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unlockable
2023-09-08 17:35:49 +08:00
parent 9c67837956
commit 3ec8c3d570
1 changed files with 280 additions and 78 deletions
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358
8By8/8By8.ino
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@@ -21,6 +21,7 @@
#define READ_UPDATE 0x80
#define DEBUG false
#define TRACE false
struct Triple {
float x;
@@ -34,6 +35,10 @@ private:
static volatile byte s_cDataUpdate;
static void AutoScanSensor() {
if (DEBUG) {
Serial.println("Autoscan sensor");
}
int iRetry;
for (int i = 0; i < sizeof(SensorReader::c_uiBaud) /
@@ -51,7 +56,7 @@ private:
}
if (SensorReader::s_cDataUpdate != 0) {
Serial.print(SensorReader::c_uiBaud[i]);
Serial.print(" baud find sensor\r\n\r\n");
Serial.println(" baud find sensor");
return;
}
iRetry--;
@@ -94,7 +99,7 @@ private:
}
public:
static Triple angle, acceleration;
static Triple angle, acceleration, gyro;
static bool init() {
WitInit(WIT_PROTOCOL_NORMAL, 0x50);
@@ -112,12 +117,12 @@ public:
// Serial.println("9600 Baud rate modified successfully");
}
if (WitSetContent(RSW_ANGLE | RSW_ACC) != WIT_HAL_OK) {
Serial.println("Set send content: angle, acc Error");
if (WitSetContent(RSW_ANGLE | RSW_ACC || RSW_GYRO) != WIT_HAL_OK) {
Serial.println("Set send content: angle, acc, and GYRO Error");
return false;
}
if (WitSetOutputRate(RRATE_2HZ) != WIT_HAL_OK) {
if (WitSetOutputRate(RRATE_5HZ) != WIT_HAL_OK) {
Serial.print("Set report rate failed");
return false;
}
@@ -138,8 +143,6 @@ public:
sReg[Roll + 2] / 32768.0f * 180.0f; // Unit: deg
SensorReader::s_cDataUpdate &= ~ANGLE_UPDATE;
SensorReader::s_cDataUpdate = 0;
}
if (SensorReader::s_cDataUpdate & ACC_UPDATE) {
@@ -149,9 +152,23 @@ public:
sReg[AX + 1] / 32768.0f * 16.0f * 9.8f;
SensorReader::acceleration.z =
sReg[AX + 2] / 32768.0f * 16.0f * 9.8f;
SensorReader::s_cDataUpdate &= ~ACC_UPDATE;
}
if (SensorReader::s_cDataUpdate & GYRO_UPDATE) {
SensorReader::gyro.x = sReg[GX] / 32768.0f * 2000.0f;
SensorReader::gyro.y = sReg[GX + 1] / 32768.0f * 2000.0f;
SensorReader::gyro.z = sReg[GX + 2] / 32768.0f * 2000.0f;
SensorReader::s_cDataUpdate &= GYRO_UPDATE;
}
SensorReader::s_cDataUpdate = 0;
}
}
static float get_angle_z() {
return SensorReader::angle.z;
}
};
class Cube {
@@ -487,7 +504,7 @@ public:
char operator_chars[] = "+-*/^()";
int operator_pos = -1;
while (true) {
if (DEBUG) {
if (TRACE) {
Serial.println("A");
Serial.print("Operator pos: ");
Serial.println(operator_pos);
@@ -523,7 +540,7 @@ public:
}
// Find the operator position
if (DEBUG) {
if (TRACE) {
Serial.println("B");
Serial.print("Operator pos: ");
Serial.println(operator_pos);
@@ -555,7 +572,7 @@ public:
}
// Understand the number and push to stack
if (DEBUG) {
if (TRACE) {
Serial.println("C");
Serial.print("Operator pos: ");
Serial.println(operator_pos);
