Merge branch 'master' into parametrisierung_and_riddle2

# Conflicts:
#	inc/Util.h
#	main.c
#	src/ExternButton.cpp
#	src/ServoMotor.cpp
#	src/Util.cpp

inc/ADC.h

@@ -2,11 +2,14 @@
 
 #include <stdint.h>
 
+#define ADC_11 11
+
 #ifdef __cplusplus
 extern "C" {
 #endif
 
 void adc_init(void);
+
 unsigned int adc_get(uint8_t channel);
 
 #ifdef __cplusplus

inc/LeverKey.h

@@ -6,13 +6,18 @@
 #define LEVER_NEUTRAL 0
 #define LEVER_DOWN -1
 
+#define LEVER_0 0
+#define LEVER_1 1
+#define LEVER_2 2
+#define LEVER_3 3
+
 #ifdef __cplusplus
 extern "C" {
 #endif
 
-void lever_init();
+void lever_init(void);
 
-int lever_get(int id);
+int lever_get(uint8_t id);
 
 #ifdef __cplusplus
 }

inc/Util.h

 #pragma once
 
+#include <stdlib.h>
 #include <stdint.h>
+#include <inttypes.h>
 
 #define LOWER_BOUND 0
 #define UPPER_BOUND 1
 
+#define SPRING_LEFT 0
+#define SPRING_RIGHT 1
+
+typedef struct Spring{
+    unsigned int threshold;
+    uint8_t direction;
+    double power;
+    bool solved;
+} Spring;
+
 #ifdef __cplusplus
 extern "C" {
 #endif
 
 void all_init(void);
-struct spring{
-int threshold;
-char direction;
-int power;
-bool solved;
-};
-
-struct spring set_spring(int threshold, char direction, int power, bool solved);
 
 void print_gyro(void);
 void print_accelero(void);
@@ -27,8 +31,12 @@ double get_degree_short(void);
 double get_degree_long(void);
 double get_degree_max(void);
 
-bool simulate_spring(void);
-bool simulate_spring(struct spring springs[], int len);
+void get_all_levers(int levers[]);
+
+Spring set_spring(int threshold, char direction, int power, bool solved);
+
+bool simulate_spring_simple(void);
+bool simulate_spring(Spring springs[], size_t length);
 bool block_spring(uint8_t direction, unsigned int position);
 
 #ifdef __cplusplus

lgpl.txt

-                   GNU LESSER GENERAL PUBLIC LICENSE
-                       Version 3, 29 June 2007
-
- Copyright (C) 2007 Free Software Foundation, Inc. <http://fsf.org/>
- Everyone is permitted to copy and distribute verbatim copies
- of this license document, but changing it is not allowed.
-
-
-  This version of the GNU Lesser General Public License incorporates
-the terms and conditions of version 3 of the GNU General Public
-License, supplemented by the additional permissions listed below.
-
-  0. Additional Definitions.
-
-  As used herein, "this License" refers to version 3 of the GNU Lesser
-General Public License, and the "GNU GPL" refers to version 3 of the GNU
-General Public License.
-
-  "The Library" refers to a covered work governed by this License,
-other than an Application or a Combined Work as defined below.
-
-  An "Application" is any work that makes use of an interface provided
-by the Library, but which is not otherwise based on the Library.
-Defining a subclass of a class defined by the Library is deemed a mode
-of using an interface provided by the Library.
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-  A "Combined Work" is a work produced by combining or linking an
-Application with the Library.  The particular version of the Library
-with which the Combined Work was made is also called the "Linked
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-based on the Application, and not on the Linked Version.
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-  The "Corresponding Application Code" for a Combined Work means the
-object code and/or source code for the Application, including any data
-and utility programs needed for reproducing the Combined Work from the
-Application, but excluding the System Libraries of the Combined Work.
-
-  1. Exception to Section 3 of the GNU GPL.
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-without being bound by section 3 of the GNU GPL.
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-   for conveying Corresponding Source.)
-
-  5. Combined Libraries.
-
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-Library side by side in a single library together with other library
-facilities that are not Applications and are not covered by this
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-   on the Library, uncombined with any other library facilities,
-   conveyed under the terms of this License.
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-   b) Give prominent notice with the combined library that part of it
-   is a work based on the Library, and explaining where to find the
-   accompanying uncombined form of the same work.
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-  6. Revised Versions of the GNU Lesser General Public License.
-
-  The Free Software Foundation may publish revised and/or new versions
-of the GNU Lesser General Public License from time to time. Such new
-versions will be similar in spirit to the present version, but may
-differ in detail to address new problems or concerns.
-
-  Each version is given a distinguishing version number. If the
-Library as you received it specifies that a certain numbered version
-of the GNU Lesser General Public License "or any later version"
-applies to it, you have the option of following the terms and
-conditions either of that published version or of any later version
-published by the Free Software Foundation. If the Library as you
-received it does not specify a version number of the GNU Lesser
-General Public License, you may choose any version of the GNU Lesser
-General Public License ever published by the Free Software Foundation.
-
-  If the Library as you received it specifies that a proxy can decide
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-permanent authorization for you to choose that version for the
-Library.

