spectrum

.gitignore

@@ -86,5 +86,3 @@ dkms.conf
 *.out
 *.app
 
-# kicad backups
-*-backups

Demo_C/Demo/LED/LED.c

@@ -1,180 +1,153 @@
-//=============================================================================
-// Demo program "Light run".
-//
-// Can be run under control of the ROBO TX Controller
-// firmware in download (local) mode.
-// Switches one after another six lamps connected to the outputs O1...O6.
-//
-// Disclaimer - Exclusion of Liability
-//
-// This software 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. It can be used and modified by anyone
-// free of any license obligations or authoring rights.
-//=============================================================================
-
+// #include <stddef.h>
 #include "ROBO_TX_PRG.h"
+#include "ROBO_TX_FW.h"
+#include <stddef.h>
 
-#define LIGHT_ON        DUTY_MAX
-#define LIGHT_OFF       0
+#define LIGHT_MAX       DUTY_MAX
+#define LIGHT_MIN       DUTY_MIN
+#define LIGHT_OFF		0
+#define wait			10
+
+#define RC              0x7FFF // return code: 0x7FFF - program should be further called by the firmware;
+#define sRC             0
 
 #define BEG_LAMP_IDX    0
-#define END_LAMP_IDX    0
+#define END_LAMP_IDX    2
+#define COLOR_AMOUNT    3
+enum color_pin {RED, GREEN, BLUE};
+enum color_spectrum {pr, mb, pg, mr, pb, mg};
 
 static unsigned long cur_time;
 static unsigned long prev_time;
-static enum {ON_1, PAUSE_1, ON_2, PAUSE_2} stage;
+static short* states[COLOR_AMOUNT];
+short green_state;
+short red_state;
+short blue_state;
+enum color_pin pin;
+enum color_spectrum spectrum_state;
 static int lamp_idx;
 static int n_loops;
-static int wait;
 
+void simple_rgb_test(TA * p_ta_array);
+void spectrum();
+void update_lights(TA * p_ta_array);
 
-/*-----------------------------------------------------------------------------
- * Function Name       : PrgInit
- *
- * This it the program initialization.
- * It is called once.
- *-----------------------------------------------------------------------------*/
 void PrgInit
 (
-    TA * p_ta_array,    // pointer to the array of transfer areas
-    int ta_count        // number of transfer areas in array (equal to TA_COUNT)
+	TA * p_ta_array,    // pointer to the array of transfer areas
+	int ta_count        // number of transfer areas in array (equal to TA_COUNT)
 )
 {
-    prev_time = 0;
-    stage = ON_2;
-    lamp_idx = BEG_LAMP_IDX;
-    n_loops = 10;
-    wait = 1000;
+	prev_time = 0;
+	red_state = LIGHT_MIN;
+	green_state = LIGHT_MIN;
+	blue_state = LIGHT_MIN;
+	states[0] = &red_state;
+	states[1] = &green_state;
+	states[2] = &blue_state;
+	spectrum_state = 0;
+	pin = 0;
+	lamp_idx = BEG_LAMP_IDX;
 }
 
