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schmelczerandras
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8 changed files with 157458 additions and 1 deletions
129
ad_astra/AdAstra/src/driver/display/display.c
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129
ad_astra/AdAstra/src/driver/display/display.c
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#include "display.h"
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#include <avr/pgmspace.h>
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#include "bitwise.h"
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#include "math.h"
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#include "../../hardware_access/hardware_access.h"
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static uint8_t const configuration[] PROGMEM = {
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0xD5, 0xF0, // set clock frequency
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0x8D, 0x14, // enable charge pump
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0x20, 0x00, // horizontal addressing mode
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0xD6, 0x01, // 2 times vertical zoom
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0x22, 0x00, 0x03, // only draw to the top half of the screen
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0xAF // display on
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};
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static struct {
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uint8_t compositingBuffer[DISPLAY_WIDTH_IN_PIXELS];
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Rectangle compositingWindow;
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DrawFunction drawEverything;
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bool wasIntersection;
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} display;
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static inline void commandMode() {
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setOutputPin(DISPLAY_DC_OUTPUT_PIN, false);
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}
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static inline void dataMode() {
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setOutputPin(DISPLAY_DC_OUTPUT_PIN, true);
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}
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void setDisplayContrast(uint8_t value) {
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commandMode();
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sendByteOnSPI(0x81);
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sendByteOnSPI(value);
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dataMode();
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}
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void initializeDisplay(DrawFunction drawEverything) {
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setOutputPin(DISPLAY_RESET_OUTPUT_PIN, false);
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for (volatile uint8_t i = 0; i != 255; i++)
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;
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// some time has to elapse before the next line gets called,
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// otherwise the display wont turn on
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setOutputPin(DISPLAY_RESET_OUTPUT_PIN, true);
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for (uint8_t i = 0; i < sizeof(configuration); i++) {
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sendByteOnSPI(pgm_read_byte(configuration + i));
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}
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display.drawEverything = drawEverything;
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setDisplayContrast(255);
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dataMode();
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}
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void startIntersectionTest(Rectangle compositingWindow) {
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display.wasIntersection = false;
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display.compositingWindow = compositingWindow;
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}
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bool endIntersectionTest() {
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for (uint8_t x = 0; x < DISPLAY_WIDTH_IN_PIXELS; x++) {
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display.compositingBuffer[x] = 0;
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}
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return display.wasIntersection;
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}
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void drawFrame() {
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display.compositingWindow = DEFAULT_COMPOSITING_WINDOW;
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for (display.compositingWindow.position.y = 0; display.compositingWindow.position.y < DISPLAY_HEIGHT_IN_PIXELS; display.compositingWindow.position.y += 8) {
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display.drawEverything(display.compositingWindow);
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for (uint8_t x = 0; x < DISPLAY_WIDTH_IN_PIXELS; x++) {
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sendByteOnSPI(display.compositingBuffer[x]);
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sendByteOnSPI(display.compositingBuffer[x]);
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display.compositingBuffer[x] = 0;
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}
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}
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}
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static void compositePixelColumn(uint8_t x, uint8_t invertedMask, uint8_t fill) {
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if (display.compositingBuffer[x] & fill) {
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display.wasIntersection = true;
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}
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display.compositingBuffer[x] = (display.compositingBuffer[x] & (~invertedMask)) | fill;
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}
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void drawBitmapFromProgMem(Rectangle boundingBox, uint16_t const data[boundingBox.size.x][(boundingBox.size.y + 7) / 8], bool isMirrored) {
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boundingBox.position = substract(boundingBox.position, display.compositingWindow.position);
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uint8_t spriteY = max(0, -boundingBox.position.y);
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uint8_t spriteYByte = spriteY >> 3;
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for (uint8_t x = max(0, -boundingBox.position.x); x < boundingBox.size.x && boundingBox.position.x + x < DISPLAY_WIDTH_IN_PIXELS; x++) {
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uint8_t spriteX = isMirrored ? boundingBox.size.x - x - 1 : x;
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uint16_t currentPixelColumn = loadWordEEPROM(&data[spriteX][spriteYByte]);
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uint8_t fill, invertedMask;
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if (boundingBox.position.y >= 0) {
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fill = (currentPixelColumn & 0x00FF) << boundingBox.position.y;
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invertedMask = currentPixelColumn >> 8 << boundingBox.position.y;
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} else {
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uint16_t lowerPixelColumn = spriteYByte + 1 < (boundingBox.size.y + 7) / 8 ? loadWordEEPROM(&data[spriteX][spriteYByte + 1]) : 0;
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uint8_t shift = spriteY % 8;
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uint8_t inverseShift = 8 - shift;
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fill = ((currentPixelColumn & 0x00FF) >> shift) | ((lowerPixelColumn & 0x0FF) << inverseShift);
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invertedMask = (currentPixelColumn >> 8 >> shift) | (lowerPixelColumn >> 8 << inverseShift);
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}
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compositePixelColumn(boundingBox.position.x + x, invertedMask, fill);
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}
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}
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void drawFilledRectangle(Rectangle box, uint8_t invertedMask, uint8_t fill) {
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box.position = substract(box.position, display.compositingWindow.position);
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uint8_t upperGapHeight = min(8, max(0, box.position.y));
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uint8_t lowerGapHeight = min(8, max(0, 8 - (box.position.y + box.size.y)));
