amiro-os / devices / DiWheelDrive / main.cpp @ 06c41883
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#define BL_CALLBACK_TABLE_ADDR (0x08000000 + 0x01C0) |
---|---|
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#define BL_MAGIC_NUMBER ((uint32_t)0xFF669900u) |
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|
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#define SHUTDOWN_NONE 0 |
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#define SHUTDOWN_TRANSPORTATION 1 |
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#define SHUTDOWN_DEEPSLEEP 2 |
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#define SHUTDOWN_HIBERNATE 3 |
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#define SHUTDOWN_RESTART 4 |
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#define SHUTDOWN_HANDLE_REQUEST 5 |
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|
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#include <ch.hpp> |
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|
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#include <amiro/util/util.h> |
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#include <global.hpp> |
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#include <exti.hpp> |
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|
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#include <chprintf.h> |
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#include <shell.h> |
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#include "linefollow.hpp" |
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using namespace chibios_rt; |
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Global global; |
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|
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struct blVersion_t {
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const uint8_t identifier;
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const uint8_t major;
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const uint8_t minor;
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const uint8_t patch;
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} __attribute__((packed)); |
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|
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void systemShutdown() {
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types::kinematic k; |
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uint8_t i; |
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// // make sure we assert SYS_PD_N to delay shutdown until we're done.
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// boardRequestShutdown();
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|
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// stop the user thread
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global.userThread.requestTerminate(); |
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global.userThread.wait(); |
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k.x = 0x00u;
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k.w_z = 0x00u;
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|
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// stop wheels
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global.robot.setTargetSpeed(k); |
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global.robot.terminate(); |
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|
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for (i = 0x00; i < global.vcnl4020.size(); i++) { |
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global.vcnl4020[i].requestTerminate(); |
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global.vcnl4020[i].wait(); |
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} |
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|
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global.ina219.requestTerminate(); |
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global.ina219.wait(); |
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global.hmc5883l.requestTerminate(); |
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global.hmc5883l.wait(); |
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global.l3g4200d.requestTerminate(); |
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global.l3g4200d.wait(); |
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|
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global.motorcontrol.requestTerminate(); |
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global.motorcontrol.wait(); |
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global.odometry.requestTerminate(); |
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global.odometry.wait(); |
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|
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// stop I²C
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for (i = 0; i < global.V_I2C2.size(); ++i) |
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global.V_I2C2[i].stop(); |
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global.HW_I2C2.stop(); |
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|
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global.lis331dlh.requestTerminate(); |
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global.lis331dlh.wait(); |
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|
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global.lis331dlh.configure(&global.accel_sleep_config); |
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// global.lis331dlh.start(NORMALPRIO +4);
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|
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// boardWriteIoPower(0);
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// boardStandby();
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|
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return;
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} |
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|
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|
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//void (*shellcmd_t)(BaseSequentialStream *chp, int argc, char *argv[]);
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|
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void shellRequestShutdown(BaseSequentialStream *chp, int argc, char *argv[]) { |
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chprintf(chp, "shellRequestShutdown\n");
