Merge pull request ClemensElflein#7 from Apehaenger/feature/YFSAxPRO

Feature/YardForce SAxPRO (Rev6) Dot-Matrix Display

Firmware/CoverUI/.gitignore

@@ -1,3 +1,4 @@
 build/
 .idea/
 cmake-build-debug/
+.vscode/

Firmware/CoverUI/YardForce/ButtonDebouncer.hpp

@@ -0,0 +1,57 @@
+/**
+ * @file ButtonDebouncer.hpp
+ * @author Apehaenger ([email protected])
+ * @brief YardForce Classic 500 CoverUI Button-Debouncer class for OpenMower https://github.com/ClemensElflein/OpenMower
+ *        Debouncing is done by continuos simply shift the port states into an state array for later processing.
+ *        See Jack Ganssle debouncing http://www.ganssle.com/debouncing-pt2.htm
+ *        For code simplicity/speed, I debounce all pins, regardless if it has a button or not. Button separation has to be done by calling class.
+ * @version 0.2
+ * @date 2023-09-16
+ *
+ * @copyright Copyright (c) 2023
+ *
+ */
+#ifndef YFC500_BUTTONDEBOUNCER_HPP
+#define YFC500_BUTTONDEBOUNCER_HPP
+
+#include <Arduino.h>
+#include <stdint.h>
+
+#define NUM_BUTTON_STATES 8 // * 5ms timer = 40ms bouncing-button states = debounced after 40ms
+
+class ButtonDebouncer
+{
+private:
+    uint16_t states_[NUM_BUTTON_STATES]; // GPIO port state recorder (every time interval = 5ms)
+    uint8_t state_index_ = 0;            // Index for next states_ store positions
+    uint16_t state_debounced_;           // Debounced buttons state
+    uint16_t state_changed_;             // Just changed buttons
+
+public:
+    void process_state(const uint32_t gpio_port) // Has to get called regulary i.e. by timer (5ms) and store the (buttons) port state within states_ array
+    {
+#ifdef MCU_STM32
+        states_[state_index_] = ((GPIO_TypeDef *)gpio_port)->IDR ^ 0xFFFF; // XOR changes for pull-up states_
+#else
+        states_[state_index_] = GPIO_ISTAT(gpio_port) ^ 0xFFFF; // XOR changes for pull-up states_
+#endif
+
+        // Debounce
+        uint16_t laststate_debounced_ = state_debounced_;
+        uint i;
+        for (i = 0, state_debounced_ = 0xFFFF; i < NUM_BUTTON_STATES; i++)
+            state_debounced_ &= states_[i];
+
+        // Circular buffer index
+        state_index_++;
+        if (state_index_ >= NUM_BUTTON_STATES)
+            state_index_ = 0;
+
+        // Save what changed
+        state_changed_ = state_debounced_ ^ laststate_debounced_;
+    }
+    uint16_t get_status() { return state_debounced_; };
+    uint16_t get_pressed() { return (state_changed_ & state_debounced_); };
+};
+
+#endif /* YFC500_BUTTONDEBOUNCER_HPP */

