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DeskControl
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Added "moving" screen 

Implemented motor driver control
Added placeholders for other screens
This commit is contained in:
Mark van Renswoude 2020-01-31 10:36:36 +01:00
parent 61a4072738
commit 0124b89fef
25 changed files with 452 additions and 123 deletions
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2
doc/pinout.md
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@ -21,7 +21,7 @@ https://www.pololu.com/product/2995
| PWM | Motor PWM | 14 | 23 - PC0 |
| DIR | Direction | 15 | 24 - PC1 |
| SLP | Sleep (active low) | 16 | 25 - PC2 |
| CS | Current sensing | 17 | 26 - PC3 |
| CS | Current sensing | 17 / A3 | 26 - PC3 |
CS has a voltage of 50mV + 20mV per A.

2
src/fonts/trim.bat
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@ -2,6 +2,6 @@
REM It is a nuisance to keep the filter up-to-date with whatever is printed
REM in the actual source, but the space savings are worth it.
AdafruitGFXFontTrim [0-9\.mSTOPMenu] FreeSansBold18pt7b.h
AdafruitGFXFontTrim [ 0-9\.mSTOPMenursaybto] FreeSansBold18pt7b.h
pause

105
src/include/config.h
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@ -1,27 +1,7 @@
#ifndef __config
#define __config
// The default color set provided by Adafruit
#define BLACK 0x0000
#define BLUE 0x001F
#define RED 0xF800
#define GREEN 0x07E0
#define CYAN 0x07FF
#define MAGENTA 0xF81F
#define YELLOW 0xFFE0
#define WHITE 0xFFFF
/*
TODO make constants for these values once they are used
#define STOP_RED 0xF9A6
#define MOVING_ORANGE 0xF443
#define MOVING_ORANGE_LIGHT 0xFD8C
*/
#include <stdint.h>
class Config
@ -32,9 +12,9 @@ class Config
Buttons
*/
static const uint8_t ButtonPortUp = 3;
static const uint8_t ButtonPortMenu = 5;
static const uint8_t ButtonPortDown = 6;
static const uint8_t ButtonPinUp = 3;
static const uint8_t ButtonPinMenu = 5;
static const uint8_t ButtonPinDown = 6;
/*
@ -51,10 +31,10 @@ class Config
// Control pins. Data is sent over the hardware SPI pins.
static const uint8_t DisplayPortCS = 10;
static const uint8_t DisplayPortRST = 9;
static const uint8_t DisplayPortDC = 8;
static const uint8_t DisplayPortBL = 7;
static const uint8_t DisplayPinCS = 10;
static const uint8_t DisplayPinRST = 9;
static const uint8_t DisplayPinDC = 8;
static const uint8_t DisplayPinBL = 7;
static const uint16_t DisplayIdleTime = 10000;
@ -85,43 +65,70 @@ class Config
static const uint8_t HeightMeasurementDeltaOnTarget = 15;
// How long we allow invalid measurements until the move operation is aborted
static const uint8_t HeightMeasurementAbortTimeout = 100;
static const uint16_t HeightMeasurementAbortTimeout = 500;
/*
Motor driver
Settings for a Polulu G2 driver board.
*/
static const uint8_t MotorPinPWM = 14;
static const uint8_t MotorPinDirection = 15;
static const uint8_t MotorPinSleep = 16;
static const uint8_t MotorPinCurrentSensing = 17;
/*
Colors
*/
// A useful RGB565 calculator: http://www.rinkydinkelectronics.com/calc_rgb565.php
#define ColorBlack 0x0000
#define ColorWhite 0xFFFF
#define ColorYellow 0xFFE0
#define ColorRed 0xF800
#define ColorGreen 0x07E0
static const uint16_t ColorInitSeqBackground = BLACK;
static const uint16_t ColorInitSeqTitle = YELLOW;
static const uint16_t ColorInitSeqItems = WHITE;
static const uint16_t ColorInitSeqSuccess = GREEN;
static const uint16_t ColorInitSeqError = RED;
#define ColorLightGray 0x9492
#define ColorDarkGray 0x528A
#define ColorDarkerGray 0x2965
static const uint16_t ColorHomeBackground = BLACK;
#define ColorSoftGreen 0x2BE7
static const uint16_t ColorHomeMenuTextColor = WHITE;
static const uint16_t ColorHomeMenuArrowColor = 0x528A; // Dark gray
#define ColorStopRed 0xF9A6
static const uint16_t ColorNonPresetText = 0x9492; // Light gray
static const uint16_t ColorNonPresetBackground = BLACK;
//static const uint16_t ColorNonPresetIndicator = 0x528A; // Dark gray
static const uint16_t ColorPresetText = 0x9492; // Light gray
static const uint16_t ColorPresetBackground = 0x2965; // Very dark gray
//static const uint16_t ColorPresetNumber = 0x528A; // Dark gray
static const uint16_t ColorPresetArrowColor = 0x528A; // Dark gray
static const uint16_t ColorInitSeqBackground = ColorBlack;
static const uint16_t ColorInitSeqTitle = ColorYellow;
static const uint16_t ColorInitSeqItems = ColorWhite;
static const uint16_t ColorInitSeqSuccess = ColorGreen;
static const uint16_t ColorInitSeqError = ColorRed;
static const uint16_t ColorPresetSelectedText = WHITE;
static const uint16_t ColorPresetSelectedBackground = 0x2BE7; // Soft green
static const uint16_t ColorPresetSelectedNumber = 0x556B; // Slightly lighter green
static const uint16_t ColorHomeBackground = ColorBlack;
static const uint16_t ColorHomeMenuText = ColorWhite;
static const uint16_t ColorHomeMenuArrow = ColorDarkGray;
static const uint16_t ColorNonPresetText = ColorLightGray;
static const uint16_t ColorNonPresetBackground = ColorBlack;
static const uint16_t ColorPresetText = ColorLightGray;
static const uint16_t ColorPresetBackground = ColorDarkerGray;
static const uint16_t ColorPresetArrow = ColorDarkGray;
static const uint16_t ColorPresetSelectedText = ColorWhite;
static const uint16_t ColorPresetSelectedBackground = ColorSoftGreen;
static const uint16_t ColorMoveBackground = ColorBlack;
static const uint16_t ColorMoveArrow = ColorDarkGray;
static const uint16_t ColorMoveTarget = ColorWhite;
static const uint16_t ColorMoveCurrent = ColorWhite;
static const uint16_t ColorMoveStop = ColorStopRed;
};
#endif

