wip

lib/Domain/Gun/Atmega328pHal.cpp

@@ -0,0 +1,119 @@
+/*
+ *
+ * Copyright (c) 2023 Aurélien Labrosse
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, version 3.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
+ * General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program. If not, see <http://www.gnu.org/licenses/>.
+ */
+#include <Contactor.hpp>
+#include <Gun/Atmega328pHal.hpp>
+#include <LowPower.h>
+#include <avr/io.h>
+
+#define BSP_TICKS_PER_SEC 100
+#define F_CPU 16000000L
+
+#define LASER_PIN 10
+#define VIBRATOR_PIN 6
+#define BATTERY_VOLTAGE_PIN A3
+#define CHARGING_STATE_PIN A2
+#define BUTTON2_PIN 3
+#define TRIGGER_PIN 2
+
+#define MIN_BAT_VOLTAGE 3000
+#define MAX_BAT_VOLTAGE 4120
+
+ISR(TIMER2_COMPA_vect) {}
+
+volatile Contactor::Event pendingTriggerEvent;
+void triggerInterruptHandler() {
+  if (bit_is_set(PIND, PD2)) {
+    pendingTriggerEvent = Contactor::Event::Released;
+  } else {
+    pendingTriggerEvent = Contactor::Event::Pressed;
+  }
+}
+
+volatile Contactor::Event pendingButtonEvent;
+void buttonInterruptHandler() {
+  if (bit_is_set(PIND, PD3)) {
+    pendingButtonEvent = Contactor::Event::Released;
+  } else {
+    pendingButtonEvent = Contactor::Event::Pressed;
+  }
+}
+
+Atmega328pHal::Atmega328pHal() {
+
+  pinMode(VIBRATOR_PIN, OUTPUT);
+  pinMode(LASER_PIN, OUTPUT);
+}
+/*
+ * the 'loop' method shall be called each 10ms
+ *
+ * Configure timer2 so that an interrupt occurs each 10ms
+ * and wake up the MCU if it is in sleep mode.
+ */
+void Atmega328pHal::setupHeartbeat() {
+  TCCR2A = (1U << WGM21) | (0U << WGM20);              // set Timer2 in CTC mode
+  TCCR2B = (1U << CS22) | (1U << CS21) | (1U << CS20); // 1/1024 prescaler
+  ASSR &= ~(1U << AS2);
+  TIMSK2 = (1U << OCIE2A); // enable TIMER2 compare Interrupt
+  TCNT2 = 0U;
+
+  // set the output-compare register based on the desired tick frequency
+  OCR2A = (F_CPU / BSP_TICKS_PER_SEC / 1024U) - 1U;
+}
+
+void Atmega328pHal::laserOn() { PORTB |= (1 << PB2); }
+void Atmega328pHal::laserOff() { PORTB &= ~(1 << PB2); }
+void Atmega328pHal::vibrationOn() { PORTD |= (1 << PD6); }
+void Atmega328pHal::vibrationOff() { PORTD &= ~(1 << PD6); }
+
+uint16_t Atmega328pHal::getBatteryVoltageMv() {
+
+  analogRead(BATTERY_VOLTAGE_PIN);
+  float rawBatt = analogRead(BATTERY_VOLTAGE_PIN);
+  rawBatt += analogRead(BATTERY_VOLTAGE_PIN);
+  rawBatt += analogRead(BATTERY_VOLTAGE_PIN);
+  rawBatt += analogRead(BATTERY_VOLTAGE_PIN);
+  rawBatt /= 4;
+  uint16_t battMv = (5000 / 1023.f) * rawBatt;
+
+  return battMv;
+};
+
+uint8_t Atmega328pHal::getBatteryVoltagePercent() {
+  return map(getBatteryVoltageMv(), MIN_BAT_VOLTAGE, MAX_BAT_VOLTAGE, 0, 100);
+}
+
+bool Atmega328pHal::isCharging() {
+  return (digitalRead(CHARGING_STATE_PIN) == HIGH);
+}
+
+void Atmega328pHal::sleep() {
+  LowPower.idle(SLEEP_15MS, ADC_OFF, TIMER2_ON, TIMER1_ON, TIMER0_ON, SPI_OFF,
+                USART0_OFF, TWI_OFF);
+}
+
+void Atmega328pHal::setGun(Gun *gun) { gun = gun; }
+
+void Atmega328pHal::configureInputCallbacks() {
+
+  pinMode(BUTTON2_PIN, INPUT_PULLUP);
+  attachInterrupt(digitalPinToInterrupt(BUTTON2_PIN), buttonInterruptHandler,
+                  CHANGE);
+
+  pinMode(TRIGGER_PIN, INPUT_PULLUP);
+  attachInterrupt(digitalPinToInterrupt(TRIGGER_PIN), triggerInterruptHandler,
+                  CHANGE);
+}