-
-/*-----------------------------------------------------------------------------
- * Function Name       : PrgTic
- *
- * This is the main function of this program.
- * It is called every tic (1 ms) realtime.
- *-----------------------------------------------------------------------------*/
 int PrgTic
 (
-    TA * p_ta_array,    // pointer to the array of transfer areas
-    int ta_count        // number of transfer areas in array (equal to TA_COUNT)
+	TA * p_ta_array,    // pointer to the array of transfer areas
+	int ta_count        // number of transfer areas in array (equal to TA_COUNT)
 )
 {
-    int rc = 0x7FFF; // return code: 0x7FFF - program should be further called by the firmware;
-                     //              0      - program should be normally stopped by the firmware;
-                     //              any other value is considered by the firmware as an error code
-                     //              and the program is stopped.
-    TA * p_ta = &p_ta_array[TA_LOCAL];
-    
+	TA * p_ta = &p_ta_array[TA_LOCAL];
     // Get the current value of the system time
     cur_time = p_ta->hook_table.GetSystemTime(TIMER_UNIT_MILLISECONDS);
-
-    while (1)
-    {
-        switch (stage)
-        {
-            case ON_1:
-                if (prev_time == 0)
-                {
-                    // Switch the current lamp on
-                    p_ta->output.duty[lamp_idx] = LIGHT_ON;
-
-                    // Store the current value of the system time
-                    prev_time = cur_time;
-                }
-                else
-                {
-                    // The lamp should be on for the number of milliseconds from the variable "wait"
-                    if (cur_time - prev_time >= wait)
-                    {
-                        // Switch the current lamp off
-                        p_ta->output.duty[lamp_idx] = LIGHT_OFF;
-
-                        if (lamp_idx + 1 <= END_LAMP_IDX)
-                        {
-                            prev_time = 0;
-                            lamp_idx++; // switch to the next lamp
-                            continue;
-                        }
-                        else
-                        {
-                            // Store the current value of the system time
-                            prev_time = cur_time;
-
-                            stage = PAUSE_1;
-                        }
-                    }
-                }
-                return rc;
-
-            case PAUSE_1:
-                // All lamps should be off for the number of milliseconds from the variable "wait"
-                if (cur_time - prev_time >= wait)
-                {
-                    prev_time = 0;
-                    stage = ON_2;
-                }
-                else
-                {
-                    return rc;
-                }
-
-            case ON_2:
-                if (prev_time == 0)
-                {
-                    // Switch the current lamp on
-                    p_ta->output.duty[lamp_idx] = LIGHT_ON;
-
-                    // Store the current value of the system time
-                    prev_time = cur_time;
-                }
-                else
-                {
-                    // The lamp should be on for the number of milliseconds from the variable "wait"
-                    if (cur_time - prev_time >= wait)
-                    {