8
src/lib/debug.h
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@ -1,16 +1,20 @@
#ifndef __debug
#define __debug
#include <Arduino.h>
#define SerialDebug
#ifdef SerialDebug
#define DebugInit() Serial.begin(9600)
#define DebugLog(...) Serial.println(__VA_ARGS__)
#define dl(value) Serial.print(value)
#define dln(value) Serial.println(value)
#else
#define DebugInit()
#define DebugLog(...)
#define dl(value)
#define dln(value)
#endif

24
src/lib/motor.cpp
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@ -1,21 +1,39 @@
#include "./motor.h"
#include "include/config.h"
#include <Arduino.h>
void motorInit()
{
pinMode(Config::MotorPinSleep, OUTPUT);
digitalWrite(Config::MotorPinSleep, LOW);
pinMode(Config::MotorPinPWM, OUTPUT);
digitalWrite(Config::MotorPinPWM, LOW);
pinMode(Config::MotorPinDirection, OUTPUT);
pinMode(Config::MotorPinCurrentSensing, INPUT);
}
void motorStart(MotorDirection direction)
{
// TODO
digitalWrite(Config::MotorPinDirection, direction == MotorDirection::Up ? HIGH : LOW);
digitalWrite(Config::MotorPinSleep, HIGH);
digitalWrite(Config::MotorPinPWM, HIGH);
}
void motorStop()
{
// TODO
digitalWrite(Config::MotorPinPWM, LOW);
digitalWrite(Config::MotorPinSleep, LOW);
}
bool motorIsOverCurrent()
{
// TODO
// TODO: implement motorIsOverCurrent
return false;
}

1
src/lib/motor.h
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@ -10,6 +10,7 @@ enum class MotorDirection
};
extern void motorInit();
extern void motorStart(MotorDirection direction);
extern void motorStop();
extern bool motorIsOverCurrent();

