Updated PID values with Ziegler/Nichols

common/app/pixy_control.c

@@ -0,0 +1,73 @@
+/*
+ * pixy_control.c
+ *
+ * Notation
+ * --------
+ *
+ * x    :   Sollwert (Führgrösse)
+ * w    :   Istwert (Reglergrösse)
+ * esum :   Integralteil
+ * e    :   Regelabweichung
+ * y    :   Stellgrösse
+ *
+ *
+ */
+#include<pixy_control.h>
+#include<stdint.h>
+
+// PID tuning factors
+#define REG_PID_KP      (0.41f)
+#define REG_PID_KI      (0.001f)
+#define REG_PID_KD      (0.00025f)
+#define REG_PID_TA      (0.001f)
+#define REG_PID_YKOR    (0.3f)
+
+void int_init(void){  
+    // TODO Init ports and outputs if needed.
+}
+
+// PID controller implementatoin for the y-axis
+int16_t pixy_PID_Y(int16_t x, int16_t w)
+{
+    float e = 0;
+    static float esum = 0;
+    static float eold = 0;
+    float y = 0;
+
+    e = (float)(x - w);                         // calculate the controller offset
+
+    //----PID-control-------------------------------------------------------------------------
+    esum = esum + e;                            // add e to the current sum
+
+    y += (REG_PID_KP + REG_PID_YKOR) * e;       // add the proportional part to the output
+    y += REG_PID_KI * REG_PID_TA * esum;        // add the integral part to the output
+    y += REG_PID_KD * (e - eold) / REG_PID_TA;  // add the differential part to the output
+    //----------------------------------------------------------------------------------------
+
+    eold = e;                                   // save the previous value
+
+    return (int16_t)y;
+}
+
+// PID controller implementation for the x-axis
+int16_t pixy_PID_X(int16_t x, int16_t w)
+{
+    float e = 0;
+    static float esum = 0;
+    static float eold = 0;
+    float y = 0;
+
+    e = (float)(x - w);                         // calculate the controller offset
+
+    //----PID-control-------------------------------------------------------------------------
+    esum = esum + e;                            // add e to the current sum
+
+    y += REG_PID_KP * e;                        // add the proportional part to the output
+    y += REG_PID_KI * REG_PID_TA * esum;        // add the integral part to the output
+    y += REG_PID_KD * (e - eold) / REG_PID_TA;  // add the differential part to the output
+    //----------------------------------------------------------------------------------------
+
+    eold = e;                                   // save the previous value
+
+    return (int16_t)y;
+}

common/app/pixy_control.h

@@ -0,0 +1,14 @@
+/* 
+ * pixy_control.h
+ */
+
+#ifndef _CONTROL_H_
+#define _CONTROL_H_
+
+#include<stdint.h>
+
+void int_init(void);
+int16_t pixy_PID_Y(int16_t x, int16_t w);
+int16_t pixy_PID_X(int16_t x, int16_t w);
+
+#endif

common/app/screen_tracking.c

@@ -1,4 +1,5 @@
 #include "screen_tracking.h"
+#include "pixy_control.h"
 #include "button.h"
 #include "checkbox.h"
 #include "tft.h"
@@ -80,12 +81,19 @@ typedef struct {
 } TRACKING_CONFIG_STRUCT;
 
 //Methods for our tracking implementation ahead
+static int16_t servo_x = 0;
+static int16_t servo_y = 0;
 
 //Method/Callback to start our tracking
 void tracking_our_start(void* tracking_config) {
 	//Activate pixy's data send program
 	int32_t response;
 	int return_value;
+
+    servo_x = servo_y = 500;                // set a default value of 500
+    pixy_rcs_set_position(0, servo_x);      // set default 
+    pixy_rcs_set_position(1, servo_y);      // set default
+
 	return_value = pixy_command("runprog", INT8(0), END_OUT_ARGS,  &response, END_IN_ARGS);
 }
 
@@ -99,8 +107,31 @@ void tracking_our_stop(void* tracking_config) {
 
 //Method/Callback to calculate one step of our tracking
 void tracking_our_update(void* tracking_config, struct Block* blocks, int num_blocks) {
-	//TODO: Implement tracking!
+
-	//Calculate new servo pos and set the new servo pos
+    if(num_blocks <= 0){                    // Check if there are blocks available
+        return;                             // When there are none, do nothing
+    }
+    
+    uint16_t x = blocks[0].x;               // Get x coordinate of the biggest object
+    uint16_t y = blocks[0].y;               // Get y coordinate of the biggest object
+
+    int16_t xset = 0;                       
+    int16_t yset = 0;
+
+    xset = (servo_x + pixy_PID_X((FRAME_WIDTH / 2), x));    // calculate the PID output for x
+    yset = (servo_y - pixy_PID_Y((FRAME_HEIGHT / 2), y));   // calculate the PID output for y
+    
+    xset = (xset < 0) ? 0 : xset;           // x lower boundary check
+    xset = (xset > 1000) ? 1000 : xset;     // x upper boundary check
+    
+    yset = (yset < 0) ? 0 : yset;           // y lower boundary check
+    yset = (yset > 1000) ? 1000 : yset;     // y upper boundary check
+
+    servo_x = xset;                         // update the global, static variable for x
+    servo_y = yset;                         // update the global, statuc variable for y
+
+    pixy_rcs_set_position(0, servo_x);      // set the new x position
+    pixy_rcs_set_position(1, servo_y);      // set the new y position
 }
 
 //Variable which stores all the callbacks and settings for our tracking implementation

common/gui/screen.c

@@ -6,6 +6,10 @@
  * This makes it safe to change the screen from an touch interrupt (e.g. button callback)
  */
 