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|
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/* if nor argument was given, print some help text */
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if (argc == 0 || strcmp(argv[0], "help") == 0) { |
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chprintf(chp, "\tUSAGE:\n");
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chprintf(chp, "> shutdown <type>\n");
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chprintf(chp, "\n");
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chprintf(chp, "\ttype\n");
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chprintf(chp, "The type of shutdown to perform.\n");
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chprintf(chp, "Choose one of the following types:\n");
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chprintf(chp, " transportation - Ultra low-power mode with all wakeups disabled.\n");
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chprintf(chp, " The robot can not be charged.\n");
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chprintf(chp, " deepsleep - Ultra low-power mode with several wakeups enabled.\n");
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chprintf(chp, " The robot can only be charged via the power plug.\n");
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chprintf(chp, " hibernate - Medium low-power mode, but with full charging capabilities.\n");
|
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chprintf(chp, " restart - Performs a system restart.\n");
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chprintf(chp, "Alternatively, you can use the shortcuts 't', 'd', 'h', and 'r' respectively.");
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chprintf(chp, "\n");
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return;
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} |
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|
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if (strcmp(argv[0],"transportation") == 0 || strcmp(argv[0],"t") == 0) { |
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shutdown_now = SHUTDOWN_TRANSPORTATION; |
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chprintf(chp, "shutdown to transportation mode initialized\n");
|
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} else if (strcmp(argv[0],"deepsleep") == 0 || strcmp(argv[0],"d") == 0) { |
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shutdown_now = SHUTDOWN_DEEPSLEEP; |
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chprintf(chp, "shutdown to deepsleep mode initialized\n");
|
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} else if (strcmp(argv[0],"hibernate") == 0 || strcmp(argv[0],"h") == 0) { |
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shutdown_now = SHUTDOWN_HIBERNATE; |
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chprintf(chp, "shutdown to hibernate mode initialized\n");
|
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} else if (strcmp(argv[0],"restart") == 0 || strcmp(argv[0],"r") == 0) { |
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chprintf(chp, "restart initialized\n");
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shutdown_now = SHUTDOWN_RESTART; |
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} else {
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chprintf(chp, "ERROR: unknown argument!\n");
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shutdown_now = SHUTDOWN_NONE; |
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} |
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|
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return;
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} |
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|
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void shellRequestWakeup(BaseSequentialStream *chp, int argc, char *argv[]) { |
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int i;
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chprintf(chp, "shellRequestWakeup\n");
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for (i = 0x00u; i < argc; i++) |
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chprintf(chp, "%s\n", argv[i]);
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boardWakeup(); |
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} |
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|
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void shellRequestGetMemoryData(BaseSequentialStream *chp, int argc, char *argv[]) { |
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enum Type {HEX, U8, U16, U32, S8, S16, S32};
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chprintf(chp, "shellRequestReadData\n");
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if (argc < 2 || strcmp(argv[0],"help") == 0) |
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{ |
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chprintf(chp, "Usage: %s\n","get_memory_data <type> <start> [<count>]"); |
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chprintf(chp, "\n");
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chprintf(chp, "\ttype\n");
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chprintf(chp, "The data type as which to interpret the data.\n");
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chprintf(chp, "Choose one of the following types:\n");
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chprintf(chp, " hex - one byte as hexadecimal value\n");
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chprintf(chp, " u8 - unsigned integer (8 bit)\n");
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chprintf(chp, " u16 - unsigned integer (16 bit)\n");
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chprintf(chp, " u32 - unsigned integer (32 bit)\n");
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chprintf(chp, " s8 - signed integer (8 bit)\n");
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chprintf(chp, " s16 - signed integer (16 bit)\n");
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chprintf(chp, " s32 - signed integer (32 bit)\n");
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chprintf(chp, "\tstart\n");
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chprintf(chp, "The first byte to read from the memory.\n");
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chprintf(chp, "\tcount [default = 1]\n");
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chprintf(chp, "The number of elements to read.\n");