11
src/lib/motorstate.cpp
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@ -2,17 +2,23 @@
#include "./motor.h"
#include "./state.h"
#include "./settings.h"
#include "./debug.h"
#include "include/config.h"
void motorStateMoveTo(uint16_t height)
{
dl("motorStateMoveTo: "); dln(height);
State.MoveTarget = height;
State.MoveDirection = height > State.CurrentHeight ? Direction::Up : Direction::Down;
}
bool motorStateCheckTargetReached()
{
dl("motorStateCheckTargetReached: direction = "); dl((uint8_t)State.MoveDirection); dl(", currentHeight = "); dln(State.CurrentHeight);
switch (State.MoveDirection)
{
case Direction::Up:
@ -49,6 +55,8 @@ bool motorStateCheckOverCurrent()
{
if (motorIsOverCurrent())
{
dln("motorStateCheckOverCurrent: overcurrent detected!");
motorStateStop();
return true;
}
@ -59,6 +67,8 @@ bool motorStateCheckOverCurrent()
void motorStateStop()
{
dln("motorStateStop");
motorStop();
State.MoveDirection = Direction::None;
}
@ -77,4 +87,5 @@ void getDisplayHeight(char* buffer, uint16_t value)
buffer[2] = '0' + ((displayValue / 10) % 10);
buffer[3] = '0' + (displayValue % 10);
buffer[4] = 'm';
buffer[5] = 0;
}

2
src/lib/motorstate.h
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@ -11,7 +11,7 @@ extern void motorStateStop();
// Formats a height value as "0.00m" (always exactly 5 characters long).
// Buffer must be at least 5 bytes long. No null character is added.
// Buffer must be at least 6 bytes long, a null character is added.
// The value is the raw height sensor value, the offset is added by this function.
extern void getDisplayHeight(char* buffer, uint16_t value);

26
src/lib/screen.cpp
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@ -8,16 +8,34 @@ Adafruit_GFX* BaseScreen::getDisplay()
}
uint16_t BaseScreen::printCentered(const char* text, int16_t y)
{
auto display = this->getDisplay();
int16_t textX;
int16_t textY;
uint16_t textW;
uint16_t textH;
display->getTextBounds(text, 0, 0, &textX, &textY, &textW, &textH);
textX = (Config::DisplayWidth - textW) / 2;
display->setCursor(textX, y);
display->print(text);
return textW;
}
void ScreenManager::init()
{
pinMode(Config::DisplayPortBL, OUTPUT);
digitalWrite(Config::DisplayPortBL, HIGH);
pinMode(Config::DisplayPinBL, OUTPUT);
digitalWrite(Config::DisplayPinBL, HIGH);
}
void ScreenManager::displayOff()
{
digitalWrite(Config::DisplayPortBL, LOW);
digitalWrite(Config::DisplayPinBL, LOW);
this->display->sendCommand(ST77XX_SLPIN);
}
@ -25,5 +43,5 @@ void ScreenManager::displayOff()
void ScreenManager::displayOn()
{
this->display->sendCommand(ST77XX_SLPOUT);
digitalWrite(Config::DisplayPortBL, HIGH);
digitalWrite(Config::DisplayPinBL, HIGH);
}

2
src/lib/screen.h
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@ -34,6 +34,8 @@ class BaseScreen
ScreenManager* getScreenManager() { return this->screenManager; }
Adafruit_GFX* getDisplay();
uint16_t printCentered(const char* text, int16_t y);
private:
ScreenManager* screenManager;
};

19
src/lib/screen/calibrate.cpp Normal file
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@ -0,0 +1,19 @@
#include "./calibrate.h"
void CalibrateScreen::onShow()
{
auto display = this->getDisplay();
// TODO: implement CalibrateScreen
}
void CalibrateScreen::onButton(Button button)
{
}
void CalibrateScreen::onTick()
{
}

25
src/lib/screen/calibrate.h Normal file
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@ -0,0 +1,25 @@
#ifndef __screen_calibrate
#define __screen_calibrate
#include "../screen.h"
#include "../state.h"
/*
* Calibrate screen
* Configures the absolute height (calculates the offset) and
* the allowed minimum and maximum absolute height.
*/
class CalibrateScreen : public BaseScreen
{
public:
CalibrateScreen(ScreenManager* screenManager) : BaseScreen(screenManager) { }
void onShow();
void onButton(Button button);
void onTick();
private:
};
#endif