+/* Possible Improvements:
+ * Ensure that you can not navigate to a screen which is already in the history (because it will corrupt the list)
+ */
+
 static SCREEN_STRUCT* screen_list = NULL; //Head of the linked list which stores the screen history.
 static SCREEN_STRUCT* screen_current = NULL; //Pointer to the current screen (= tail of the list)
 static volatile SCREEN_STRUCT* screen_goto = NULL; //Screen we should navigate to once we enter the gui_screen_update() method again

common/gui/screen.h

@@ -44,6 +44,7 @@ typedef struct SCREEN_S{
 /**
  * Navigate to the given screen as soon as the app enters the main loop again (and gui_screen_update() is called)
  * It's safe to call this method from an interrupt
+ * @note Do not pass a screen which is already in your history of screens!
  * @param screen A Pointer to the preinitialized SCREEN_STRUCT
  * @return true on success
  */

common/touch/touch.c

@@ -12,7 +12,6 @@
 
 /* Possible improvements:
  * Exchange pointer-list "areas" with a linked list. This would ensure that we can always accept new regions
- * Implement calibration stuff, and calculate the real coordinates out of the data provided in touch_add_raw_event()
  */
 
 #define NUM_AREAS 50    //Number of Touch Areas we can manage

discovery/src/ll_tft.c

@@ -273,7 +273,7 @@ static bool gpio_init()
     RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_GPIOD,ENABLE);
     RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_GPIOE,ENABLE);
     
-    // PORT_B init -------------------------------------------------------------------------------------
+    // PORT_B init 
     GPIO_InitStructure.GPIO_Pin     = GPIO_Pin_0;              
     GPIO_InitStructure.GPIO_Mode    = GPIO_Mode_OUT;
     GPIO_InitStructure.GPIO_OType   = GPIO_OType_PP;
@@ -282,7 +282,7 @@ static bool gpio_init()
     // configure PORT_B
     GPIO_Init(GPIOB, &GPIO_InitStructure);  
     
-    // PORT_D init -------------------------------------------------------------------------------------
+    // PORT_D init
     GPIO_PinAFConfig(GPIOD, GPIO_PinSource0,  GPIO_AF_FSMC); // PD0=FSMC_D2   -> DB2
     GPIO_PinAFConfig(GPIOD, GPIO_PinSource1,  GPIO_AF_FSMC); // PD1=FSMC_D3   -> DB3
     GPIO_PinAFConfig(GPIOD, GPIO_PinSource4,  GPIO_AF_FSMC); // PD4=FSMC_NOE  -> RD
@@ -305,7 +305,7 @@ static bool gpio_init()
     // configure PORT_D
     GPIO_Init(GPIOD, &GPIO_InitStructure);   
     
-    // PORT_E init --------------------------------------------------------------------------------------
+    // PORT_E init
     GPIO_PinAFConfig(GPIOE, GPIO_PinSource3,  GPIO_AF_FSMC); // PE3=FSMC_A19  -> RS
     GPIO_PinAFConfig(GPIOE, GPIO_PinSource7,  GPIO_AF_FSMC); // PE7=FSMC_D4   -> DB4
     GPIO_PinAFConfig(GPIOE, GPIO_PinSource8,  GPIO_AF_FSMC); // PE8=FSMC_D5   -> DB5  
@@ -316,6 +316,7 @@ static bool gpio_init()
     GPIO_PinAFConfig(GPIOE, GPIO_PinSource13, GPIO_AF_FSMC); // PE13=FSMC_D10 -> DB12
     GPIO_PinAFConfig(GPIOE, GPIO_PinSource14, GPIO_AF_FSMC); // PE14=FSMC_D11 -> DB13
     GPIO_PinAFConfig(GPIOE, GPIO_PinSource15, GPIO_AF_FSMC); // PE15=FSMC_D12 -> DB14
+   
     // PORT_E struct
     GPIO_InitStructure.GPIO_Pin = GPIO_Pin_3 | GPIO_Pin_7 | GPIO_Pin_8 | GPIO_Pin_9 |
                                 GPIO_Pin_10 | GPIO_Pin_11 | GPIO_Pin_12 | GPIO_Pin_13 |
@@ -325,6 +326,7 @@ static bool gpio_init()
     GPIO_InitStructure.GPIO_Speed = GPIO_Speed_100MHz;
     GPIO_InitStructure.GPIO_OType = GPIO_OType_PP;
     GPIO_InitStructure.GPIO_PuPd  = GPIO_PuPd_NOPULL;
+  
     // configure PORT_E
     GPIO_Init(GPIOE, &GPIO_InitStructure);
 
@@ -334,6 +336,8 @@ static bool gpio_init()
 /*
  * ---------------------- display control functions -------------------------------------------------------
  */
+
+// Clear the whole screen by filling it with a specifig color
 void ll_tft_clear(uint16_t color) 
 {
     uint32_t n = 0;
@@ -346,6 +350,7 @@ void ll_tft_clear(uint16_t color)
     }
 }
 
+// Set the cursorposition
 static void tft_set_cursor(uint16_t xpos, uint16_t ypos)
 {
     // set cursor
@@ -354,52 +359,59 @@ static void tft_set_cursor(uint16_t xpos, uint16_t ypos)
     TFT_REG = TFT_SSD1289_REG_22;
 }
 
+// Enable / Disable the backlight
 static void tft_set_backlight(bool state) 
 {
-    if(state){
+    if(state){                      // if state is true
-        GPIOB->BSRRH = GPIO_Pin_0;
+        GPIOB->BSRRH = GPIO_Pin_0;  // set the backlight output
-    } else {
+    } else {                        // else
-        GPIOB->BSRRL = GPIO_Pin_0;    
+        GPIOB->BSRRL = GPIO_Pin_0;  // reset the backlight    
     }
 }
 
+// Port operations on the screen RS PIN
 static void tft_reset(bool state) 
 {
-    if(state){
+    if(state){                      // if state is ture
-        GPIOB->BSRRH = GPIO_Pin_0;
+        GPIOB->BSRRH = GPIO_Pin_0;  // Set the reset pin
-    } else {
+    } else {                        // else
-        GPIOB->BSRRL = GPIO_Pin_0;    
+        GPIOB->BSRRL = GPIO_Pin_0;  // reset the reset pin
     }
 }
 