@@ -575,7 +592,7 @@ public:
}
// Understand the operator
if (DEBUG) {
if (TRACE) {
Serial.println("D");
Serial.print("Read operator: ");
Serial.println(current_operator.display());
@@ -618,7 +635,7 @@ public:
break;
}
if (DEBUG) {
if (TRACE) {
Serial.println("E");
Serial.print("Operator pos: ");
Serial.println(operator_pos);
@@ -640,6 +657,14 @@ public:
}
};
enum Modes {
CalculateAndDraw,
Cube,
Rain,
Clock,
Words,
};
int Cube::layer_count = 0;
int Cube::brightness_count = 0;
uint16_t Cube::LED_status[8][8] = {0};
@@ -652,14 +677,20 @@ double *Symbol::x_value_ptr, *Symbol::y_value_ptr;
const uint32_t SensorReader::c_uiBaud[8] = {0, 4800, 9600, 19200,
38400, 57600, 115200, 230400};
volatile byte SensorReader::s_cDataUpdate;
Triple SensorReader::angle, SensorReader::acceleration;
Triple SensorReader::angle, SensorReader::acceleration, SensorReader::gyro;
double x, y;
double symbol_x, symbol_y;
const String allowed_chars = "0123456789+-*/^()xy";
String input = "";
int x_offset = 0, y_offset = 0, z_offset = 0;
double zoom = 1.0;
float z_ref = 0.0;
bool waiting_for_command = true;
int current_mode = 0;
byte cube_size = 1;
byte cube_step = 1;
void setup() {
for (int i = 22; i < 46; i++) {
@@ -674,21 +705,32 @@ void setup() {
Timer1.setPeriod(TIME_PER_LAYER_IN_US);
Serial.begin(9600);
Symbol::x_value_ptr = &x;
Symbol::y_value_ptr = &y;
if (DEBUG) {
Serial.println("Into setup");
}
Symbol::x_value_ptr = &symbol_x;
Symbol::y_value_ptr = &symbol_y;
if (!SensorReader::init()) {
Serial.println("Initialize sensor failed.");
}
else {
if (DEBUG) {
Serial.println("Initialize sensor success.");
}
}
Timer1.attachInterrupt(Cube::display);
cli();
// timer 4 is for blinking
TCCR4A = 0; // set entire TCCR1A register to 0
TCCR4B = 0; // same for TCCR1B
TCNT4 = 0; // initialize counter value to 0
// set compare match register for 1hz increments
OCR4A = 7812 / 1; // = (16*10^6) / (1*1024) - 1 (must be <65536)
OCR4A = 6500 / 1; // = (16*10^6) / (1*1024) - 1 (must be <65536)
// 15625 = 1 sec
// turn on CTC mode
TCCR4B |= (1 << WGM12);
@@ -697,78 +739,214 @@ void setup() {
// enable timer compare interrupt
TIMSK4 |= (1 << OCIE4A);
// timer 5 is for read sensor data
TCCR5A = 0;
TCCR5B = 0;
TCNT5 = 0;
OCR5A = 10000 / 1;
OCR5A = 3125 / 1;
TCCR5B |= (1 << WGM12);
TCCR5B |= (1 << CS12) | (1 << CS10);
TIMSK5 |= (1 << OCIE5A);
sei();
// Wait for z_ref to have value;
delay(500);
while (SensorReader::get_angle_z() == 0.0) {
Serial.print("");
continue;
}
z_ref = SensorReader::angle.z;
if (DEBUG) {
Serial.print("Z_ref: ");
Serial.println(z_ref);
}
for (int i = 0; i < 8; i++) {
for (int j = 0; j < 8; j++) {
for (int k = 0; k < 8; k++) {
Cube::set_status(i, j, k, 3);
}
}
}
delay(5000);
Cube::clear();
Serial.println("Setup complete.");
}
void loop() {
Serial.print("Zref: ");
Serial.println(z_ref);