48
src/lib/screen/home.cpp
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@ -4,13 +4,12 @@
#include "include/config.h"
#include "lib/settings.h"
#include "lib/motorstate.h"
#include "./menu.h"
#define HOME_FONT_BASELINE 25
#define HOME_FONT_HEIGHT 42
#define HOME_MOVING_REFRESHRATE 250
#define PRESET_MARGIN 7
// HOME_FONT_BASELINE is not a mistake, as there are no characters used which
@ -53,7 +52,7 @@ void HomeScreen::onButton(Button button)
this->idle = false;
this->showTime = State.CurrentTime;
// TODO should preset buttons activate immediately?
// TODO: should preset buttons activate immediately?
return;
}
@ -70,7 +69,7 @@ void HomeScreen::onButton(Button button)
break;
case Button::Menu:
// TODO show menu
this->getScreenManager()->show<MenuScreen>();
break;
}
}
@ -78,14 +77,11 @@ void HomeScreen::onButton(Button button)
void HomeScreen::onTick()
{
// TODO reactivate
/*
if (!this->idle && State.CurrentTime - this->showTime >= Config::DisplayIdleTime)
{
this->getScreenManager()->displayOff();
this->idle = true;
}
*/
}
@ -107,8 +103,6 @@ void HomeScreen::drawNonPresetHeight()
auto display = this->getDisplay();
auto y = PRESET_LINEHEIGHT;
display->fillRect(0, y, Config::DisplayWidth, PRESET_LINEHEIGHT, Config::ColorNonPresetBackground);
if (State.CurrentHeight != Settings.Height.Preset[0] &&
State.CurrentHeight != Settings.Height.Preset[1])
{
@ -118,17 +112,17 @@ void HomeScreen::drawNonPresetHeight()
}
void HomeScreen::drawArrow(uint8_t y, uint16_t color)
void HomeScreen::drawArrow(int16_t y, uint16_t color)
{
this->getDisplay()->fillTriangle(
HOME_ARROW_MARGIN, y + HOME_ARROW_YOFFSET + (HOME_ARROW_HEIGHT / 2), // Middle left
HOME_ARROW_MARGIN + HOME_ARROW_WIDTH, y + HOME_ARROW_YOFFSET, // Top right
HOME_ARROW_MARGIN, y + HOME_ARROW_YOFFSET + (HOME_ARROW_HEIGHT / 2), // Middle left
HOME_ARROW_MARGIN + HOME_ARROW_WIDTH, y + HOME_ARROW_YOFFSET + HOME_ARROW_HEIGHT, // Bottom right
color);
}
void HomeScreen::drawPreset(uint8_t y, uint16_t value)
void HomeScreen::drawPreset(int16_t y, uint16_t value)
{
auto display = this->getDisplay();
uint16_t textColor;
@ -146,7 +140,7 @@ void HomeScreen::drawPreset(uint8_t y, uint16_t value)
{
textColor = Config::ColorPresetText;
backgroundColor = Config::ColorPresetBackground;
arrowColor = Config::ColorPresetArrowColor;
arrowColor = Config::ColorPresetArrow;
}
display->fillRect(0, y, Config::DisplayWidth, PRESET_LINEHEIGHT, backgroundColor);
@ -159,24 +153,14 @@ void HomeScreen::drawPreset(uint8_t y, uint16_t value)
}
void HomeScreen::drawHeight(uint8_t y, uint16_t value)
void HomeScreen::drawHeight(int16_t y, uint16_t value)
{
auto display = this->getDisplay();
char textValue[6];
getDisplayHeight(&textValue[0], value);
textValue[5] = 0;
// Calculate the center position
int16_t textX;
int16_t textY;
uint16_t textW;
uint16_t textH;
display->getTextBounds(&textValue[0], 0, 0, &textX, &textY, &textW, &textH);
textX = (Config::DisplayWidth - textW) / 2;
display->setCursor(textX, y + HOME_FONT_BASELINE + PRESET_MARGIN);
display->print(textValue);
this->printCentered(&textValue[0], y + HOME_FONT_BASELINE + PRESET_MARGIN);
}
@ -184,16 +168,8 @@ void HomeScreen::drawMenu()
{
auto display = this->getDisplay();
this->drawArrow(HOME_MENU_Y, Config::ColorHomeMenuArrowColor);
this->drawArrow(HOME_MENU_Y, Config::ColorHomeMenuArrow);
int16_t textX;
int16_t textY;
uint16_t textW;
uint16_t textH;
display->getTextBounds("Menu", 0, 0, &textX, &textY, &textW, &textH);
textX = (Config::DisplayWidth - textW) / 2;
display->setCursor(textX, HOME_MENU_Y + HOME_FONT_BASELINE + PRESET_MARGIN);
display->setTextColor(Config::ColorHomeMenuTextColor);
display->print("Menu");
display->setTextColor(Config::ColorHomeMenuText);
this->printCentered("Menu", HOME_MENU_Y + HOME_FONT_BASELINE + PRESET_MARGIN);
}

