Implemented menu and presets configuration

doc/pinout.md

@@ -18,8 +18,8 @@ https://www.pololu.com/product/2995
 
 | Identifier | Description                | Arduino pin | ATMega328p pin |
 |------------|----------------------------|-------------|----------------|
-| PWM        | Motor PWM                  | 14          | 23 - PC0       |
+| PWM        | Motor PWM                  | 14 / A0     | 23 - PC0       |
-| DIR        | Direction                  | 15          | 24 - PC1       |
+| DIR        | Direction                  | 15 / A1     | 24 - PC1       |
 | SLP        | Sleep (active low)         | 16          | 25 - PC2       |
 | CS         | Current sensing            | 17 / A3     | 26 - PC3       |
 

src/include/config.h

@@ -151,6 +151,9 @@ class Config
     static const uint16_t ColorMenuHeaderText = ColorWhite;
     static const uint16_t ColorMenuHeaderBackground = ColorSoftBlue;
 
+    static const uint16_t ColorMenuText = ColorWhite;
+    static const uint16_t ColorMenuBackground = ColorBlack;
+
     static const uint16_t ColorMenuSelectedText = ColorWhite;
     static const uint16_t ColorMenuSelectedBackground = ColorDarkBlue;
 

src/include/screenids.h

@@ -9,7 +9,8 @@ enum class ScreenId
   MoveOvercurrent,
   MoveSensorError,
   Menu,
-  Manual
+  Manual,
+  Presets
 };
 
 #endif

src/lib/motor.cpp

@@ -28,6 +28,7 @@ void motorStop()
 {
   digitalWrite(Config::MotorPinPWM, LOW);
   digitalWrite(Config::MotorPinSleep, LOW);
+  digitalWrite(Config::MotorPinDirection, LOW);
 }
 
 