+// Send a single command to the display controller
 static void tft_write_reg(uint8_t reg_adr, uint16_t reg_value)
 {
-    TFT_REG = reg_adr;
+    TFT_REG = reg_adr;      // set adress
-    TFT_RAM = reg_value;  
+    TFT_RAM = reg_value;    // send command
 }
 
+// Read a register value of the display controller
 static uint16_t tft_read_reg(uint8_t reg_adr)
 {
-    TFT_REG = reg_adr;
+    TFT_REG = reg_adr;      // set adress
-    return TFT_RAM;
+    return TFT_RAM;         // return value
 }
 
+// This sets a window for current draw functions
 static void tft_set_window(uint16_t xstart, uint16_t ystart, uint16_t xend, uint16_t yend)
 {
     uint16_t start,end;
     uint16_t ystart_end;
 
-    start = (ystart & 0x00FF);
+    start = (ystart & 0x00FF);              // Start adress of the window
-    end = ((yend & 0x00FF) << 8);
+    end = ((yend & 0x00FF) << 8);           // End adress of the window
-    ystart_end = (start | end);
+    ystart_end = (start | end);             // Calculate y endpoint 
 
-    tft_write_reg(TFT_SSD1289_REG_44, ystart_end);  
+    tft_write_reg(TFT_SSD1289_REG_44, ystart_end);      // Send y size
-    tft_write_reg(TFT_SSD1289_REG_45, 319-xend);
+    tft_write_reg(TFT_SSD1289_REG_45, 319-xend);        // Send x start
-    tft_write_reg(TFT_SSD1289_REG_46, 319-xstart);
+    tft_write_reg(TFT_SSD1289_REG_46, 319-xstart);      // Send x end
 }
 
+// Reset a Window
 void tft_reset_window()
 {
+    // Commands according to the datasheet
     tft_write_reg(0x44, 239 << 8);
     tft_write_reg(0x45, 0);
     tft_write_reg(0x46, 319);
@@ -409,6 +421,7 @@ void tft_reset_window()
  * ---------------------- draw functions -----------------------------------------------------------
  */
 
+// Draw a line on the given coordinates
 void ll_tft_draw_line(uint16_t x1, uint16_t y1, uint16_t x2, uint16_t y2, uint16_t color) 
 {
     if(abs(x2-x1) > abs(y2-y1)) //line has more distance in x than y => iterate over x distance
@@ -462,12 +475,14 @@ void ll_tft_draw_line(uint16_t x1, uint16_t y1, uint16_t x2, uint16_t y2, uint16
     } 
 }
 
+// Draw a single pixel on (x,y) with the given color
 void ll_tft_draw_pixel(uint16_t x,uint16_t y,uint16_t color) 
 {
-    tft_set_cursor(x,y);
+    tft_set_cursor(x,y);            // Set the cursor position
-    TFT_RAM = color;
+    TFT_RAM = color;                // Draw the pixel
 }
 
+// Draw a rectangle at the given coordinates with the given color
 void ll_tft_draw_rectangle(uint16_t x1, uint16_t y1, uint16_t x2, uint16_t y2, uint16_t color) 
 {
     unsigned int tmp;
@@ -508,6 +523,7 @@ void ll_tft_draw_rectangle(uint16_t x1, uint16_t y1, uint16_t x2, uint16_t y2, u
     
 }
 
+// Draw a filled rectangle at the given coordinates with the given color
 void ll_tft_fill_rectangle(uint16_t x1,uint16_t y1,uint16_t x2,uint16_t y2, uint16_t color)
 {
     uint16_t area;

emulator/.gitignore

@@ -5,9 +5,8 @@ qt/*.o
 qt/*.a
 qt/ui_*
 qt/moc_*
-qt/Makefile*
+qt/Makefile
-qt/debug
+
-qt/release
 
 libs/*/obj
 libs/*/*.a

emulator/Makefile

@@ -10,7 +10,7 @@ QT_DIR=./qt
 COMMON_DIR=../common
 
 #Tools
-CC=gcc #-fdiagnostics=auto
+CC=gcc -fdiagnostics-color=auto
 GDB=gdb
 
 
@@ -24,22 +24,17 @@ INCLUDES:=$(addprefix -I,$(INCLUDES))
 QT_LIB=$(QT_DIR)/libemulatorqt.a
 
 
-CPPFLAGS= -march=x86-64 -mtune=generic #-fPIC 
+CPPFLAGS= -march=x86-64 -mtune=generic -fPIC $(INCLUDES)
-CPPFLAGS+= $(INCLUDES)
 CFLAGS= -O0 -g -std=c99
 
 
-LIBS= emulatorqt pixy usb-1.0 
+LIBS= pixy usb-1.0 boost_system boost_timer boost_chrono
-LIBS+= boost_system-mgw49-mt-1_58 boost_timer-mgw49-mt-1_58 boost_chrono-mgw49-mt-1_58
+LIBS+=Qt5Core Qt5Gui Qt5Widgets emulatorqt m stdc++
-LIBS+= Qt5Core Qt5Gui Qt5Widgets  m stdc++ 
 
-LDFLAGS= -static-libgcc -static-libstdc++ #-Wl,-t  -Wl,--Map=a.map
+
-LDFLAGS+= -L$(QT_DIR)
+LDFLAGS= -L$(QT_DIR) $(addprefix -l,$(LIBS)) 
 LDFLAGS+= -L$(LIB_DIR)/Pixy 
-LDFLAGS+= -L$(LIB_DIR)/boost/lib
+
-LDFLAGS+= -LC:/Qt/5.4/mingw491_32/lib
-LDFLAGS+= -L$(LIB_DIR)/Pixy/windows
-LDFLAGS+= $(addprefix -l,$(LIBS)) 
 
 #Finding Input files
 CFILES=$(shell find . -maxdepth 1 -name '*.c')
@@ -63,7 +58,7 @@ debug: all
 	$(GDB) ./build/emulator
 
 $(QT_LIB): 
-	cd $(QT_DIR) && qmake && $(MAKE)
+	cd $(QT_DIR) && qmake &&make
 
 #objects to elf
 $(BUILD_DIR)/$(TARGET): $(OBJS) $(COMMON_OBJS) $(QT_LIB)
@@ -88,7 +83,7 @@ $(OBJ_DIR)/%.o: $(COMMON_DIR)/%.c
 
