UART working, new states, arduino driver (Leonardo but maybe Uno can …

arduino_driver/arduino_driver.ino

@@ -0,0 +1,135 @@
+#include "Keyboard.h"
+#include "Mouse.h"
+
+const int switch0Pin = 4; //on off
+const int switch1Pin = 11; //autopilot
+const int buttonR1Pin = 8; //R1
+const int buttonR2Pin = 7; //R2
+const int buttonR3Pin = 9; //R3
+const int buttonL1Pin = 6; //L1
+const int buttonL2Pin = 5; //L2
+const int buttonL3Pin = 10; //L3
+
+int prevR1State = HIGH;
+int prevR2State = HIGH;
+int prevR3State = HIGH;
+int prevL1State = HIGH;
+int prevL2State = HIGH;
+int prevL3State = HIGH;
+
+char prevOut = 'w';
+char buckler_out = 'w';
+
+void setup() {
+  // put your setup code here, to run once:
+  Serial.begin(9600);
+  Serial1.begin(115200);
+  Keyboard.begin();
+  Mouse.begin();
+}
+
+void loop() {
+  // put your main code here, to run repeatedly:
+  //input coming in from buckler
+  int switch0State = digitalRead(switch0Pin);
+  int switch1State = digitalRead(switch1Pin);
+  int buttonR1State = digitalRead(buttonR1Pin);
+  int buttonR2State = digitalRead(buttonR2Pin);
+  int buttonR3State = digitalRead(buttonR3Pin);
+  int buttonL1State = digitalRead(buttonL1Pin);
+  int buttonL2State = digitalRead(buttonL2Pin);
+  int buttonL3State = digitalRead(buttonL3Pin);
+  if (Serial1.available() > 0) {
+    buckler_out = Serial1.read();
+  }
+  if (switch0State == HIGH) {
+    if ((buttonR1State != prevR1State) && (buttonR1State == HIGH)) {
+      Mouse.click(MOUSE_RIGHT);
+    }
+    if ((buttonL1State != prevL1State) && (buttonL1State == HIGH)) {
+      Mouse.click(MOUSE_LEFT);
+    }
+    if ((switch1State == HIGH)) {
+      if ((buttonR2State != prevR2State) && (buttonR2State == HIGH)) {
+        Keyboard.press('3');
+      } else if (buttonR2State != HIGH) {
+        Keyboard.release('3');
+      }
+      if ((buttonR3State != prevR3State) && (buttonR3State == HIGH)) {
+        Keyboard.press('4');
+      } else if (buttonR3State != HIGH) {
+        Keyboard.release('4');
+      }
+      if ((buttonL2State != prevL2State) && (buttonL2State == HIGH)) {
+        Keyboard.press('1');
+      } else if (buttonL2State != HIGH) {
+        Keyboard.release('1');
+      }
+      if ((buttonL3State != prevL3State) && (buttonL3State == HIGH)) {
+        Keyboard.press('2');
+      } else if (buttonL3State != HIGH) {
+        Keyboard.release('2');
+      }
+      if (Serial1.available() > 0) {
+        if (buckler_out != prevOut) {
+          Keyboard.releaseAll();
+          prevOut = buckler_out;
+        }
+        if (buckler_out == '-') {
+          Mouse.move(0, 4, 0);
+          Keyboard.press(KEY_LEFT_SHIFT);
+        } else if (buckler_out == '+') {
+          Mouse.move(0, -4, 0);
+          Keyboard.press(' ');
+        } else {
+          //w, a, d
+          Serial.print(buckler_out);
+          Keyboard.press(buckler_out);
+          }
