Merge branch 'release/2.1.0'

Author: laurb9

README.md

@@ -1,17 +1,17 @@
-# Pano Controller
+# Pano Controller 2.1
 
 Open Arduino-based Platform for high-resolution panoramic photography controlled via Bluetooth App.
 Started as a board replacement/upgrade for the Gigapan EPIC 100, but designed to be 
 flexible and support home-brew panoramic platforms.
 
-The design goals for the new version 2.1 are as follows:
+The design goals for the new versions 2.1 and beyond are as follows:
   1. (iOS) App is required to configure the device and start panorama (the platform cannot set up a pano without it)
   2. (Arduino) Platform can complete a full pano once started, even if App disconnects
   3. (iOS) App may enhance operation during pano execution (by reading status and influencing parameters)
 
 See the <a href="https://www.facebook.com/panocontroller">Official Facebook page</a> for demo videos and more progress photos.
 
-Will need the <a href="https://github.com/laurb9/PanoController">Pano Controller iOS App</a> (also in development).
+Will need the <a href="https://github.com/laurb9/PanoController">Pano Controller iOS App</a>.
 
 <img src="images/prototype.jpg" width="400" alt="Pano Controller 2.0 Executor Boards installed in Gigapan EPIC 100">
 <img src="images/pano-info.jpg" width="200" alt="Pano Controller 2.0 Information Display">
@@ -20,7 +20,7 @@ Will need the <a href="https://github.com/laurb9/PanoController">Pano Controller
 ### Software
 - **<a href="https://www.facebook.com/panocontroller/videos/1009260305834819/">Zero-motion shutter delay!</a>**
   When gyro is connected, waits for platform to stabilize before triggering. Useful to compensate for tripod stability, platform's own movement or wind gusts.
-- **<a href="https://www.facebook.com/panocontroller/videos/1143955072365341/">Remote Control Demo (2.0)</a>**
+- **<a href="https://www.facebook.com/panocontroller/videos/1488324751261703/">Smooth movement and iOS App Demo (2.1)</a>**
 - Focal length presets from 12 to 600mm. Precise sub-degree movement control.
 - Seamless 360 pano option
 - Display:

examples/PanoController/PanoController.ino

@@ -288,7 +288,7 @@ void loop() {
     /*
      * BLE App async receive & execute thread
      */
-    app.poll(min(micros() - next_event_time, 20));
+    app.poll();
     /*
      * Collect and send state to menu navigator
      */
@@ -307,10 +307,12 @@ void loop() {
         if (!settings.motors_enable || state.running){
             app.sendStatus();
             displayPanoStatus(true);
+            app.poll(20);
         }
     } else {
         display.clearDisplay();
         display.display();
+        app.poll(20);
     }
     /*
      * In-progress pano execution

examples/PanoController/config.h

@@ -31,8 +31,8 @@
 #define MOTOR_RPM 500
 // do these belong in platform settings ?
 // acceleration/deceleration in steps/sec^2
-#define MOTOR_ACCEL 300
-#define MOTOR_DECEL 100
+#define MOTOR_ACCEL 1000
+#define MOTOR_DECEL 500
 
 // board-specific pin settings
 #if defined(ARDUINO_ARCH_SAMD) && defined(ARDUINO_SAMD_FEATHER_M0)

library.properties

@@ -1,5 +1,5 @@
 name=PanoController
-version=2.1.0-beta
+version=2.1.0
 author=Laurentiu Badea
 maintainer=Laurentiu Badea
 sentence=Controller for high-resolution panoramic photography.

src/app_interface.cpp

@@ -9,6 +9,8 @@
 
 #include "app_interface.h"
 
+#define UART_BUFFER_SIZE BLE_BUFSIZE
+
 extern AppInterface app;
 
 AppInterface::AppInterface(Adafruit_BluefruitLE_SPI& ble, PanoSettings& settings, PanoState& state)
@@ -32,13 +34,13 @@ void callbackGattRX(int32_t char_id, uint8_t* data, uint16_t len){
 }
 void callbackUartRX(char data[], uint16_t len){
     //{ debug
-        Serial.print("BLE UART RX len=");
-        Serial.print(len);
-        Serial.print(" data=");
-        for (int i = 0; i < len; i++) { Serial.print(data[i], HEX); Serial.print("-"); };
-        Serial.println("");
-        //} debug
-        app.uartRX((uint8_t *)data, len);
+    Serial.print("BLE UART RX len=");
+    Serial.print(len);
+    Serial.print(" data=");
+    for (int i = 0; i < len; i++) { Serial.print(data[i], HEX); Serial.print("-"); };
+    Serial.println("");
+    //} debug
+    app.uartRX((uint8_t *)data, len);
 }
 void callbackDidConnect(void){
     app.didConnect();
@@ -49,14 +51,14 @@ void callbackDidDisconnect(void){
 
 void AppInterface::begin(){
     ble.sendCommandCheckOK("AT+BAUDRATE=921600");
-    // LED Activity command is only supported from 0.6.6
+    // LED Activity command is only supported from 0.6.6: MODE, BLEUART
     ble.sendCommandCheckOK("AT+HWMODELED=BLEUART");
     ble.sendCommandCheckOK("AT+GAPDEVNAME=Pano Controller");
 