Firmware/CoverUI/YardForce/Buttons.hpp

@@ -0,0 +1,209 @@
+/**
+ * @file Buttons.hpp
+ * @author Apehaenger ([email protected])
+ * @brief YardForce CoverUI Buttons class for OpenMower https://github.com/ClemensElflein/OpenMower
+ * @version 0.4
+ * @date 2023-09-03
+ *
+ * @copyright Copyright (c) 2023
+ *
+ */
+#ifndef YARDFORCE_BUTTONS_HPP
+#define YARDFORCE_BUTTONS_HPP
+
+#include <Arduino.h>
+#include <stdint.h>
+#include <map>
+#include "ButtonDebouncer.hpp"
+
+#ifdef MCU_GD32
+#define GPIOA_BASE GPIOA
+#define GPIOB_BASE GPIOB
+#define GPIOC_BASE GPIOC
+#define GPIOF_BASE GPIOF
+#endif
+
+#ifdef MDL_C500 // Model Classic 500
+#define BTN_CLK_PIN PF4
+#define BTN_OK_PIN PF5
+#define BTN_S1_PIN PB2
+#define BTN_S2_PIN PB10
+#define BTN_LOCK_PIN PB11
+#define BTN_MON_PIN PB12
+#define BTN_TUE_PIN PB13
+#define BTN_WED_PIN PB14
+#define BTN_THU_PIN PB15
+#define BTN_FRI_PIN PC6
+#define BTN_SAT_PIN PC7
+#define BTN_SUN_PIN PC8
+#define BTN_PLAY_PIN PA11
+#define BTN_HOME_PIN PA12
+
+#define NUM_BUTTONS 14
+#define NUM_GPIO_PORTS 4
+
+#elif defined(MDL_SAXPRO) // Model SAxPRO
+#define BTN_PLAY_PIN PC0  // or Start
+#define BTN_HOME_PIN PC1
+#define BTN_UP_PIN PB14
+#define BTN_DOWN_PIN PB13
+#define BTN_OK_PIN PB12 // or Enter
+#define BTN_BACK_PIN PB15
+
+#define NUM_BUTTONS 6
+#define NUM_GPIO_PORTS 2
+#endif
+
+// Logic button numbers. Take attention that OM known buttons need to have the same logic number!
+// 0 is reserved for no-button return
+#define BTN_CLK_NUM 1
+#define BTN_HOME_NUM 2
+#define BTN_PLAY_NUM 3 // or Start
+#define BTN_S1_NUM 4
+#define BTN_S2_NUM 5
+#define BTN_LOCK_NUM 6
+#define BTN_OK_NUM 7 // or Enter
+#define BTN_MON_NUM 8
+#define BTN_TUE_NUM 9
+#define BTN_WED_NUM 10
+#define BTN_THU_NUM 11
+#define BTN_FRI_NUM 12
+#define BTN_SAT_NUM 13
+#define BTN_SUN_NUM 14
+// OM unknown buttons. Let's start from 0x20 to have some free space for more (future) OM supported buttons
+#define BTN_UP_NUM 32
+#define BTN_DOWN_NUM 33
+#define BTN_BACK_NUM 34
+
+#ifndef NUM_GPIO_PORTS
+#define NUM_GPIO_PORTS 0
+#endif
+
+class Buttons
+{
+public:
+    typedef uint8_t ButtonNum;
+    struct ButtonDef
+    {
+        uint8_t debouncer_index; // Debouncer index as defined in debouncers_ array
+        uint8_t digital_pin;
+    };
+
+#ifdef MDL_C500                        // Model Classic 500
+    const uint8_t kOMButtonNrs[14] = { // Logic button numbers supported by OM. Use same order as in OM FW so that they get scanned in the same order!
+        BTN_CLK_NUM, BTN_HOME_NUM, BTN_PLAY_NUM, BTN_S1_NUM, BTN_S2_NUM, BTN_LOCK_NUM, BTN_OK_NUM,
+        BTN_SUN_NUM, BTN_MON_NUM, BTN_TUE_NUM, BTN_WED_NUM, BTN_THU_NUM, BTN_FRI_NUM, BTN_SAT_NUM};
+#elif defined(MDL_SAXPRO) // Model SAxPRO
+    const uint8_t kOMButtonNrs[3] = { // Logic button numbers supported by OM. Use same order as in OM FW so that they get scanned in the same order!
+        BTN_HOME_NUM, BTN_PLAY_NUM, BTN_OK_NUM};
+#endif
+
+    /**
+     * @brief Setup GPIOs
+     *
+     */
+    void setup()
+    {
+        printf("Buttons Setup\n");
+
+        for (auto const &btn_def : kButtonNum2DefMap)
+            pinMode(btn_def.second.digital_pin, INPUT_PULLUP);
+    };
+
+    /**
+     * @brief Process GPIO states by debouncer. Has to get called regulary i.e. by timer (5ms)
+     *
+     */
+    void process_states()
+    {
+        for (uint i = 0; i < NUM_GPIO_PORTS; i++)
+            debouncers_[i]->process_state(kGpioPorts[i]);
+    };
+
+    /**
+     * @brief Return boolean true if the given button number is pressed.
+     *        Take into notice that the returned state is already debounced.
