos;
+ const int16_t y_pos;
+ const int16_t x_size;
+ const int16_t y_size;
+};
+
+#endif

Arduino/connection/Bluetooth.cpp

@@ -0,0 +1,21 @@
+#include "ConnectorEnum.h"
+#include "../peripheral/display/DisplayManager.h"
+#include "Bluetooth.h"
+
+bool Bluetooth::is_inited_ = false;
+
+#define MODULE_SERIAL Serial2
+
+Bluetooth::Bluetooth(unsigned long speed) : IConnector(&MODULE_SERIAL)
+{
+ if (!is_inited_)
+ {
+ is_inited_ = true;
+ MODULE_SERIAL.begin(speed);
+ DisplayManager::get_manager()->init_connector(ConnectorEnum::bluetooth_connector);
+ }
+}
+
+Bluetooth::~Bluetooth()
+{
+}