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Merged
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Jan 12, 2022
Merged

Replace each [tab] with 2x[space]. #17

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232 changes: 116 additions & 116 deletions src/Braccio.cpp
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -30,69 +30,69 @@ BraccioClass::BraccioClass()

bool BraccioClass::begin(voidFuncPtr customMenu) {

Wire.begin();
Serial.begin(115200);
Wire.begin();
Serial.begin(115200);

pinMode(PIN_FUSB302_INT, INPUT_PULLUP);
pinMode(PIN_FUSB302_INT, INPUT_PULLUP);

#ifdef __MBED__
static rtos::Thread th(osPriorityHigh);
th.start(mbed::callback(this, &BraccioClass::pd_thread));
attachInterrupt(PIN_FUSB302_INT, mbed::callback(this, &BraccioClass::unlock_pd_semaphore_irq), FALLING);
pd_timer.attach(mbed::callback(this, &BraccioClass::unlock_pd_semaphore), 10ms);
static rtos::Thread th(osPriorityHigh);
th.start(mbed::callback(this, &BraccioClass::pd_thread));
attachInterrupt(PIN_FUSB302_INT, mbed::callback(this, &BraccioClass::unlock_pd_semaphore_irq), FALLING);
pd_timer.attach(mbed::callback(this, &BraccioClass::unlock_pd_semaphore), 10ms);
#endif

PD_UFP.init_PPS(PPS_V(7.2), PPS_A(2.0));
PD_UFP.init_PPS(PPS_V(7.2), PPS_A(2.0));

/*
while (millis() < 200) {
PD_UFP.run();
}
while (millis() < 200) {
PD_UFP.run();
}
*/

pinMode(1, INPUT_PULLUP);
pinMode(1, INPUT_PULLUP);

SPI.begin();
SPI.begin();

i2c_mutex.lock();
bl.begin();
if (bl.getChipID() != 0xCE) {
return false;
}
bl.setColor(red);
i2c_mutex.lock();
bl.begin();
if (bl.getChipID() != 0xCE) {
return false;
}
bl.setColor(red);

int ret = expander.testConnection();
int ret = expander.testConnection();

if (ret == false) {
return ret;
}
if (ret == false) {
return ret;
}

for (int i = 0; i < 14; i++) {
expander.setPinDirection(i, 0);
}
for (int i = 0; i < 14; i++) {
expander.setPinDirection(i, 0);
}

// Set SLEW to low
expander.setPinDirection(21, 0); // P25 = 8 * 2 + 5
expander.writePin(21, 0);
// Set SLEW to low
expander.setPinDirection(21, 0); // P25 = 8 * 2 + 5
expander.writePin(21, 0);

// Set TERM to HIGH (default)
expander.setPinDirection(19, 0); // P23 = 8 * 2 + 3
expander.writePin(19, 1);
// Set TERM to HIGH (default)
expander.setPinDirection(19, 0); // P23 = 8 * 2 + 3
expander.writePin(19, 1);

expander.setPinDirection(18, 0); // P22 = 8 * 2 + 2
expander.writePin(18, 0); // reset LCD
expander.writePin(18, 1); // LCD out of reset
i2c_mutex.unlock();
expander.setPinDirection(18, 0); // P22 = 8 * 2 + 2
expander.writePin(18, 0); // reset LCD
expander.writePin(18, 1); // LCD out of reset
i2c_mutex.unlock();

pinMode(BTN_LEFT, INPUT_PULLUP);
pinMode(BTN_RIGHT, INPUT_PULLUP);
pinMode(BTN_UP, INPUT_PULLUP);
pinMode(BTN_DOWN, INPUT_PULLUP);
pinMode(BTN_SEL, INPUT_PULLUP);
pinMode(BTN_ENTER, INPUT_PULLUP);
pinMode(BTN_LEFT, INPUT_PULLUP);
pinMode(BTN_RIGHT, INPUT_PULLUP);
pinMode(BTN_UP, INPUT_PULLUP);
pinMode(BTN_DOWN, INPUT_PULLUP);
pinMode(BTN_SEL, INPUT_PULLUP);
pinMode(BTN_ENTER, INPUT_PULLUP);

#if LV_USE_LOG
lv_log_register_print_cb( my_print );
lv_log_register_print_cb( my_print );
#endif

lv_init();
Expand All @@ -112,14 +112,14 @@ bool BraccioClass::begin(voidFuncPtr customMenu) {
indev_drv.read_cb = read_keypad;
kb_indev = lv_indev_drv_register(&indev_drv);

gfx.init();
gfx.setRotation(4);
gfx.fillScreen(TFT_BLACK);
gfx.setAddrWindow(0, 0, 240, 240);
gfx.setFreeFont(&FreeSans18pt7b);
gfx.init();
gfx.setRotation(4);
gfx.fillScreen(TFT_BLACK);
gfx.setAddrWindow(0, 0, 240, 240);
gfx.setFreeFont(&FreeSans18pt7b);

/*
gfx.drawBitmap(44, 60, ArduinoLogo, 152, 72, 0x04B3);
gfx.drawBitmap(44, 60, ArduinoLogo, 152, 72, 0x04B3);
gfx.drawBitmap(48, 145, ArduinoText, 144, 23, 0x04B3);
*/

Expand All @@ -137,34 +137,34 @@ bool BraccioClass::begin(voidFuncPtr customMenu) {
}

if (!PD_UFP.is_PPS_ready()) {
gfx.fillScreen(TFT_BLACK);
gfx.println("\n\nPlease\nconnect\npower");
}

