Prepare hall separation

Firmware/CoverUI/BttnCtl.h

@@ -21,17 +21,6 @@ enum LED_state {
     LED_on = 0b111
 };
 
-// Used only by Stock-CoverUI
-// Same bitmask as in ll_status.emergency_bitmask (LowLevel, datatypes.h)
-enum Emergency_state
-{
-    Emergency_latch = 0b00001,
-    Emergency_stop1 = 0b00010,
-    Emergency_stop2 = 0b00100,
-    Emergency_lift1 = 0b01000,
-    Emergency_lift2 = 0b10000
-};
-
 // CoverUI subscription topic_bitmask
 enum Topic_state
 {

Firmware/CoverUI/YardForce/README.md

@@ -211,7 +211,8 @@ check section [usage](#usage) about the [LED](#meaning-of-the-leds) and [Button]
 
 | Version [^4] | Changes | Date |
 | ------- | ------- | ---- |
-| 2.06    | - Add MOD_HALL support to YardForce RM-ECOW-V1.0.0<br>- Fix heap overflow which could happen when an action button got pressed multiple (10-20) times | 2024-09-29
+| 2.10    | - Separate hall support. Require OpenMower FW >= ??? | 2024-11-??
+| 2.06    | - Add STM32 MCU support to RM-ECOW-V1.1.0<br>- Add MOD_HALL support to YardForce RM-ECOW-V1.0.0<br>- Fix heap overflow which could happen when an action button got pressed multiple (10-20) times | 2024-09-29
 | 2.05    | - YardForce RM-ECOW-V1.1.0 support<br>- Backside alive LED is now software driven (hwtimer independent)<br>- Fix emergency-clear LED-countdown for RM-ECOW-V1.0.0| 2024-06-30
 | 2.04    | - YardForce RM-ECOW-V1.0.0 support<br>- Dropped separate versioning<br>- Fully refactored | 2023-11-14
 | 1.00    | - YardForce SAxPRO (Rev6) Dot-Matrix-Display support | 2023-09-27

Firmware/CoverUI/YardForce/include/Emergency.hpp

@@ -2,8 +2,8 @@
  * @file Emergency.hpp
  * @author Apehaenger ([email protected])
  * @brief YardForce CoverUI Emergency class for OpenMower https://github.com/ClemensElflein/OpenMower
- * @version 0.4
- * @date 2024-10-02
+ * @version 0.5
+ * @date 2024-10-30
  *
  * @copyright Copyright (c) 2023, 2024
  *
@@ -25,7 +25,7 @@ class Emergency {
     struct PinStateDef {
         uint8_t pin;
         uint8_t pin_mode;
-        Emergency_state state;
+        EmergencyState state;
     };
 
     const PinStateDef *kPinStatesPtr;  // Pointer to an array of PinStateDef's (order doesn't matter)
@@ -43,14 +43,14 @@ class Emergency {
      *
      */
     void read() {
-        state_ = 0;  // We might have more emergency sensors and switch than OM Emergency_states. So we need to OR them instead of assign them 1:1
+        state_ = 0;
         for (size_t i = 0; i < kNumEmergencies; i++) {
             auto pin_state = *(kPinStatesPtr + i);
             if (digitalRead(pin_state.pin) == HIGH)
-                state_ |= pin_state.state;
+                state_ |= (int)pin_state.state;
         }
         if (state_)
-            state_ |= Emergency_state::Emergency_latch;
+            state_ |= (int)EmergencyState::LATCH;
     }
 
     /**
@@ -73,7 +73,7 @@ class Emergency {
     void read_and_send_if_emergency() {
         read();
 
-        if (state_ & Emergency_state::Emergency_latch && !(state_last_sent_ & Emergency_state::Emergency_latch)) {
+        if (state_ & (int)EmergencyState::LATCH && !(state_last_sent_ & (int)EmergencyState::LATCH)) {
             send();
             next_periodic_cycle = millis() + PERIODIC_SEND_CYCLE;
         }
@@ -87,7 +87,7 @@ class Emergency {
      */
     void periodic_send() {
         // Active emergency
-        if (state_ & Emergency_state::Emergency_latch) {
+        if (state_ & (int)EmergencyState::LATCH) {
             send();
             next_periodic_cycle = millis() + PERIODIC_SEND_CYCLE;
             return;