+        } else {
+          Keyboard.releaseAll();
+        }
+    } else {
+      if ((buttonR2State != prevR2State) && (buttonR2State == HIGH)) {
+        Keyboard.press(' ');
+      } else if (buttonR2State != HIGH) {
+        Keyboard.release(' ');
+      }
+      if ((buttonR3State != prevR3State) && (buttonR3State == HIGH)) {
+        Keyboard.press('s');
+      } else if (buttonR3State != HIGH) {
+        Keyboard.release('s');
+      }
+      if ((buttonL2State != prevL2State) && (buttonL2State == HIGH)) {
+        Keyboard.press(KEY_LEFT_SHIFT);
+      } else if (buttonL2State != HIGH) {
+        Keyboard.release(KEY_LEFT_SHIFT);
+      }
+      if ((buttonL3State != prevL3State) && (buttonL3State == HIGH)) {
+        Keyboard.press('w');
+      } else if (buttonL3State != HIGH) {
+        Keyboard.release('w');
+      }
+      if (Serial1.available() > 0) {
+          if (buckler_out == '+') {
+            Mouse.move(0, -4, 0);
+          } else if (buckler_out == '-') {
+            Mouse.move(0, 4, 0);
+          } else if (buckler_out == 'a') {
+            Mouse.move(-4, 0, 0);
+          } else if (buckler_out == 'd') {
+            Mouse.move(4, 0, 0);
+          }
+       }
+    }
+    prevR1State = buttonR1State;
+    prevR2State = buttonR2State;
+    prevR3State = buttonR3State;
+    prevL1State = buttonL1State;
+    prevL2State = buttonL2State;
+    prevL3State = buttonL3State;
+  } else {
+    Keyboard.releaseAll();
+  }
+  delay(10);
+}

software/apps/steering-controller/main.c

@@ -1,79 +1,130 @@
-// Analog accelerometer app
-//
-// Reads data from the ADXL327 analog accelerometer
-
-#include <math.h>
-#include <stdbool.h>
-#include <stdint.h>
-#include <stdio.h>
-
-#include "app_error.h"
-#include "app_timer.h"
-#include "nrf.h"
-#include "nrf_delay.h"
-#include "nrf_gpio.h"
-#include "nrf_log.h"
-#include "nrf_log_ctrl.h"
-#include "nrf_log_default_backends.h"
-#include "nrf_pwr_mgmt.h"
-#include "nrf_drv_spi.h"
-
-#include "buckler.h"
-#include "display.h"
-#include "lsm9ds1.h"
-#include "steeringwheel.h"
-
-NRF_TWI_MNGR_DEF(twi_mngr_instance, 5, 0);
-
-int main(void) {
-  ret_code_t error_code = NRF_SUCCESS;
-
-  // initialize RTT library
-  error_code = NRF_LOG_INIT(NULL);
-  APP_ERROR_CHECK(error_code);
-  NRF_LOG_DEFAULT_BACKENDS_INIT();
-  printf("Log initialized!\n");
-
-  // initialize LEDs
-  nrf_gpio_pin_dir_set(23, NRF_GPIO_PIN_DIR_OUTPUT);
-  nrf_gpio_pin_dir_set(24, NRF_GPIO_PIN_DIR_OUTPUT);
-  nrf_gpio_pin_dir_set(25, NRF_GPIO_PIN_DIR_OUTPUT);
-
-  // initialize display
-  nrf_drv_spi_t spi_instance = NRF_DRV_SPI_INSTANCE(1);
-  nrf_drv_spi_config_t spi_config = {
-    .sck_pin = BUCKLER_LCD_SCLK,
-    .mosi_pin = BUCKLER_LCD_MOSI,
-    .miso_pin = BUCKLER_LCD_MISO,
-    .ss_pin = BUCKLER_LCD_CS,
-    .irq_priority = NRFX_SPI_DEFAULT_CONFIG_IRQ_PRIORITY,
-    .orc = 0,
-    .frequency = NRF_DRV_SPI_FREQ_4M,