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uint8_t actualFill = (fill >> lowerGapHeight) & (fill << upperGapHeight);
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uint8_t actualInvertedMask = (invertedMask >> lowerGapHeight) & (invertedMask << upperGapHeight);
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for (uint8_t x = max(0, box.position.x); x < box.position.x + box.size.x && x < DISPLAY_WIDTH_IN_PIXELS; x++) {
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compositePixelColumn(x, actualInvertedMask, actualFill);
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}
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}
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34
ad_astra/AdAstra/src/driver/display/display.h
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34
ad_astra/AdAstra/src/driver/display/display.h
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#ifndef DISPLAY_H
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#define DISPLAY_H
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#include <stdbool.h>
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#include <avr/io.h>
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#include "../../util/rectangle/rectangle.h"
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#define DISPLAY_RESET_OUTPUT_PIN PB0
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#define DISPLAY_DC_OUTPUT_PIN PB4
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#define DISPLAY_WIDTH_IN_PIXELS 64
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#define DISPLAY_HEIGHT_IN_PIXELS 32
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#define WINDOW ((Rectangle){(Vec2){0, 0}, (Vec2){DISPLAY_WIDTH_IN_PIXELS, DISPLAY_HEIGHT_IN_PIXELS}})
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#define DEFAULT_COMPOSITING_WINDOW ((Rectangle){(Vec2){0, 0}, (Vec2){DISPLAY_WIDTH_IN_PIXELS, 8}})
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typedef void (*DrawFunction)(Rectangle);
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void initializeDisplay(DrawFunction drawEverything);
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void setDisplayContrast(uint8_t value);
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void startIntersectionTest();
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bool endIntersectionTest();
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void drawFrame();
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void drawBitmapFromProgMem(Rectangle boundingBox, uint16_t const data[boundingBox.size.x][(boundingBox.size.y + 7) / 8], bool isMirrored);
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// for white rectangle: invertedMask: don't care, fill: 0xFF
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// for black rectangle: invertedMask: 0xFF, fill: 0x00
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void drawFilledRectangle(Rectangle box, uint8_t invertedMask, uint8_t fill);
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#endif
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144
ad_astra/AdAstra/src/driver/infra/infra.c
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144
ad_astra/AdAstra/src/driver/infra/infra.c
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#include "infra.h"
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#include <avr/io.h>
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#include <avr/interrupt.h>
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#include "bitwise.h"
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#include "../../hardware_access/hardware_access.h"
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// (0.5625 + (0.5625 + 1.6875) / 2) / 1000 / timer interval
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#define MEAN_OF_0_1_BIT_TIMES 53
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// 9 / 2 / 1000 / timer interval
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#define MAYBE_ONE_CHECK_TIME 141
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// some large value
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#define TIMEOUT 254
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typedef enum {
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idle, maybeLeadingOne, leadingOneConfirmed, activeFirstBit, active, timingOut
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} ProtocolState;
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typedef enum {
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noMatch, foundStartingByte, significantByte, waitingForEndOfCommand, waitingForRepeat
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} CommandState;
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static struct {
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uint8_t current;
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uint8_t bitPosition;
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ProtocolState protocolState;
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CommandState commandState;
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OnCommandReceived onCommandReceived;
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} infra;
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static void saveCurrentByte() {
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uint8_t byte = infra.current;
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infra.current = 0;
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infra.bitPosition = 0;
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if (byte == INFRA_ADDRESS) {
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infra.commandState = foundStartingByte;
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return;
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}
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switch (infra.commandState) {
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case foundStartingByte:
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infra.commandState = significantByte;
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break;
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case significantByte:
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infra.onCommandReceived(byte);
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infra.commandState = waitingForEndOfCommand;
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break;
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case waitingForEndOfCommand:
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if (byte == 0) {
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infra.commandState = waitingForRepeat;
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}
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break;
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case waitingForRepeat:
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if (byte == 0) {
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infra.onCommandReceived(REPEAT_CODE);
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}
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break;
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default:
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break;
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}
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}
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static void saveBit(uint8_t bit) {
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infra.current <<= 1;
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infra.current |= bit;
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if (++infra.bitPosition == 8) {
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saveCurrentByte();
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}
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}
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static inline uint8_t isIrOff() {
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return getBit(PINB, IR_PIN);
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}
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static inline uint8_t isIrOn() {
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return !isIrOff();
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}
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ISR(PCINT0_vect) {
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switch (infra.protocolState) {
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case idle:
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if (isIrOn()) {
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enableTimerB(MAYBE_ONE_CHECK_TIME);
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infra.protocolState = maybeLeadingOne;
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}
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break;
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case maybeLeadingOne:
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infra.protocolState = idle;
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break;
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case leadingOneConfirmed:
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if (isIrOff()) {
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infra.protocolState = activeFirstBit;