     gatt = new Adafruit_BLEGatt(ble);
     service_id = gatt->addService(SERVICE_UUID);
     config_char_id = gatt->addCharacteristic(CONFIG_CHAR_UUID, GATT_CHARS_PROPERTIES_READ | GATT_CHARS_PROPERTIES_WRITE | GATT_CHARS_PROPERTIES_WRITE_WO_RESP,
-                                             5, 20, BLE_DATATYPE_BYTEARRAY, "Configuration");
+                                             3, 20, BLE_DATATYPE_BYTEARRAY, "Configuration");
     status_char_id = gatt->addCharacteristic(STATUS_CHAR_UUID, GATT_CHARS_PROPERTIES_READ | GATT_CHARS_PROPERTIES_NOTIFY,
                                              sizeof(PanoState), sizeof(PanoState), BLE_DATATYPE_BYTEARRAY, "Status");
     cmd_char_id = gatt->addCharacteristic(CMD_CHAR_UUID, GATT_CHARS_PROPERTIES_WRITE,
@@ -69,7 +71,8 @@ void AppInterface::begin(){
     ble.setDisconnectCallback(callbackDidDisconnect);
     ble.setBleGattRxCallback(config_char_id, callbackGattRX);
     ble.setBleGattRxCallback(cmd_char_id, callbackGattRX);
-    ble.setBleUartRxCallback(callbackUartRX);
+    //ble.setBleUartRxCallback(callbackUartRX); // direct polling is faster than ble.update()
+    ble.setMode(BLUEFRUIT_MODE_DATA);
 }
 
 void AppInterface::sendStatus(){
@@ -78,20 +81,15 @@ void AppInterface::sendStatus(){
 }
 
 void AppInterface::gattRX(int32_t char_id, uint8_t* data, uint16_t len){
-    if (char_id == config_char_id || char_id == cmd_char_id){
-        uartRX(data, len);
-    }
+    uartRX(data, len);
 }
 static bool unpack(settings_t& variable, uint8_t* &data, uint16_t& len){
-    if (len >= 2*sizeof(variable)){
-        len -= 2*sizeof(variable);
-        variable = 0;
-        for (int i=2*sizeof(variable); i; i--){
-            variable = (variable <<= 4) + (*data++ - 0x30);
-        }
+    if (len >= sizeof(variable)){
+        len -= sizeof(variable);
+        memcpy((void*)&variable, data, sizeof(variable));
+        data += sizeof(variable);
         return true;
     }
-    return false;
 }
 void AppInterface::uartRX(uint8_t* data, uint16_t len){
     static uint8_t keyCode;
@@ -123,7 +121,7 @@ void AppInterface::uartRX(uint8_t* data, uint16_t len){
             case 0x66: callbacks.goHome(); break;
             case 0x67: sendStatus(); break;
             case 0x68: // free move
-                if (len >= 2 * 2 * sizeof(settings_t)){
+                if (len >= 2 * sizeof(settings_t)){
                     settings_t horiz_move, vert_move;
                     unpack(horiz_move, data, len);
                     unpack(vert_move, data, len);
@@ -161,5 +159,24 @@ bool AppInterface::isConnected(void){
 }
 
 void AppInterface::poll(uint32_t timeout){
-    ble.update(timeout);
+    static char buffer[UART_BUFFER_SIZE];
+    static char* eob = buffer + UART_BUFFER_SIZE;
+    if (!connected || timeout > 0){
+        ble.update(timeout);
+    } else {
+        char* p = buffer;
+        int c;
+        do {
+            do {
+                // ble.read() can substitute for ble.available() because it can return EOF
+                c = ble.read();
+                if (c == EOF) break;
+                *p++ = (char)c;
+            } while (p < eob);
+
+            if (p != buffer){
+                callbackUartRX(buffer, p-buffer);
+            }
+        } while (p == eob); // we filled the buffer so there may be more to read
+    }
 }

src/app_interface.h

@@ -44,7 +44,7 @@ class AppInterface {
     void begin(void);
     void sendStatus();
     bool isConnected();
-    void poll(uint32_t timeout);
+    void poll(uint32_t timeout = 0);
 
     void gattRX(int32_t char_id, uint8_t* data, uint16_t len);
     void uartRX(uint8_t* data, uint16_t len);

src/pano.cpp

@@ -244,9 +244,7 @@ void Pano::startMove(float h, float v){
 void Pano::endMove(void){
     motors.startBrake();
     // TODO: make this async too later ?
-    while (unsigned long next_event = motors.nextAction()){
-        microWaitUntil(micros() + next_event);
-    }
+    while (motors.nextAction());
 }
 /*
  * Run async operations if needed
@@ -256,12 +254,8 @@ unsigned long Pano::pollEvent(void){
     if (micros() > next_event_time){
         // for now the only async operation is the motor move
         // Pointless at this time because BLE polling takes 4000us and we need 50us spacing.
-        while (motors.isRunning()){
-            next_event_time = motors.nextAction();
-            Serial.println(next_event_time);
-            if (next_event_time < 25){ // if main loop cannot complete this fast, just wait here
-                microWaitUntil(micros() + next_event_time);
-            } else {
+        while (next_event_time = motors.nextAction()){
+            if (next_event_time > 500){ // enough time to yield control to main loop
                 next_event_time = micros() + next_event_time;
                 break;
             }