-                        // Switch the current lamp off
-                        p_ta->output.duty[lamp_idx] = LIGHT_OFF;
-
-                        if (lamp_idx - 1 >= BEG_LAMP_IDX)
-                        {
-                            prev_time = 0;
-                            lamp_idx--; // switch to the previous lamp
-                            continue;
-                        }
-                        else
-                        {
-                            // Store the current value of the system time
-                            prev_time = cur_time;
-
-                            stage = PAUSE_2;
-                        }
-                    }
-                }
-                return rc;
-
-            case PAUSE_2:
-                // All lamps should be off for 1 second
-                if (cur_time - prev_time >= 1000)
-                {
-                    if (--n_loops <= 0)
-                    {
-                        rc = 0; // stop program
-                    }
-                    else
-                    {
-                        wait /= 2;
-                        prev_time = 0;
-                        stage = ON_1;
-                        continue;
-                    }
-                }
-                return rc;
-
-            default:
-                return rc;
-        }
-    }
-    return rc;
+    // if(cur_time-prev_time>=wait)
+	// {
+	// 	prev_time = cur_time;
+	// 	simple_rgb_test(p_ta_array);
+	// 	update_lights(p_ta_array);
+	// }
+    if(cur_time-prev_time>=wait)
+	{
+		prev_time = cur_time;
+		spectrum();
+		update_lights(p_ta_array);
+	}
+	return RC;
 }
+
+void spectrum()
+{
+	switch(spectrum_state)
+	{
+		case pr:
+			if(++red_state>LIGHT_MAX) {++spectrum_state;}
+			break;
+		case mb:
+			if(--blue_state<LIGHT_MIN) {++spectrum_state;}
+			break;
+		case pg:
+			if(++green_state>LIGHT_MAX) {++spectrum_state;}
+			break;
+		case mr:
+			if(--red_state<LIGHT_MIN) {++spectrum_state;}
+			break;
+		case pb:
+			if(++blue_state>LIGHT_MAX) {++spectrum_state;}
+			break;
+		case mg:
+			if(--green_state<LIGHT_MIN) {spectrum_state = 0;}
+			break;
+		default:
+			spectrum_state = pr;
+	}
+}
+
+void simple_rgb_test
+(
+	TA * p_ta_array    // pointer to the array of transfer areas
+)
+{
+	TA * p_ta = &p_ta_array[TA_LOCAL];
+	p_ta->hook_table.DisplayMsg(p_ta, NULL);
+
+	switch(pin)
+	{
+		
+		case RED:
+			p_ta->hook_table.DisplayMsg(p_ta, "RED");
+			blue_state = LIGHT_MIN;
+			red_state = LIGHT_MAX;
+			pin = GREEN;
+			break;
+		case GREEN:
+			p_ta->hook_table.DisplayMsg(p_ta, "GREEN");
+			red_state = LIGHT_MIN;
+			green_state = LIGHT_MAX;
+			pin = BLUE;
+			break;
+		case BLUE:
+			p_ta->hook_table.DisplayMsg(p_ta, "BLUE");
+			green_state = LIGHT_MIN;
+			blue_state = LIGHT_MAX;
+			pin = RED;
+			break;
+		default:
+			p_ta->hook_table.DisplayMsg(p_ta, NULL);
+			pin = RED;
+	}
+}
+
+void update_lights(TA * p_ta_array)
+{
+	TA * p_ta = &p_ta_array[TA_LOCAL];
+	if(red_state>LIGHT_MAX) { red_state = LIGHT_MAX; }
+	if(green_state>LIGHT_MAX) { green_state=LIGHT_MAX; }
+	if(blue_state>LIGHT_MAX) { blue_state = LIGHT_MAX; }
+	
+	if(red_state<LIGHT_MIN) { red_state = LIGHT_MIN; }
+	if(green_state<LIGHT_MIN) { green_state=LIGHT_MIN; }
+	if(blue_state<LIGHT_MIN) { blue_state = LIGHT_MIN; }
+	
+	p_ta->output.duty[RED] = red_state;
+	p_ta->output.duty[GREEN] = green_state;
+	p_ta->output.duty[BLUE] = blue_state;
+}