 #Clean Obj files and builded stuff
 clean:
-	cd $(QT_DIR) && $(MAKE) clean && $(RM) Makefile* && $(RM) *.a && $(RMDIR) debug release
+	cd $(QT_DIR) && $(MAKE) clean && $(RM) Makefile && $(RM) *.a
 	$(RMDIR) $(BUILD_DIR) $(OBJ_DIR)
 
 

emulator/libs/Pixy/Makefile

@@ -17,13 +17,11 @@ OBJ_DIR=./obj
 #Architecture flags
 
 #Compiler, Linker Options
-CPPFLAGS=-I$(INC_DIR) -DHOST=1  #-D__LINUX__=1 -DDEBUG=1
+CPPFLAGS=-I$(INC_DIR) -D__LINUX__=1 -DHOST=1 #-DDEBUG=1
 CFLAGS=$(ARCH_FLAGS) -O0 -g #-ffunction-sections -fdata-sections -g
 #CFLAGS += -mlittle-endian -mthumb -mcpu=cortex-m4 -mthumb-interwork
 #CFLAGS += -mfloat-abi=hard -mfpu=fpv4-sp-d16
 CFLAGS+=-I/usr/include/libusb-1.0
-CFLAGS+=-I../boost/include/
-CFLAGS+=-I./windows/
 
 #Finding Input files
 CFILES=$(shell find $(SRC_DIR) -name '*.cpp')

emulator/libs/boost/.gitignore

@@ -1,2 +0,0 @@
-include
-lib

emulator/libs/boost/readme.txt

@@ -1,2 +0,0 @@
-This directory is only needed on windows, and if you do not have boost installed.
-Extract the rar file here, to get boost 1.58 header files and the libraries that we need for discoverpixy

emulator/qt/emulatorqt.pro

@@ -8,7 +8,7 @@ QT       += widgets gui
 
 TARGET = emulatorqt
 TEMPLATE = lib
-CONFIG += staticlib debug
+CONFIG += staticlib
 
 SOURCES += \
     mainwindow.cpp \
@@ -30,6 +30,3 @@ INCLUDEPATH+= ../../common/lowlevel/ \
 FORMS += \
     mainwindow.ui
 
-DESTDIR = $$_PRO_FILE_PWD_ #force windows to not create subfolders
-
-#QMAKE_CXXFLAGS+= -v

emulator/qt/ll_filesystem.cpp

@@ -7,51 +7,53 @@ extern "C" {
 #include <QFileInfoList>
 #include <QDateTime>
 
-QDir rootdir ("./emulated");
+QDir rootdir ("./emulated"); //Create a QDir which points to the "root" of the emulated filesystem
 
 bool ll_filesystem_init() {
-    if(!rootdir.exists()) {
+    if(!rootdir.exists()) { //if our root dir is nonexistent
         qWarning() << "Filesystem can not be emulated because the 'emulated' folder does not exist";
-        return false;
+        return false; //mark an error
     }
     return true;
 }
 
 DIRECTORY_STRUCT* ll_filesystem_dir_open(const char* path) {
-    QDir d(rootdir);
+    QDir d(rootdir); //Make a copy of the rootdir QDir instance
-    d.cd(path);
+    d.cd(path); //Change the directory to the passed path
     if(!d.exists()) {
-        return NULL;
+        return NULL; //mark an error
     }
 
     DIRECTORY_STRUCT* directory = new DIRECTORY_STRUCT();
+    //get all files and directories which are important to us. Filter out . and .. symlinks (linux)
     QFileInfoList entries = d.entryInfoList(QDir::NoDotAndDotDot|QDir::Files|QDir::Dirs|QDir::Readable|QDir::Writable|QDir::Hidden|QDir::System);
+    //Fill the directory structure for the user
     directory->path = path;
     directory->num_files = entries.count();
-    directory->files =  new FILE_STRUCT[directory->num_files];
+    directory->files =  new FILE_STRUCT[directory->num_files]; //allocate array of file structs
 
-
+    for(int i=0; i<entries.count(); i++){ //foreach file that we found
-    for(int i=0; i<entries.count(); i++){
         QFileInfo fi = entries.at(i);
-        FILE_STRUCT* entry = &(directory->files[i]);
+        FILE_STRUCT* entry = &(directory->files[i]); //get the pointer to the current filestruct (which should be filled)
         entry->fattrib = 0;
-        entry->fname = new char[fi.fileName().length()+1];
+        entry->fname = new char[fi.fileName().length()+1]; //reserve memory for filename
-        strcpy(entry->fname,fi.fileName().toStdString().c_str());
+        strcpy(entry->fname,fi.fileName().toStdString().c_str()); //copy filename into struct
-        if(fi.isDir()) {
+        if(fi.isDir()) { //it's a direcory
-            entry->fattrib|=F_DIR;
+            entry->fattrib|=F_DIR; //set directory attribute
             entry->fsize = 0;
-        } else {
+        } else { //it's a file
-            entry->fsize = fi.size();
+            entry->fsize = fi.size(); //set filesize
         }
-        if(fi.isHidden()) {
+        if(fi.isHidden()) { //the file is hidden
             entry->fattrib|=F_HID;
         }
-        if(!fi.isWritable()) {
+        if(!fi.isWritable()) { //the file is not writable
-            entry->fattrib|=F_RDO;
+            entry->fattrib|=F_RDO; //set readonly attribue
         }
 
+        //Set date & time of file in structure
         QDateTime dt = fi.lastModified();
-        entry->fdate.year = dt.date().year()-1980;
+        entry->fdate.year = dt.date().year()-1980; //year is realtive to 1980
         entry->fdate.month = dt.date().month();
         entry->fdate.day = dt.date().day();
         entry->ftime.hour = dt.time().hour();
@@ -60,22 +62,22 @@ DIRECTORY_STRUCT* ll_filesystem_dir_open(const char* path) {
 