-    .mode = NRF_DRV_SPI_MODE_2,
-    .bit_order = NRF_DRV_SPI_BIT_ORDER_MSB_FIRST
-  };
-  error_code = nrf_drv_spi_init(&spi_instance, &spi_config, NULL, NULL);
-  APP_ERROR_CHECK(error_code);
-  display_init(&spi_instance);
-  display_write("Turn me UWU", DISPLAY_LINE_0);
-  printf("Display initialized!\n");
-
-  nrf_drv_twi_config_t i2c_config = NRF_DRV_TWI_DEFAULT_CONFIG;
-  i2c_config.scl = BUCKLER_SENSORS_SCL;
-  i2c_config.sda = BUCKLER_SENSORS_SDA;
-  i2c_config.frequency = NRF_TWIM_FREQ_100K;
-  error_code = nrf_twi_mngr_init(&twi_mngr_instance, &i2c_config);
-  APP_ERROR_CHECK(error_code);
-  lsm9ds1_init(&twi_mngr_instance);
-  printf("IMU initialized!\n");
-
-  steering_wheel_state_t state = OFF;
-  // loop forever, running state machine
-  while (1) {
-    nrf_delay_ms(1);
-    state = controller(state);
-
-  }
-}
-
-
+// Analog accelerometer app
+//
+// Reads data from the ADXL327 analog accelerometer
+
+#include <math.h>
+#include <stdbool.h>
+#include <stdint.h>
+#include <stdio.h>
+
+#include "app_error.h"
+#include "app_timer.h"
+#include "nrf.h"
+#include "nrf_delay.h"
+#include "nrf_gpio.h"
+#include "nrf_log.h"
+#include "nrf_log_ctrl.h"
+#include "nrf_log_default_backends.h"
+#include "nrf_pwr_mgmt.h"
+#include "nrf_drv_spi.h"
+#include "nrf_serial.h"
+
+#include "buckler.h"
+#include "display.h"
+#include "lsm9ds1.h"
+#include "steeringwheel.h"
+//#include "nrf52dk.h"
+
+//from https://github.com/lab11/nrf52x-base/blob/6ca5df7892d2a26c864b52f1b5bf383e16885d25/apps/demo_nrf52dk/main.c
+// Serial configuration
+// configuration for uart, RX & TX pin, empty RTS and CTS pins,
+//  flow control disabled, no parity bit, 115200 baud, default priority
+NRF_SERIAL_DRV_UART_CONFIG_DEF(serial_uart_config, BUCKLER_UART_RX, BUCKLER_UART_TX, 0, 0,
+      NRF_UART_HWFC_DISABLED, NRF_UART_PARITY_EXCLUDED, NRF_UART_BAUDRATE_115200, UART_DEFAULT_CONFIG_IRQ_PRIORITY);
+// create serial queues for commands, tx length 32, rx length 32
+NRF_SERIAL_QUEUES_DEF(serial_queues1, 1, 1);
+// create serial buffers for data, tx size 100 bytes, rx size 100 bytes
+NRF_SERIAL_BUFFERS_DEF(serial_buffers1, 1, 1);
+// create a configuration using DMA with queues for commands and buffers for data storage
+// both handlers are set to NULL as we do not need to support them
+NRF_SERIAL_CONFIG_DEF(serial_config1, NRF_SERIAL_MODE_DMA, &serial_queues1, &serial_buffers1, NULL, NULL);
+
+NRF_SERIAL_UART_DEF(serial_uart_instance, 0);
+
+NRF_TWI_MNGR_DEF(twi_mngr_instance, 5, 0);
+
+//error handler
+//uart code from https://github.com/lab11/nrf52x-base/blob/6ca5df7892d2a26c864b52f1b5bf383e16885d25/apps/uart/main.c
+//UART initialization
+int main(void) {
+  ret_code_t error_code = NRF_SUCCESS;
+
+  // init UART
+  nrf_serial_init(&serial_uart_instance, &serial_uart_config, &serial_config1);
+  static char tx_message[] = "u";