src/lib/screen/baseheightentry.cpp

@@ -0,0 +1,162 @@
+#include "./calibrate.h"
+#include "./home.h"
+#include "include/metrics.h"
+#include "lib/settings.h"
+
+
+void BaseHeightEntryScreen::onShow()
+{
+  this->display->setFont(Metrics::LargeFont);
+  this->display->setTextSize(Metrics::LargeFontTextSize);
+
+  this->display->fillScreen(Config::ColorHomeBackground);
+
+  this->drawTitle();
+  this->initHeights();
+
+  this->drawArrowUp(Metrics::ArrowMargin, Metrics::LargeTextLineHeight + Metrics::LargeTextLineVArrowYOffset, Config::ColorCalibrateIndicators);
+  this->drawArrowRight(Metrics::ArrowMargin, Metrics::MiddleLargeTextLineY + Metrics::LargeTextLineHArrowYOffset, Config::ColorCalibrateIndicators);
+
+  this->display->setTextColor(Config::ColorCalibrateIndicators);
+  this->display->setCursor(Metrics::ArrowMargin, Config::DisplayHeight - Metrics::LargeTextLineHeight + Metrics::LargeTextLineYOffset);
+  this->display->print("OK");
+
+  this->drawSetHeight();
+}
+
+
+// Credit: https://stackoverflow.com/questions/101439/the-most-efficient-way-to-implement-an-integer-based-power-function-powint-int
+uint16_t ipow(uint16_t base, uint8_t exp)
+{
+    int result = 1;
+    for (;;)
+    {
+        if (exp & 1)
+            result *= base;
+
+        exp >>= 1;
+        if (!exp)
+            break;
+
+        base *= base;
+    }
+
+    return result;
+}
+
+
+void BaseHeightEntryScreen::onButton(Button button)
+{
+  switch (button)
+  {
+    case Button::Top:
+    {
+      uint16_t height = this->getHeight();
+      uint16_t increment = ipow(10, 3 - this->editingDigit);
+      uint16_t modulus = increment * 10;
+
+      uint16_t remainder = height % modulus;
+      uint16_t offset = height - remainder;
+
+      height = offset + ((remainder + increment) % modulus);
+      if (height > 1999)
+        height %= 2000;
+
+      this->setHeight(height);
+      this->drawSetHeight();
+      break;
+    }
+
+    case Button::Middle:
+    {
+      this->editingDigit++;
+      if (this->editingDigit > 3)
+        this->editingDigit = 0;
+
+      this->drawSetHeight();
+      break;
+    }
+
+    case Button::Bottom:
+    {
+      if (!this->isValidHeight())
+        return;
+
+      if (this->nextPage())
+      {
+        this->editingDigit = 0;
+
+        this->drawTitle();
+        this->drawSetHeight();
+      }
+
+      break;
+    }
+  }
+}
+
+
+void BaseHeightEntryScreen::onTick()
+{
+}
+
+
+void BaseHeightEntryScreen::drawTitle()
+{
+  this->drawLargeTextLineCentered(this->getTitle(), 0, Config::ColorMenuHeaderText, Config::ColorMenuHeaderBackground);
+}
+
+
+void BaseHeightEntryScreen::drawSetHeight()
+{
+  char heightText[7];
+  uint16_t height = this->getHeight();
+
+  if (height > 999)
+    heightText[0] = '0' + ((height / 1000) % 10);
+  else
+    heightText[0] = '0';
+
+  heightText[1] = '.';
+  heightText[2] = '0' + ((height / 100) % 10);
+  heightText[3] = '0' + ((height / 10) % 10);
+  heightText[4] = '0' + (height % 10);
+  heightText[5] = 'm';
+  heightText[6] = 0;
+
+
+  int16_t textX;
+  int16_t textY;
+  uint16_t textW;
+  uint16_t textH;
+  this->display->getTextBounds(&heightText[0], 0, 0, &textX, &textY, &textW, &textH);
+  textX = (Config::DisplayWidth - textW) / 2;
+
+
+
+  uint8_t editingChar = this->editingDigit;
+
+  // Skip the dot
+  if (editingChar > 0)
+    editingChar++;
+
+
+  if (this->lastTextWidth > 0)
+    this->display->fillRect((Config::DisplayWidth - this->lastTextWidth) / 2, Metrics::MiddleLargeTextLineY, this->lastTextWidth, Metrics::LargeTextLineHeight, Config::ColorCalibrateBackground);
+
+  this->lastTextWidth = textW;
+
+  this->display->setTextColor(this->isValidHeight() ? Config::ColorCalibrateValue : Config::ColorCalibrateInvalidValue);
+  this->display->setCursor(textX, Metrics::MiddleLargeTextLineY + Metrics::LargeTextLineYOffset);
+
+  // Draw each character ourselves so we can keep track of where the line should be drawn
+  for (uint8_t i = 0; i < sizeof(heightText); i++)
+  {
+    int16_t cursorStart = this->display->getCursorX();
+
+    this->display->print(heightText[i]);
+
+    if (i == editingChar)
+      this->display->drawFastHLine(cursorStart, Metrics::MiddleLargeTextLineY + Metrics::LargeTextLineHeight - 1, this->display->getCursorX() - cursorStart, Config::ColorCalibrateDigitMarker);
+  }
+}

src/lib/screen/baseheightentry.h

@@ -0,0 +1,34 @@
+#ifndef __screen_baseheightentry
+#define __screen_baseheightentry
+
+#include "../screen.h"
+#include "../control.h"
+
+
+class BaseHeightEntryScreen : public BaseScreen
+{
+  public:
+    BaseHeightEntryScreen(ScreenManager* screenManager, Adafruit_GFX* display) : BaseScreen(screenManager, display) { }
+
+    void onShow();
+    void onButton(Button button);
+    void onTick();
+
+  protected:
+    virtual void initHeights() = 0;
+    virtual uint16_t getHeight() = 0;
+    virtual void setHeight(uint16_t value) = 0;
+    virtual bool nextPage() = 0;
+
+    virtual bool isValidHeight() = 0;
+    virtual const char* getTitle() = 0;
+
+  private:
+    void drawTitle();
+    void drawSetHeight();
+
+    uint16_t lastTextWidth = 0;
+    uint8_t editingDigit = 0;
+};
+
+#endif

src/lib/screen/calibrate.cpp

@@ -4,110 +4,28 @@
 #include "lib/settings.h"
 