     }
 
-    return directory;
+    return directory; //return filled directory struct
 }
 
 void ll_filesystem_dir_close(DIRECTORY_STRUCT* dir) {
-    if(dir!=NULL) {
+    if(dir!=NULL) { //passed handle is valid
-        for(int i=0; i<dir->num_files; i++) {
+        for(int i=0; i<dir->num_files; i++) { //foreach file
-            delete dir->files[i].fname;
+            delete dir->files[i].fname; //delete filename buffer
         }
-        delete[] dir->files;
+        delete[] dir->files; //delete file array
-        delete dir;
+        delete dir; //delete structure itself
     }
 }
 
-
+//Struct that represents a file handle for the emulator
-struct QT_FILE_HANDLE : FILE_HANDLE {
+struct QT_FILE_HANDLE : FILE_HANDLE { //..derived from the FILE_HANDLE (of the Filesystem modul)
-    QFile* file;
+    QFile* file; //Pointer to the open QFile* instance
 };
 
 
@@ -83,17 +85,19 @@ FILE_HANDLE* ll_filesystem_file_open(const char* filename) {
     if(!rootdir.exists()) {
         return NULL;
     }
-    QString filepath = rootdir.absoluteFilePath(filename);
+    QString filepath = rootdir.absoluteFilePath(filename); //get the absolute path to the requested file
-    QFile* f = new QFile(filepath);
+    QFile* f = new QFile(filepath); //create a QFile instance to the requested file
-    if(!f->exists()) {
+    if(!f->exists()) { //File does not exist
-        return NULL;
+        return NULL; //mark error
     }
 
-    if(!f->open(QFile::ReadWrite)) {
+    if(!f->open(QFile::ReadWrite)) { //try to open the file, it it fails then ...
-        return NULL;
+        return NULL; //... mark error
     }
 
-    QT_FILE_HANDLE* fh = new QT_FILE_HANDLE();
+    //At this point we have a valid QFile instance, pointing to an existing file
+
+    QT_FILE_HANDLE* fh = new QT_FILE_HANDLE(); //Create Structure to return to user
     fh->file = f;
     fh->fname = filename;
     fh->fpos =0;
@@ -102,12 +106,13 @@ FILE_HANDLE* ll_filesystem_file_open(const char* filename) {
 }
 
 void ll_filesystem_file_close(FILE_HANDLE* handle) {
-    if(handle!=NULL) {
+    if(handle!=NULL) { //passed handle is valid
-        QT_FILE_HANDLE* fh = static_cast<QT_FILE_HANDLE*>(handle);
+        QT_FILE_HANDLE* fh = static_cast<QT_FILE_HANDLE*>(handle); //cast pointer to QT_FILE_HANDLE
-        if(fh->file->isOpen()) {
+        if(fh->file->isOpen()) { //if the file is still open
-            fh->file->close();
+            fh->file->close(); //close the file
         }
-        delete fh;
+        delete fh->file; //delete QFile instance
+        delete fh; //delete the fle
     }
 }
 
@@ -115,18 +120,18 @@ FILE_STATUS ll_filesystem_file_seek(FILE_HANDLE* handle, uint32_t offset) {
     if(handle==NULL) {
         return F_INVALIDPARAM;
     }
-    QT_FILE_HANDLE* fh = static_cast<QT_FILE_HANDLE*>(handle);
+    QT_FILE_HANDLE* fh = static_cast<QT_FILE_HANDLE*>(handle); //cast pointer to QT_FILE_HANDLE
-    if(!fh->file->isOpen()) {
+    if(!fh->file->isOpen()) { //file is not open
         return F_DISKERROR;
     }
-    if(offset>=fh->file->size()) {
+    if(offset>=fh->file->size()) { //offset exeeds filesize
         return F_INVALIDPARAM;
     }
 
-    if(fh->file->seek(offset)) {
+    if(fh->file->seek(offset)) { //try to seek to desired offset
-        fh->fpos = offset;
+        fh->fpos = offset; //update offset in FILE_HANDLE (for user)
         return F_OK;
-    } else {
+    } else { //seek failed
         return F_DISKERROR;
     }
 }
@@ -135,20 +140,20 @@ FILE_STATUS ll_filesystem_file_read(FILE_HANDLE* handle, uint8_t* buf, uint32_t
     if(handle==NULL || buf==NULL) {
         return F_INVALIDPARAM;
     }
-    QT_FILE_HANDLE* fh = static_cast<QT_FILE_HANDLE*>(handle);
+    QT_FILE_HANDLE* fh = static_cast<QT_FILE_HANDLE*>(handle); //cast pointer to QT_FILE_HANDLE
-    if(!fh->file->isOpen()) {
+    if(!fh->file->isOpen()) { //file is not open
         return F_DISKERROR;
     }
-    if(!fh->file->isReadable()) {
+    if(!fh->file->isReadable()) { //file is not readable
         return F_EACCESS;
     }
-    qint64 bytesRead = fh->file->read((char*)buf,size);
+    qint64 bytesRead = fh->file->read((char*)buf,size); //try to read desired amount of bytes
-    if(bytesRead<0) {
+    if(bytesRead<0) { //read failed
         return F_DISKERROR;
     }
-    fh->fpos+=bytesRead;
+    fh->fpos+=bytesRead; //increase file position (for user)
-    if(bytesRead!=size) {
+    if(bytesRead!=size) { //we got less bytes than expected
-        return F_EOF;
+        return F_EOF; //we reached the end of the file
     } else {
         return F_OK;
     }
@@ -158,24 +163,22 @@ FILE_STATUS ll_filesystem_file_write(FILE_HANDLE* handle, uint8_t* buf, uint32_t
     if(handle==NULL) {
         return F_INVALIDPARAM;
     }
-    QT_FILE_HANDLE* fh = static_cast<QT_FILE_HANDLE*>(handle);
+    QT_FILE_HANDLE* fh = static_cast<QT_FILE_HANDLE*>(handle); //cast pointer to QT_FILE_HANDLE
-    if(!fh->file->isOpen()) {
+    if(!fh->file->isOpen()) { //file is not open
         return F_DISKERROR;
     }
-    if(!fh->file->isWritable()) {
+    if(!fh->file->isWritable()) { //file is not writable
         return F_EACCESS;
     }
-    qint64 bytesWritten = fh->file->write((char*)buf,size);
+    qint64 bytesWritten = fh->file->write((char*)buf,size); //try to write desired amount of bytes
-    if(bytesWritten<0) {
+    if(bytesWritten<0) { //write failed
         return F_DISKERROR;
     }
-    fh->fpos+=bytesWritten;
+    fh->fpos+=bytesWritten; //increase file position (for user)
-    if(bytesWritten!=size) {
+    if(bytesWritten!=size) { //we wrote less bytes than expected
-        return F_EOF;
+        return F_EOF; //we reached the end of the file
     } else {
         return F_OK;
     }
 }
                                                                                                                                                                                