6
src/lib/screen/home.h
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@ -26,9 +26,9 @@ class HomeScreen : public BaseScreen
void drawPreset2();
void drawNonPresetHeight();
void drawArrow(uint8_t y, uint16_t color);
void drawPreset(uint8_t y, uint16_t value);
void drawHeight(uint8_t y, uint16_t value);
void drawArrow(int16_t y, uint16_t color);
void drawPreset(int16_t y, uint16_t value);
void drawHeight(int16_t y, uint16_t value);
void drawMenu();
};

19
src/lib/screen/manual.cpp Normal file
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@ -0,0 +1,19 @@
#include "./manual.h"
void ManualScreen::onShow()
{
auto display = this->getDisplay();
// TODO: implement ManualScreen
}
void ManualScreen::onButton(Button button)
{
}
void ManualScreen::onTick()
{
}

24
src/lib/screen/manual.h Normal file
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@ -0,0 +1,24 @@
#ifndef __screen_manual
#define __screen_manual
#include "../screen.h"
#include "../state.h"
/*
* Manual screen
* Allows manual entry of the preferred height.
*/
class ManualScreen : public BaseScreen
{
public:
ManualScreen(ScreenManager* screenManager) : BaseScreen(screenManager) { }
void onShow();
void onButton(Button button);
void onTick();
private:
};
#endif

19
src/lib/screen/menu.cpp Normal file
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@ -0,0 +1,19 @@
#include "./menu.h"
void MenuScreen::onShow()
{
auto display = this->getDisplay();
// TODO: implement MenuScreen
}
void MenuScreen::onButton(Button button)
{
}
void MenuScreen::onTick()
{
}

25
src/lib/screen/menu.h Normal file
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@ -0,0 +1,25 @@
#ifndef __screen_menu
#define __screen_menu
#include "../screen.h"
#include "../state.h"
/*
* Menu screen
* Shows the menu which allows access to the calibration and
* manual adjustment screens.
*/
class MenuScreen : public BaseScreen
{
public:
MenuScreen(ScreenManager* screenManager) : BaseScreen(screenManager) { }
void onShow();
void onButton(Button button);
void onTick();
private:
};
#endif

19
src/lib/screen/move-overcurrent.cpp Normal file
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@ -0,0 +1,19 @@
#include "./move-overcurrent.h"
void MoveOverCurrentScreen::onShow()
{
auto display = this->getDisplay();
// TODO: implement MoveOverCurrentScreen
}
void MoveOverCurrentScreen::onButton(Button button)
{
}
void MoveOverCurrentScreen::onTick()
{
}

24
src/lib/screen/move-overcurrent.h Normal file
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@ -0,0 +1,24 @@
#ifndef __screen_move_overcurrent
#define __screen_move_overcurrent
#include "../screen.h"
#include "../state.h"
/*
* Move overcurrent screen
* Displays a warning that the motor driver has reached the set maximum current.
*/
class MoveOverCurrentScreen : public BaseScreen
{
public:
MoveOverCurrentScreen(ScreenManager* screenManager) : BaseScreen(screenManager) { }
void onShow();
void onButton(Button button);
void onTick();
private:
};
#endif

19
src/lib/screen/move-sensorerror.cpp Normal file
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@ -0,0 +1,19 @@
#include "./move-sensorerror.h"
void MoveSensorErrorScreen::onShow()
{
auto display = this->getDisplay();
// TODO: implement MoveSensorErrorScreen
}
void MoveSensorErrorScreen::onButton(Button button)
{
}
void MoveSensorErrorScreen::onTick()
{
}

25
src/lib/screen/move-sensorerror.h Normal file
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@ -0,0 +1,25 @@
#ifndef __screen_move_sensorerror
#define __screen_move_sensorerror
#include "../screen.h"
#include "../state.h"
/*
* Move sensor error screen
* Shows a warning that the height sensor is not providing valid values.
* Can only be dismissed after the sensor is stable again.
*/
class MoveSensorErrorScreen : public BaseScreen
{
public:
MoveSensorErrorScreen(ScreenManager* screenManager) : BaseScreen(screenManager) { }
void onShow();
void onButton(Button button);
void onTick();
private:
};
#endif