 
-void CalibrateScreen::onShow()
+
+void CalibrateScreen::initHeights()
 {
-  this->display->setFont(Metrics::LargeFont);
-  this->display->setTextSize(Metrics::LargeFontTextSize);
-
-  this->display->fillScreen(Config::ColorHomeBackground);
-
-  this->drawTitle();
   this->height[CalibrateStepCurrent] = Control.getCurrentHeight();
   this->height[CalibrateStepMax] = Settings.Height.Maximum;
   this->height[CalibrateStepMin] = Settings.Height.Minimum;
-
-  this->drawArrowUp(Metrics::ArrowMargin, Metrics::LargeTextLineHeight + Metrics::LargeTextLineVArrowYOffset, Config::ColorCalibrateIndicators);
-  this->drawArrowRight(Metrics::ArrowMargin, Metrics::MiddleLargeTextLineY + Metrics::LargeTextLineHArrowYOffset, Config::ColorCalibrateIndicators);
-
-  this->display->setTextColor(Config::ColorCalibrateIndicators);
-  this->display->setCursor(Metrics::ArrowMargin, Config::DisplayHeight - Metrics::LargeTextLineHeight + Metrics::LargeTextLineYOffset);
-  this->display->print("OK");
-
-  this->drawSetHeight();
 }
 
 
-// Credit: https://stackoverflow.com/questions/101439/the-most-efficient-way-to-implement-an-integer-based-power-function-powint-int
+bool CalibrateScreen::nextPage()
-uint16_t ipow(uint16_t base, uint8_t exp)
 {
-    int result = 1;
+  this->step = (CalibrateStep)(this->step + 1);
-    for (;;)
+  if (this->step < __CalibrateStepCount)
-    {
+    return true;
-        if (exp & 1)
-            result *= base;
 
-        exp >>= 1;
+  Settings.Height.Offset = this->height[CalibrateStepCurrent] - Control.getCurrentMeasurement();
-        if (!exp)
+  Settings.Height.Maximum = this->height[CalibrateStepMax];
-            break;
+  Settings.Height.Minimum = this->height[CalibrateStepMin];
+  writeSettingsHeights();
 
-        base *= base;
+  this->screenManager->show<HomeScreen>();
-    }
+  return false;
-
-    return result;
-}
-
-
-void CalibrateScreen::onButton(Button button)
-{
-  switch (button)
-  {
-    case Button::Top:
-    {
-      uint16_t height = this->height[this->step];
-      uint16_t increment = ipow(10, 3 - this->editingDigit);
-      uint16_t modulus = increment * 10;
-
-      uint16_t remainder = height % modulus;
-      uint16_t offset = height - remainder;
-
-      height = offset + ((remainder + increment) % modulus);
-      if (height > 1999)
-        height %= 2000;
-
-      this->height[this->step] = height;
-      this->drawSetHeight();
-      break;
-    }
-
-    case Button::Middle:
-    {
-      this->editingDigit++;
-      if (this->editingDigit > 3)
-        this->editingDigit = 0;
-
-      this->drawSetHeight();
-      break;
-    }
-
-    case Button::Bottom:
-    {
-      if (!this->isValidHeight())
-        return;
-
-      this->step = (CalibrateStep)(this->step + 1);
-      if (this->step == CalibrateStepCount)
-      {
-        Settings.Height.Offset = this->height[CalibrateStepCurrent] - Control.getCurrentMeasurement();
-        Settings.Height.Maximum = this->height[CalibrateStepMax];
-        Settings.Height.Minimum = this->height[CalibrateStepMin];
-        writeSettingsHeights();
-
-        this->screenManager->show<HomeScreen>();
-      }
-      else
-      {
-        this->drawTitle();
-        this->drawSetHeight();
-      }
-
-      break;
-    }
-  }
-}
-
-
-void CalibrateScreen::onTick()
-{
 }
 