Firmware/CoverUI/YardForce/include/datatypes.h

@@ -32,18 +32,30 @@ enum HighLevelMode {
     MODE_RECORDING = 3 // ROS connected, Manual mode during recording etc
 };
 
-#define LL_EMERGENCY_BIT_LATCH 0b00000001
-#define LL_EMERGENCY_BIT_HALL1 0b00001000
-#define LL_EMERGENCY_BIT_HALL2 0b00010000
-#define LL_EMERGENCY_BIT_HALL3 0b00000010
-#define LL_EMERGENCY_BIT_HALL4 0b00000100
+// clang-format off
+#define LL_EMERGENCY_BIT_LATCH (1 << 0)  // Any emergency latch
+#define LL_EMERGENCY_BIT_STOP  (1 << 1)  // Stop
+#define LL_EMERGENCY_BIT_LIFT  (1 << 2)  // Lift (or tilt)
 
-#define LL_EMERGENCY_BIT_LIFT1 LL_EMERGENCY_BIT_HALL1
-#define LL_EMERGENCY_BIT_LIFT2 LL_EMERGENCY_BIT_HALL2
-#define LL_EMERGENCY_BITS_LIFT (LL_EMERGENCY_BIT_LIFT1 | LL_EMERGENCY_BIT_LIFT2)
-#define LL_EMERGENCY_BIT_STOP1 LL_EMERGENCY_BIT_HALL3
-#define LL_EMERGENCY_BIT_STOP2 LL_EMERGENCY_BIT_HALL4
-#define LL_EMERGENCY_BITS_STOP (LL_EMERGENCY_BIT_STOP1 | LL_EMERGENCY_BIT_STOP2)
+#define LL_EMERGENCY_BIT_CU_LATCH (1 << 0)  // Any emergency latch
+#define LL_EMERGENCY_BIT_CU_STOP1 (1 << 1)  // Stop1
+#define LL_EMERGENCY_BIT_CU_STOP2 (1 << 2)  // Stop2
+#define LL_EMERGENCY_BIT_CU_LIFT  (1 << 3)  // LIFT
+#define LL_EMERGENCY_BIT_CU_LBUMP (1 << 4)  // LBUMP
+#define LL_EMERGENCY_BIT_CU_LIFTX (1 << 5)  // LIFTX
+#define LL_EMERGENCY_BIT_CU_RBUMP (1 << 6)  // RBUMP
+// clang-format on
+
+// Same bitmask as in ll_status.emergency_bitmask (LowLevel, datatypes.h)
+enum class EmergencyState {
+    LATCH = LL_EMERGENCY_BIT_CU_LATCH,
+    STOP1 = LL_EMERGENCY_BIT_CU_STOP1,
+    STOP2 = LL_EMERGENCY_BIT_CU_STOP2,
+    LIFT = LL_EMERGENCY_BIT_CU_LIFT,
+    LBUMP = LL_EMERGENCY_BIT_CU_LBUMP,
+    LIFTX = LL_EMERGENCY_BIT_CU_LIFTX,
+    RBUMP = LL_EMERGENCY_BIT_CU_RBUMP
+};
 
 #pragma pack(push, 1)
 struct ll_status {
@@ -63,10 +75,8 @@ struct ll_status {
     float uss_ranges_m[5];
     // Emergency bitmask:
     // Bit 0: Emergency latch
-    // Bit 1: Emergency 0 active
-    // Bit 2: Emergency 1 active
-    // Bit 3: Emergency 2 active
-    // Bit 4: Emergency 3 active
+    // Bit 1: Emergency/Stop
+    // Bit 2: Emergency/Lift (or tilt)
     uint8_t emergency_bitmask;
     // Charge voltage
     float v_charge;

Firmware/CoverUI/YardForce/model/C500/assembly.cpp

@@ -2,8 +2,8 @@
  * @file C500/assembly.cpp
  * @author Apehaenger ([email protected])
  * @brief YardForce RM-ECOW-V1.0.0 CoverUI Assembly for OpenMower https://github.com/ClemensElflein/OpenMower
- * @version 0.1
- * @date 2024-10-01
+ * @version 0.2
+ * @date 2024-10-30
  *
  * @copyright Copyright (c) 2024
  *
@@ -88,9 +88,9 @@ ButtonsC500 buttons(kBtnDefByButtonNumMap);
 