83
src/lib/screen/move.cpp
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@ -9,17 +9,70 @@
#define MOVE_FONT_BASELINE 25
#define MOVE_FONT_HEIGHT 42
#define MOVE_REFRESHRATE 250
#define MOVE_REFRESHRATE 1000
#define MOVE_LINE_MARGIN 7
#define MOVE_LINE_HEIGHT (MOVE_FONT_BASELINE + (2 * MOVE_LINE_MARGIN))
#define MOVE_STOP_SMALL_TEXT_SIZE
#define MOVE_STOP_SMALL_LINE_HEIGHT 8
#define MOVE_ARROW_WIDTH 20
#define MOVE_ARROW_HEIGHT 10
#define MOVE_ARROW_YOFFSET ((MOVE_LINE_HEIGHT - MOVE_ARROW_HEIGHT) / 2)
void MoveScreen::onShow()
{
auto display = this->getDisplay();
//auto startY = (Config::DisplayHeight - (MOVE_LINE_HEIGHT * 3)) / 2;
auto startY = MOVE_LINE_HEIGHT;
auto arrowY = startY + MOVE_LINE_HEIGHT + MOVE_ARROW_YOFFSET;
auto arrowX = (Config::DisplayWidth - MOVE_ARROW_WIDTH) / 2;
auto stopY = Config::DisplayHeight - MOVE_LINE_HEIGHT;
display->fillScreen(Config::ColorMoveBackground);
// Stop
display->setFont(nullptr);
display->setTextColor(Config::ColorMoveStop);
this->printCentered("Press any button to", stopY - MOVE_STOP_SMALL_LINE_HEIGHT);
display->setFont(&FreeSansBold18pt7bTrimmed);
display->fillScreen(Config::ColorHomeBackground);
this->printCentered("STOP", stopY + MOVE_FONT_BASELINE + MOVE_LINE_MARGIN);
// TODO draw current and target height
char targetHeightText[6];
getDisplayHeight(&targetHeightText[0], State.MoveTarget);
display->setTextColor(Config::ColorMoveCurrent);
// Target and arrow
if (State.MoveDirection == Direction::Up)
{
this->currentHeightY = startY + (MOVE_LINE_HEIGHT * 2);
this->printCentered(&targetHeightText[0], startY + MOVE_FONT_BASELINE + MOVE_LINE_MARGIN);
display->fillTriangle(
arrowX + (MOVE_ARROW_WIDTH / 2), arrowY, // Top middle
arrowX, arrowY + MOVE_ARROW_HEIGHT, // Bottom left
arrowX + MOVE_ARROW_WIDTH, arrowY + MOVE_ARROW_HEIGHT, // Bottom right
Config::ColorMoveArrow);
}
else
{
this->currentHeightY = startY;
this->printCentered(&targetHeightText[0], startY + (MOVE_LINE_HEIGHT * 2) + MOVE_FONT_BASELINE + MOVE_LINE_MARGIN);
display->fillTriangle(
arrowX, arrowY, // Top left
arrowX + MOVE_ARROW_WIDTH, arrowY, // Top right
arrowX + (MOVE_ARROW_WIDTH / 2), arrowY + MOVE_ARROW_HEIGHT, // Bottom middle
Config::ColorMoveArrow);
}
this->lastRefresh = State.CurrentTime;
this->drawCurrentHeight();
}
@ -32,18 +85,32 @@ void MoveScreen::onButton(Button button)
void MoveScreen::onTick()
{
if (State.MoveDirection != Direction::None)
if (State.MoveDirection == Direction::None)
{
this->getScreenManager()->show<HomeScreen>();
return;
}
// Don't update every tick, it takes a significant amount of time
// and monitoring the current height is more important.
// TODO should we also stop updating when we're approaching the target height or is that overkill?
// Don't update every tick, monitoring the current height is more
// important and the flicker would be unpleasant as well.
if (State.CurrentTime - this->lastRefresh >= MOVE_REFRESHRATE)
{
this->drawCurrentHeight();
this->lastRefresh = State.CurrentTime;
}
}
void MoveScreen::drawCurrentHeight()
{
auto display = this->getDisplay();
char currentHeightText[6];
getDisplayHeight(&currentHeightText[0], State.CurrentHeight);
if (this->lastTextWidth > 0)
display->fillRect((Config::DisplayWidth - this->lastTextWidth) / 2, this->currentHeightY, this->lastTextWidth, MOVE_LINE_HEIGHT, Config::ColorMoveBackground);
display->setTextColor(Config::ColorMoveTarget);
this->lastTextWidth = this->printCentered(&currentHeightText[0], this->currentHeightY + MOVE_FONT_BASELINE);
}