Demo_C/Demo/LED/LightRun.c

@@ -0,0 +1,180 @@
+//=============================================================================
+// Demo program "Light run".
+//
+// Can be run under control of the ROBO TX Controller
+// firmware in download (local) mode.
+// Switches one after another six lamps connected to the outputs O1...O6.
+//
+// Disclaimer - Exclusion of Liability
+//
+// This software 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. It can be used and modified by anyone
+// free of any license obligations or authoring rights.
+//=============================================================================
+
+#include "ROBO_TX_PRG.h"
+
+#define LIGHT_ON        DUTY_MAX
+#define LIGHT_OFF       0
+
+#define BEG_LAMP_IDX    0
+#define END_LAMP_IDX    0
+
+static unsigned long cur_time;
+static unsigned long prev_time;
+static enum {ON_1, PAUSE_1, ON_2, PAUSE_2} stage;
+static int lamp_idx;
+static int n_loops;
+static int wait;
+
+
+/*-----------------------------------------------------------------------------
+ * Function Name       : PrgInit
+ *
+ * This it the program initialization.
+ * It is called once.
+ *-----------------------------------------------------------------------------*/
+void PrgInit
+(
+    TA * p_ta_array,    // pointer to the array of transfer areas
+    int ta_count        // number of transfer areas in array (equal to TA_COUNT)
+)
+{
+    prev_time = 0;
+    stage = ON_2;
+    lamp_idx = BEG_LAMP_IDX;
+    n_loops = 10;
+    wait = 1000;
+}
+
+
+/*-----------------------------------------------------------------------------
+ * Function Name       : PrgTic
+ *
+ * This is the main function of this program.
+ * It is called every tic (1 ms) realtime.
+ *-----------------------------------------------------------------------------*/
+int PrgTic
+(
+    TA * p_ta_array,    // pointer to the array of transfer areas
+    int ta_count        // number of transfer areas in array (equal to TA_COUNT)
+)
+{
+    int rc = 0x7FFF; // return code: 0x7FFF - program should be further called by the firmware;
+                     //              0      - program should be normally stopped by the firmware;
+                     //              any other value is considered by the firmware as an error code
+                     //              and the program is stopped.
+    TA * p_ta = &p_ta_array[TA_LOCAL];
+    
+    // Get the current value of the system time
+    cur_time = p_ta->hook_table.GetSystemTime(TIMER_UNIT_MILLISECONDS);
+
+    while (1)
+    {
+        switch (stage)
+        {
+            case ON_1:
+                if (prev_time == 0)
+                {
+                    // Switch the current lamp on
+                    p_ta->output.duty[lamp_idx] = LIGHT_ON;
+
+                    // Store the current value of the system time
+                    prev_time = cur_time;
+                }
+                else
+                {
+                    // The lamp should be on for the number of milliseconds from the variable "wait"
+                    if (cur_time - prev_time >= wait)
+                    {
+                        // Switch the current lamp off
+                        p_ta->output.duty[lamp_idx] = LIGHT_OFF;
+
+                        if (lamp_idx + 1 <= END_LAMP_IDX)
+                        {
+                            prev_time = 0;
+                            lamp_idx++; // switch to the next lamp
+                            continue;
+                        }
+                        else
+                        {
+                            // Store the current value of the system time
+                            prev_time = cur_time;
+
+                            stage = PAUSE_1;
+                        }
+                    }
+                }
+                return rc;
+
+            case PAUSE_1:
+                // All lamps should be off for the number of milliseconds from the variable "wait"
+                if (cur_time - prev_time >= wait)
+                {
+                    prev_time = 0;
+                    stage = ON_2;
+                }
+                else
+                {
+                    return rc;
+                }
+
+            case ON_2:
+                if (prev_time == 0)
+                {
+                    // Switch the current lamp on
+                    p_ta->output.duty[lamp_idx] = LIGHT_ON;
+
+                    // Store the current value of the system time
+                    prev_time = cur_time;
+                }
+                else
+                {
+                    // The lamp should be on for the number of milliseconds from the variable "wait"
+                    if (cur_time - prev_time >= wait)
+                    {
+                        // Switch the current lamp off
+                        p_ta->output.duty[lamp_idx] = LIGHT_OFF;
+
+                        if (lamp_idx - 1 >= BEG_LAMP_IDX)
+                        {
+                            prev_time = 0;
+                            lamp_idx--; // switch to the previous lamp
+                            continue;
+                        }
+                        else
+                        {
+                            // Store the current value of the system time
+                            prev_time = cur_time;
+
+                            stage = PAUSE_2;
+                        }
+                    }
+                }
+                return rc;
+
+            case PAUSE_2:
+                // All lamps should be off for 1 second
+                if (cur_time - prev_time >= 1000)
+                {
+                    if (--n_loops <= 0)
+                    {
+                        rc = 0; // stop program
+                    }
+                    else
+                    {
+                        wait /= 2;
+                        prev_time = 0;
+                        stage = ON_1;
+                        continue;
+                    }
+                }
+                return rc;
+
+            default:
+                return rc;
+        }
+    }
+    return rc;
+}

Elysium.kicad_prl

@@ -1,77 +0,0 @@
-{
-  "board": {
-    "active_layer": 0,
-    "active_layer_preset": "All Layers",
-    "auto_track_width": true,
-    "hidden_netclasses": [],
-    "hidden_nets": [],
-    "high_contrast_mode": 0,
-    "net_color_mode": 1,
-    "opacity": {
-      "images": 0.6,
-      "pads": 1.0,
-      "tracks": 1.0,
-      "vias": 1.0,
-      "zones": 0.6
-    },
-    "selection_filter": {
-      "dimensions": true,
-      "footprints": true,
-      "graphics": true,
-      "keepouts": true,
-      "lockedItems": false,
-      "otherItems": true,
-      "pads": true,
-      "text": true,
-      "tracks": true,
-      "vias": true,
-      "zones": true
-    },
-    "visible_items": [
-      0,
-      1,
-      2,
-      3,
-      4,
-      5,
-      8,
-      9,
-      10,
-      11,
-      12,
-      13,
-      15,
-      16,
-      17,
-      18,
-      19,
-      20,
-      21,
-      22,
-      23,
-      24,
-      25,
-      26,
-      27,
-      28,
-      29,
-      30,
-      32,
-      33,
-      34,
-      35,
-      36,
-      39,
-      40
-    ],
-    "visible_layers": "fffffff_ffffffff",
-    "zone_display_mode": 0
-  },
-  "meta": {
-    "filename": "Elysium.kicad_prl",
-    "version": 3
-  },
-  "project": {
-    "files": []
-  }
-}

