Adding more sensors
This commit is contained in:
Michal Moskal
parent
b79fd7096f
commit
0b56acb1b8
62
aux/mkenum.js
Normal file
62
aux/mkenum.js
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@ -0,0 +1,62 @@
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let lines = require("fs").readFileSync(process.argv[2], "utf8").split(/\n/)
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let off = 0
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let typemap = {
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DATA8: "int8",
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DATA16: "int16",
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DATA32: "int32",
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UBYTE: "uint8",
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UWORD: "uint16",
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ULONG: "uint32",
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SBYTE: "int8",
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SWORD: "int16",
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SLONG: "int32",
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DATAF: "float32",
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}
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for (let l of lines) {
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l = l.trim()
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if (/= \[/.test(l)) {
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console.log("\n\nconst enum X {")
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off = 0
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continue
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}
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if (l == "]") {
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console.log(` Size = ${off}`)
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console.log("}")
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continue
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}
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if (!l) continue
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let m = /\('(\w+)', (\w+)( \* (\d+))?\)/.exec(l)
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if (!m)
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m = /\('(\w+)', \((\w+)( \* (\d+))\) \* (\d+)/.exec(l)
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if (!m)
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m = /\('(\w+)', \(\((\w+)( \* (\d+))\) \* (\d+)\) \* (\d+)/.exec(l)
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if (m) {
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let tp = typemap[m[2]]
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if (!tp) {
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console.log("unknown type: " + m[2])
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break
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}
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let sz = parseInt(tp.replace(/[^\d]/g, "")) / 8
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let suff = ""
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if (m[4]) {
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sz *= parseInt(m[4])
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suff = "[" + m[4] + "]"
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}
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if (m[5]) {
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sz *= parseInt(m[5])
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suff += "[" + m[5] + "]"
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}
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if (m[6]) {
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sz *= parseInt(m[6])
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suff += "[" + m[6] + "]"
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}
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console.log(` ${m[1]} = ${off}, // ${tp}${suff}`)
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off += sz
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} else {
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console.log("bad line: " + l)
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break
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}
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}
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@ -9,45 +9,63 @@ namespace input {
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let analogMM: MMap
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/*
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struct_anon_76._fields_ = [
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('InPin1', DATA16 * 4),
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('InPin6', DATA16 * 4),
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('OutPin5', DATA16 * 4),
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('BatteryTemp', DATA16),
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('MotorCurrent', DATA16),
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('BatteryCurrent', DATA16),
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('Cell123456', DATA16),
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('Pin1', (DATA16 * 300) * 4),
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('Pin6', (DATA16 * 300) * 4),
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('Actual', UWORD * 4),
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('LogIn', UWORD * 4),
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('LogOut', UWORD * 4),
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('NxtCol', COLORSTRUCT * 4),
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('OutPin5Low', DATA16 * 4),
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('Updated', DATA8 * 4),
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('InDcm', DATA8 * 4),
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('InConn', DATA8 * 4),
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('OutDcm', DATA8 * 4),
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('OutConn', DATA8 * 4),
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]
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*/
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const enum NxtColOff {
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Calibration = 0, // uint32[4][3]
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CalLimits = 48, // uint16[2]
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Crc = 52, // uint16
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ADRaw = 54, // uint16[4]
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SensorRaw = 62, // uint16[4]
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Size = 70
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}
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const enum AnalogOff {
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InPin1 = 0, // int16[4]
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InPin6 = 8, // int16[4]
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OutPin5 = 16, // int16[4]
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BatteryTemp = 24, // int16
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MotorCurrent = 26, // int16
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BatteryCurrent = 28, // int16
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Cell123456 = 30, // int16
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Pin1 = 32, // int16[300][4]
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Pin6 = 2432, // int16[300][4]
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Actual = 4832, // uint16[4]
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LogIn = 4840, // uint16[4]
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LogOut = 4848, // uint16[4]
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NxtCol = 4856, // int16[35][4] - NxtCol * 4
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OutPin5Low = 5136, // int16[4]
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Updated = 5144, // int8[4]
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InDcm = 5148, // int8[4]
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InConn = 5152, // int8[4]
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OutDcm = 5156, // int8[4]
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OutConn = 5160, // int8[4]
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Size = 5164
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}
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function init() {
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if (analogMM) return
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analogMM = control.mmap("/dev/lms_analog", 1024, 0)
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analogMM = control.mmap("/dev/lms_analog", AnalogOff.Size, 0)
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if (!analogMM) control.fail("no analog sensor")
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}
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export class TouchSensor {
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port: number;
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id: number;
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export class AnalogSensor {
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protected port: number
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protected id: number
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protected getPin6() {
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return readAnalogPin6(this.port)
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}
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constructor(port: number) {
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this.port = Math.clamp(1, 4, port | 0) - 1;
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this.id = 200 + port;
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init()
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}
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}
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export class TouchSensor extends AnalogSensor {
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private downTime: number;
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constructor(port: number) {