+     *
+     * @param button_nr
+     * @return true = pressed
+     * @return false = not pressed
+     */
+    bool is_pressed(ButtonNum button_nr)
+    {
+        try
+        {
+            const ButtonDef btn_def = kButtonNum2DefMap.at(button_nr);
+            return get_status(btn_def.debouncer_index) & digitalPinToBitMask(btn_def.digital_pin);
+        }
+        catch (const std::out_of_range &e)
+        {
+            return false;
+        }
+    };
+
+    /**
+     * @brief Return ButtonNum of the first detected pressed button.
+     *        Take into notice that the returned state is already debounced.
+     *
+     * @return ButtonNum 0 = none pressed, >0 = ButtonNum
+     */
+    ButtonNum is_pressed()
+    {
+        for (auto const &btn_def : kButtonNum2DefMap)
+            if(get_status(btn_def.second.debouncer_index) & digitalPinToBitMask(btn_def.second.digital_pin))
+                return btn_def.first;
+        return 0;
+    };
+
+private:
+    // Somehow static initialization...
+    // All ports with a button get debounced per port, via timer callback
+#ifdef MDL_C500 // Model Classic 500
+    const uint32_t kGpioPorts[NUM_GPIO_PORTS] = {GPIOA_BASE, GPIOB_BASE, GPIOC_BASE, GPIOF_BASE};
+    ButtonDebouncer *debouncers_[NUM_GPIO_PORTS] = { // Debouncer obj for each port in the same order as kGpioPorts
+        new ButtonDebouncer(), new ButtonDebouncer(),
+        new ButtonDebouncer(), new ButtonDebouncer()};
+    // Map logic button number to Button-definiton (Again: Some-how static with debouncer_index)
+    const std::map<ButtonNum, ButtonDef> kButtonNum2DefMap = {
+        {BTN_CLK_NUM, {3, BTN_CLK_PIN}},
+        {BTN_HOME_NUM, {0, BTN_HOME_PIN}},
+        {BTN_PLAY_NUM, {0, BTN_PLAY_PIN}},
+        {BTN_S1_NUM, {1, BTN_S1_PIN}},
+        {BTN_S2_NUM, {1, BTN_S2_PIN}},
+        {BTN_LOCK_NUM, {1, BTN_LOCK_PIN}},
+        {BTN_OK_NUM, {3, BTN_OK_PIN}},
+        {BTN_MON_NUM, {1, BTN_MON_PIN}},
+        {BTN_TUE_NUM, {1, BTN_TUE_PIN}},
+        {BTN_WED_NUM, {1, BTN_WED_PIN}},
+        {BTN_THU_NUM, {1, BTN_THU_PIN}},
+        {BTN_FRI_NUM, {2, BTN_FRI_PIN}},
+        {BTN_SAT_NUM, {2, BTN_SAT_PIN}},
+        {BTN_SUN_NUM, {2, BTN_SUN_PIN}}};
+#elif defined(MDL_SAXPRO) // Model SAxPRO
+    const uint32_t kGpioPorts[NUM_GPIO_PORTS] = {GPIOB_BASE, GPIOC_BASE};
+    ButtonDebouncer *debouncers_[NUM_GPIO_PORTS] = { // Debouncer obj for each port in the same order as kGpioPorts
+        new ButtonDebouncer(), new ButtonDebouncer()};
+    // Map logic button number to Button-definiton (Again: Some-how static with debouncer_index)
+    const std::map<ButtonNum, ButtonDef> kButtonNum2DefMap = {
+        {BTN_HOME_NUM, {1, BTN_HOME_PIN}},
+        {BTN_PLAY_NUM, {1, BTN_PLAY_PIN}},
+        {BTN_OK_NUM, {0, BTN_OK_PIN}},
+        {BTN_UP_NUM, {0, BTN_UP_PIN}},
+        {BTN_DOWN_NUM, {0, BTN_DOWN_PIN}},
+        {BTN_BACK_NUM, {0, BTN_BACK_PIN}}};
+#endif
+
+    /**
+     * @brief Get (debounced) status of the whole GPIO port by debouncer index.
+     * See kGpioPorts definition for the GPIO debouncer indexes.
+     *
+     * @param gpio_index
+     * @return uint16_t
+     */
+    uint16_t get_status(uint8_t debouncer_index)
+    {
+        return debouncers_[debouncer_index]->get_status();
+    };
+};
+
+#endif // YARDFORCE_BUTTONS_HPP

Firmware/CoverUI/yfc500/Emergency.hpp → Firmware/CoverUI/YardForce/Emergency.hpp

@@ -114,7 +114,7 @@ class Emergency
      */
     void periodic_send()
     {
-        static uint8_t call_cnt_ = 0;
+        static uint call_cnt_ = 0;
 
         call_cnt_++;