Elysium.kicad_pro

@@ -1,231 +0,0 @@
-{
-  "board": {
-    "3dviewports": [],
-    "design_settings": {
-      "defaults": {
-        "board_outline_line_width": 0.09999999999999999,
-        "copper_line_width": 0.19999999999999998,
-        "copper_text_italic": false,
-        "copper_text_size_h": 1.5,
-        "copper_text_size_v": 1.5,
-        "copper_text_thickness": 0.3,
-        "copper_text_upright": false,
-        "courtyard_line_width": 0.049999999999999996,
-        "dimension_precision": 4,
-        "dimension_units": 3,
-        "dimensions": {
-          "arrow_length": 1270000,
-          "extension_offset": 500000,
-          "keep_text_aligned": true,
-          "suppress_zeroes": false,
-          "text_position": 0,
-          "units_format": 1
-        },
-        "fab_line_width": 0.09999999999999999,
-        "fab_text_italic": false,
-        "fab_text_size_h": 1.0,
-        "fab_text_size_v": 1.0,
-        "fab_text_thickness": 0.15,
-        "fab_text_upright": false,
-        "other_line_width": 0.15,
-        "other_text_italic": false,
-        "other_text_size_h": 1.0,
-        "other_text_size_v": 1.0,
-        "other_text_thickness": 0.15,
-        "other_text_upright": false,
-        "pads": {
-          "drill": 0.762,
-          "height": 1.524,
-          "width": 1.524
-        },
-        "silk_line_width": 0.15,
-        "silk_text_italic": false,
-        "silk_text_size_h": 1.0,
-        "silk_text_size_v": 1.0,
-        "silk_text_thickness": 0.15,
-        "silk_text_upright": false,
-        "zones": {
-          "min_clearance": 0.5
-        }
-      },
-      "diff_pair_dimensions": [],
-      "drc_exclusions": [],
-      "meta": {
-        "version": 2
-      },
-      "rule_severities": {
-        "annular_width": "error",
-        "clearance": "error",
-        "connection_width": "warning",
-        "copper_edge_clearance": "error",
-        "copper_sliver": "warning",
-        "courtyards_overlap": "error",
-        "diff_pair_gap_out_of_range": "error",
-        "diff_pair_uncoupled_length_too_long": "error",
-        "drill_out_of_range": "error",
-        "duplicate_footprints": "warning",
-        "extra_footprint": "warning",
-        "footprint": "error",
-        "footprint_type_mismatch": "ignore",
-        "hole_clearance": "error",
-        "hole_near_hole": "error",
-        "invalid_outline": "error",
-        "isolated_copper": "warning",
-        "item_on_disabled_layer": "error",
-        "items_not_allowed": "error",
-        "length_out_of_range": "error",
-        "lib_footprint_issues": "warning",
-        "lib_footprint_mismatch": "warning",
-        "malformed_courtyard": "error",
-        "microvia_drill_out_of_range": "error",
-        "missing_courtyard": "ignore",
-        "missing_footprint": "warning",
-        "net_conflict": "warning",
-        "npth_inside_courtyard": "ignore",
-        "padstack": "warning",
-        "pth_inside_courtyard": "ignore",
-        "shorting_items": "error",
-        "silk_edge_clearance": "warning",
-        "silk_over_copper": "warning",
-        "silk_overlap": "warning",
-        "skew_out_of_range": "error",
-        "solder_mask_bridge": "error",
-        "starved_thermal": "error",
-        "text_height": "warning",
-        "text_thickness": "warning",
-        "through_hole_pad_without_hole": "error",
-        "too_many_vias": "error",
-        "track_dangling": "warning",
-        "track_width": "error",
-        "tracks_crossing": "error",
-        "unconnected_items": "error",
-        "unresolved_variable": "error",
-        "via_dangling": "warning",