+  error_code = nrf_serial_write(&serial_uart_instance, tx_message, strlen(tx_message), NULL, 0);
+  APP_ERROR_CHECK(error_code);
+
+  // initialize RTT library
+  error_code = NRF_LOG_INIT(NULL);
+  APP_ERROR_CHECK(error_code);
+  NRF_LOG_DEFAULT_BACKENDS_INIT();
+  printf("Log initialized!\n");
+  // initialize LEDs
+  nrf_gpio_pin_dir_set(23, NRF_GPIO_PIN_DIR_OUTPUT);
+  nrf_gpio_pin_dir_set(24, NRF_GPIO_PIN_DIR_OUTPUT);
+  nrf_gpio_pin_dir_set(25, NRF_GPIO_PIN_DIR_OUTPUT);
+
+  // initialize display
+  nrf_drv_spi_t spi_instance = NRF_DRV_SPI_INSTANCE(1);
+  nrf_drv_spi_config_t spi_config = {
+    .sck_pin = BUCKLER_LCD_SCLK,
+    .mosi_pin = BUCKLER_LCD_MOSI,
+    .miso_pin = BUCKLER_LCD_MISO,
+    .ss_pin = BUCKLER_LCD_CS,
+    .irq_priority = NRFX_SPI_DEFAULT_CONFIG_IRQ_PRIORITY,
+    .orc = 0,
+    .frequency = NRF_DRV_SPI_FREQ_4M,
+    .mode = NRF_DRV_SPI_MODE_2,
+    .bit_order = NRF_DRV_SPI_BIT_ORDER_MSB_FIRST
+  };
+  error_code = nrf_drv_spi_init(&spi_instance, &spi_config, NULL, NULL);
+  APP_ERROR_CHECK(error_code);
+  display_init(&spi_instance);
+  display_write("Turn me UWU1", DISPLAY_LINE_0);
+  printf("Display initialized!\n");
+
+  nrf_drv_twi_config_t i2c_config = NRF_DRV_TWI_DEFAULT_CONFIG;
+  i2c_config.scl = BUCKLER_SENSORS_SCL;
+  i2c_config.sda = BUCKLER_SENSORS_SDA;
+  i2c_config.frequency = NRF_TWIM_FREQ_100K;
+  error_code = nrf_twi_mngr_init(&twi_mngr_instance, &i2c_config);
+  APP_ERROR_CHECK(error_code);
+  lsm9ds1_init(&twi_mngr_instance);
+  printf("IMU initialized!\n");
+
+  steering_wheel_state_t state = OFF;
+  // loop forever, running state machine
+
+  while (1) {
+    nrf_delay_ms(1);
+    state = controller(state);
+    if (state == STRAIGHT) {
+      static char tx_message[] = "w";
+      error_code = nrf_serial_write(&serial_uart_instance, tx_message, strlen(tx_message), NULL, 0);
+      APP_ERROR_CHECK(error_code);
+      printf("STRAIGHT");
+    } else if (state == LEFT) {
+      static char tx_message[] = "a";
+      error_code = nrf_serial_write(&serial_uart_instance, tx_message, strlen(tx_message), NULL, 0);
+      APP_ERROR_CHECK(error_code);
+      printf("LEFT");
+    } else if (state == RIGHT) {
+      static char tx_message[] = "d";
+      error_code = nrf_serial_write(&serial_uart_instance, tx_message, strlen(tx_message), NULL, 0);
+      APP_ERROR_CHECK(error_code);
+      printf("RIGHT");
+    } else if (state == PITCHUP) {
+      static char tx_message[] = "+";
+      error_code = nrf_serial_write(&serial_uart_instance, tx_message, strlen(tx_message), NULL, 0);
+      APP_ERROR_CHECK(error_code);
+      printf("RIGHT");
+    } else if (state == PITCHDN) {
+      static char tx_message[] = "-";
+      error_code = nrf_serial_write(&serial_uart_instance, tx_message, strlen(tx_message), NULL, 0);
+      APP_ERROR_CHECK(error_code);
+      printf("RIGHT");
+    }
+  }
+  nrf_serial_uninit(&serial_uart_instance);
+}