Changed acceleration logic for remote controller and enabled connection protocol for steering controller

neilpatil-nz · neilpatil-nz · commit c7c4acc6c660 · 2021-04-07T10:55:31.000+12:00
diff --git a/Steering/Firmware/Remote_Controller/RC_1R1/RC_1R1/RC_1R1.cproj b/Steering/Firmware/Remote_Controller/RC_1R1/RC_1R1/RC_1R1.cproj
@@ -30,15 +30,15 @@
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diff --git a/Steering/Firmware/Remote_Controller/RC_1R1/RC_1R1/controlSend.c b/Steering/Firmware/Remote_Controller/RC_1R1/RC_1R1/controlSend.c
@@ -48,35 +48,30 @@ ISR(INT0_vect) {
 }
 
 ISR(PCINT0_vect) {
-	/*usart0_transmit_string("Acc sw trgd.\r\n");*/
 	if (READ_ACCEL_SW_1) {
 		accel_sw_1 = true;
-		//usart0_transmit_string("1\n");
 	}
 	else {
 		accel_sw_1 = false;
 	}
-	if (READ_ACCEL_SW_4) {
-		//usart0_transmit_string("4\n");
-		accel_sw_4 = true;
-	}
-	else {
-		accel_sw_4 = false;
-	}
 	if (READ_ACCEL_SW_2) {
-		//usart0_transmit_string("2\n");
 		accel_sw_2 = true;
 	}
 	else {
 		accel_sw_2 = false;
 	}
 	if (READ_ACCEL_SW_3) {
-		//usart0_transmit_string("3\n");
 		accel_sw_3 = true;
 	}
 	else {
 		accel_sw_3 = false;
 	}
+	if (READ_ACCEL_SW_4) {
+		accel_sw_4 = true;
+	}
+	else {
+		accel_sw_4 = false;
+	}
 	
 }
 
@@ -103,26 +98,34 @@ void str_data_conversion() {
 }
 
 void accel_data_conversion() {
-	if (accel_sw_4 && accel_sw_3) {
+	if (accel_sw_1 && !accel_sw_2 && accel_sw_3 && accel_sw_4) {
 		accel_data = ACCEL_NONE;
+		//usart0_transmit_string("none");
 	}
-	else if (!accel_sw_1 && !accel_sw_2 && accel_sw_3) {
+	else if (accel_sw_1 && !accel_sw_2 && accel_sw_3 && !accel_sw_4) {
 		accel_data = ACCEL_LOW;
+		//usart0_transmit_string("low");
 	}
-	else if (accel_sw_1 && !accel_sw_2) {
+	else if (!accel_sw_1 && !accel_sw_2 && accel_sw_3 && !accel_sw_4) {
 		accel_data = ACCEL_MEDIUM;
+		//usart0_transmit_string("medium");
 	}
-	else if (accel_sw_2 && accel_sw_3) {
+	else if (accel_sw_1 && accel_sw_2 && !accel_sw_3 && !accel_sw_4) {
 		accel_data = ACCEL_HIGH;
+		//usart0_transmit_string("high");
 	}
 }
 
 void instructionSend() {
 	set_RTS_flag(false);
+// 	sprintf(input_buffer, "\n\r ADC:	%i %i %i %i \n\r", (int16_t)accel_sw_1, (int16_t)accel_sw_2, (int16_t)accel_sw_3, (int16_t)accel_sw_4 );
+// 	usart0_transmit_string(input_buffer);
 	
 	sendValue = 0b10000000;
 	sendValue &=~ (1 << FUTURE);
 	
