3. Party libs

Author: ArminJo

.github/workflows/LibraryBuild.yml

@@ -91,7 +91,7 @@ jobs:
           repository: ArminJo/Arduino-BlueDisplay
           ref: master
           path: CustomBlueDisplay # must contain string "Custom"
-          # No need to put "Custom" library in the required-libraries list
+          # No need to put this custom library in the required-libraries list
 
       - name: Compile all examples using the arduino-test-compile action
         uses: ArminJo/arduino-test-compile@master
@@ -103,4 +103,4 @@ jobs:
           build-properties: ${{ toJson(matrix.build-properties) }}
           extra-arduino-lib-install-args: "--no-deps" # suppress dependency resolving for libraries, here the "Adafruit Motor Shield V2 Library"
 #          debug-install: true
-          debug-compile: true
+#          debug-compile: true

.github/workflows/PlatformIoPublish.yml

@@ -40,4 +40,3 @@ jobs:
 #      run: |
 #        pio package pack
 #        pio package publish --owner arminjo --non-interactive
-        

examples/BasicDistance/ADCUtils.h

@@ -29,6 +29,9 @@
 #if defined(__AVR__) && defined(ADCSRA) && defined(ADATE) && (!defined(__AVR_ATmega4809__))
 #define ADC_UTILS_ARE_AVAILABLE
 
+// External Reference Current is 150 uA for 5 V and 100 uA for 3.5 V
+#define READING_FOR_AREF 1024L // Datasheet 24.2: The minimum value represents GND and the maximum value represents the voltage on the AREF pin minus 1 LSB
+
 // PRESCALE4 => 13 * 4 = 52 microseconds per ADC conversion at 1 MHz Clock => 19,2 kHz
 #define ADC_PRESCALE2    1 // 26 microseconds per ADC conversion at 1 MHz
 #define ADC_PRESCALE4    2 // 52 microseconds per ADC conversion at 1 MHz

examples/BasicDistance/ADCUtils.hpp

@@ -28,7 +28,7 @@
 #include "ADCUtils.h"
 #if defined(ADC_UTILS_ARE_AVAILABLE) // set in ADCUtils.h, if supported architecture was detected
 
-#if !defined(STR_HELPER)
+#if !defined(STR)
 #define STR_HELPER(x) #x
 #define STR(x) STR_HELPER(x)
 #endif
@@ -58,7 +58,7 @@ union WordUnionForADCUtils {
  * Enable this to see information on each call.
  * Since there should be no library which uses Serial, it should only be enabled for development purposes.
  */
-#if defined(DEBUG) && !defined(LOCAL_DEBUG)
+#if defined(DEBUG)
 #define LOCAL_DEBUG
 #else
 //#define LOCAL_DEBUG // This enables debug output only for this file
@@ -403,7 +403,7 @@ uint16_t readUntil4ConsecutiveValuesAreEqual(uint8_t aADCChannelNumber, uint8_t
         /*
          * Get min and max of the last 4 values
          */
-        tMin = 1024;
+        tMin = READING_FOR_AREF;
         tMax = 0;
         for (uint_fast8_t i = 0; i < 4; ++i) {
             if (tValues[i] < tMin) {
@@ -472,7 +472,7 @@ uint16_t readUntil4ConsecutiveValuesAreEqual(uint8_t aADCChannelNumber, uint8_t
 float getVCCVoltageSimple(void) {
     // use AVCC with (optional) external capacitor at AREF pin as reference
     float tVCC = readADCChannelMultiSamplesWithReference(ADC_1_1_VOLT_CHANNEL_MUX, DEFAULT, 4);
-    return ((1023 * 1.1 * 4) / tVCC);
+    return ((READING_FOR_AREF * 1.1 * 4) / tVCC);
 }
 
 /*
@@ -483,19 +483,19 @@ float getVCCVoltageSimple(void) {
 uint16_t getVCCVoltageMillivoltSimple(void) {
     // use AVCC with external capacitor at AREF pin as reference
     uint16_t tVCC = readADCChannelMultiSamplesWithReference(ADC_1_1_VOLT_CHANNEL_MUX, DEFAULT, 4);
-    return ((1023L * ADC_INTERNAL_REFERENCE_MILLIVOLT * 4) / tVCC);
+    return ((READING_FOR_AREF * ADC_INTERNAL_REFERENCE_MILLIVOLT * 4) / tVCC);
 }
 