switch (current_mode) {
case Modes::CalculateAndDraw:
calculate_and_draw();
break;
case Modes::Clock:
clock();
break;
case Modes::Cube:
cube();
break;
case Modes::Rain:
rain();
break;
case Modes::Words:
words();
break;
default:
current_mode = Modes::Rain;
}
}
Serial.println("Input expression");
while (true) {
if (Serial.available()) {
byte input_char = Serial.read();
// Serial.print("Pos: ");
// Serial.println(allowed_chars.indexOf(input_char));
if (allowed_chars.indexOf(input_char) != -1) {
input.concat((char)input_char);
// Serial.print("String: ");
// Serial.println(input);
continue;
}
ISR(TIMER4_COMPA_vect) {
Cube::do_blinking();
}
if (input_char == 0x3) {
break;
}
ISR(TIMER5_COMPA_vect) {
SensorReader::read_data_from_sensor_interrupt();
}
if (input_char == 0x4) {
input = "";
Serial.println("Clear input string");
}
void cube() {
Cube::clear();
Cube::draw_line(3 - cube_size, 3 - cube_size, 3 - cube_size,
2 * cube_size + 2, 0, 3);
Cube::draw_line(3 - cube_size, 4 + cube_size, 3 - cube_size,
2 * cube_size + 2, 0, 3);
Cube::draw_line(3 - cube_size, 3 - cube_size, 4 + cube_size,
2 * cube_size + 2, 0, 3);
Cube::draw_line(3 - cube_size, 4 + cube_size, 4 + cube_size,
2 * cube_size + 2, 0, 3);
Cube::draw_line(3 - cube_size, 3 - cube_size, 3 - cube_size,
2 * cube_size + 2, 1, 3);
Cube::draw_line(4 + cube_size, 3 - cube_size, 3 - cube_size,
2 * cube_size + 2, 1, 3);
Cube::draw_line(3 - cube_size, 3 - cube_size, 4 + cube_size,
2 * cube_size + 2, 1, 3);
Cube::draw_line(4 + cube_size, 3 - cube_size, 4 + cube_size,
2 * cube_size + 2, 1, 3);
Cube::draw_line(3 - cube_size, 3 - cube_size, 3 - cube_size,
2 * cube_size + 2, 2, 3);
Cube::draw_line(3 - cube_size, 4 + cube_size, 3 - cube_size,
2 * cube_size + 2, 2, 3);
Cube::draw_line(4 + cube_size, 3 - cube_size, 3 - cube_size,
2 * cube_size + 2, 2, 3);
Cube::draw_line(4 + cube_size, 4 + cube_size, 3 - cube_size,
2 * cube_size + 2, 2, 3);
delay(50);
cube_size += cube_step;
if (cube_size >= 3) {
cube_step = -1;
}
else if (cube_size <= 0) {
cube_step = 1;
}
}
void rain() {
return;
}
void clock() {
return;
}
void words() {
return;
}
void calculate_and_draw() {
bool need_reevaluate = false;
if (Serial.available()) {
if (DEBUG) {
Serial.println(input);
}
byte input_char = Serial.read();
// Serial.print("Pos: ");
// Serial.println(allowed_chars.indexOf(input_char));
if (allowed_chars.indexOf(input_char) != -1) {
input.concat((char)input_char);
// Serial.print("String: ");
// Serial.println(input);
}
if (input_char == '=') {
need_reevaluate = true;
}
if (input_char == 'c') {
input = "";
Serial.println("Cleared input string.");
return;
}
if (input_char == 'h') {
Serial.print("Current expression: ");
if (input.length() == 0) {
Serial.println("(none)");
}
else {
Serial.println(input);
}
Serial.println("Use c to clear input.");
}
// Prioritize user input.