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}
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break;
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case activeFirstBit:
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case timingOut:
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if (isIrOn()) {
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infra.protocolState = active;
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enableTimerB(MEAN_OF_0_1_BIT_TIMES);
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}
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break;
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case active:
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if (isIrOn()) {
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saveBit(1);
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enableTimerB(MEAN_OF_0_1_BIT_TIMES);
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}
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break;
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}
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}
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ISR(TIM0_COMPB_vect) {
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switch (infra.protocolState) {
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case maybeLeadingOne:
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if (isIrOn()) {
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infra.protocolState = leadingOneConfirmed;
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}
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disableTimerB();
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break;
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case active:
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saveBit(0);
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infra.protocolState = timingOut;
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enableTimerB(TIMEOUT);
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break;
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case timingOut:
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infra.protocolState = idle;
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saveCurrentByte();
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disableTimerB();
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break;
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default:
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disableTimerB();
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break;
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}
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}
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void initializeInfra(OnCommandReceived onCommandReceived) {
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setBit(PORTB, IR_PIN); // enable pull-up
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setBit(PCMSK, IR_PIN); // specific pin change interrupt enable
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setBit(GIMSK, PCIE); // global on pin change interrupt enable;
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infra.onCommandReceived = onCommandReceived;
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}
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16
ad_astra/AdAstra/src/driver/infra/infra.h
Normal file
16
ad_astra/AdAstra/src/driver/infra/infra.h
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#ifndef INFRA_H
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#define INFRA_H
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#include <stdbool.h>
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#include <avr/io.h>
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#define INFRA_ADDRESS 255
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#define IR_PIN PB3
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#define REPEAT_CODE 1
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typedef void (*OnCommandReceived)(uint8_t);
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void initializeInfra(OnCommandReceived onCommandReceived);
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#endif
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#include "redundant_storage.h"
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#include "../../hardware_access/hardware_access.h"
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#define offsetof(type, member) __builtin_offsetof (type, member)
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#define OBJECT_VALIDITY_MASK (0b00111111)
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#define IS_USING_PAGE_A_BIT 6
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#define IS_VALID_BIT 7
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#define METADATA_REDUNDANCY 4
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typedef struct {
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uint8_t redundantBufferA[REDUNDANT_BUFFER_SIZE];
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uint8_t redundantBufferB[REDUNDANT_BUFFER_SIZE];
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uint8_t metadata[METADATA_REDUNDANCY];
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} MemoryLayout;
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static volatile struct {
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MemoryLayout buffer;
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uint8_t saveIndex;
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uint8_t* savePointer;
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uint8_t loadIndex;
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uint8_t* loadPointer;
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uint8_t validMetadata;
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bool isEEPROMWriting;
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} storage;
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static inline bool isUsingPageA() {
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return getBit(storage.validMetadata, IS_USING_PAGE_A_BIT);
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}
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bool isValid() {
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return getBit(storage.validMetadata, IS_VALID_BIT);
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}
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static inline void fixMetadata() {
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uint8_t a = storage.buffer.metadata[0];
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uint8_t b = storage.buffer.metadata[1];
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uint8_t c = storage.buffer.metadata[2];
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uint8_t d = storage.buffer.metadata[3];
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if (a == b || a == c || a == d) {
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storage.validMetadata = a;
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} else if (b == c || b == d) {
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storage.validMetadata = b;
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} else {
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storage.validMetadata = c;
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}
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}
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void initializeRedundantStorage() {
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for (uint8_t i = 0; i < sizeof(MemoryLayout); i++) {
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((uint8_t*)&storage.buffer)[i] = loadSavedByteEEPROM(i);
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}
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fixMetadata();
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}
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void invalidateEEPROM() {
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for (uint8_t i = 0; i < sizeof(MemoryLayout); i++) {
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((uint8_t*)&storage.buffer)[i] = 0;
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}
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storage.validMetadata = 0;
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}
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void onEEPROMWriteFinished(__attribute__((unused)) uint8_t* _) {
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storage.isEEPROMWriting = false;
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}
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bool startSchedulingObjectsForSaving() {
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if (storage.isEEPROMWriting) {
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return false;
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}
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toggleBit(storage.validMetadata, IS_USING_PAGE_A_BIT);
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storage.validMetadata &= ~OBJECT_VALIDITY_MASK;
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storage.saveIndex = 0;
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storage.savePointer = isUsingPageA() ?