 /*
  * Gets the hypothetical 14 bit reading of VCC using 1.1 volt reference
- * Similar to getVCCVoltageMillivolt() * 1023 / 1100
+ * Similar to getVCCVoltageMillivolt() * 1024 / 1100
  */
 uint16_t getVCCVoltageReadingFor1_1VoltReference(void) {
     uint16_t tVCC = waitAndReadADCChannelWithReference(ADC_1_1_VOLT_CHANNEL_MUX, DEFAULT);
     /*
      * Do not switch back ADMUX to enable checkAndWaitForReferenceAndChannelToSwitch() to work correctly for the next measurement
      */
-    return ((1023L * 1023L) / tVCC);
+    return ((READING_FOR_AREF * READING_FOR_AREF) / tVCC);
 }
 
 /*
@@ -519,7 +519,7 @@ uint16_t getVCCVoltageMillivolt(void) {
     /*
      * Do not switch back ADMUX to enable checkAndWaitForReferenceAndChannelToSwitch() to work correctly for the next measurement
      */
-    return ((1023L * ADC_INTERNAL_REFERENCE_MILLIVOLT) / tVCC);
+    return ((READING_FOR_AREF * ADC_INTERNAL_REFERENCE_MILLIVOLT) / tVCC);
 }
 
 /*
@@ -547,7 +547,7 @@ void readAndPrintVCCVoltageMillivolt(Print *aSerial) {
 void readVCCVoltageSimple(void) {
     // use AVCC with (optional) external capacitor at AREF pin as reference
     float tVCC = readADCChannelMultiSamplesWithReference(ADC_1_1_VOLT_CHANNEL_MUX, DEFAULT, 4);
-    sVCCVoltage = (1023 * (((float) ADC_INTERNAL_REFERENCE_MILLIVOLT) / 1000) * 4) / tVCC;
+    sVCCVoltage = (READING_FOR_AREF * (((float) ADC_INTERNAL_REFERENCE_MILLIVOLT) / 1000) * 4) / tVCC;
 }
 
 /*
@@ -558,7 +558,7 @@ void readVCCVoltageSimple(void) {
 void readVCCVoltageMillivoltSimple(void) {
     // use AVCC with external capacitor at AREF pin as reference
     uint16_t tVCCVoltageMillivoltRaw = readADCChannelMultiSamplesWithReference(ADC_1_1_VOLT_CHANNEL_MUX, DEFAULT, 4);
-    sVCCVoltageMillivolt = (1023L * ADC_INTERNAL_REFERENCE_MILLIVOLT * 4) / tVCCVoltageMillivoltRaw;
+    sVCCVoltageMillivolt = (READING_FOR_AREF * ADC_INTERNAL_REFERENCE_MILLIVOLT * 4) / tVCCVoltageMillivoltRaw;
 }
 
 /*
@@ -579,7 +579,7 @@ void readVCCVoltageMillivolt(void) {
     /*
      * Do not switch back ADMUX to enable checkAndWaitForReferenceAndChannelToSwitch() to work correctly for the next measurement
      */
-    sVCCVoltageMillivolt = (1023L * ADC_INTERNAL_REFERENCE_MILLIVOLT) / tVCCVoltageMillivoltRaw;
+    sVCCVoltageMillivolt = (READING_FOR_AREF * ADC_INTERNAL_REFERENCE_MILLIVOLT) / tVCCVoltageMillivoltRaw;
 }
 
 /*
@@ -588,7 +588,7 @@ void readVCCVoltageMillivolt(void) {
  */
 uint16_t getVoltageMillivolt(uint16_t aVCCVoltageMillivolt, uint8_t aADCChannelForVoltageMeasurement) {
     uint16_t tInputVoltageRaw = waitAndReadADCChannelWithReference(aADCChannelForVoltageMeasurement, DEFAULT);
-    return (aVCCVoltageMillivolt * (uint32_t) tInputVoltageRaw) / 1023;
+    return (aVCCVoltageMillivolt * (uint32_t) tInputVoltageRaw) / READING_FOR_AREF;
 }
 