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this.port = port;
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this.id = 200 + port;
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init()
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super(port)
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unsafePollForChanges(50,
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() => this.isPressed() ? 1 : 0,
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(prev, curr) => {
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@ -64,7 +82,7 @@ namespace input {
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}
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isPressed() {
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return readAnalogPin6(this.port) > 2500
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return this.getPin6() > 2500
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}
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/**
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@ -82,41 +100,265 @@ namespace input {
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init()
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port--
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port = Math.clamp(0, 3, port | 0)
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return analogMM.getNumber(NumberFormat.UInt16LE, 2 * (port + 4))
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return analogMM.getNumber(NumberFormat.Int16LE, AnalogOff.InPin6 + 2 * port)
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}
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}
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const enum IrSensorMode {
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None = -1,
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Proximity = 0,
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Seek = 1,
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RemoteControl = 2,
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}
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const enum IrRemoteChannel {
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Ch0 = 0, // top
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Ch1 = 1,
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Ch2 = 2,
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Ch3 = 3,
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}
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const enum IrRemoteButton {
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None = 0x00,
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CenterBeacon = 0x01,
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TopLeft = 0x02,
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BottomLeft = 0x04,
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TopRight = 0x08,
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BottomRight = 0x10,
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}
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namespace input {
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let uartMM: MMap
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let devcon: Buffer
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/*
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DEVCON = [
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('Connection', DATA8 * 4),
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('Type', DATA8 * 4),
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('Mode', DATA8 * 4),
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]
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const enum DevConOff {
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Connection = 0, // int8[4]
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Type = 4, // int8[4]
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Mode = 8, // int8[4]
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Size = 12
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}
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UART = [
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('TypeData', (TYPES * 8) * 4),
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('Repeat', (UWORD * 300) * 4),
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('Raw', ((DATA8 * 32) * 300) * 4),
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('Actual', UWORD * 4),
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('LogIn', UWORD * 4),
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('Status', DATA8 * 4),
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('Output', (DATA8 * 32) * 4),
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('OutputLength', DATA8 * 4),
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]
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*/
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const enum TypesOff {
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Name = 0, // int8[12]
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Type = 12, // int8
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Connection = 13, // int8
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Mode = 14, // int8
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DataSets = 15, // int8
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Format = 16, // int8
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Figures = 17, // int8
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Decimals = 18, // int8
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Views = 19, // int8
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RawMin = 20, // float32
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RawMax = 24, // float32
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PctMin = 28, // float32
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PctMax = 32, // float32
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SiMin = 36, // float32
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SiMax = 40, // float32
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InvalidTime = 44, // uint16
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IdValue = 46, // uint16
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Pins = 48, // int8
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Symbol = 49, // int8[5]
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Align = 54, // uint16
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Size = 56
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}
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const enum UartOff {
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TypeData = 0, // Types[8][4]
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Repeat = 1792, // uint16[300][4]
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Raw = 4192, // int8[32][300][4]
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Actual = 42592, // uint16[4]
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LogIn = 42600, // uint16[4]
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Status = 42608, // int8[4]
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Output = 42612, // int8[32][4]
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OutputLength = 42740, // int8[4]
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Size = 42744
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}
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const enum UartCtlOff {
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TypeData = 0, // Types
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Port = 56, // int8
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Mode = 57, // int8
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Size = 58
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}
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const enum IO {
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UART_SET_CONN = 0xc00c7500,
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UART_READ_MODE_INFO = 0xc03c7501,
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UART_NACK_MODE_INFO = 0xc03c7502,
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UART_CLEAR_CHANGED = 0xc03c7503,
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IIC_SET_CONN = 0xc00c6902,
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IIC_READ_TYPE_INFO = 0xc03c6903,
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IIC_SETUP = 0xc04c6905,
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IIC_SET = 0xc02c6906,
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TST_PIN_ON = 0xc00b7401,
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TST_PIN_OFF = 0xc00b7402,
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TST_PIN_READ = 0xc00b7403,
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TST_PIN_WRITE = 0xc00b7404,
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TST_UART_ON = 0xc0487405,
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TST_UART_OFF = 0xc0487406,
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TST_UART_EN = 0xc0487407,
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TST_UART_DIS = 0xc0487408,
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TST_UART_READ = 0xc0487409,
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TST_UART_WRITE = 0xc048740a,
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}
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function init() {
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if (uartMM) return
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uartMM = control.mmap("/dev/lms_uart", 1024, 0)
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uartMM = control.mmap("/dev/lms_uart", UartOff.Size, 0)
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if (!uartMM) control.fail("no uart sensor")
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devcon = output.createBuffer(DevConOff.Size)
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}
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function uartReset(port: number) {
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port = Math.clamp(0, 3, port)
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devcon.setNumber(NumberFormat.Int8LE, DevConOff.Connection + port, DAL.CONN_NONE)
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devcon.setNumber(NumberFormat.Int8LE, DevConOff.Type + port, 0)