main.c

 #include <cyg/hal/hal_arch.h>
 #include <cyg/kernel/kapi.h>
 
-#include <stdint.h>
-#include <stdio.h>
-
-#include "ezs_io.h"
-
-#include "DCMotor.h"
-#include "ExternButton.h"
-#include "LeverKey.h"
-#include "ServoMotor.h"
 #include "Util.h"
 
-#include "spring_riddle.h"
+//#include "spring_riddle.h"
+//#include "hill_riddle.h"
+#include "lever_riddle.h"
 //#include "easy_riddle.h"
 
 #define STACKSIZE (CYGNUM_HAL_STACK_SIZE_MINIMUM+1024)
-#define WAVE_NAME "0:wave.wav"
 static cyg_uint8 my_stack[STACKSIZE];
 static cyg_handle_t handle;
 static cyg_thread threaddata;
@@ -24,150 +16,7 @@ static cyg_thread threaddata;
 void main_thread(cyg_addrword_t arg) {
     all_init();
 
-    bool button_pressed = false;
-    bool spring_broken = false;
-    bool upside_down = false;
-    bool levers_solved = false;
-
-    servo_set(SERVO_0, 0);
-    dc_set(0, 0);
-
-    /* About the spring struct:
-    int threshold: remember the potty deadzone(s) (see riddle1 for example values)
-    char direction: l - left, r - right, n - nothing (every other char will result in no movement too)
-    int power: between 0 and 255; -1 makes it linear to the adc value
-    bool solved: the bool that is returned if the adc value is below the threshold (et it to true in the range the riddle should be solved)
-
-    the structs have have to be sorted ascending by threshold
-    */
-
-    //riddle 1
-    /*
-    struct spring riddle1[3];
-    riddle1[0] = set_spring(256, 'n', 0, false); //potty deadzone
-    riddle1[1] = set_spring(4096 - 256, 'r', -1, false); // main spring simulation
-    riddle1[2] = set_spring(4096, 'n', 0, true); // spring is broken - spring riddle is solved
-    while (true) {
-        //check if solved
-        if(button_pressed && spring_broken && upside_down) {
-            ezs_printf("CONGRATULATIONS! YOU FINALLY MADE IT!\n");
-            servo_set(SERVO_0, 255);
-            break;
-        }
-
-        button_pressed = button_get();
-
-        double degree_max = get_degree_max();
-        upside_down = (degree_max > 90);
-
-        //spring riddle can only be solved if button is pressed
-        if(button_pressed) {
-            if (!spring_broken) {
-                spring_broken = simulate_spring(riddle1, 3);
-            }
-        }
-        else {
-            block_spring(2048);
-        }
-    }
-    */
-
-    //riddle2
-    /*
-
-    bool springa_broken = false;
-    bool springb_broken = false;
-    bool unlocked_b = false;
-
-    //'balancing on the mountain' -> botm
-    struct spring riddle2a[5];
-    riddle2a[0] = set_spring(256, 'n', 0, false);
-    riddle2a[1] = set_spring(1400, 'r', 100, false);
-    riddle2a[2] = set_spring(1500, 'n', 0, true); //solved
-    riddle2a[3] = set_spring(3000, 'l', 100, false);
-    riddle2a[4] = set_spring(4096, 'n', 0, false);
-    //'climb out of the valley' -> cootv
-    struct spring riddle2b[5];
-    riddle2b[0] = set_spring(256, 'n', 0, true); //solved
-    riddle2b[1] = set_spring(1000, 'l', 100, false);
-    riddle2b[2] = set_spring(2000, 'n', 0, false);
-    riddle2b[3] = set_spring(3000, 'r', 100, false);
-    riddle2b[4] = set_spring(4096, 'n', 0, true); //solved
-
-    while(true) {
-        //check if solved
-        if(spring_broken && upside_down) {
-            ezs_printf("CONGRATULATIONS! YOU FINALLY MADE IT!\n");
-            servo_set(SERVO_0, 255);
-            dc_set(0,0);
-            break;
-        }
-
-        button_pressed = button_get();
-
-        double degree_max = get_degree_max();
-        upside_down = (degree_max < 45);
-
-        //button has to be pressed when 'botm' is solved
-        if (!unlocked_b) {
-            springa_broken = simulate_spring(riddle2a, 5);
-        }
-        if (springa_broken && !unlocked_b) {
-            if(button_pressed){
-                unlocked_b = true;
-            }
-
-        }
-
-        //if the button is pressed when the 'cootv' riddle is solved, you have to solve the 'botm' riddle again
-        if (unlocked_b) {
-            springb_broken = simulate_spring(riddle2b, 5);
-        }
-        if (springb_broken) {
-            if (button_pressed) {
-                unlocked_b = false;
-                spring_broken = false;
-            }
-        }
-
-        if (springa_broken && springb_broken){
-            spring_broken = true;
-        }
-
-
-
-    }
-    */
-
-    //riddle3
-    /* FatFs Zeugs?
-    char* wavefilename = NULL;
-    wavefilname = WAVE_NAME;
-    if(f_open(&FileRead, wavefilename , FA_READ) != FR_OK){
-        BSP_LED_On(LED5);
-        CmdIndex = CMD_RECORD;
-    } else {
-        printf("FileOpen worked, YAY\n")
-    }
-    */
-
-    int levers[4];
-    while(true) {
-        //check if solved
-        if(levers_solved || button_pressed) {
-            ezs_printf("CONGRATULATIONS! YOU FINALLY MADE IT!\n");
-            //servo_set(SERVO_0, 255);
-            dc_set(0,0);
-            break;
-        }
-
-        button_pressed = button_get();
-
-        //print_levers();
-        get_all_levers(levers);
-        //ezs_printf("Leverz: 0: %d, 1: %d, 2: %d, 3: %d\n", levers[0], levers[1], levers[2], levers[3]);
-        //if (levers[1] == levers[2]) levers_solved = true;
-    }
+    riddle();
 }
 
