I2C and Memory modules added

src/config/config_sample.h

@@ -1,3 +1,4 @@
+#pragma once
 
 // This is the configuration file for the robot
 // Fill all the required the parameters and

src/define.h

@@ -3,7 +3,18 @@
 #include <Arduino.h>
 
 // Load the configuration details
+// This is excluded from git VSC since it may contains credentials and secrets
 #include "config/config.h"
 
 // pin map
-#include "config/pins.h"
+#include "config/pins.h"
+
+// Global variables
+#include "config/global_variables.h"
+
+// *** Utilities ************************************************
+
+#include "utilities/i2c/i2c.h"
+#include "utilities/memory/memory.h"
+
+// *** Modules **************************************************

src/src.cpp

@@ -2,6 +2,8 @@
 #include <Arduino.h>
 #include "define.h"
 
+int ROBOT_ID;
+
 // This is to hide non-test related source code.
 // https://docs.platformio.org/en/latest/plus/unit-testing.html
 #ifndef UNIT_TEST
@@ -14,7 +16,17 @@ void setup()
     Serial.begin(115200);
     Serial.println("PeraSwarm Robot v5");
 
+    memory.begin(); // NOTE: This should be run as the first thing.
+
+    // This commands should be run 'ONLY' at the first run to assign a ID for robot
+    // memory.setupRobotWithId(RobotId)
+    // memory.setupRobotWithId(0);
+    ROBOT_ID = memory.getRobotId();
+
     pinMode(PIN_LED_INBUILT, OUTPUT);
+
+    // Scan available I2C devices
+    i2c_scan();
 }
 
 void loop()

src/utilities/i2c/i2c.cpp

@@ -0,0 +1,27 @@
+#include "i2c.h"
+
+void i2c_scan()
+{
+    Serial.println("I2C scanner. Scanning ...");
+    byte count = 0;
+
+    Wire.begin();
+    Serial.println("...");
+    for (byte i = 8; i < 120; i++)
+    {
+        // Serial.println (i);
+        Wire.beginTransmission(i);
+        if (Wire.endTransmission() == 0)
+        {
+            Serial.print("Found address: ");
+            Serial.print(i, DEC);
+            Serial.print(" (0x");
+            Serial.print(i, HEX);
+            Serial.println(")");
+            count++;
+            delay(1); // maybe unneeded?
+        }             // end of good response
+    }                 // end of for loop
+
+    Serial.printf("Done.......\nFound %d device(s)\n\n", count);
+}

src/utilities/i2c/i2c.h

@@ -0,0 +1,6 @@
+#pragma once
+
+#include <Arduino.h>
+#include <Wire.h>
+
+void i2c_scan();

src/utilities/memory/memory.cpp

@@ -0,0 +1,3 @@
+#include "memory.h"
+
+SW_Memory memory;

src/utilities/memory/memory.h

@@ -0,0 +1,5 @@
+#pragma once
+
+#include "./src/robot_memory.h"
+
+extern SW_Memory memory;

src/utilities/memory/src/robot_memory.cpp

@@ -0,0 +1,82 @@
+/**
+ * @brief    Swarm Robot Memory Manager Library
+ * @author   Nuwan Jaliyagoda, Pasan Tennakoon, Dilshani Karunarathna
+ * @version  1.0.0
+ * @url      N/A
+ *
+ * ------------------------------------------------------------------------------
+ */
+
+#include <Arduino.h>
+#include "EEPROM.h"
+#include "robot_memory.h"
+
+#include "config/pins.h"
+#include "config/definitions.h"
+
+#define MIN_ROBOT_ID 0
+#define MAX_ROBOT_ID 31
+
+#define EEPROM_SIZE 10
+
+SW_Memory::SW_Memory()
+{ // Memory constructor
+}
+
+void SW_Memory::begin()
+{
+    this->displayMemoryDetails();
+    EEPROM.begin(EEPROM_SIZE);
+    Serial.println(F(">> Memory\t:enabled"));
+}
+
+void SW_Memory::displayMemoryDetails()
+{
+    Serial.printf("\n\nThe program uses %d kB and has free space of %d kB\n\n", ESP.getSketchSize() / 1000, ESP.getFreeSketchSpace() / 1000);
+}
+
+int SW_Memory::getRobotId()
+{ // TODO: implement a variable as cache for reduce the number of memory read occurances
+    return (int)this->read(EEPROM_ROBOT_ID);
+}
+
+boolean SW_Memory::getMemoryStatus()
+{
+    return (this->read(EEPROM_PROGRAMMED) == 1);
+}
+
+uint8_t SW_Memory::read(int adr)
+{
+    return EEPROM.read(adr);
+}
+void SW_Memory::write(uint16_t address, uint8_t data)
+{ // address: [0-511], data: [0-255]
+    EEPROM.write(address, data);
+    delay(200);
+    EEPROM.commit();
+}
+void SW_Memory::test()
+{ // A dummy Function for now
+}
+
+void SW_Memory::setupRobotWithId(uint8_t id)
+{
+    this->setRobotId(id);
+}
+
+void SW_Memory::setRobotId(uint8_t id)
+{
+    if (id >= MIN_ROBOT_ID && id <= MAX_ROBOT_ID)
+    {
+        EEPROM.write(EEPROM_ROBOT_ID, id);
+        delay(200);
+        EEPROM.write(EEPROM_PROGRAMMED, 1);
+        delay(200);
+        EEPROM.commit();
+        Serial.printf("Mem_Done\t: %d is written as Robot Id\n", id);
+    }
+    else
+    {
+        Serial.printf("Mem_Error\t: %d is an invalid Robot Id\n", id);
+    }
+}

src/utilities/memory/src/robot_memory.h

@@ -0,0 +1,46 @@
+/**
+ * @brief    Swarm Robot Memory Manager Library
+ * @author   Nuwan Jaliyagoda, Pasan Tennakoon, Dilshani Karunarathna
+ * @version  1.0.0
+ * @url      N/A
+ *
+ * ------------------------------------------------------------------------------
+ */
+
+#ifndef SW_Memory_h
+#define SW_Memory_h
+
+#include <Arduino.h>
+
+class SW_Memory
+{
+public:
+    SW_Memory();
+
+    int getRobotId();
+    int8_t getErrorCorrection(uint8_t id);
+
+    void begin();
+    void test();
+
+    void setupRobotWithId(uint8_t id);
+
+    void setRobotId(uint8_t id);
+
+    boolean getMemoryStatus();
+
+    // REM: Better to keep following 2 private
+    uint8_t read(int adr);
+    void write(uint16_t address, uint8_t data);
+
+    enum addr
+    {
+        EEPROM_PROGRAMMED,
+        EEPROM_ROBOT_ID
+    };
+
+private:
+    void displayMemoryDetails();
+};
+
+#endif