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feat(agb02): fix decoder readings

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catvayor 2024-10-12 16:00:59 +02:00
parent af71fc1063
commit d5a8c00539
Signed by: lbailly
GPG key ID: CE3E645251AC63F3
3 changed files with 147 additions and 16 deletions
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30
machines/agb02/agb/agb.cpp
View file

@ -6,13 +6,13 @@
using namespace std::literals::chrono_literals; using namespace std::literals::chrono_literals;
constexpr std::chrono::microseconds debounce = 40ms; constexpr std::chrono::microseconds debounce = 40ms;
constexpr std::chrono::microseconds poll_period = 50ms; constexpr std::chrono::microseconds poll_period = 5ms;
constexpr std::pair<double, double> joystick_movement(1.0, 1.0); constexpr std::pair<double, double> joystick_movement(1.0, 1.0);
const gpiod::line::offsets drive_down = { 21, 13, 6 }; const gpiod::line::offsets drive_down = { 21, 13, 6 };
const gpiod::line::offsets decoder = { 0, 0, 0, 0, 0, 0, 0, 0 }; // lsbf const gpiod::line::offsets decoder = { 2, 3, 4, 14, 15, 18, 23, 24 }; // lsbf
const gpiod::line::offsets joystick = { 0, 0, 0, 0 }; // x+, y+, x-, y- const gpiod::line::offsets joystick = { 0, 0, 0, 0 }; // x+, y+, x-, y-
const gpiod::line::offset black_button = 0; const gpiod::line::offset black_button = 0;
const gpiod::line::offset white_button = 0; const gpiod::line::offset white_button = 0;
@ -24,21 +24,15 @@ const gpiod::line_settings input_settings =
.set_active_low(true) .set_active_low(true)
.set_debounce_period(debounce); .set_debounce_period(debounce);
// thanks to https://en.wikipedia.org/wiki/Gray_code#Converting_to_and_from_Gray_code constexpr std::array<uint8_t, 256> decoder_table =
inline uint8_t gray_to_binary(uint8_t num) #include "decoder_table.inl"
{
num ^= num >> 4;
num ^= num >> 2;
num ^= num >> 1;
return num;
}
uint8_t read_decoder_realpos(gpiod::line_request& line_reader){ uint8_t read_decoder_realpos(gpiod::line_request& line_reader){
static gpiod::line::values decoder_read(8); static gpiod::line::values decoder_read(8);
line_reader.get_values(decoder, decoder_read); line_reader.get_values(decoder, decoder_read);
uint8_t graycode = 0; uint8_t graycode = 0;
for(uint8_t i = 0; i < 8; ++i) graycode |= uint8_t(decoder_read[i]) << i; for(uint8_t i = 0; i < 8; ++i) graycode |= uint8_t(decoder_read[i]) << i;
return gray_to_binary(graycode); return decoder_table[graycode];
}; };
inline void clamp_decoder(uint8_t& decoder, int move){ inline void clamp_decoder(uint8_t& decoder, int move){
@ -63,7 +57,10 @@ int main(const int argc, char const* const* const argv) {
) )
.add_line_settings({ black_button, white_button }, input_settings) .add_line_settings({ black_button, white_button }, input_settings)
.add_line_settings(joystick, input_settings) .add_line_settings(joystick, input_settings)
.add_line_settings(decoder, input_settings) .add_line_settings(decoder,
gpiod::line_settings(input_settings)
.set_active_low(false)
.set_debounce_period(0ms))
.do_request(); .do_request();
// let the settings apply // let the settings apply
@ -121,16 +118,17 @@ int main(const int argc, char const* const* const argv) {
// CW // CW
if(seen_travel < 50 && new_realpos < decoder_realpos) if(seen_travel < 50 && new_realpos < decoder_realpos)
clamp_decoder(decoder_pos, seen_travel); clamp_decoder(decoder_pos, -seen_travel);
if(seen_travel >= 50 && new_realpos > decoder_realpos) if(seen_travel >= 50 && new_realpos > decoder_realpos)
clamp_decoder(decoder_pos, 256 - seen_travel); clamp_decoder(decoder_pos, seen_travel - 128);
// CCW // CCW
if(seen_travel < 50 && new_realpos > decoder_realpos) if(seen_travel < 50 && new_realpos > decoder_realpos)
clamp_decoder(decoder_pos, -seen_travel); clamp_decoder(decoder_pos, seen_travel);
if(seen_travel >= 50 && new_realpos < decoder_realpos) if(seen_travel >= 50 && new_realpos < decoder_realpos)
clamp_decoder(decoder_pos, seen_travel - 256); clamp_decoder(decoder_pos, 128 - seen_travel);
decoder_realpos = new_realpos;
if(seen_travel) if(seen_travel)
; //TODO: send to server ; //TODO: send to server
} }