//PD_UFP.print_status(Serial);
while (!PD_UFP.is_PPS_ready()) {
i2c_mutex.lock();
PD_UFP.print_status(Serial);
//PD_UFP.print_status(Serial);
PD_UFP.set_PPS(PPS_V(7.2), PPS_A(2.0));
delay(10);
i2c_mutex.unlock();
}
gfx.fillScreen(TFT_BLACK);
gfx.println("\n\nPlease\nconnect\npower");
}

//PD_UFP.print_status(Serial);
while (!PD_UFP.is_PPS_ready()) {
i2c_mutex.lock();
PD_UFP.print_status(Serial);
//PD_UFP.print_status(Serial);
PD_UFP.set_PPS(PPS_V(7.2), PPS_A(2.0));
delay(10);
i2c_mutex.unlock();
}

#ifdef __MBED__
static rtos::Thread display_th;
display_th.start(mbed::callback(this, &BraccioClass::display_thread));
static rtos::Thread display_th;
display_th.start(mbed::callback(this, &BraccioClass::display_thread));
#endif

servos.begin();
servos.setPositionMode(PositionMode::IMMEDIATE);
servos.begin();
servos.setPositionMode(PositionMode::IMMEDIATE);

#ifdef __MBED__
static rtos::Thread connected_th;
connected_th.start(mbed::callback(this, &BraccioClass::motors_connected_thread));
static rtos::Thread connected_th;
connected_th.start(mbed::callback(this, &BraccioClass::motors_connected_thread));
#endif

return true;
return true;
}

void BraccioClass::connectJoystickTo(lv_obj_t* obj) {
Expand All @@ -173,8 +173,8 @@ void BraccioClass::connectJoystickTo(lv_obj_t* obj) {
}

void BraccioClass::pd_thread() {
start_pd_burst = millis();
size_t last_time_ask_pps = 0;
start_pd_burst = millis();
size_t last_time_ask_pps = 0;
while (1) {
auto ret = pd_events.wait_any(0xFF);
if ((ret & 1) && (millis() - start_pd_burst > 1000)) {
Expand All @@ -200,7 +200,7 @@ void BraccioClass::pd_thread() {

void BraccioClass::display_thread() {
while (1) {
/*
/*
if ((braccio::encoder.menu_running) && (braccio::encoder.menu_interrupt)) {
braccio::encoder.menu_interrupt = false;
braccio::nav.doInput();
Expand All @@ -217,68 +217,68 @@ void BraccioClass::display_thread() {
#include <extra/libs/gif/lv_gif.h>

void BraccioClass::splashScreen(int duration) {
LV_IMG_DECLARE(img_bulb_gif);
lv_obj_t* img = lv_gif_create(lv_scr_act());
lv_gif_set_src(img, &img_bulb_gif);
lv_obj_align(img, LV_ALIGN_CENTER, 0, 0);
LV_IMG_DECLARE(img_bulb_gif);
lv_obj_t* img = lv_gif_create(lv_scr_act());
lv_gif_set_src(img, &img_bulb_gif);
lv_obj_align(img, LV_ALIGN_CENTER, 0, 0);

for (long start = millis(); millis() - start < duration;) {
lv_task_handler();
for (long start = millis(); millis() - start < duration;) {
lv_task_handler();
lv_tick_inc(LV_DISP_DEF_REFR_PERIOD);
delay(10);
}
lv_obj_del(img);
lv_obj_clean(lv_scr_act());
}
lv_obj_del(img);
lv_obj_clean(lv_scr_act());
}

void BraccioClass::defaultMenu() {

// TODO: create a meaningful default menu
// TODO: create a meaningful default menu

}

void BraccioClass::motors_connected_thread() {
while (1) {
if (ping_allowed) {
for (int i = 1; i < 7; i++) {
_connected[i] = (servos.ping(i) == 0);
//Serial.print(String(i) + ": ");
//Serial.println(_connected[i]);
}
i2c_mutex.lock();
for (int i = 1; i < 7; i++) {
if (_connected[i]) {
setGreen(i);
} else {
setRed(i);
}
}
i2c_mutex.unlock();
}
for (int i = 1; i < 7; i++) {
_connected[i] = (servos.ping(i) == 0);
//Serial.print(String(i) + ": ");
//Serial.println(_connected[i]);
}
i2c_mutex.lock();
for (int i = 1; i < 7; i++) {
if (_connected[i]) {
setGreen(i);
} else {
setRed(i);
}
}
i2c_mutex.unlock();
}
delay(1000);
}
}

int BraccioClass::getKey() {
if (digitalRead(BTN_LEFT) == LOW) {
return 1;
}
if (digitalRead(BTN_RIGHT) == LOW) {
return 2;
}
if (digitalRead(BTN_SEL) == LOW) {
return 3;
}
if (digitalRead(BTN_UP) == LOW) {
return 4;
}
if (digitalRead(BTN_DOWN) == LOW) {
return 5;
}
if (digitalRead(BTN_ENTER) == LOW) {
return 6;
}
return 0;
if (digitalRead(BTN_LEFT) == LOW) {
return 1;
}
if (digitalRead(BTN_RIGHT) == LOW) {
return 2;
}
if (digitalRead(BTN_SEL) == LOW) {
return 3;
}
if (digitalRead(BTN_UP) == LOW) {
return 4;
}
if (digitalRead(BTN_DOWN) == LOW) {
return 5;
}
if (digitalRead(BTN_ENTER) == LOW) {
return 6;
}
return 0;
}

/* Display flushing */
Expand Down
2 changes: 1 addition & 1 deletion src/lib/TFT_eSPI/Extensions/Sprite.cppx
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -377,7 +377,7 @@ void TFT_eSprite::deleteSprite(void)
if (_colorMap != nullptr)
{
free(_colorMap);
_colorMap = nullptr;
_colorMap = nullptr;
}

if (_created)
Expand Down
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