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Merge pull request #624 from entrylabs/develop-hw
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1.9.40 Version up
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@Tnks2U
Tnks2U authored Mar 21, 2023
2 parents b73a696 + ec3421e commit 1d3a57f
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2,008 changes: 2,008 additions & 0 deletions app/firmwares/roborobo_robokit_rs.hex
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2,371 changes: 1,241 additions & 1,130 deletions app/firmwares/roborobo_roduino.hex
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284 changes: 284 additions & 0 deletions app/modules/coalaboard.js
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/**
* Author Kevin Ryu
*/
function Module() {
this.initialBuffer = new Array(20);
this.localBuffer = new Array(20);
this.remoteBuffer = new Array(17);

for (let i = 0; i < 20; ++i) {
this.initialBuffer[i] = 0;
this.localBuffer[i] = 0;
}
for (let i = 0; i < 17; ++i) {
this.remoteBuffer[i] = 0;
}
this.initialBuffer[0] = 0xFF;
this.initialBuffer[1] = 0xFF;
this.initialBuffer[18] = 0xFE;
this.initialBuffer[19] = 0xFE;
this.localBuffer[0] = 0xFF;
this.localBuffer[1] = 0xFF;
this.localBuffer[18] = 0xFE;
this.localBuffer[19] = 0xFE;
}


Module.prototype.SENSOR_MAP = {
1: 'light',
2: 'IR',
3: 'touch',
4: 'potentiometer',
5: 'MIC',
6: 'ultrasonicSensor',
7: 'temperature',
10: 'vibrationSensor',
21: 'UserSensor',
11: 'UserInput',
20: 'LED',
19: 'SERVO',
18: 'DC',
};

Module.prototype.PORT_MAP = {
'buzzer': 2,
'5': 4,
'6': 6,
'7': 8,
'8': 10,
'LEDR': 12,
'LEDG': 14,
'LEDB': 16,
};

const CoalaBoardType = {

B16_START_1: 0xFF,
B16_START_2: 0xFF,

B16_END_1: 0xFE,
B16_END_2: 0xFE,

P_NO: 0x00,
P_BRI: 0x01,
P_IRS: 0x02,
P_BUT: 0x03,
P_POT: 0x04,
P_MIC: 0x05,
P_ULT: 0x06,
P_TEM: 0x07,
P_VIB: 0x0A,
P_USR: 0x0B,

P_M_SV: 0x13,
P_M_DC: 0x12,
P_LED: 0x14,

RANGE_SNESOR_PORT: ['1', '2', '3', '4'],
RANGE_MOTOR_PORT: ['A', 'B', 'C', 'D'],
RANGE_LED_PORT: ['E'],

DC_MOTOR_ADJUSTMENT: 128,
SERVO_ADJUSTMENT: 1,
BUZZER_ADJUSTMENT: 11,

};

Module.prototype.init = function(handler, config) {
};

Module.prototype.requestInitialData = function() {
return this.initialBuffer;
};

Module.prototype.checkInitialData = function(data, config) {
if (data && data.length == 17) {
if (data[0] === 0xFF && data[1] === 0xFF && data[15] === 0xFE && data[16] === 0xFE) {
return true;
} else {
return false;
}
}
};

Module.prototype.handleRemoteData = function(handler) {
const buffer = this.localBuffer;
for (const key in this.PORT_MAP) {
const port = this.PORT_MAP[key];
const value = handler.read(key);
if (value === undefined) {
continue;
}
buffer[port] = value >> 8;
buffer[port + 1] = value & (Math.pow(2, 9) - 1);
}
};

Module.prototype.requestLocalData = function() {
return this.localBuffer;
};

Module.prototype.handleLocalData = function(data) { // data: Native Buffer
const buffer = this.remoteBuffer;
if (data && data.length == 17) {
if (data[0] === 0xFF && data[1] === 0xFF && data[15] === 0xFE && data[16] === 0xFE) {
for (let i = 0; i < 17; ++i) {
buffer[i] = data[i];
}
}
}
};

Module.prototype.requestRemoteData = function(handler) {
const buffer = this.remoteBuffer;
for (let i = 2; i < 17; i += 1) {
const value = buffer[i] * Math.pow(2, 8) + buffer[i + 1];
let sensorType = this.SENSOR_MAP[buffer[i]];
if (i < 10) {
sensorType = this.SENSOR_MAP[buffer[i] >> 2];
}
const sensorValue = value & (Math.pow(2, 10) - 1);
if (i < 10) {
if (sensorType) {
if (sensorType == 'temperature') { // 7: 온도센서
// [온도센서]
// 1. 코알라에서 PC로 전달하는 값의 범위 : 0 ~ 160
// 2. 실제로 엔트리에서 보여줘야 하는 실제 온도 : - 40 ~ 120
// 3. 정리 : 전달되는 값에서 -40을 하면 됨.
handler.write(i / 2, { type: sensorType, value: sensorValue - 40 });
} else {
handler.write(i / 2, { type: sensorType, value: sensorValue });
}
} else {
handler.write(i / 2, null);
}
i += 1;
} else {
if (sensorType) {
handler.write((i - 5), { type: sensorType });
} else {
handler.write((i - 5), null);
}
}
}
// 1: 'light',
// 2: 'IR',
// 3: 'touch',
// 4: 'potentiometer',
// 5: 'MIC',
// 6: 'ultrasonicSensor',
// 7: 'temperature',
// 10: 'vibrationSensor',
// 21: 'UserSensor',
// 11: 'UserInput',
// 20: 'LED',
// 19: 'SERVO',
// 18: 'DC'