-
-

emulator/qt/ll_system.cpp

@@ -6,18 +6,18 @@ extern "C" {
 }
 
 bool ll_system_init() {
-    return true;
+    return true; //nothing to initialize here, apart from the stuff which is done in the main method.
 }
 
 void ll_system_delay(uint32_t msec) {
-        QThread::msleep(msec);
+        QThread::msleep(msec); //Let the app_process() Thread sleep
 }
 
 void ll_system_process() {
-        QApplication::processEvents();
+        QApplication::processEvents(); //Process pending qt events
-        QThread::msleep(1);
+        QThread::msleep(1); //Sleep for 1ms, to keep the cpu load down
 }
 
 void ll_system_toggle_led() {
-
+    //No led emulated :(
 }

emulator/qt/ll_tft.cpp

@@ -1,5 +1,4 @@
 #include "mainwindow.h"
-#include <QDebug>
 
 extern "C" {
 #include "ll_tft.h"
@@ -8,13 +7,14 @@ extern "C" {
 MainWindow* mainwindow;
 
 bool ll_tft_init() {
-   qDebug() << "tft init done";
+   mainwindow = new MainWindow(); //create the designed window
-   mainwindow = new MainWindow();
+   mainwindow->show(); //open it (non blocking)
-   mainwindow->show();
    return true;
 
 }
 
+//the following functions redirect the call to the mainwindow, to a function with the same signature
+
 void ll_tft_draw_line(uint16_t x1, uint16_t y1, uint16_t x2, uint16_t y2, uint16_t color) {
     mainwindow->draw_line(x1,y1,x2,y2,color);
 }
@@ -44,15 +44,17 @@ void ll_tft_draw_circle(uint16_t x, uint16_t y, uint16_t r, uint16_t color) {
 }
 
 uint8_t ll_tft_num_fonts() {
-    return 2;
+    return 2; //we have two fonts (see below)
 }
 
+//Helper function to get the QFont to the corresponding font number
+//Note: only return monospaced fonts!!!
 QFont get_font(uint8_t fontnum) {
     switch(fontnum) {
         case 0:
-            return QFont("Courier New",8);
+            return QFont("Monospace",8);
         case 1:
-            return QFont("Courier New",14);
+            return QFont("DejaVu Sans Mono",14);
         default:
         return QFont();
     }
@@ -62,20 +64,20 @@ QFont get_font(uint8_t fontnum) {
 uint8_t ll_tft_font_height(uint8_t fontnum) {
     QFont f = get_font(fontnum);
     if(f == QFont()) return -1;
-    QFontMetrics m(f);
+    QFontMetrics m(f); //use font metcris object to calculate height of font
     return m.height();
 }
 
 uint8_t ll_tft_font_width(uint8_t fontnum) {
     QFont f = get_font(fontnum);
     if(f == QFont()) return -1;
-    QFontMetrics m(f);
+    QFontMetrics m(f); //use font metcris object to calculate width of font
     return m.averageCharWidth();
 }
 
 void ll_tft_draw_char(uint16_t x, uint16_t y, uint16_t color, uint16_t bgcolor, uint8_t font, char c) {
     QFont f = get_font(font);
-    if(f == QFont()) return;
+    if(f == QFont()) return; //if the font is the default-font, we want to abort.
     mainwindow->draw_char(x,y,color,bgcolor,f,c);
 }
 

emulator/qt/main.cpp

@@ -2,23 +2,23 @@
 #include <QtConcurrent/QtConcurrent>
 
 extern "C" {
-    //C Functions from the common folder
+    //Imported C Functions from the common folder
     void app_init(); //Initializes the app
     void app_process(); //Processes one eventloop of the app
 }
 
 void app_loop() {
-    while(!QApplication::closingDown()) {
+    while(!QApplication::closingDown()) { //as long as the application is not terminating
-        app_process();
+        app_process(); //let the application process it's events
     }
 }
 
 int main(int argc, char* argv[]) {
-    QApplication app(argc,argv);
+    QApplication app(argc,argv); //Process qt-specific commandline arguments and create event loop
-    app_init();
+    app_init(); //Let the application initialize it self
 
-    QtConcurrent::run(&app_loop);
+    QtConcurrent::run(&app_loop); //Start a thread that executes app_loop
-    return app.exec();
+    return app.exec(); //Run the event loop until the last window is closed.
 }
 
 

emulator/qt/mainwindow.cpp

@@ -13,16 +13,18 @@ extern "C" {
 #define DISPLAY_WIDTH 320
 #define DISPLAY_HEIGHT 240
 
+//function to calculate QColor out of a RGB565 16bit color
 QColor QColorFromRGB565(uint16_t color) {
-
+    //interpolate colors
     int R8 = (int) floor( (color>>(5+6)) * 255.0 / 31.0 + 0.5);
     int G8 = (int) floor( ((color>>5)&0x3F) * 255.0 / 63.0 + 0.5);
     int B8 = (int) floor( (color&0x1F) * 255.0 / 31.0 + 0.5);
     return QColor::fromRgb(R8,G8,B8);
 }
 