+	accel_data_conversion();
+
 	switch (str_data)
 	{
 		case STR_FULL_L:
@@ -160,24 +163,28 @@ void instructionSend() {
 	switch (accel_data) 
 	{
 		case ACCEL_HIGH:
-			//sendValue |= (1 << SPEED_HIGH); // CHANGE THESE!!!!!!!!!!
+			//usart0_transmit_string("high");
+			sendValue |= (1 << SPEED_HIGH); // CHANGE THESE!!!!!!!!!!
 			//sendValue = 65;
 			break;
 		
 		case ACCEL_MEDIUM:
-			//sendValue |= (1 << SPEED_MED);
+			//usart0_transmit_string("medium");
+			sendValue |= (1 << SPEED_MED);
 			//sendValue = 66;
 			break;
 			
 		case ACCEL_LOW:
-			//sendValue |= (1 << SPEED_LOW);
+			//usart0_transmit_string("low");
+			sendValue |= (1 << SPEED_LOW);
 			//sendValue = 67;
 			break;
 			
 		case ACCEL_NONE:
-// 			sendValue &= ~(1 << SPEED_HIGH);
-// 			sendValue &= ~(1 << SPEED_MED);
-// 			sendValue &= ~(1 << SPEED_LOW);
+			//usart0_transmit_string("none");
+ 			sendValue &= ~(1 << SPEED_HIGH);
+ 			sendValue &= ~(1 << SPEED_MED);
+ 			sendValue &= ~(1 << SPEED_LOW);
 			//sendValue = 68;
 			break;
 	};
diff --git a/Steering/Firmware/Remote_Controller/RC_1R1/RC_1R1/main.c b/Steering/Firmware/Remote_Controller/RC_1R1/RC_1R1/main.c
@@ -19,13 +19,12 @@
 volatile uint8_t transmitTimerCounter = 0;											// This counter checks if enough time has passed for BLE transmission to occur
 
 ISR(TIMER0_COMPA_vect) {
-	if (transmitTimerCounter < 60) {
+	if (transmitTimerCounter < 30) { //SET 20
 		transmitTimerCounter++;
 	}
 	else {
 		//														// Set RTS true for BLE transmission
 		get_instruction_byte();
-		//usart0_transmit_string("hello\r\n");
 		transmitTimerCounter = 0;
 	}
 }
@@ -45,7 +44,6 @@ int main(void)
 		str_data_conversion();
 		accel_data_conversion();
 		instructionSend();
-		
     }
 }
 
diff --git a/Steering/Firmware/Remote_Controller/RC_1R1/RC_1R1/timer0.c b/Steering/Firmware/Remote_Controller/RC_1R1/RC_1R1/timer0.c
@@ -12,5 +12,5 @@ void timer0_init(){
 	TCCR0A |= (1 << WGM01);															// Set Timer to CTC mode
 	TCCR0B |= (1 << CS01) | (1 << CS00);												// Set prescaler to 64
 	OCR0A = 124;																		// Set timer overflow at 1ms
-	TIMSK0 |= (1 << OCIE0A);
+	TIMSK0 |= (1 << OCIE0A);		
 }
diff --git a/Steering/Firmware/Steering_Controller/Steering_Controller/Steering_Controller/control.c b/Steering/Firmware/Steering_Controller/Steering_Controller/Steering_Controller/control.c
@@ -11,11 +11,6 @@
 #include "uart.h"
 #include "steering.h"
 
-// DEBUGGING
-#include <stdio.h> //
-#include <string.h> //
-char input_buffer[20]; //
-
 // Stores input data
 static volatile char input_data;
 
@@ -69,30 +64,20 @@ void set_turn_angle(){
 	if(RIGHT_H){
 		if(HALF_TURN_H){
 			set_half_r_turn();
-			sprintf(input_buffer, "Set Output (Half R):	%i \n\r", set_point_angle); //
-			usart0_transmit_string(input_buffer); //
 		} 
 		else if (FULL_TURN_H){
 			set_full_r_turn();
-			sprintf(input_buffer, "Set Output (Full R):	%i \n\r", set_point_angle); //
-			usart0_transmit_string(input_buffer); //
 		}
 	} // LEFT TURN
 	else{
 		if(HALF_TURN_H){
 			set_half_l_turn(); 
-			sprintf(input_buffer, "Set Output (Half L):	%i \n\r", set_point_angle); //
-			usart0_transmit_string(input_buffer); //
 		}
 		else if (FULL_TURN_H){
 			set_full_l_turn();
-			sprintf(input_buffer, "Set Output (Full R):	%i \n\r", set_point_angle); //
-			usart0_transmit_string(input_buffer); //
 		}
 		else{
 			set_straight_turn();
-			sprintf(input_buffer, "Set Output (Straight):	%i \n\r", set_point_angle); //
-			usart0_transmit_string(input_buffer); //
 		}
 	}
 }
diff --git a/Steering/Firmware/Steering_Controller/Steering_Controller/Steering_Controller/global.h b/Steering/Firmware/Steering_Controller/Steering_Controller/Steering_Controller/global.h
@@ -44,7 +44,8 @@ uint16_t turn_range;
 volatile int16_t t_on;
 