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chprintf(chp, "\n");
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chprintf(chp, "\tNOTE\n");
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chprintf(chp, "Type conversions of this function might fail.\n");
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chprintf(chp, "If so, use type=hex and convert by hand.\n");
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chprintf(chp, "\n");
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return;
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} |
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|
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uint8_t type_size = 0;
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Type type = HEX; |
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if (strcmp(argv[0],"hex") == 0) { |
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type_size = sizeof(unsigned char); |
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type = HEX; |
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} else if(strcmp(argv[0],"u8") == 0) { |
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type_size = sizeof(uint8_t);
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type = U8; |
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} else if(strcmp(argv[0],"u16") == 0) { |
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type_size = sizeof(uint16_t);
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type = U16; |
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} else if(strcmp(argv[0],"u32") == 0) { |
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type_size = sizeof(uint32_t);
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type = U32; |
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} else if(strcmp(argv[0],"s8") == 0) { |
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type_size = sizeof(int8_t);
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type = S8; |
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} else if(strcmp(argv[0],"s16") == 0) { |
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type_size = sizeof(int16_t);
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type = S16; |
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} else if(strcmp(argv[0],"s32") == 0) { |
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type_size = sizeof(int32_t);
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type = S32; |
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} else {
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chprintf(chp, "First argument invalid. Use 'get_memory_data help' for help.\n");
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return;
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} |
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unsigned int start_byte = atoi(argv[1]); |
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unsigned int num_elements = 1; |
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if (argc >= 3) |
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num_elements = atoi(argv[2]);
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const size_t eeprom_size = EEPROM::getsize(&global.at24c01);
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uint8_t buffer[eeprom_size]; |
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if (start_byte + (type_size * num_elements) > eeprom_size) {
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num_elements = (eeprom_size - start_byte) / type_size; |
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chprintf(chp, "Warning: request exceeds eeprom size -> limiting to %u values.\n", num_elements);
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} |
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chFileStreamSeek((BaseFileStream*)&global.at24c01, start_byte); |
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// Work around, because stm32f1 cannot read a single byte
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if (type_size*num_elements < 2) |
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type_size = 2;
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uint32_t bytes_read = chSequentialStreamRead((BaseFileStream*)&global.at24c01, buffer, type_size*num_elements); |
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if (bytes_read != type_size*num_elements)
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chprintf(chp, "Warning: %u of %u requested bytes were read.\n", bytes_read, type_size*num_elements);
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for (unsigned int i = 0; i < num_elements; ++i) { |
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switch (type) {
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case HEX:
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chprintf(chp, "%02X ", buffer[i]);
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break;
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case U8:
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chprintf(chp, "%03u ", ((uint8_t*)buffer)[i]);
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break;
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case U16:
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chprintf(chp, "%05u ", ((uint16_t*)buffer)[i]);
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break;
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case U32:
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chprintf(chp, "%010u ", ((uint32_t*)buffer)[i]);
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break;
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case S8:
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chprintf(chp, "%+03d ", ((int8_t*)buffer)[i]);
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break;
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case S16:
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chprintf(chp, "%+05d ", ((int16_t*)buffer)[i]);
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break;
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case S32:
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chprintf(chp, "%+010d ", ((int32_t*)buffer)[i]);
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break;
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default:
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break;
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} |
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} |