+//function to calculate QRgb out of a RGB565 16bit color
 QRgb QRgbFromRGB565(uint16_t color) {
-
+    //interpolate colors
     int R8 = (int) floor( (color>>(5+6)) * 255.0 / 31.0 + 0.5);
     int G8 = (int) floor( ((color>>5)&0x3F) * 255.0 / 63.0 + 0.5);
     int B8 = (int) floor( (color&0x1F) * 255.0 / 31.0 + 0.5);
@@ -32,156 +34,137 @@ QRgb QRgbFromRGB565(uint16_t color) {
 
 MainWindow::MainWindow(QWidget *parent) : QMainWindow(parent), image(DISPLAY_WIDTH,DISPLAY_HEIGHT, QImage::Format_RGB16), ui(new Ui::MainWindow){
     ui->setupUi(this);
-    image.fill(Qt::black);
+    image.fill(Qt::black); //clear display buffer
-    currentScale = 1;
+    currentScale = 1; //start with scale factor 1
-    ui->widgetDisplay->setMouseTracking(true);
+    ui->widgetDisplay->setMouseTracking(true); //enable mouse move events, even when mouse is not pressed
-    ui->widgetDisplay->installEventFilter(this);
+    ui->widgetDisplay->installEventFilter(this); //install event filter for "display" widget, so that we receive those events as well
 }
 
 void MainWindow::draw_line(uint16_t x1, uint16_t y1, uint16_t x2, uint16_t y2, uint16_t color)
 {
-    //render_mutex.lock();
     QPainter painter(&(image));
     painter.setPen(QColorFromRGB565(color));
     painter.drawLine(x1,y1,x2,y2);
-    //render_mutex.unlock();
     update();
 }
 
 void MainWindow::draw_pixel(uint16_t x, uint16_t y, uint16_t color)
 {
-    //render_mutex.lock();
     image.setPixel(x,y,QRgbFromRGB565(color));
-    //render_mutex.unlock();
     update();
 }
 
 void MainWindow::clear(uint16_t color)
 {
-    //render_mutex.lock();
     image.fill(QColorFromRGB565(color));
-    //render_mutex.unlock();
     update();
 }
 
 void MainWindow::draw_rectangle(uint16_t x1, uint16_t y1, uint16_t x2, uint16_t y2, uint16_t color)
 {
-    //render_mutex.lock();
     QPainter painter(&(image));
     painter.setPen(QColorFromRGB565(color));
-    painter.drawRect(qMin(x1,x2),qMin(y1,y2),abs((int)x2-(int)x1)+1,abs((int)y2-(int)y1)+1);
+    painter.drawRect(qMin(x1,x2),qMin(y1,y2),abs((int)x2-(int)x1),abs((int)y2-(int)y1));
-    //render_mutex.unlock();
     update();
 }
 
 void MainWindow::fill_rectangle(uint16_t x1, uint16_t y1, uint16_t x2, uint16_t y2, uint16_t color)
 {
-    //render_mutex.lock();
     QPainter painter(&(image));
     painter.fillRect(qMin(x1,x2),qMin(y1,y2),abs((int)x2-(int)x1)+1,abs((int)y2-(int)y1)+1,QColorFromRGB565(color));
-    //render_mutex.unlock();
     update();
 }
 
 void MainWindow::draw_bitmap_unscaled(uint16_t x, uint16_t y, uint16_t width, uint16_t height, const uint16_t *dat)
 {
     //Creating a new image and access it directly is faster than setPixel
-    QImage img(width,height,QImage::Format_RGB32);
+    QImage img(width,height,QImage::Format_RGB32); //create a new image
 
-    for(int yi=0; yi<height; yi++) {
+    for(int yi=0; yi<height; yi++) { //for each line
-        uint32_t* line = (uint32_t*)img.scanLine(yi);
+        uint32_t* line = (uint32_t*)img.scanLine(yi); //get the pointer to the imagedata of the current line
-        for(int xi=0; xi<width; xi++) {
+        for(int xi=0; xi<width; xi++) { //for each column
-            *line++=QRgbFromRGB565(dat[yi*width+xi]);
+            *line++=QRgbFromRGB565(dat[yi*width+xi]); //set pixel
         }
     }
 
-    //render_mutex.lock();
     QPainter p(&image);
-    p.drawImage(x,y,img);
+    p.drawImage(x,y,img); //draw created image
-    //render_mutex.unlock();
     update();
 }
 
 void MainWindow::draw_circle(uint16_t x, uint16_t y, uint16_t r, uint16_t color)
 {
-    //render_mutex.lock();
     QPainter painter(&(image));
     painter.setPen(QColorFromRGB565(color));
     painter.drawEllipse(QPoint(x,y), r, r);
-    //render_mutex.unlock();
     update();
 }
 
 void MainWindow::draw_char(uint16_t x, uint16_t y, uint16_t color, uint16_t bgcolor, QFont font, char c)
 {
-    //render_mutex.lock();
     QPainter painter(&(image));
     painter.setFont(font);
 
-    if(bgcolor!=TRANSPARENT) {
+    if(bgcolor!=TRANSPARENT) { //background color is not transparent
             painter.setBackgroundMode(Qt::OpaqueMode);
-            painter.setBackground(QColorFromRGB565(bgcolor));
+            painter.setBackground(QColorFromRGB565(bgcolor)); //set text background
     }
 
-    painter.setPen(QColorFromRGB565(color));
+    painter.setPen(QColorFromRGB565(color)); //set fontcolor
     y+=QFontMetrics(font).ascent(); //use y pos as highest point of char, instead of baseline
-    painter.drawText(QPoint(x,y), QString(QChar(c)));
+    painter.drawText(QPoint(x,y), QString(QChar(c))); //draw char
-    //render_mutex.unlock();
     update();
 }
 
 void MainWindow::paintEvent(QPaintEvent *)
 {
-  //render_mutex.lock();
+  //this method is called whenever the window needs to be redrawn (or after update() is called)
   QPainter painter(this);
 