 // Timeout Counter
-#define MAX_TIMEOUT_COUNT 50 // in ms
+#define STATE_CONNECT_COUNT 500 // in ms
+#define MAX_TIMEOUT_COUNT 500 // in ms
 volatile uint8_t timeout_count;
 
 // Calibration timer
diff --git a/Steering/Firmware/Steering_Controller/Steering_Controller/Steering_Controller/main.c b/Steering/Firmware/Steering_Controller/Steering_Controller/Steering_Controller/main.c
@@ -30,7 +30,7 @@ int main(void)
 	
 	sei();
     while (1) {
-
+		
 	}
 }
 
diff --git a/Steering/Firmware/Steering_Controller/Steering_Controller/Steering_Controller/pi_controller.c b/Steering/Firmware/Steering_Controller/Steering_Controller/Steering_Controller/pi_controller.c
@@ -18,6 +18,11 @@ static volatile int16_t input;
 static volatile int16_t integrator;
 static volatile int16_t set_output;
 
+
+#include <stdio.h> //
+#include <string.h> //
+char input_buffer[20]; //
+
 // PI Controller Function
 void pi_controller(){
 	input = adc_read(); // Reads current input
diff --git a/Steering/Firmware/Steering_Controller/Steering_Controller/Steering_Controller/timer2.c b/Steering/Firmware/Steering_Controller/Steering_Controller/Steering_Controller/timer2.c
diff --git a/Steering/Firmware/Steering_Controller/Steering_Controller/Steering_Controller/uart.c b/Steering/Firmware/Steering_Controller/Steering_Controller/Steering_Controller/uart.c

Original file line number	Diff line number	Diff line change
`@@ -19,13 +19,12 @@`
`19`	`19`	`volatile uint8_t transmitTimerCounter = 0; // This counter checks if enough time has passed for BLE transmission to occur`
`20`	`20`
`21`	`21`	`ISR(TIMER0_COMPA_vect) {`
`22`		`- if (transmitTimerCounter < 60) {`
	`22`	`+ if (transmitTimerCounter < 30) { //SET 20`
`23`	`23`	`transmitTimerCounter++;`
`24`	`24`	`}`
`25`	`25`	`else {`
`26`	`26`	`// // Set RTS true for BLE transmission`
`27`	`27`	`get_instruction_byte();`
`28`		`- //usart0_transmit_string("hello\r\n");`
`29`	`28`	`transmitTimerCounter = 0;`
`30`	`29`	`}`
`31`	`30`	`}`
`@@ -45,7 +44,6 @@ int main(void)`
`45`	`44`	`str_data_conversion();`
`46`	`45`	`accel_data_conversion();`
`47`	`46`	`instructionSend();`
`48`		`-`
`49`	`47`	`}`
`50`	`48`	`}`
`51`	`49`
Original file line number	Diff line number	Diff line change
`@@ -12,5 +12,5 @@ void timer0_init(){`
`12`	`12`	`TCCR0A \|= (1 << WGM01); // Set Timer to CTC mode`
`13`	`13`	`TCCR0B \|= (1 << CS01) \| (1 << CS00); // Set prescaler to 64`
`14`	`14`	`OCR0A = 124; // Set timer overflow at 1ms`
`15`		`- TIMSK0 \|= (1 << OCIE0A);`
	`15`	`+ TIMSK0 \|= (1 << OCIE0A);`
`16`	`16`	`}`
Original file line number	Diff line number	Diff line change
`@@ -30,7 +30,7 @@ int main(void)`
`30`	`30`
`31`	`31`	`sei();`
`32`	`32`	`while (1) {`
`33`		`-`
	`33`	`+`
`34`	`34`	`}`
`35`	`35`	`}`
`36`	`36`