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chprintf(chp, "\n");
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return;
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} |
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void shellRequestSetLights(BaseSequentialStream *chp, int argc, char *argv[]) { |
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|
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if (argc < 2 || argc == 3 ||strcmp(argv[0],"help") == 0) { |
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chprintf(chp, "\tUSAGE:\n");
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chprintf(chp, "> set_lights <led mask> <white/red> [<green> <blue>]\n");
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chprintf(chp, "\n");
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chprintf(chp, "\tled mask\n");
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chprintf(chp, "The LEDs to be set.\n");
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chprintf(chp, "You can set multiple LEDs at once by adding the following values:\n");
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chprintf(chp, " 0x01 - rear left LED (SSW)\n");
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chprintf(chp, " 0x02 - left rear LED (WSW)\n");
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chprintf(chp, " 0x04 - left front LED (WNW)\n");
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chprintf(chp, " 0x08 - front left LED (NNW)\n");
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chprintf(chp, " 0x10 - front right LED (NNE)\n");
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chprintf(chp, " 0x20 - right front LED (ENE)\n");
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chprintf(chp, " 0x40 - right rear LED (ESE)\n");
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chprintf(chp, " 0x80 - rear right LED (SSE)\n");
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chprintf(chp, "\twhite/red\n");
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chprintf(chp, "If no optional argument is given, this arguments sets the white value of the selected LEDs.\n");
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chprintf(chp, "Otherwise this arguments sets the red color channel value.\n");
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chprintf(chp, "\tgreen\n");
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chprintf(chp, "Sets the green color channel value.\n");
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chprintf(chp, "\tblue\n");
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chprintf(chp, "Sets the blue color channel value.\n");
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chprintf(chp, "\n");
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chprintf(chp, "\tExample:\n");
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chprintf(chp, "This line will set the two most left and two most right LEDs to bright cyan.\n");
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chprintf(chp, "> set_lights 0x66 0 255 255\n");
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chprintf(chp, "\n");
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return;
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} |
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int arg_mask = strtol(argv[0], NULL, 0); |
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int red = strtol(argv[1], NULL, 0); |
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int green = red;
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int blue = red;
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if (argc >= 4) { |
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green = strtol(argv[2], NULL, 0); |
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blue = strtol(argv[3], NULL, 0); |
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} |
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Color color(red, green, blue); |
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|
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if (arg_mask & 0x01) { |
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global.robot.setLightColor(constants::LightRing::LED_SSW, color); |
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} |
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if (arg_mask & 0x02) { |
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global.robot.setLightColor(constants::LightRing::LED_WSW, color); |
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} |
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if (arg_mask & 0x04) { |
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global.robot.setLightColor(constants::LightRing::LED_WNW, color); |
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} |
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if (arg_mask & 0x08) { |
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global.robot.setLightColor(constants::LightRing::LED_NNW, color); |
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} |
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if (arg_mask & 0x10) { |
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global.robot.setLightColor(constants::LightRing::LED_NNE, color); |
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} |
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if (arg_mask & 0x20) { |
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global.robot.setLightColor(constants::LightRing::LED_ENE, color); |
315 |
} |
316 |
if (arg_mask & 0x40) { |
317 |
global.robot.setLightColor(constants::LightRing::LED_ESE, color); |
318 |
} |
319 |
if (arg_mask & 0x80) { |
320 |
global.robot.setLightColor(constants::LightRing::LED_SSE, color); |
321 |
} |
322 |
|
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return;
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} |
325 |
|
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void boardPeripheryCheck(BaseSequentialStream *chp) {
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msg_t result; |
328 |
chprintf(chp, "\nCHECK: START\n");
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329 |
// Check the accelerometer
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330 |
result = global.lis331dlh.getCheck(); |
331 |
if (result == global.lis331dlh.CHECK_OK)
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chprintf(chp, "LIS331DLH: OK\n");
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333 |
else