 /*
@@ -597,12 +597,12 @@ uint16_t getVoltageMillivolt(uint16_t aVCCVoltageMillivolt, uint8_t aADCChannelF
  */
 uint16_t getVoltageMillivolt(uint8_t aADCChannelForVoltageMeasurement) {
     uint16_t tInputVoltageRaw = waitAndReadADCChannelWithReference(aADCChannelForVoltageMeasurement, DEFAULT);
-    return (getVCCVoltageMillivolt() * (uint32_t) tInputVoltageRaw) / 1023;
+    return (getVCCVoltageMillivolt() * (uint32_t) tInputVoltageRaw) / READING_FOR_AREF;
 }
 
 uint16_t getVoltageMillivoltWith_1_1VoltReference(uint8_t aADCChannelForVoltageMeasurement) {
     uint16_t tInputVoltageRaw = waitAndReadADCChannelWithReference(aADCChannelForVoltageMeasurement, INTERNAL);
-    return (ADC_INTERNAL_REFERENCE_MILLIVOLT * (uint32_t) tInputVoltageRaw) / 1023;
+    return (ADC_INTERNAL_REFERENCE_MILLIVOLT * (uint32_t) tInputVoltageRaw) / READING_FOR_AREF;
 }
 
 /*

examples/BasicIRControl/TinyIRReceiver.hpp

@@ -62,20 +62,14 @@
  * - USE_ONKYO_PROTOCOL     Like NEC, but take the 16 bit address and command each as one 16 bit value and not as 8 bit normal and 8 bit inverted value.
  * - USE_FAST_PROTOCOL      Use FAST protocol (no address and 16 bit data, interpreted as 8 bit command and 8 bit inverted command) instead of NEC.
  * - ENABLE_NEC2_REPEATS    Instead of sending / receiving the NEC special repeat code, send / receive the original frame for repeat.
- * - USE_CALLBACK_FOR_TINY_RECEIVER   Call the fixed function "void handleReceivedTinyIRData()" each time a frame or repeat is received.
+ * - USE_CALLBACK_FOR_TINY_RECEIVER   Call the user provided function "void handleReceivedTinyIRData()" each time a frame or repeat is received.
  */
 
 #ifndef _TINY_IR_RECEIVER_HPP
 #define _TINY_IR_RECEIVER_HPP
 
 #include <Arduino.h>
 
-#if defined(DEBUG) && !defined(LOCAL_DEBUG)
-#define LOCAL_DEBUG
-#else
-//#define LOCAL_DEBUG // This enables debug output only for this file
-#endif
-
 /*
  * Protocol selection
  */
@@ -84,21 +78,26 @@
 //#define USE_ONKYO_PROTOCOL    // Like NEC, but take the 16 bit address and command each as one 16 bit value and not as 8 bit normal and 8 bit inverted value.
 //#define USE_FAST_PROTOCOL     // Use FAST protocol instead of NEC / ONKYO.
 //#define ENABLE_NEC2_REPEATS // Instead of sending / receiving the NEC special repeat code, send / receive the original frame for repeat.
-#include "TinyIR.h" // If not defined, it defines IR_RECEIVE_PIN, IR_FEEDBACK_LED_PIN and TINY_RECEIVER_USE_ARDUINO_ATTACH_INTERRUPT
+#include "TinyIR.h"
 
 #include "digitalWriteFast.h"
 /** \addtogroup TinyReceiver Minimal receiver for NEC and FAST protocol
  * @{
  */
 
 #if defined(DEBUG)
+#define LOCAL_DEBUG
 #define LOCAL_DEBUG_ATTACH_INTERRUPT
 #else
-//#define LOCAL_DEBUG_ATTACH_INTERRUPT  // to see if attachInterrupt() or static interrupt (by register tweaking) is used
+//#define LOCAL_DEBUG // This enables debug output only for this file
+//#define LOCAL_DEBUG_ATTACH_INTERRUPT  // To see if attachInterrupt() or static interrupt (by register tweaking) is used and no other debug output
 #endif
+
 #if defined(TRACE)
+#define LOCAL_TRACE
 #define LOCAL_TRACE_STATE_MACHINE
 #else
+//#define LOCAL_TRACE // This enables trace output only for this file
 //#define LOCAL_TRACE_STATE_MACHINE  // to see the state of the ISR (Interrupt Service Routine) state machine
 #endif
 