 // ----- Emergency -----
 const Emergency::PinStateDef kEmergencyPinStateDefs[] = {
-    {PIN_HALL_STOP_WHITE, INPUT, Emergency_state::Emergency_stop1},
-    {PIN_HALL_STOP_YELLOW, INPUT, Emergency_state::Emergency_stop2},
-    {PIN_HALL_WHEEL_RED, INPUT, Emergency_state::Emergency_lift1},
-    {PIN_HALL_WHEEL_BLUE, INPUT, Emergency_state::Emergency_lift2}};
+    {PIN_HALL_STOP_WHITE, INPUT, EmergencyState::STOP1},
+    {PIN_HALL_STOP_YELLOW, INPUT, EmergencyState::STOP2},
+    {PIN_HALL_WHEEL_RED, INPUT, EmergencyState::LIFT},
+    {PIN_HALL_WHEEL_BLUE, INPUT, EmergencyState::LIFTX}};
 
 Emergency emergency(kEmergencyPinStateDefs, sizeof(kEmergencyPinStateDefs) / sizeof(Emergency::PinStateDef));

Firmware/CoverUI/YardForce/model/RM-EC3-V11/Display.cpp

@@ -282,7 +282,7 @@ void DisplayRMEC3V11::loop_low_prio() {
 
     // Emergencies
     static bool last_stop_button = false;
-    if (subscription::recv_ll_status.emergency_bitmask & LL_EMERGENCY_BITS_STOP)  // Stop switch
+    if (subscription::recv_ll_status.emergency_bitmask & LL_EMERGENCY_BIT_STOP)  // Stop switch
     {
         v_led_emergency_stop->set(LED_blink_fast);
         strncpy(status_ticker, EMERGENCY_CLEAR_TEXT, STATUS_TICKER_LENGTH);
@@ -295,7 +295,7 @@ void DisplayRMEC3V11::loop_low_prio() {
         last_stop_button = false;
     }
 
-    if (subscription::recv_ll_status.emergency_bitmask & LL_EMERGENCY_BITS_LIFT)  // Lifted or tilted
+    if (subscription::recv_ll_status.emergency_bitmask & LL_EMERGENCY_BIT_LIFT)  // Lifted or tilted
     {
         v_led_emergency_wheel->set(LED_blink_fast);
         strncpy(status_ticker, EMERGENCY_CLEAR_TEXT, STATUS_TICKER_LENGTH);

Firmware/CoverUI/YardForce/model/RM-EC3-V11/assembly.cpp

@@ -94,14 +94,14 @@ ButtonsRMEC3V11 buttons(kBtnDefByButtonNumMap);
 
 const Emergency::PinStateDef kEmergencyPinStateDefs[] = {
 #ifdef MOD_HALL
-    {PIN_HALL1, INPUT_PULLUP, Emergency_state::Emergency_lift1},
-    {PIN_HALL2, INPUT_PULLUP, Emergency_state::Emergency_lift1},
-    {PIN_HALL3, INPUT_PULLUP, Emergency_state::Emergency_lift2},
-    {PIN_HALL4, INPUT_PULLUP, Emergency_state::Emergency_lift2},
+    {PIN_LIFT, INPUT_PULLUP, EmergencyState::LIFT},
+    {PIN_LIFTX, INPUT_PULLUP, EmergencyState::LIFTX},
+    {PIN_LBUMP, INPUT_PULLUP, EmergencyState::LBUMP},
+    {PIN_RBUMP, INPUT_PULLUP, EmergencyState::RBUMP},
 #endif
 #ifdef MOD_STOP
-    {PIN_STOP1, INPUT_PULLUP, Emergency_state::Emergency_stop1},
-    {PIN_STOP2, INPUT_PULLUP, Emergency_state::Emergency_stop2},
+    {PIN_STOP1, INPUT_PULLUP, EmergencyState::STOP1},
+    {PIN_STOP2, INPUT_PULLUP, EmergencyState::STOP2},
 #endif
 };
 