lib/Domain/Gun/Atmega328pHal.hpp

@@ -17,70 +17,35 @@
 #pragma once
 
 #include <Gun/IGunHal.hpp>
-#include <avr/io.h>
-
-#define BSP_TICKS_PER_SEC 100
-#define F_CPU 16000000L
-
-#define LASER_PIN 10
-#define VIBRATOR_PIN 6
-#define BATTERY_VOLTAGE_PIN A3
-#define CHARGING_STATE_PIN A2
-
-#define MIN_BAT_VOLTAGE 3000
-#define MAX_BAT_VOLTAGE 4120
-
-ISR(TIMER2_COMPA_vect) {}
 
 class Atmega328pHal : public IGunHal {
+  Gun *gun;
+
 public:
   ~Atmega328pHal() {}
 
-  Atmega328pHal() {
+  Atmega328pHal();
 
-    pinMode(VIBRATOR_PIN, OUTPUT);
-    pinMode(LASER_PIN, OUTPUT);
-  }
   /*
    * the 'loop' method shall be called each 10ms
    *
    * Configure timer2 so that an interrupt occurs each 10ms
    * and wake up the MCU if it is in sleep mode.
    */
-  void setupHeartbeat() override {
-    TCCR2A = (1U << WGM21) | (0U << WGM20); // set Timer2 in CTC mode
-    TCCR2B = (1U << CS22) | (1U << CS21) | (1U << CS20); // 1/1024 prescaler
-    ASSR &= ~(1U << AS2);
-    TIMSK2 = (1U << OCIE2A); // enable TIMER2 compare Interrupt
-    TCNT2 = 0U;
-
-    // set the output-compare register based on the desired tick frequency
-    OCR2A = (F_CPU / BSP_TICKS_PER_SEC / 1024U) - 1U;
-  }
-
-  void laserOn() override { PORTB |= (1 << PB2); }
-  void laserOff() override { PORTB &= ~(1 << PB2); }
-  void vibrationOn() override { PORTD |= (1 << PD6); }
-  void vibrationOff() override { PORTD &= ~(1 << PD6); }
+  void setupHeartbeat() override;
 
-  uint16_t getBatteryVoltageMv() override {
+  void setGun(Gun *gun) override;
+  void laserOn() override;
+  void laserOff() override;
+  void vibrationOn() override;
+  void vibrationOff() override;
 
-    analogRead(BATTERY_VOLTAGE_PIN);
-    float rawBatt = analogRead(BATTERY_VOLTAGE_PIN);
-    rawBatt += analogRead(BATTERY_VOLTAGE_PIN);
-    rawBatt += analogRead(BATTERY_VOLTAGE_PIN);
-    rawBatt += analogRead(BATTERY_VOLTAGE_PIN);
-    rawBatt /= 4;
-    uint16_t battMv = (5000 / 1023.f) * rawBatt;
+  uint16_t getBatteryVoltageMv() override;
 
-    return battMv;
-  };
+  uint8_t getBatteryVoltagePercent() override;
+  bool isCharging() override;
 
-  uint8_t getBatteryVoltagePercent() override {
-    return map(getBatteryVoltageMv(), MIN_BAT_VOLTAGE, MAX_BAT_VOLTAGE, 0, 100);
-  }
+  void configureInputCallbacks() override;
 
-  virtual bool isCharging() override {
-    return (digitalRead(CHARGING_STATE_PIN) == HIGH);
-  }
+  void sleep() override;
 };