+  //Create a QRectF which represents the rectangle to draw the buffered image to
   QRectF imgRect (ui->widgetDisplay->geometry().topLeft(),QSizeF(DISPLAY_WIDTH*currentScale,DISPLAY_HEIGHT*currentScale));
 
-  painter.drawImage(imgRect,image);
+  painter.drawImage(imgRect,image); //draw buffer
-  painter.setPen(QPen(Qt::green,2));
+  painter.setPen(QPen(Qt::green,2)); //set border color
-  painter.drawRect(imgRect.adjusted(-1,-1,1,1));
+  painter.drawRect(imgRect.adjusted(-1,-1,1,1)); //draw border
-
-
-  //render_mutex.unlock();
 }
 
 void MainWindow::mousePressEvent(QMouseEvent *evt)
 {
-    //qDebug() << "down" << evt->pos();
+    //the mouse was pressed
     checkAndSendEvent(evt->pos(),true);
 }
 
 void MainWindow::mouseReleaseEvent(QMouseEvent *evt)
 {
-    //qDebug() << "up" << evt->pos();
+    //the mouse was released
     checkAndSendEvent(evt->pos(),false);
 }
 
 void MainWindow::mouseMoveEvent(QMouseEvent *evt)
 {
-   //qDebug() << "move" << evt->pos();
+    //the mouse was released
     checkAndSendEvent(evt->pos(),true);
 }
 
 
 bool MainWindow::eventFilter(QObject *obj, QEvent *evt)
 {
-   if(obj==ui->widgetDisplay) {
+   if(obj==ui->widgetDisplay) { //we received a redirect event from the target rectangle
         switch(evt->type()) {
-            case QEvent::MouseMove:
+            case QEvent::MouseMove: //it's a mouse move event
             {
-                QMouseEvent* mouseEvent = static_cast<QMouseEvent*>(evt);
+                QMouseEvent* mouseEvent = static_cast<QMouseEvent*>(evt); //get mouse event
-                QPoint p = (mouseEvent->pos()-QPoint(1,1))/currentScale;
+                QPoint p = (mouseEvent->pos()-QPoint(1,1))/currentScale; //calculate correct corrdinates (undo scale)
-                if(p.x()<DISPLAY_WIDTH && p.y()<DISPLAY_HEIGHT) {
+                if(p.x()<DISPLAY_WIDTH && p.y()<DISPLAY_HEIGHT) { //mouse position not out of bounds
+                    //set mouse position text
                     ui->txtMousePos->setText(QString("Mouse Position: (%1,%2)").arg(p.x()).arg(p.y()));
                 }
             }
             break;
-
             default: break;
         }
    }
-
      return false;
 }
 
@@ -193,18 +176,16 @@ MainWindow::~MainWindow()
 
 void MainWindow::checkAndSendEvent(QPoint pos, bool down)
 {
-    QPoint p = pos - ui->widgetDisplay->geometry().topLeft();
+    QPoint p = pos - ui->widgetDisplay->geometry().topLeft(); //make coordinate relative to target area (0,0)
-    p/=currentScale;
+    p/=currentScale; //undo scaling
-    if(p.x()<0 || p.y()<0 || p.x() >= DISPLAY_WIDTH || p.y() >= DISPLAY_HEIGHT) return;
+    if(p.x()<0 || p.y()<0 || p.x() >= DISPLAY_WIDTH || p.y() >= DISPLAY_HEIGHT) return; //abort if out of bounds
 
-    //qDebug() << down << p;
+    touch_add_raw_event(p.x(),p.y(),down?TOUCH_DOWN:TOUCH_UP); //submit touch event to touch module (common)
-
-    touch_add_raw_event(p.x(),p.y(),down?TOUCH_DOWN:TOUCH_UP);
 }
 
 
 void MainWindow::on_cboZoom_currentIndexChanged(int index)
 {
-    currentScale=index+1;
+    currentScale=index+1; //zoom factor 1 is the 0th entry, zoom factor 2 is the 1st entry, zoom factor 3 is the 2nd entry
-    update();
+    update(); //force redraw
 }

emulator/qt/mainwindow.h

@@ -33,12 +33,11 @@ protected:
     ~MainWindow();
 
 private slots:
-     void on_cboZoom_currentIndexChanged(int index);
+     void on_cboZoom_currentIndexChanged(int index); //slot that is called when the zoomlevel changed
 
 private:
-    //QMutex render_mutex;
+    QImage image; //Display buffer
-    QImage image;
+    int currentScale; //current scale factor
-    int currentScale;
     void checkAndSendEvent(QPoint pos, bool down);
 
     Ui::MainWindow *ui;

emulator/readme_windows.txt

@@ -1,26 +0,0 @@
-Prerequisites:
-- Qt5 for Windows (provides C:\Qt\5.4\mingw491_32  and C:\Qt\Tools\mingw491_32)
-- Mingw msys-base (provides C:\MinGW\msys\1.0 and make, find )
-- Boost (check emulator\libs\boost)
-
-Steps:
-- Open up the msys shell using the batchfile
-- Navigate to the emulator folder of the project
-- Source the qt binaries (qmake, gcc, g++) by executing 
-  export PATH=$PATH:/c/Qt/Tools/mingw491_32/bin:/c/Qt/5.4/mingw491_32/bin
-- navigate to libs/Pixy and execute make
-- navigate back into the emulator folder and execute make
-- this should generate you build/emulator.exe
-
-Starting:
-- Extract windows_dlls.rar to the build folder
-- Copy the emulated folder into the build folder
-- Make sure that you installed the pixy usb driver (e.g. by installing pixymon http://cmucam.org/projects/cmucam5/wiki/Latest_release)
-- Start emulator.exe
-
-Pitfalls:
-- libstdc++ must be provided by qt. do not use one of msys or mingw. you will waste hours with debugging of the make process
-
-Sources:
-- libusb for windows was taken from https://github.com/charmedlabs/pixy/tree/master/src/host/windows
-- Boost was compiled from sources, using http://andres.jaimes.net/718/how-to-install-the-c-boost-libraries-on-windows/ and http://www.boost.org/doc/libs/1_58_0/more/getting_started/windows.html