 
@@ -132,78 +50,20 @@ bool CalibrateScreen::isValidHeight()
 }
 
 
-void CalibrateScreen::drawTitle()
+const char* CalibrateScreen::getTitle()
 {
   switch (this->step)
   {
     case CalibrateStepCurrent:
-      this->drawLargeTextLineCentered("Calibrate", 0, Config::ColorMenuHeaderText, Config::ColorMenuHeaderBackground);
+      return "Calibrate";
-      break;
 
     case CalibrateStepMin:
-      this->drawLargeTextLineCentered("Minimum", 0, Config::ColorMenuHeaderText, Config::ColorMenuHeaderBackground);
+      return "Minimum";
-      break;
 
     case CalibrateStepMax:
-      this->drawLargeTextLineCentered("Maximum", 0, Config::ColorMenuHeaderText, Config::ColorMenuHeaderBackground);
+      return "Maximum";
-      break;
 
     default:
-      break;
+      return nullptr;
-  }
-}
-
-
-void CalibrateScreen::drawSetHeight()
-{
-  char heightText[7];
-  uint16_t height = this->height[this->step];
-
-  if (height > 999)
-    heightText[0] = '0' + ((height / 1000) % 10);
-  else
-    heightText[0] = '0';
-
-  heightText[1] = '.';
-  heightText[2] = '0' + ((height / 100) % 10);
-  heightText[3] = '0' + ((height / 10) % 10);
-  heightText[4] = '0' + (height % 10);
-  heightText[5] = 'm';
-  heightText[6] = 0;
-
-
-  int16_t textX;
-  int16_t textY;
-  uint16_t textW;
-  uint16_t textH;
-  this->display->getTextBounds(&heightText[0], 0, 0, &textX, &textY, &textW, &textH);
-  textX = (Config::DisplayWidth - textW) / 2;
-
-
-
-  uint8_t editingChar = this->editingDigit;
-
-  // Skip the dot
-  if (editingChar > 0)
-    editingChar++;
-
-
-  if (this->lastTextWidth > 0)
-    this->display->fillRect((Config::DisplayWidth - this->lastTextWidth) / 2, Metrics::MiddleLargeTextLineY, this->lastTextWidth, Metrics::LargeTextLineHeight, Config::ColorCalibrateBackground);
-
-  this->lastTextWidth = textW;
-
-  this->display->setTextColor(this->isValidHeight() ? Config::ColorCalibrateValue : Config::ColorCalibrateInvalidValue);
-  this->display->setCursor(textX, Metrics::MiddleLargeTextLineY + Metrics::LargeTextLineYOffset);
-
-  // Draw each character ourselves so we can keep track of where the line should be drawn
-  for (uint8_t i = 0; i < sizeof(heightText); i++)
-  {
-    int16_t cursorStart = this->display->getCursorX();
-
-    this->display->print(heightText[i]);
-
-    if (i == editingChar)
-      this->display->drawFastHLine(cursorStart, Metrics::MiddleLargeTextLineY + Metrics::LargeTextLineHeight - 1, this->display->getCursorX() - cursorStart, Config::ColorCalibrateDigitMarker);
   }
 }

src/lib/screen/calibrate.h

@@ -2,17 +2,18 @@
 #define __screen_calibrate
 
 #include "include/screenids.h"
+#include "./baseheightentry.h"
 #include "../screen.h"
 #include "../control.h"
 
 
-enum CalibrateStep : uint8_t
+enum CalibrateStep
 {
     CalibrateStepCurrent = 0,
     CalibrateStepMax,
     CalibrateStepMin,
 