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devcon.setNumber(NumberFormat.Int8LE, DevConOff.Mode + port, 0)
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uartMM.ioctl(IO.UART_SET_CONN, devcon)
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}
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function getUartStatus(port: number) {
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return uartMM.getNumber(NumberFormat.Int8LE, UartOff.Status + port)
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}
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function waitNonZeroUartStatus(port: number) {
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while (true) {
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let s = getUartStatus(port)
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if (s) return s
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loops.pause(25)
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}
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}
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function uartClearChange(port: number) {
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const UART_DATA_READY = 8
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const UART_PORT_CHANGED = 1
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while (true) {
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let status = getUartStatus(port)
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if ((status & UART_DATA_READY) != 0 && (status & UART_PORT_CHANGED) == 0)
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break
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devcon.setNumber(NumberFormat.Int8LE, DevConOff.Connection + port, DAL.CONN_INPUT_UART)
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devcon.setNumber(NumberFormat.Int8LE, DevConOff.Type + port, 0)
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devcon.setNumber(NumberFormat.Int8LE, DevConOff.Mode + port, 0)
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uartMM.ioctl(IO.UART_CLEAR_CHANGED, devcon)
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uartMM.setNumber(NumberFormat.Int8LE, UartOff.Status + port,
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getUartStatus(port) & 0xfffe)
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loops.pause(10)
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}
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}
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function setUartMode(port: number, mode: number) {
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const UART_PORT_CHANGED = 1
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port = Math.clamp(0, 3, port)
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loops.pause(100)
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while (true) {
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devcon.setNumber(NumberFormat.Int8LE, DevConOff.Connection + port, DAL.CONN_INPUT_UART)
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devcon.setNumber(NumberFormat.Int8LE, DevConOff.Type + port, 33)
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devcon.setNumber(NumberFormat.Int8LE, DevConOff.Mode + port, mode)
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uartMM.ioctl(IO.UART_SET_CONN, devcon)
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let status = waitNonZeroUartStatus(port)
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if (status & UART_PORT_CHANGED) {
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uartClearChange(port)
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} else {
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break
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}
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loops.pause(10)
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}
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}
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function getUartBytes(port: number): Buffer {
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let index = uartMM.getNumber(NumberFormat.UInt16LE, UartOff.Actual + port * 2)
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let buf = output.createBuffer(32)
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for (let i = 0; i < 32; i += 4) {
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let v = uartMM.getNumber(NumberFormat.Int32LE, UartOff.Raw + 32 * 300 * port + 32 * index + i)
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buf.setNumber(NumberFormat.Int32LE, i, v)
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}
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return buf
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}
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function getUartNumber(fmt: NumberFormat, off: number, port: number) {
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let index = uartMM.getNumber(NumberFormat.UInt16LE, UartOff.Actual + port * 2)
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return uartMM.getNumber(fmt, UartOff.Raw + 32 * 300 * port + 32 * index + off)
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}
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export class UartSensor {
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port: number
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id: number
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constructor(port: number) {
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this.port = Math.clamp(1, 4, port | 0) - 1;
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this.id = 210 + port;
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init()
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uartReset(this.port)
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}
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}
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function mapButton(v: number) {
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switch (v) {
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case 0: return IrRemoteButton.None
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case 1: return IrRemoteButton.TopLeft
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case 2: return IrRemoteButton.BottomLeft
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case 3: return IrRemoteButton.TopRight
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case 4: return IrRemoteButton.TopRight | IrRemoteButton.BottomRight
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case 5: return IrRemoteButton.TopLeft | IrRemoteButton.TopRight
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case 6: return IrRemoteButton.TopLeft | IrRemoteButton.BottomRight
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case 7: return IrRemoteButton.BottomLeft | IrRemoteButton.TopRight
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case 8: return IrRemoteButton.BottomLeft | IrRemoteButton.BottomRight
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case 9: return IrRemoteButton.CenterBeacon
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case 10: return IrRemoteButton.BottomLeft | IrRemoteButton.TopLeft
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case 11: return IrRemoteButton.TopRight | IrRemoteButton.BottomRight
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default: return IrRemoteButton.None
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}
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}
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export class IrSensor extends UartSensor {
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private mode: IrSensorMode
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private channel: IrRemoteChannel
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private pollRunning: boolean
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constructor(port: number) {
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super(port)
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this.mode = IrSensorMode.None
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this.channel = IrRemoteChannel.Ch0
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this.pollRunning = false
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}
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setRemoteChannel(c: IrRemoteChannel) {
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c = Math.clamp(0, 3, c | 0)
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this.channel = c
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this.setMode(IrSensorMode.RemoteControl)
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}
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setMode(m: IrSensorMode) {
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let v = Math.clamp(0, 2, m | 0)
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if (v != this.mode) {
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this.mode = v
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setUartMode(this.port, v)
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}
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}
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getDistance() {
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this.setMode(IrSensorMode.Proximity)
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return getUartNumber(NumberFormat.UInt8LE, 0, this.port)
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}
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getRemoteCommand() {
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this.setMode(IrSensorMode.RemoteControl)
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let v = getUartNumber(NumberFormat.UInt8LE, this.channel, this.port)
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return v
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}
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getDirectionAndDistance() {
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this.setMode(IrSensorMode.Seek)
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return getUartNumber(NumberFormat.UInt16LE, this.channel * 2, this.port)
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}
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}
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}
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