const p1 = this._decodeSensorPortNum(buffer[2], buffer[3]); // port 1
const p2 = this._decodeSensorPortNum(buffer[4], buffer[5]); // port 2, temperature
const p3 = this._decodeSensorPortNum(buffer[6], buffer[7]); // port 3, light
const p4 = this._decodeSensorPortNum(buffer[8], buffer[9]); // port 4, touch

let valueUserInput = ' ';
let valuePotentiometer = ' ';
let valueMic = ' ';
let valueIr = ' ';

if (p1.sensorType == CoalaBoardType.P_NO) {
} else if (p1.sensorType == CoalaBoardType.P_IRS) {
valueIr = p1.sensorValue;
} else if (p1.sensorType == CoalaBoardType.P_POT) {
valuePotentiometer = p1.sensorValue;
} else if (p1.sensorType == CoalaBoardType.P_MIC) {
valueMic = p1.sensorValue;
} else if (p1.sensorType == CoalaBoardType.P_ULT) {
} else if (p1.sensorType == CoalaBoardType.P_VIB) {
} else if (p1.sensorType == CoalaBoardType.P_USR) {
valueUserInput = p1.sensorValue;
} else {
}

// UserInput
// potentiometer
// MIC
// IR
// temperature
// light
// touch

Module.prototype.SENSOR_MAP = {
1: 'light',
2: 'IR',
3: 'touch',
4: 'potentiometer',
5: 'MIC',
6: 'ultrasonicSensor',
7: 'temperature',
10: 'vibrationSensor',
21: 'UserSensor',
11: 'UserInput',
20: 'LED',
19: 'SERVO',
18: 'DC',
};

handler.write(this.SENSOR_MAP[11], { type: this.SENSOR_MAP[11], value: valueUserInput }); // UserInput
handler.write(this.SENSOR_MAP[4], { type: this.SENSOR_MAP[4], value: valuePotentiometer }); // potentiometer
handler.write(this.SENSOR_MAP[5], { type: this.SENSOR_MAP[5], value: valueMic }); // MIC
handler.write(this.SENSOR_MAP[2], { type: this.SENSOR_MAP[2], value: valueIr }); // IR
handler.write(this.SENSOR_MAP[7], { type: this.SENSOR_MAP[7], value: p2.sensorValue }); // temperature
handler.write(this.SENSOR_MAP[1], { type: this.SENSOR_MAP[1], value: p3.sensorValue }); // light
handler.write(this.SENSOR_MAP[3], { type: this.SENSOR_MAP[3], value: p4.sensorValue }); // button(touch)
// ====================================================================
};

Module.prototype.reset = function() {
const buffer = this.localBuffer;
for (let i = 2; i < 18; ++i) {
buffer[i] = 0;
}
};

/**
*
* @param number portNum1
* @param number portNum2
*/
Module.prototype._decodeSensorPortNum = function(portNum1, portNum2) {
const sP1 = portNum1.toString(2).padStart(8, '0');
const sMsb = sP1.substr(0, 1);
const sSensorType = sP1.substr(1, 5);
const sV1 = sP1.substr(6, 2);
const sV2 = portNum2.toString(2).padStart(8, '0');
const sSensorVal = sV1 + sV2;

let iSensorType = parseInt(sSensorType, 2); // 2 => 10
let iSensorVal = parseInt(sSensorVal, 2); // 2 => 10

if (iSensorType == CoalaBoardType.P_TEM) {
// [온도센서]
// 1. 비트브릭에서 PC로 전달하는 값의 범위 : 0 ~ 160
// 2. 실제로 스크래치에서 보여줘야 하는 실제 온도 : - 40 ~ 120
// 3. 정리 : 전달되는 값에서 -40을 하면 됨.
iSensorVal = iSensorVal - 40;
} else if (
(iSensorType == CoalaBoardType.P_BRI) ||
(iSensorType == CoalaBoardType.P_IRS) ||
(iSensorType == CoalaBoardType.P_BUT) ||
(iSensorType == CoalaBoardType.P_POT) ||
(iSensorType == CoalaBoardType.P_MIC) ||
(iSensorType == CoalaBoardType.P_ULT) ||
(iSensorType == CoalaBoardType.P_VIB) ||
(iSensorType == CoalaBoardType.P_USR)
) {
// it's a sensor
} else {
// it's not a sensor
iSensorType = CoalaBoardType.P_NO;
iSensorVal = 0;
}
return { sensorType: iSensorType, sensorValue: iSensorVal };
};

module.exports = new Module();
27 changes: 27 additions & 0 deletions app/modules/coalaboard.json
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{
"id": "030301",
"name": {
"en": "coalaboard",
"ko": "코알라보드"
},
"category": "module",
"platform": ["win32", "darwin"],
"icon" : "coalaboard.png",
"module": "coalaboard.js",
"url": "http://bitbrick.cc/",
"email": "[email protected]",
"driver": {
"win32-ia32": "CP210x_VCP_Windows/CP210xVCPInstaller_x86.exe",
"win32-x64": "CP210x_VCP_Windows/CP210xVCPInstaller_x64.exe",
"darwin-x64": "Mac_OSX_VCP_Driver/SiLabsUSBDriverDisk.dmg"
},
"reconnect" : false,
"hardware": {
"type": "serial",
"control": "slave",
"duration": 20,
"scanType": "data",
"vendor": "Silicon Lab",
"baudRate": 38400
}
}
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