-    CalibrateStepCount
+    __CalibrateStepCount
 };
 
 
@@ -21,27 +22,26 @@ enum CalibrateStep : uint8_t
  *   Configures the absolute height (calculates the offset) and
  *   the allowed minimum and maximum absolute height.
  */
-class CalibrateScreen : public BaseScreen
+class CalibrateScreen : public BaseHeightEntryScreen
 {
   public:
-    CalibrateScreen(ScreenManager* screenManager, Adafruit_GFX* display) : BaseScreen(screenManager, display) { }
+    CalibrateScreen(ScreenManager* screenManager, Adafruit_GFX* display) : BaseHeightEntryScreen(screenManager, display) { }
-
-    void onShow();
-    void onButton(Button button);
-    void onTick();
 
     ScreenId screenId() { return ScreenId::Calibrate; };
 
-  private:
+  protected:
-    bool isValidHeight();
+    void initHeights();
-    void drawTitle();
+    uint16_t getHeight() { return this->height[this->step]; }
-    void drawSetHeight();
+    void setHeight(uint16_t value) { this->height[this->step] = value; };
+    bool nextPage();
 
+    bool isValidHeight();
+    const char* getTitle();
+
+  private:
     CalibrateStep step = CalibrateStepCurrent;
 
-    uint16_t height[CalibrateStepCount];
+    uint16_t height[__CalibrateStepCount];
-    uint16_t lastTextWidth = 0;
-    uint8_t editingDigit = 0;
 };
 
 #endif

src/lib/screen/menu.cpp

@@ -1,5 +1,9 @@
 #include "./menu.h"
 #include "./home.h"
+#include "./calibrate.h"
+#include "./manual.h"
+#include "./presets.h"
+#include "include/config.h"
 #include "include/metrics.h"
 
 
@@ -11,16 +15,102 @@ void MenuScreen::onShow()
   this->display->fillScreen(Config::ColorHomeBackground);
   this->drawLargeTextLineCentered("Menu", 0, Config::ColorMenuHeaderText, Config::ColorMenuHeaderBackground);
 
-// TODO: implement MenuScreen
+  for (uint8_t i = 0; i < (uint8_t)MenuItem::__Count; i++)
+    this->drawMenuItem(i);
 }
 
 
 void MenuScreen::onButton(Button button)
 {
-  this->screenManager->show<HomeScreen>();
+  uint8_t previousIndex = this->itemIndex;
+
+  switch (button)
+  {
+    case Button::Middle:
+      this->activateMenuItem((MenuItem)this->itemIndex);
+      return;
+
+    case Button::Top:
+      if (this->itemIndex == 0)
+        this->itemIndex = (uint8_t)MenuItem::__Count;
+
+      this->itemIndex--;
+      break;
+
+    case Button::Bottom:
+      this->itemIndex++;
+      if (this->itemIndex == (uint8_t)MenuItem::__Count)
+        this->itemIndex = 0;
+
+      break;
+  }
+
+  this->drawMenuItem(previousIndex);
+  this->drawMenuItem(this->itemIndex);
 }
 