}
if (waiting_for_command) {
if (SensorReader::angle.x > 40.0) {
Serial.println("a");
if (DEBUG) {
Serial.println("a");
}
y_offset += 1;
break;
need_reevaluate = true;
waiting_for_command = false;
}
else if (SensorReader::angle.x < -40.0) {
Serial.println("b");
if (DEBUG) {
Serial.println("b");
}
y_offset -= 1;
break;
need_reevaluate = true;
waiting_for_command = false;
}
if (SensorReader::angle.y > 40.0) {
Serial.println("c");
if (DEBUG) {
Serial.println("c");
}
x_offset -= 1;
break;
need_reevaluate = true;
waiting_for_command = false;
}
else if (SensorReader::angle.y < -40.0) {
Serial.println("d");
if (DEBUG) {
Serial.println("d");
}
x_offset += 1;
break;
need_reevaluate = true;
waiting_for_command = false;
}
if (SensorReader::angle.z - z_ref > 40.0) {
Serial.println("e");
if (DEBUG) {
Serial.println(SensorReader::angle.z);
Serial.println("e");
}
zoom /= 2.0;
break;
need_reevaluate = true;
waiting_for_command = false;
}
else if (SensorReader::angle.z - z_ref < -40.0) {
Serial.println(SensorReader::angle.z);
Serial.println("f");
if (DEBUG) {
Serial.println(SensorReader::angle.z);
Serial.println("f");
}
zoom *= 2.0;
break;
need_reevaluate = true;
waiting_for_command = false;
}
if (abs(SensorReader::acceleration.x) +
@@ -779,28 +957,66 @@ void loop() {
y_offset = 0;
z_offset = 0;
zoom = 1;
Serial.println("Reset zoom and translate.");
need_reevaluate = true;
waiting_for_command = false;
}
if (abs(SensorReader::gyro.x) + abs(SensorReader::gyro.y) +
abs(SensorReader::gyro.z) >
240) {
x_offset = 0;
y_offset = 0;
z_offset = 0;
zoom = 1;
Serial.println("Reset zoom and translate.");
need_reevaluate = true;
waiting_for_command = false;
}
}
else {
if (DEBUG) {
Serial.print(SensorReader::angle.x);
Serial.print(" ");
Serial.print(SensorReader::angle.y);
Serial.print(" ");
Serial.println(SensorReader::angle.z);
}
if (abs(SensorReader::angle.x) < 30.0 &&
abs(SensorReader::angle.y) < 30.0 &&
abs(SensorReader::angle.z - z_ref) < 30.0) {
waiting_for_command = true;
Serial.println("Waiting for new command");
}
}
Serial.print("Read: ");
if (!need_reevaluate) {
return;
}
Serial.print("Expression to be evaluated: ");
Serial.println(input);
Serial.print("Offset: ");
Serial.print(x_offset);
Serial.print(" ");
Serial.print(y_offset);
Serial.print(" ");
Serial.println(z_offset);
Serial.print("Zoom: ");
Serial.println(zoom);
if (DEBUG) {
Serial.print("Offset: ");
Serial.print(x_offset);
Serial.print(" ");
Serial.print(y_offset);
Serial.print(" ");
Serial.println(z_offset);
Serial.print("Zoom: ");
Serial.println(zoom);
}
Calculator calculator(input);
Cube::clear();
for (int i = 0; i < 8; i++) {
for (int j = 0; j < 8; j++) {
x = (i + x_offset) * zoom;
y = (j + y_offset) * zoom;
symbol_x = (i + x_offset) * zoom;
symbol_y = (j + y_offset) * zoom;
double result = calculator.evaluate();
int z;
if (!(isinf(result) || isnan(result))) {
@@ -824,18 +1040,4 @@ void loop() {
round(-z_offset));
}
}
// delay(1000);
// int z = round(calculator.evaluate());
// Serial.println(z);
// Serial.print("Here");
}
ISR(TIMER4_COMPA_vect) {
Cube::do_blinking();
}
ISR(TIMER5_COMPA_vect) {
SensorReader::read_data_from_sensor_interrupt();
}