 void cyg_user_start(void) {

riddles/easy_riddle.h

@@ -3,15 +3,13 @@
 #include <stdint.h>
 #include <stdio.h>
 
-#include "ezs_io.h"
-
 #include "DCMotor.h"
 #include "ExternButton.h"
 #include "ServoMotor.h"
 #include "Util.h"
 
 void riddle(void) {
-    while (1) {
+    while (true) {
         if (button_get()) {
             servo_set_percent(SERVO_0, 1.0);
         }

riddles/hill_riddle.h

+#pragma once
+
+void riddle(cyg_addrword_t arg) {
+    bool button_pressed = false;
+    bool spring_broken = false;
+    bool upside_down = false;
+    bool levers_solved = false;
+
+    servo_set(SERVO_0, 0.0);
+    dc_set(0, 0.0);
+
+    /*About the spring struct:
+    int threshold: remember the potty deadzone(s) (see riddle1 for example values)
+    char direction: l - left, r - right, n - nothing (every other char will result in no movement too)
+    int power: between 0 and 255; -1 makes it linear to the adc value
+    bool solved: the bool that is returned if the adc value is below the threshold (et it to true in the range the riddle should be solved)
+
+    the structs have have to be sorted ascending by threshold*/
+
+    //riddle 1
+    /*struct spring riddle1[3];
+    riddle1[0] = set_spring(256, 'n', 0, false); //potty deadzone
+    riddle1[1] = set_spring(4096 - 256, 'r', -1, false); // main spring simulation
+    riddle1[2] = set_spring(4096, 'n', 0, true); // spring is broken - spring riddle is solved
+    while (true) {
+        //check if solved
+        if(button_pressed && spring_broken && upside_down) {
+            ezs_printf("CONGRATULATIONS! YOU FINALLY MADE IT!\n");
+            servo_set(SERVO_0, 255);
+            break;
+        }
+
+        button_pressed = button_get();
+
+        double degree_max = get_degree_max();
+        upside_down = (degree_max > 90);
+
+        //spring riddle can only be solved if button is pressed
+        if(button_pressed) {
+            if (!spring_broken) {
+                spring_broken = simulate_spring(riddle1, 3);
+            }
+        }
+        else {
+            block_spring(2048);
+        }
+    }*/
+
+    //riddle2
+    /*bool springa_broken = false;
+    bool springb_broken = false;
+    bool unlocked_b = false;
+
+    //'balancing on the mountain' -> botm
+    struct spring riddle2a[5];
+    riddle2a[0] = set_spring(256, 'n', 0, false);
+    riddle2a[1] = set_spring(1400, 'r', 100, false);
+    riddle2a[2] = set_spring(1500, 'n', 0, true); //solved
+    riddle2a[3] = set_spring(3000, 'l', 100, false);
+    riddle2a[4] = set_spring(4096, 'n', 0, false);
+    //'climb out of the valley' -> cootv
+    struct spring riddle2b[5];
+    riddle2b[0] = set_spring(256, 'n', 0, true); //solved
+    riddle2b[1] = set_spring(1000, 'l', 100, false);
+    riddle2b[2] = set_spring(2000, 'n', 0, false);
+    riddle2b[3] = set_spring(3000, 'r', 100, false);
+    riddle2b[4] = set_spring(4096, 'n', 0, true); //solved
+
+    while(true) {
+        //check if solved
+        if(spring_broken && upside_down) {
+            ezs_printf("CONGRATULATIONS! YOU FINALLY MADE IT!\n");
+            servo_set(SERVO_0, 255);
+            dc_set(0,0);
+            break;
+        }
+
+        button_pressed = button_get();
+
+        double degree_max = get_degree_max();
+        upside_down = (degree_max < 45);
+
+        //button has to be pressed when 'botm' is solved
+        if (!unlocked_b) {
+            springa_broken = simulate_spring(riddle2a, 5);
+        }
+        if (springa_broken && !unlocked_b) {
+            if(button_pressed){
+                unlocked_b = true;
+            }
+        }
+
+        //if the button is pressed when the 'cootv' riddle is solved, you have to solve the 'botm' riddle again
+        if (unlocked_b) {
+            springb_broken = simulate_spring(riddle2b, 5);
+        }
+
+        if (springb_broken) {
+            if (button_pressed) {
+                unlocked_b = false;
+                spring_broken = false;
+            }
+        }
+
+        if (springa_broken && springb_broken){
+            spring_broken = true;
+        }
+    }*/
+}