 
 void MenuScreen::onTick()
 {
+}
+
+
+void MenuScreen::drawMenuItem(uint8_t index)
+{
+  uint16_t y = (index + 2) * Metrics::LargeTextLineHeight;
+  bool isSelected = index == this->itemIndex;
+
+  this->drawLargeTextLineCentered(
+    this->getMenuItemTitle((MenuItem)index), y,
+    isSelected ? Config::ColorMenuSelectedText : Config::ColorMenuText,
+    isSelected ? Config::ColorMenuSelectedBackground : Config::ColorMenuBackground);
+}
+
+
+const char* MenuScreen::getMenuItemTitle(MenuItem item)
+{
+  switch (item)
+  {
+    case MenuItem::Manual:
+      return "Manual";
+
+    case MenuItem::Presets:
+      return "Presets";
+
+    case MenuItem::Calibrate:
+      return "Calibrate";
+
+    case MenuItem::Exit:
+      return "Exit";
+
+    default:
+      return nullptr;
+  }
+}
+
+
+void MenuScreen::activateMenuItem(MenuItem item)
+{
+  switch (item)
+  {
+    case MenuItem::Manual:
+      // TODO: show manual screen
+      //this->screenManager->show<ManualScreen>();
+      break;
+
+    case MenuItem::Presets:
+      this->screenManager->show<PresetsScreen>();
+      break;
+
+    case MenuItem::Calibrate:
+      this->screenManager->show<CalibrateScreen>();
+      break;
+
+    case MenuItem::Exit:
+      this->screenManager->show<HomeScreen>();
+      break;
+
+    default:
+      break;
+  }
 }

src/lib/screen/menu.h

@@ -6,6 +6,18 @@
 #include "../Control.h"
 
 
+enum class MenuItem
+{
+  Manual = 0,
+  Presets,
+  Calibrate,
+  Exit,
+
+  __Count
+};
+
+
+
 /*
  * Menu screen
  *   Shows the menu which allows access to the calibration and
@@ -23,6 +35,11 @@ class MenuScreen : public BaseScreen
     ScreenId screenId() { return ScreenId::Menu; };
 
   private:
+    void drawMenuItem(uint8_t index);
+    const char* getMenuItemTitle(MenuItem item);
+    void activateMenuItem(MenuItem item);
+
+    uint8_t itemIndex = 0;
 };
 
 #endif

src/lib/screen/presets.cpp

@@ -0,0 +1,55 @@
+#include "./presets.h"
+#include "./home.h"
+#include "include/metrics.h"
+#include "lib/settings.h"
+
+
+
+void PresetsScreen::initHeights()
+{
+  this->height[0] = Settings.Height.Preset[0];
+  this->height[1] = Settings.Height.Preset[1];
+}
+
+
+bool PresetsScreen::nextPage()
+{
+  this->preset++;
+  if (this->preset < 2)
+    return true;
+
+  Settings.Height.Preset[0] = this->height[0];
+  Settings.Height.Preset[1] = this->height[1];
+  writeSettingsHeights();
+
+  this->screenManager->show<HomeScreen>();
+  return false;
+}
+
+
+
+void PresetsScreen::setHeight(uint16_t value)
+{
+  if (value < Settings.Height.Minimum)
+    this->height[this->preset] = Settings.Height.Minimum;
+  else if (value > Settings.Height.Maximum)
+    this->height[this->preset] = Settings.Height.Maximum;
+  else
+    this->height[this->preset] = value;
+}
+
+
+const char* PresetsScreen::getTitle()
+{
+  switch (this->preset)
+  {
+    case 0:
+      return "Preset 1";
+
+    case 1:
+      return "Preset 2";
+
+    default:
+      return nullptr;
+  }
+}

src/lib/screen/presets.h

@@ -0,0 +1,35 @@
+#ifndef __screen_presets
+#define __screen_presets
+
+#include "include/screenids.h"
+#include "./baseheightentry.h"
+#include "../screen.h"
+#include "../control.h"
+
+
+/*
+ * Presets screen
+ *   Configures the presets.
+ */
+class PresetsScreen : public BaseHeightEntryScreen
+{
+  public:
+    PresetsScreen(ScreenManager* screenManager, Adafruit_GFX* display) : BaseHeightEntryScreen(screenManager, display) { }
+
+    ScreenId screenId() { return ScreenId::Presets; };
+
+  protected:
+    void initHeights();
+    uint16_t getHeight() { return this->height[this->preset]; }
+    void setHeight(uint16_t value);
+    bool nextPage();
+
+    bool isValidHeight() { return true; }
+    const char* getTitle();
+
+  private:
+    uint8_t preset = 0;
+    uint16_t height[2];
+};
+
+#endif