Firmware/CoverUI/YardForce/model/RM-EC3-V11/assembly.hpp

@@ -2,8 +2,8 @@
  * @file RM-EC3-V11/assembly.hpp
  * @author Apehaenger ([email protected])
  * @brief YardForce RM-EC3-V1.1 CoverUI Assembly for OpenMower https://github.com/ClemensElflein/OpenMower
- * @version 0.1
- * @date 2024-10-01
+ * @version 0.2
+ * @date 2024-10-30
  *
  * @copyright Copyright (c) 2024
  *
@@ -61,10 +61,10 @@ extern LEDcontrolRMEC3V11 leds;
 #define PIN_STOP1 PC15
 #define PIN_STOP2 PB6
 
-#define PIN_HALL1 PB15
-#define PIN_HALL2 PC0
-#define PIN_HALL3 PC8
-#define PIN_HALL4 PC9
+#define PIN_LIFT PC0
+#define PIN_LIFTX PC9
+#define PIN_LBUMP PC8
+#define PIN_RBUMP PB15
 
 class ButtonsRMEC3V11 : public Buttons {
    public:

Firmware/CoverUI/YardForce/model/RM-ECOW-V100/assembly.cpp

@@ -2,8 +2,8 @@
  * @file RM-ECOW-V100/assembly.cpp
  * @author Apehaenger ([email protected])
  * @brief YardForce RM-ECOW-V1.0.0 CoverUI Assembly for OpenMower https://github.com/ClemensElflein/OpenMower
- * @version 0.1
- * @date 2024-10-01
+ * @version 0.2
+ * @date 2024-10-30
  *
  * @copyright Copyright (c) 2024
  *
@@ -87,14 +87,14 @@ ButtonsRMECOWV100 buttons(kBtnDefByButtonNumMap);
 // ----- Emergency -----
 const Emergency::PinStateDef kEmergencyPinStateDefs[] = {
 #ifdef MOD_HALL
-    {PIN_HALL1, INPUT_PULLUP, Emergency_state::Emergency_lift1},
-    {PIN_HALL2, INPUT_PULLUP, Emergency_state::Emergency_lift1},
-    {PIN_HALL3, INPUT_PULLUP, Emergency_state::Emergency_lift2},
-    {PIN_HALL4, INPUT_PULLUP, Emergency_state::Emergency_lift2},
+    {PIN_LIFT, INPUT_PULLUP, EmergencyState::LIFT},
+    {PIN_LIFTX, INPUT_PULLUP, EmergencyState::LIFTX},
+    {PIN_LBUMP, INPUT_PULLUP, EmergencyState::LBUMP},
+    {PIN_RBUMP, INPUT_PULLUP, EmergencyState::RBUMP},
 #endif
 #ifdef MOD_STOP
-    {PIN_STOP_JP5, INPUT_PULLUP, Emergency_state::Emergency_stop1},
-    {PIN_STOP_JP6, INPUT_PULLUP, Emergency_state::Emergency_stop2}
+    {PIN_STOP_JP5, INPUT_PULLUP, EmergencyState::STOP1},
+    {PIN_STOP_JP6, INPUT_PULLUP, EmergencyState::STOP2}
 #endif
 };
 

Firmware/CoverUI/YardForce/model/RM-ECOW-V100/assembly.hpp

@@ -2,8 +2,8 @@
  * @file RM-ECOW-V100/assembly.hpp
  * @author Apehaenger ([email protected])
  * @brief YardForce RM-ECOW-V1.0.0 CoverUI Assembly for OpenMower https://github.com/ClemensElflein/OpenMower
- * @version 0.1
- * @date 2024-10-01
+ * @version 0.2
+ * @date 2024-10-30
  *
  * @copyright Copyright (c) 2024
  *
@@ -55,10 +55,10 @@
 #define PIN_STOP_JP5 PC10
 #define PIN_STOP_JP6 PA15
 
-#define PIN_HALL1 PA8   // LIFT
-#define PIN_HALL2 PF6   // LIFTX
-#define PIN_HALL3 PA12  // LBUMP
-#define PIN_HALL4 PA11  // RBUMP
+#define PIN_LIFT PA8
+#define PIN_LIFTX PF6
+#define PIN_LBUMP PA12
+#define PIN_RBUMP PA11
 
 extern LEDcontrolRMECOWV1x leds;
 