riddles/lever_riddle.h

+#pragma once
+
+#include <stdio.h>
+
+#include "DCMotor.h"
+#include "ExternButton.h"
+#include "LeverKey.h"
+#include "ServoMotor.h"
+
+void riddle(void) {
+    bool button_pressed = false;
+    bool levers_solved = false;
+    int levers[4];
+
+    servo_set_percent(SERVO_0, 0.5);
+    dc_set_percent(0, 0.0);
+
+    while(true) {
+        //check if solved
+        if(levers_solved && button_pressed) {
+            printf("CONGRATULATIONS! YOU FINALLY MADE IT!\n");
+            dc_set_percent(0, 0.0);
+            servo_set_percent(SERVO_0, 1.0);
+            break;
+        }
+
+        button_pressed = button_get();
+
+        get_all_levers(levers);
+        printf("Levers:   0: %2d,    1: %2d,    2: %2d,    3: %2d\n", levers[0], levers[1], levers[2], levers[3]);
+        if(levers[1] == levers[2]) {
+            levers_solved = true;
+        }
+        else {
+            levers_solved = false;
+        }
+    }
+}

riddles/spring_riddle.h

@@ -3,8 +3,7 @@
 #include <stdint.h>
 #include <stdio.h>
 #include <inttypes.h>
-
-#include "ezs_io.h"
+#include <stdio.h>
 
 #include "DCMotor.h"
 #include "ExternButton.h"
@@ -25,7 +24,7 @@ void riddle(void) {
 
         //check if solved
         if(button_pressed && spring_broken && upside_down) {
-            ezs_printf("CONGRATULATIONS! YOU FINALLY MADE IT!\n");
+            printf("CONGRATULATIONS! YOU FINALLY MADE IT!\n");
             servo_set_percent(SERVO_0, 1.0);
             break;
         }
@@ -41,7 +40,7 @@ void riddle(void) {
                 dc_set_percent(0, 0.0);
             }
             else if (button_pressed) {
-                spring_broken = simulate_spring();
+                spring_broken = simulate_spring_simple();
             }
             else if (!block_spring(UPPER_BOUND, 2048)) {
                 dc_set_percent(0, 0.0);

src/ADC.cpp

-/*
- * Original File adc-dac-printf.c modified by Lisa Dreier, Margit Haspel and Werner Sembach
- *
- * Original License Header:
- *
- * This file is part of the libopencm3 project.
- *
- * Copyright (C) 2013 Karl Palsson <karlp@tweak.net.au>
- *
- * This library is free software: you can redistribute it and/or modify
- * it under the terms of the GNU Lesser General Public License as published by
- * the Free Software Foundation, either version 3 of the License, or
- * (at your option) any later version.
- *
- * This library 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 Lesser General Public License for more details.
- *
- * You should have received a copy of the GNU Lesser General Public License
- * along with this library.  If not, see <http://www.gnu.org/licenses/>.
- */
+// Most code copied from adc-dac-printf.c of the libopencm3 project.
+// Special thanks to the original author Karl Palsson.