@@ -110,6 +109,8 @@ volatile TinyIRReceiverCallbackDataStruct TinyIRReceiverData;
 /*
  * Set input pin and output pin definitions etc.
  */
+//#define IR_RECEIVE_PIN          2
+//#define IR_FEEDBACK_LED_PIN     LED_BUILTIN
 #if defined(IR_INPUT_PIN)
 #warning "IR_INPUT_PIN is deprecated, use IR_RECEIVE_PIN"
 #define IR_RECEIVE_PIN  IR_INPUT_PIN
@@ -129,7 +130,7 @@ volatile TinyIRReceiverCallbackDataStruct TinyIRReceiverData;
 #endif
 
 #if !defined(IR_FEEDBACK_LED_PIN) && defined(LED_BUILTIN)
-#define IR_FEEDBACK_LED_PIN    LED_BUILTIN
+#define IR_FEEDBACK_LED_PIN     LED_BUILTIN
 #endif
 
 #if !( \
@@ -150,7 +151,7 @@ volatile TinyIRReceiverCallbackDataStruct TinyIRReceiverData;
  * Declaration of the callback function provided by the user application.
  * It is called every time a complete IR command or repeat was received.
  */
-extern void handleTinyReceivedIRData();
+extern void handleReceivedTinyIRData();
 
 #if defined(LOCAL_DEBUG)
 uint32_t sMicrosOfGap; // The length of the gap before the start bit
@@ -569,26 +570,31 @@ bool enablePCIInterruptForTinyReceiver() {
 
 #if defined(USE_ATTACH_INTERRUPT) || defined(USE_ATTACH_INTERRUPT_DIRECT)
 #  if defined(USE_ATTACH_INTERRUPT)
-#if defined(NOT_AN_INTERRUPT)
+#    if defined(NOT_AN_INTERRUPT) // check if IDE has defined the check of digitalPinToInterrupt
     if(digitalPinToInterrupt(IR_RECEIVE_PIN) == NOT_AN_INTERRUPT){
         return false;
     }
-#endif
+#    endif
     // costs 112 bytes program memory + 4 bytes RAM
+#    if defined(ARDUINO_ARCH_SAMD) // see https://www.arduino.cc/reference/tr/language/functions/external-interrupts/attachinterrupt/ paragraph: Syntax
+    attachInterrupt(IR_RECEIVE_PIN, IRPinChangeInterruptHandler, CHANGE); // no extra pin mapping here :-(
+#    else
     attachInterrupt(digitalPinToInterrupt(IR_RECEIVE_PIN), IRPinChangeInterruptHandler, CHANGE);
+#    endif
 #  else
+    // USE_ATTACH_INTERRUPT_DIRECT here, only defined for ATtinies *16, see above
     // 2.2 us more than version configured with macros and not compatible
     attachInterrupt(IR_RECEIVE_PIN, IRPinChangeInterruptHandler, CHANGE); // no extra pin mapping here
 #  endif
 
 #  if defined(LOCAL_DEBUG_ATTACH_INTERRUPT)
     Serial.println(F("Use attachInterrupt for pin=" STR(IR_RECEIVE_PIN)));
 #  endif
-
 #else
 #  if defined(LOCAL_DEBUG_ATTACH_INTERRUPT)
     Serial.println(F("Use static interrupt for pin=" STR(IR_RECEIVE_PIN)));
 #  endif
+
 #  if defined(USE_INT0)
     // interrupt on any logical change
     EICRA |= _BV(ISC00);

examples/IRDispatcherControl/Distance.hpp

@@ -626,10 +626,10 @@ int8_t scanForTargetAndPrint(uint8_t aMaximumTargetDistance) {
             }
 