Firmware/CoverUI/YardForce/model/RM-ECOW-V110/assembly.cpp

@@ -2,8 +2,8 @@
  * @file RM-ECOW-V100/assembly.cpp
  * @author Apehaenger ([email protected])
  * @brief YardForce RM-ECOW-V1.0.0 CoverUI Assembly for OpenMower https://github.com/ClemensElflein/OpenMower
- * @version 0.1
- * @date 2024-10-01
+ * @version 0.2
+ * @date 2024-10-30
  *
  * @copyright Copyright (c) 2024
  *
@@ -86,14 +86,14 @@ ButtonsRMECOWV110 buttons(kBtnDefByButtonNumMap);
 // ----- Emergency -----
 const Emergency::PinStateDef kEmergencyPinStateDefs[] = {
 #ifdef MOD_HALL
-    {PIN_HALL1, INPUT_PULLUP, Emergency_state::Emergency_lift1},
-    {PIN_HALL2, INPUT_PULLUP, Emergency_state::Emergency_lift1},
-    {PIN_HALL3, INPUT_PULLUP, Emergency_state::Emergency_lift2},
-    {PIN_HALL4, INPUT_PULLUP, Emergency_state::Emergency_lift2},
+    {PIN_LIFT, INPUT_PULLUP, EmergencyState::LIFT},
+    {PIN_LIFTX, INPUT_PULLUP, EmergencyState::LIFTX},
+    {PIN_LBUMP, INPUT_PULLUP, EmergencyState::LBUMP},
+    {PIN_RBUMP, INPUT_PULLUP, EmergencyState::RBUMP},
 #endif
 #ifdef MOD_STOP
-    {PIN_STOP_JP6, INPUT_PULLUP, Emergency_state::Emergency_stop1},
-    {PIN_STOP_JP8, INPUT_PULLUP, Emergency_state::Emergency_stop2},
+    {PIN_STOP_JP6, INPUT_PULLUP, EmergencyState::STOP1},
+    {PIN_STOP_JP8, INPUT_PULLUP, EmergencyState::STOP2},
 #endif
 };
 

Firmware/CoverUI/YardForce/model/RM-ECOW-V110/assembly.hpp

@@ -53,10 +53,10 @@
 #define PIN_STOP_JP6 PC10
 #define PIN_STOP_JP8 PA15
 
-#define PIN_HALL1 PA8  // LIFT
-#define PIN_HALL2 PA9  // LIFTX
-#define PIN_HALL3 PC8  // LBUMP
-#define PIN_HALL4 PC9  // RBUMP
+#define PIN_LIFT PA8  // LIFT
+#define PIN_LIFTX PA9  // LIFTX
+#define PIN_LBUMP PC8  // LBUMP
+#define PIN_RBUMP PC9  // RBUMP
 
 extern LEDcontrolRMECOWV1x leds;
 

Firmware/CoverUI/YardForce/model/SAxPRO/Display.cpp

@@ -280,7 +280,7 @@ void DisplaySAXPRO::loop_low_prio() {
 
     // Emergencies
     static bool last_stop_button = false;
-    if (subscription::recv_ll_status.emergency_bitmask & LL_EMERGENCY_BITS_STOP)  // Stop switch
+    if (subscription::recv_ll_status.emergency_bitmask & LL_EMERGENCY_BIT_STOP)  // Stop switch
     {
         v_led_emergency_stop->set(LED_blink_fast);
         strncpy(status_ticker, EMERGENCY_CLEAR_TEXT, STATUS_TICKER_LENGTH);
@@ -293,7 +293,7 @@ void DisplaySAXPRO::loop_low_prio() {
         last_stop_button = false;
     }
 
-    if (subscription::recv_ll_status.emergency_bitmask & LL_EMERGENCY_BITS_LIFT)  // Lifted or tilted
+    if (subscription::recv_ll_status.emergency_bitmask & LL_EMERGENCY_BIT_LIFT)  // Lifted or tilted
     {
         v_led_emergency_wheel->set(LED_blink_fast);
         strncpy(status_ticker, EMERGENCY_CLEAR_TEXT, STATUS_TICKER_LENGTH);