132
machines/agb02/agb/decoder_table.inl Normal file
View file

@ -0,0 +1,132 @@
[]() {
std::array<uint8_t, 256> table;
table[127] = 0;
table[63] = 1;
table[62] = 2;
table[58] = 3;
table[56] = 4;
table[184] = 5;
table[152] = 6;
table[24] = 7;
table[8] = 8;
table[72] = 9;
table[73] = 10;
table[77] = 11;
table[79] = 12;
table[15] = 13;
table[47] = 14;
table[175] = 15;
table[191] = 16;
table[159] = 17;
table[31] = 18;
table[29] = 19;
table[28] = 20;
table[92] = 21;
table[76] = 22;
table[12] = 23;
table[4] = 24;
table[36] = 25;
table[164] = 26;
table[166] = 27;
table[167] = 28;
table[135] = 29;
table[151] = 30;
table[215] = 31;
table[223] = 32;
table[207] = 33;
table[143] = 34;
table[142] = 35;
table[14] = 36;
table[46] = 37;
table[38] = 38;
table[6] = 39;
table[2] = 40;
table[18] = 41;
table[82] = 42;
table[83] = 43;
table[211] = 44;
table[195] = 45;
table[203] = 46;
table[235] = 47;
table[239] = 48;
table[231] = 49;
table[199] = 50;
table[71] = 51;
table[7] = 52;
table[23] = 53;
table[19] = 54;
table[3] = 55;
table[1] = 56;
table[9] = 57;
table[41] = 58;
table[169] = 59;
table[233] = 60;
table[225] = 61;
table[229] = 62;
table[245] = 63;
table[247] = 64;
table[243] = 65;
table[227] = 66;
table[163] = 67;
table[131] = 68;
table[139] = 69;
table[137] = 70;
table[129] = 71;
table[128] = 72;
table[132] = 73;
table[148] = 74;
table[212] = 75;
table[244] = 76;
table[240] = 77;
table[242] = 78;
table[250] = 79;
table[251] = 80;
table[249] = 81;
table[241] = 82;
table[209] = 83;
table[193] = 84;
table[197] = 85;
table[196] = 86;
table[192] = 87;
table[64] = 88;
table[66] = 89;
table[74] = 90;
table[106] = 91;
table[122] = 92;
table[120] = 93;
table[121] = 94;
table[125] = 95;
table[253] = 96;
table[252] = 97;
table[248] = 98;
table[232] = 99;
table[224] = 100;
table[226] = 101;
table[98] = 102;
table[96] = 103;
table[32] = 104;
table[33] = 105;
table[37] = 106;
table[53] = 107;
table[61] = 108;
table[60] = 109;
table[188] = 110;
table[190] = 111;
table[254] = 112;
table[126] = 113;
table[124] = 114;
table[116] = 115;
table[112] = 116;
table[113] = 117;
table[49] = 118;
table[48] = 119;
table[16] = 120;
table[144] = 121;
table[146] = 122;
table[154] = 123;
table[158] = 124;
table[30] = 125;
table[94] = 126;
table[95] = 127;
return table;
} ();

1
meta.nix
View file

@ -44,6 +44,7 @@ let
targetHost = null; targetHost = null;
}; };
arch = "aarch64-linux"; arch = "aarch64-linux";
imports = [ agenix ];
}; };
}; };
}; };