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storage.buffer.redundantBufferA
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: storage.buffer.redundantBufferB;
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return true;
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}
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void scheduleNextObjectForSave(uint8_t* object, uint8_t size) {
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setBit(storage.validMetadata, storage.saveIndex);
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storage.saveIndex++;
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for (uint8_t i = 0; i < size; i++) {
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*storage.savePointer = object[i];
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storage.savePointer++;
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}
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}
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void saveScheduledObjects() {
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setBit(storage.validMetadata, IS_VALID_BIT);
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for (uint8_t i = 0; i < METADATA_REDUNDANCY; i++) {
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storage.buffer.metadata[i] = storage.validMetadata;
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}
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storage.isEEPROMWriting = true;
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asyncWriteEEPROM((uint8_t*)&storage.buffer, onEEPROMWriteFinished);
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}
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bool loadNextObject(uint8_t* holder, uint8_t size) {
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if (storage.loadIndex++ == 0) {
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storage.loadPointer = isUsingPageA() ?
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storage.buffer.redundantBufferA
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: storage.buffer.redundantBufferB;
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}
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if (getBit(storage.validMetadata, storage.loadIndex - 1)) {
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for (uint8_t i = 0; i < size; i++) {
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holder[i] = *storage.loadPointer++;
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}
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return true;
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}
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return false;
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}
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@ -0,0 +1,22 @@
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#ifndef REDUNDANT_STORAGE_H
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#define REDUNDANT_STORAGE_H
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#include <stdbool.h>
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#include <avr/io.h>
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#define REDUNDANT_BUFFER_SIZE 24
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void initializeRedundantStorage();
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bool isValid();
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void invalidateEEPROM();
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bool startSchedulingObjectsForSaving();
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void scheduleNextObjectForSave(uint8_t* object, uint8_t size);
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void saveScheduledObjects();
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// Returns is loaded object valid
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bool loadNextObject(uint8_t* holder, uint8_t size);
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#endif
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34
ad_astra/AdAstra/src/driver/sleep/sleep.c
Normal file
34
ad_astra/AdAstra/src/driver/sleep/sleep.c
Normal file
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@ -0,0 +1,34 @@
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#include "sleep.h"
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#include <stdbool.h>
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#include <avr/interrupt.h>
|
||||
#include <avr/sleep.h>
|
||||
|
||||
#include "bitwise.h"
|
||||
#include "../../hardware_access/hardware_access.h"
|
||||
|
||||
|
||||
#define TICKS_IN_MILISECOND 31
|
||||
|
||||
volatile int8_t milisecondsSinceFrameStart;
|
||||
|
||||
void startFrameLoop(FrameFunction function, uint8_t frameLengthInMilliseconds) {
|
||||
sleep_enable();
|
||||
|
||||
uint8_t previousFrameTime = 0;
|
||||
while (function(previousFrameTime)) {
|
||||
previousFrameTime = milisecondsSinceFrameStart;
|
||||
|
||||
while (milisecondsSinceFrameStart < frameLengthInMilliseconds) {
|
||||
sleep_cpu();
|
||||
}
|
||||
|
||||
milisecondsSinceFrameStart = 0;
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
ISR(TIM0_COMPA_vect) {
|
||||
milisecondsSinceFrameStart++;
|
||||
enableTimerA(TICKS_IN_MILISECOND);
|
||||
}
|
||||
13
ad_astra/AdAstra/src/driver/sleep/sleep.h
Normal file
13
ad_astra/AdAstra/src/driver/sleep/sleep.h
Normal file
|
|
@ -0,0 +1,13 @@
|
|||
#ifndef SLEEP_H
|
||||
#define SLEEP_H
|
||||
|
||||
#include <stdbool.h>
|
||||
#include <avr/io.h>
|
||||
|
||||
|
||||
typedef bool (*FrameFunction)(uint8_t);
|
||||
|
||||
// frameFunction gets previousFrameTime (in milliseconds) as argument
|
||||
void startFrameLoop(FrameFunction function, uint8_t frameLengthInMilliseconds);
|
||||
|
||||
#endif
|
||||
Loading…
Reference in a new issue