             // Clear old line
-            BlueDisplay1.drawVectorDegrees(US_DISTANCE_MAP_ORIGIN_X, US_DISTANCE_MAP_ORIGIN_Y,
+            BlueDisplay1.drawVectorDegree(US_DISTANCE_MAP_ORIGIN_X, US_DISTANCE_MAP_ORIGIN_Y,
                     sRawForwardDistancesArray[tIndex], tServoDegreeToScan, COLOR16_WHITE, 3);
             // draw new one and store value in distances array for clearing at next scan
-            BlueDisplay1.drawVectorDegrees(US_DISTANCE_MAP_ORIGIN_X, US_DISTANCE_MAP_ORIGIN_Y, tCentimeter, tServoDegreeToScan,
+            BlueDisplay1.drawVectorDegree(US_DISTANCE_MAP_ORIGIN_X, US_DISTANCE_MAP_ORIGIN_Y, tCentimeter, tServoDegreeToScan,
                     tColor, 3);
             sRawForwardDistancesArray[tIndex] = tCentimeter;
         }
@@ -673,7 +673,7 @@ int8_t scanForTargetAndPrint(uint8_t aMaximumTargetDistance) {
      * Print results
      */
 #if defined(USE_BLUE_DISPLAY_GUI)
-    sprintf_P(sBDStringBuffer, PSTR("rotation:%3d\xB0 distance:%3dcm"), tRotationDegree, tMinDistance); // \xB0 is degree character
+    snprintf_P(sBDStringBuffer, sizeof(sBDStringBuffer), PSTR("rotation:%3d\xB0 distance:%3dcm"), tRotationDegree, tMinDistance); // \xB0 is degree character
     BlueDisplay1.drawText(BUTTON_WIDTH_3_5_POS_2, US_DISTANCE_MAP_ORIGIN_Y + TEXT_SIZE_11, sBDStringBuffer, TEXT_SIZE_11,
             COLOR16_BLACK, COLOR16_WHITE);
 #else
@@ -819,9 +819,9 @@ bool __attribute__((weak)) fillAndShowForwardDistancesInfo(bool aDoFirstValue, b
             /*
              * Clear old and draw new distance line
              */
-            BlueDisplay1.drawVectorDegrees(US_DISTANCE_MAP_ORIGIN_X, US_DISTANCE_MAP_ORIGIN_Y,
+            BlueDisplay1.drawVectorDegree(US_DISTANCE_MAP_ORIGIN_X, US_DISTANCE_MAP_ORIGIN_Y,
                     sForwardDistancesInfo.RawDistancesArray[tIndex], tCurrentDegrees, COLOR16_WHITE, 3);
-            BlueDisplay1.drawVectorDegrees(US_DISTANCE_MAP_ORIGIN_X, US_DISTANCE_MAP_ORIGIN_Y, tCentimeter, tCurrentDegrees, tColor,
+            BlueDisplay1.drawVectorDegree(US_DISTANCE_MAP_ORIGIN_X, US_DISTANCE_MAP_ORIGIN_Y, tCentimeter, tCurrentDegrees, tColor,
                     3);
         }
 
@@ -862,7 +862,7 @@ void drawForwardDistancesInfos() {
         /*
          * Draw line
          */
-        BlueDisplay1.drawVectorDegrees(US_DISTANCE_MAP_ORIGIN_X, US_DISTANCE_MAP_ORIGIN_Y, tDistance, tCurrentDegrees, tColor, 3);
+        BlueDisplay1.drawVectorDegree(US_DISTANCE_MAP_ORIGIN_X, US_DISTANCE_MAP_ORIGIN_Y, tDistance, tCurrentDegrees, tColor, 3);
         tCurrentDegrees += DEGREES_PER_STEP;
     }
 }
@@ -1024,7 +1024,7 @@ void doWallDetection() {
                 tNextDistanceOriginal = tNextDistanceComputed;
 #if defined(USE_BLUE_DISPLAY_GUI)
                 if (sCurrentPage == PAGE_AUTOMATIC_CONTROL) {
-                    BlueDisplay1.drawVectorDegrees(US_DISTANCE_MAP_ORIGIN_X, US_DISTANCE_MAP_ORIGIN_Y, tNextDistanceComputed,
+                    BlueDisplay1.drawVectorDegree(US_DISTANCE_MAP_ORIGIN_X, US_DISTANCE_MAP_ORIGIN_Y, tNextDistanceComputed,
                             tCurrentAngleToCheck, COLOR16_WHITE, 1);
                 }
 #endif
@@ -1098,7 +1098,7 @@ void doWallDetection() {
                     tNextValue = tNextValueComputed;
 #if defined(USE_BLUE_DISPLAY_GUI)
                     if (sCurrentPage == PAGE_AUTOMATIC_CONTROL) {
-                        BlueDisplay1.drawVectorDegrees(US_DISTANCE_MAP_ORIGIN_X, US_DISTANCE_MAP_ORIGIN_Y, tNextValueComputed,
+                        BlueDisplay1.drawVectorDegree(US_DISTANCE_MAP_ORIGIN_X, US_DISTANCE_MAP_ORIGIN_Y, tNextValueComputed,
                                 tCurrentAngleToCheck, COLOR16_WHITE, 1);
                     }
 #endif

