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This commit is contained in:
baldeau 2024-11-18 23:59:40 +01:00
parent b27676fb9f
commit 91b4bd81e7
3 changed files with 17 additions and 134 deletions
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7
xiao_controller_code/Makefile
View File

@ -4,7 +4,10 @@ prepare:
./flashing_time.py
flash:
tinygo flash -target=xiao-ble
tinygo flash -target=xiao-ble -size=short
production:
tinygo flash -target=xiao-ble -serial=none -size=short -opt=z -gc=leaking -scheduler=tasks
tinygo flash -target=xiao-ble -serial=none -size=short
testing:
tinygo flash -target=xiao-ble -serial=none -size=short -opt=2 -gc=leaking -scheduler=tasks

38
xiao_controller_code/main.go
View File

@ -2,6 +2,7 @@ package main
import (
"encoding/binary"
"fmt"
"machine"
"time"
@ -134,6 +135,7 @@ func main() {
arrAcc := valuesToByteArray(x, y, z, int8(2))
currentTimeStamp = currentTimeStamp.Add(time.Now().Sub(lastTimeStamp))
fmt.Println("TIME: ", time.Now().Sub(lastTimeStamp))
arrTime := timeStampToByteArray(currentTimeStamp.UnixMilli(), int8(3))
senseCharacteristic.Write(arrRot)
@ -149,35 +151,19 @@ func main() {
}
func valuesToByteArray(x int32, y int32, z int32, p int8) []byte {
arr := make([]byte, 13)
arr[0] = byte(x)
arr[1] = byte(x >> 8)
arr[2] = byte(x >> 16)
arr[3] = byte(x >> 24)
arr[4] = byte(y)
arr[5] = byte(y >> 8)
arr[6] = byte(y >> 16)
arr[7] = byte(y >> 24)
arr[8] = byte(z)
arr[9] = byte(z >> 8)
arr[10] = byte(z >> 16)
arr[11] = byte(z >> 24)
arr[12] = byte(p)
return arr
byteSlice := make([]byte, 13)
binary.LittleEndian.PutUint32(byteSlice, uint32(x))
binary.LittleEndian.PutUint32(byteSlice[4:], uint32(y))
binary.LittleEndian.PutUint32(byteSlice[8:], uint32(z))
byteSlice[12] = byte(p)
return byteSlice
}
func timeStampToByteArray(value int64, p int8) []byte {
arr := make([]byte, 9)
arr[0] = byte(value)
arr[1] = byte(value >> 8)
arr[2] = byte(value >> 16)
arr[3] = byte(value >> 24)
arr[4] = byte(value >> 32)
arr[5] = byte(value >> 40)
arr[6] = byte(value >> 48)
arr[7] = byte(value >> 56)
arr[8] = byte(p)
return arr
byteSlice := make([]byte, 9)
binary.LittleEndian.PutUint64(byteSlice, uint64(value))
byteSlice[8] = byte(p)
return byteSlice
}
func must(action string, err error) {

106
xiao_controller_code/test.go
View File

@ -1,106 +0,0 @@
package main
// import (
// "encoding/binary"
// "fmt"
// "unsafe"
// )
// func main() {
// const x int32 = 2017403647
// const y int32 = 1010101010
// const z int32 = 2020202020
// // bytearr := valuesToByteArrayTest(x, y, z, 1)
// // fmt.Println("TEST: ", bytearr)
// // slice := binary.LittleEndian.Uint32(bytearr[0:4])
// // fmt.Println("SLICE:", slice)
// // slice2 := binary.LittleEndian.Uint32(bytearr[4:8])
// // fmt.Println("SLICE2:", slice2)
// bs := make([]byte, 4)
// binary.LittleEndian.PutUint32(bs, uint32(y))
// fmt.Println(bs)
// // buf := make([]byte, 4)
// // arr[0] = byte(x >> 8)
// // buf[0], buf[1], buf[2] = uint8(7676767>>16), uint8(id>>8), uint8(id)
// bytearr := valuesToByteArray3(x, y, z, 1)
// fmt.Println("TEST: ", bytearr)
// slice := binary.LittleEndian.Uint32(bytearr[0:4])
// fmt.Println("SLICE:", slice)
// slice2 := binary.LittleEndian.Uint32(bytearr[4:8])
// fmt.Println("SLICE2:", slice2)
// }
// func valuesToByteArrayOld(x int32, y int32, z int32, p int8) []byte {
// arr := make([]byte, 13)
// for i := 0; i < 12; i++ {
// var test unsafe.Pointer
// var test2 unsafe.Pointer
// var test3 unsafe.Pointer
// if i < 4 {
// test = unsafe.Pointer(&x)
// } else if i < 8 {
// test2 = unsafe.Pointer(&y)
// } else if i < 12 {
// test3 = unsafe.Pointer(&z)
// }
// byt := *(*uint8)(unsafe.Pointer(uintptr(test) + uintptr(i)))
// arr[i] = byt
// }
// arr[12] = byte(p)
// return arr
// }
// func valuesToByteArray1(x int32, y int32, z int32, p int8) []byte {
// arr := make([]byte, 13)
// arr[0] = byte(x)
// arr[1] = byte(x >> 8)
// arr[2] = byte(x >> 16)
// arr[3] = byte(x >> 24)
// arr[4] = byte(y)
// arr[5] = byte(y >> 8)
// arr[6] = byte(y >> 16)
// arr[7] = byte(y >> 24)
// arr[8] = byte(z)
// arr[9] = byte(z >> 8)
// arr[10] = byte(z >> 16)
// arr[11] = byte(z >> 24)
// arr[12] = byte(p)
// return arr
// }
// func valuesToByteArray2(x int32, y int32, z int32, p int8) []byte {
// buf := make([]byte, 13)
// binary.LittleEndian.PutUint32(buf[0:], uint32(x))
// binary.LittleEndian.PutUint32(buf[4:], uint32(y))
// binary.LittleEndian.PutUint32(buf[8:], uint32(z))
// buf[12] = byte(p)
// return buf
// }
// func valuesToByteArray3(x int32, y int32, z int32, p int8) []byte {
// arr := make([]byte, 13)
// for i := 0; i < 12; i++ {
// var test unsafe.Pointer
// if i < 4 {
// test = unsafe.Pointer(&x)
// } else if i < 8 {
// test = unsafe.Pointer(&y)
// } else if i < 12 {
// test = unsafe.Pointer(&z)
// }
// byt := *(*uint8)(unsafe.Pointer(uintptr(test) + uintptr(i)))
// arr[i] = byt
// }
// arr[12] = byte(p)
// return arr
// }