4
src/lib/screen/move.h
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@ -20,6 +20,10 @@ class MoveScreen : public BaseScreen
private:
uint32_t lastRefresh;
uint8_t currentHeightY;
uint16_t lastTextWidth = 0;
void drawCurrentHeight();
};
#endif

33
src/main.cpp
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@ -13,6 +13,9 @@
#include "./lib/motor.h"
#include "./lib/motorstate.h"
#include "./lib/screen/home.h"
#include "./lib/screen/calibrate.h"
#include "./lib/screen/move-overcurrent.h"
#include "./lib/screen/move-sensorerror.h"
enum class InitSequenceStep
@ -38,7 +41,7 @@ void initSequenceEnd();
bool heightSensorGetRange(uint16_t* measurement);
auto display = Adafruit_ST7789(Config::DisplayPortCS, Config::DisplayPortDC, Config::DisplayPortRST);
auto display = Adafruit_ST7789(Config::DisplayPinCS, Config::DisplayPinDC, Config::DisplayPinRST);
auto heightSensor = VL53L0X();
auto screenManager = ScreenManager(&display);
@ -54,10 +57,11 @@ Bounce buttons[3];
void setup()
{
DebugInit();
dln("Debug log active");
buttons[0].attach(Config::ButtonPortUp, INPUT_PULLUP);
buttons[1].attach(Config::ButtonPortMenu, INPUT_PULLUP);
buttons[2].attach(Config::ButtonPortDown, INPUT_PULLUP);
buttons[0].attach(Config::ButtonPinUp, INPUT_PULLUP);
buttons[1].attach(Config::ButtonPinMenu, INPUT_PULLUP);
buttons[2].attach(Config::ButtonPinDown, INPUT_PULLUP);
display.init(Config::DisplayWidth, Config::DisplayHeight, SPI_MODE3);
display.setRotation(Config::DisplayRotation);
@ -65,6 +69,7 @@ void setup()
screenManager.init();
initSequenceStart();
motorInit();
// Load settings from EEPROM
auto initialized = readSettings();
@ -80,16 +85,13 @@ void setup()
State.CurrentTime = millis();
// TODO check if close to either preset, then use the preset height
// TODO: check if close to either preset, then use the preset height
State.CurrentHeight = currentHeight;
if (initialized)
{
screenManager.show<HomeScreen>();
}
else
// TODO show height configuration screen
screenManager.show<HomeScreen>();
screenManager.show<CalibrateScreen>();
}
@ -144,7 +146,7 @@ inline uint16_t testHeightSensor()
uint8_t closeCount = 0;
uint16_t measurement;
// TODO while (closeCount < 3)
// TODO: while (closeCount < 3)
while (closeCount < 1)
{
if (heightSensorGetRange(&measurement))
@ -193,9 +195,7 @@ void loop()
if (State.MoveDirection != Direction::None)
{
if (motorStateCheckOverCurrent())
{
// TODO go to overcurrent screen
}
screenManager.show<MoveOverCurrentScreen>();
else
updateHeight();
}
@ -235,9 +235,10 @@ void updateHeight()
}
else if (State.CurrentTime - lastValidMeasurement >= Config::HeightMeasurementAbortTimeout)
{
dln("Out of range timeout!");
motorStateStop();
// TODO go to height sensor error screen
screenManager.show<MoveSensorErrorScreen>();
}
}
@ -245,7 +246,9 @@ void updateHeight()
bool heightSensorGetRange(uint16_t* measurement)
{
*measurement = heightSensor.readRangeSingleMillimeters();
return !heightSensor.timeoutOccurred() && *measurement <= Config::HeightMeasurementMax;
dl("Range: "); dln(*measurement);
return *measurement <= Config::HeightMeasurementMax;
}