-        "zones_intersect": "error"
-      },
-      "rules": {
-        "max_error": 0.005,
-        "min_clearance": 0.0,
-        "min_connection": 0.0,
-        "min_copper_edge_clearance": 0.0,
-        "min_hole_clearance": 0.25,
-        "min_hole_to_hole": 0.25,
-        "min_microvia_diameter": 0.19999999999999998,
-        "min_microvia_drill": 0.09999999999999999,
-        "min_resolved_spokes": 2,
-        "min_silk_clearance": 0.0,
-        "min_text_height": 0.7999999999999999,
-        "min_text_thickness": 0.08,
-        "min_through_hole_diameter": 0.3,
-        "min_track_width": 0.0,
-        "min_via_annular_width": 0.09999999999999999,
-        "min_via_diameter": 0.5,
-        "solder_mask_clearance": 0.0,
-        "solder_mask_min_width": 0.0,
-        "solder_mask_to_copper_clearance": 0.0,
-        "use_height_for_length_calcs": true
-      },
-      "teardrop_options": [
-        {
-          "td_allow_use_two_tracks": true,
-          "td_curve_segcount": 5,
-          "td_on_pad_in_zone": false,
-          "td_onpadsmd": true,
-          "td_onroundshapesonly": false,
-          "td_ontrackend": false,
-          "td_onviapad": true
-        }
-      ],
-      "teardrop_parameters": [
-        {
-          "td_curve_segcount": 0,
-          "td_height_ratio": 1.0,
-          "td_length_ratio": 0.5,
-          "td_maxheight": 2.0,
-          "td_maxlen": 1.0,
-          "td_target_name": "td_round_shape",
-          "td_width_to_size_filter_ratio": 0.9
-        },
-        {
-          "td_curve_segcount": 0,
-          "td_height_ratio": 1.0,
-          "td_length_ratio": 0.5,
-          "td_maxheight": 2.0,
-          "td_maxlen": 1.0,
-          "td_target_name": "td_rect_shape",
-          "td_width_to_size_filter_ratio": 0.9
-        },
-        {
-          "td_curve_segcount": 0,
-          "td_height_ratio": 1.0,
-          "td_length_ratio": 0.5,
-          "td_maxheight": 2.0,
-          "td_maxlen": 1.0,
-          "td_target_name": "td_track_end",
-          "td_width_to_size_filter_ratio": 0.9
-        }
-      ],
-      "track_widths": [],
-      "via_dimensions": [],
-      "zones_allow_external_fillets": false
-    },
-    "layer_presets": [],
-    "viewports": []
-  },
-  "boards": [],
-  "cvpcb": {
-    "equivalence_files": []
-  },
-  "libraries": {
-    "pinned_footprint_libs": [],
-    "pinned_symbol_libs": []
-  },
-  "meta": {
-    "filename": "Elysium.kicad_pro",
-    "version": 1
-  },
-  "net_settings": {
-    "classes": [
-      {
-        "bus_width": 12,
-        "clearance": 0.2,
-        "diff_pair_gap": 0.25,
-        "diff_pair_via_gap": 0.25,
-        "diff_pair_width": 0.2,
-        "line_style": 0,
-        "microvia_diameter": 0.3,
-        "microvia_drill": 0.1,
-        "name": "Default",
-        "pcb_color": "rgba(0, 0, 0, 0.000)",
-        "schematic_color": "rgba(0, 0, 0, 0.000)",
-        "track_width": 0.25,
-        "via_diameter": 0.8,
-        "via_drill": 0.4,
-        "wire_width": 6
-      }
-    ],
-    "meta": {
-      "version": 3
-    },
-    "net_colors": null,
-    "netclass_assignments": null,
-    "netclass_patterns": []
-  },
-  "pcbnew": {
-    "last_paths": {
-      "gencad": "",
-      "idf": "",
-      "netlist": "",
-      "specctra_dsn": "",
-      "step": "",
-      "vrml": ""
-    },
-    "page_layout_descr_file": ""
-  },
-  "schematic": {
-    "legacy_lib_dir": "",
-    "legacy_lib_list": []
-  },
-  "sheets": [],
-  "text_variables": {}
-}

Elysium.kicad_sch

@@ -1,5 +0,0 @@
-(kicad_sch (version 20230121) (generator eeschema)
-  (paper "A4")
-  (lib_symbols)
-  (symbol_instances)
-)