examples/IRDispatcherControl/IRCommandDispatcher.hpp

@@ -59,7 +59,7 @@
 #else
 //#define LOCAL_INFO // This enables info output only for this file
 #endif
-#if defined(DEBUG) && !defined(LOCAL_DEBUG)
+#if defined(DEBUG)
 #define LOCAL_DEBUG
 // Propagate debug level
 #define LOCAL_INFO
@@ -78,7 +78,7 @@ IRCommandDispatcher IRDispatcher;
 #endif
 
 #if defined(USE_TINY_IR_RECEIVER)
-#define USE_CALLBACK_FOR_TINY_RECEIVER  // Call the fixed function "void handleReceivedTinyIRData()" each time a frame or repeat is received.
+#define USE_CALLBACK_FOR_TINY_RECEIVER  // Call the user provided function "void handleReceivedTinyIRData()" each time a frame or repeat is received.
 #include "TinyIRReceiver.hpp" // included in "IRremote" library
 
 void IRCommandDispatcher::init() {

examples/IRDispatcherControl/RobotCarUtils.hpp

@@ -249,14 +249,14 @@ bool readVINVoltage() {
 // tVIN * 0,01182795
 #if defined(VIN_VOLTAGE_CORRECTION)
     // we have a diode (requires 0.8 to 0.9 volt) between LiIon and VIN
-        sVINVoltage = (tVINRawSum * ((VOLTAGE_DIVIDER_DIVISOR * (ADC_INTERNAL_REFERENCE_MILLIVOLT / (1000.0 * NUMBER_OF_VIN_SAMPLES))) / 1023)) + VIN_VOLTAGE_CORRECTION;
+        sVINVoltage = (tVINRawSum * ((VOLTAGE_DIVIDER_DIVISOR * (ADC_INTERNAL_REFERENCE_MILLIVOLT / (1000.0 * NUMBER_OF_VIN_SAMPLES))) / 1024)) + VIN_VOLTAGE_CORRECTION;
 #else
     /*
      * Here voltage correction is 0 volt.
      * tVINRawSum * 0.000591
      */
     sVINVoltage = tVINRawSum
-            * ((VOLTAGE_DIVIDER_DIVISOR * (ADC_INTERNAL_REFERENCE_MILLIVOLT / 1000.0)) / (1023.0 * NUMBER_OF_VIN_SAMPLES));
+            * ((VOLTAGE_DIVIDER_DIVISOR * (ADC_INTERNAL_REFERENCE_MILLIVOLT / 1000.0)) / (1024.0 * NUMBER_OF_VIN_SAMPLES));
 #endif
     // resolution is about 5 mV and we display in a 10 mV resolution -> compare with (2 * NUMBER_OF_VIN_SAMPLES)
     if (abs(sLastVINRawSum - tVINRawSum) > (2 * NUMBER_OF_VIN_SAMPLES)) {
@@ -283,7 +283,7 @@ void readVINVoltageAndAdjustDriveSpeedAndPrint() {
     RobotCar.setDriveSpeedPWMFor2Volt(sVINVoltage);
     PWMDcMotor::MotorPWMHasChanged = true; // to force a new display of motor voltage
 
-    sprintf_P(sBDStringBuffer, PSTR("2 volt PWM %3d -> %3d"), tOldDriveSpeedPWM, RobotCar.rightCarMotor.DriveSpeedPWMFor2Volt);
+    snprintf_P(sBDStringBuffer, sizeof(sBDStringBuffer), PSTR("2 volt PWM %3d -> %3d"), tOldDriveSpeedPWM, RobotCar.rightCarMotor.DriveSpeedPWMFor2Volt);
     BlueDisplay1.debug(sBDStringBuffer);
 #  else
     Serial.print(F("2 volt PWM: "));