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334 |
chprintf(chp, "LIS331DLH: FAIL\n");
|
335 |
|
336 |
// Self-test accelerometer
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337 |
// lis331dlh.printSelfTest(NULL);
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338 |
|
339 |
// Check the eeprom
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340 |
result = global.memory.getCheck(); |
341 |
if ( result != global.memory.OK)
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342 |
chprintf(chp, "Memory Structure: FAIL\n");
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343 |
else
|
344 |
chprintf(chp, "Memory Structure: OK\n");
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345 |
|
346 |
// Check the gyroscope
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result = global.l3g4200d.getCheck(); |
348 |
if (result == global.l3g4200d.CHECK_OK)
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349 |
chprintf(chp, "L3G4200D: OK\n");
|
350 |
else
|
351 |
chprintf(chp, "L3G4200D: FAIL\n");
|
352 |
|
353 |
// Check the magnetometer
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354 |
result = global.hmc5883l.getCheck(); |
355 |
if (result == global.hmc5883l.CHECK_OK)
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356 |
chprintf(chp, "HMC5883L: OK\n");
|
357 |
else
|
358 |
chprintf(chp, "HMC5883L: FAIL\n");
|
359 |
|
360 |
// Check the MUX
|
361 |
result = global.HW_PCA9544.getCheck(); |
362 |
if (result == global.HW_PCA9544.CHECK_OK)
|
363 |
chprintf(chp, "PCA9544: OK\n");
|
364 |
else
|
365 |
chprintf(chp, "PCA9544: FAIL\n");
|
366 |
|
367 |
// Check the power monitor
|
368 |
chprintf(chp, "INA219:\tVDD (3.3V):\n");
|
369 |
result = global.ina219.selftest(); |
370 |
if (result == BaseSensor<>::NOT_IMPLEMENTED)
|
371 |
chprintf(chp, "->\tnot implemented\n");
|
372 |
else if (result != INA219::Driver::ST_OK) |
373 |
chprintf(chp, "->\tFAIL (error code 0x%02X)\n", result);
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374 |
else
|
375 |
chprintf(chp, "->\tOK\n");
|
376 |
|
377 |
// Check the proximitysensors
|
378 |
for (uint8_t i = 0x00; i < global.vcnl4020.size(); i++) { |
379 |
result = global.vcnl4020[i].getCheck(); |
380 |
if (result == global.vcnl4020[i].CHECK_OK)
|
381 |
chprintf(chp, "VCNL4020: %d OK\n", i);
|
382 |
else
|
383 |
chprintf(chp, "VCNL4020: %d FAIL\n", i);
|
384 |
} |
385 |
chprintf(chp, "CHECK: FINISH\n");
|
386 |
} |
387 |
|
388 |
void shellRequestCheck(BaseSequentialStream *chp, int __unused argc, char __unused *argv[]) { |
389 |
chprintf(chp, "shellRequestCheck\n");
|
390 |
boardPeripheryCheck(chp); |
391 |
} |
392 |
|
393 |
void shellRequestResetMemory(BaseSequentialStream *chp, int __unused argc, char __unused *argv[]) { |
394 |
chprintf(chp, "shellRequestInitMemory\n");
|
395 |
|
396 |
msg_t res = global.memory.resetMemory(); |
397 |
if ( res != global.memory.OK)
|
398 |
chprintf(chp, "Memory Init: FAIL\n");
|
399 |
else
|
400 |
chprintf(chp, "Memory Init: OK\n");
|
401 |
} |
402 |
|
403 |
void shellRequestGetBoardId(BaseSequentialStream *chp, int __unused argc, char __unused *argv[]) { |
404 |
chprintf(chp, "shellRequestGetBoardId\n");
|
405 |
uint8_t id = 0xFFu;
|
406 |
|
407 |
msg_t res = global.memory.getBoardId(&id); |
408 |
|
409 |
if (res != global.memory.OK)
|
410 |
chprintf(chp, "Get Board ID: FAIL\n");
|
411 |
else
|
412 |
chprintf(chp, "Get Board ID: %u\n", id);
|
413 |
} |
414 |
|
415 |
void shellRequestSetBoardId(BaseSequentialStream *chp, int argc, char *argv[]) { |
416 |
chprintf(chp, "shellRequestSetBoardId\n");
|
417 |
|
418 |
if (argc == 0) { |
419 |
chprintf(chp, "Usage: %s\n","set_board_id <idx>"); |
420 |
} else {
|
421 |
msg_t res = global.memory.setBoardId(atoi(argv[0]));
|
422 |
if (res != global.memory.OK)
|
423 |
chprintf(chp, "Set Board ID: FAIL\n");
|
424 |
else
|
425 |
chprintf(chp, "Set Board ID: OK\n");
|
426 |
} |
427 |
} |
428 |
|
429 |
void shellRequestResetCalibrationConstants(BaseSequentialStream *chp, int __unused argc, char __unused *argv[]) { |
430 |
chprintf(chp, "shellRequestResetCalibrationConstants\n");
|
431 |
chprintf(chp, "Setting Ed=1.0f, Eb=1.0f\n");
|
432 |
msg_t res; |
433 |
|
434 |
res = global.memory.setEd(1.0f); |
435 |
if (res != global.memory.OK)
|
436 |
chprintf(chp, "Set Ed: FAIL\n");
|
437 |
else
|
438 |
chprintf(chp, "Set Ed: OK\n");
|
439 |
|
440 |
res = global.memory.setEb(1.0f); |
441 |
if (res != global.memory.OK)
|
442 |
chprintf(chp, "Set Eb: FAIL\n");
|
443 |
else
|
444 |
chprintf(chp, "Set Eb: OK\n");
|
445 |
} |
446 |
|
447 |
void shellRequestGetCalibrationConstants(BaseSequentialStream *chp, int __unused argc, char __unused *argv[]) { |
448 |
chprintf(chp, "shellRequestGetCalibrationConstants\n");
|
449 |
msg_t res; |
450 |
float Ed, Eb;
|
451 |
|
452 |
res = global.memory.getEd(&Ed); |
453 |
if (res != global.memory.OK)
|
454 |
chprintf(chp, "Get Ed: FAIL\n");
|
455 |
else
|
456 |
chprintf(chp, "Get Ed: OK \t Ed=%f\n", Ed);
|
457 |
|
458 |
res = global.memory.getEb(&Eb); |
459 |
if (res != global.memory.OK)
|
460 |
chprintf(chp, "Get Eb: FAIL\n");
|
461 |
else
|
462 |
chprintf(chp, "Get Eb: OK \t Eb=%f\n", Eb);
|
463 |
} |
464 |
|
465 |
void shellRequestSetCalibrationConstants(BaseSequentialStream *chp, int argc, char *argv[]) { |
466 |
chprintf(chp, "shellRequestSetCalibrationConstants\n");
|
467 |
msg_t res; |
468 |
|
469 |
if (argc != 3) { |
470 |
chprintf(chp, "Usage: %s\n","set_Ed_Eb <Ed> <Eb> <Write To Eeprom ? 1 : 0>"); |
471 |
chprintf(chp, "(Call with floating point values for Ed and Eb values and write condition):\n");
|
472 |
return;
|
473 |
} |
474 |
// Get the write condition
|
475 |
const float Ed = atof(argv[0]); |
476 |
const float Eb = atof(argv[1]); |
477 |
bool_t writeToMemory = atoi(argv[2]) == 1 ? true : false; |
478 |
|
479 |
res = global.motorcontrol.setWheelDiameterCorrectionFactor(Ed, writeToMemory); |
480 |
if (res != global.memory.OK)
|
481 |
chprintf(chp, "Set Ed: FAIL\n");
|
482 |
else
|
483 |
chprintf(chp, "Set Ed: OK \t Ed=%f\n", Ed);
|
484 |
|
485 |
res = global.motorcontrol.setActualWheelBaseDistance(Eb, writeToMemory); |
486 |
if (res != global.memory.OK)
|
487 |
chprintf(chp, "Set Eb: FAIL\n");
|
488 |
else
|
489 |
chprintf(chp, "Set Eb: OK \t Ed=%f\n", Eb);
|
490 |
} |
491 |
|
492 |
void shellRequestGetVcnl(BaseSequentialStream *chp, int argc, char *argv[]) { |
493 |
chprintf(chp, "shellRequestGetVcnl\n");
|
494 |
// Print the sensor information
|
495 |
if (argc != 1) { |
496 |
chprintf(chp, "Usage: %s\n","get_vcnl <rep>"); |
497 |
return;
|
498 |
} |
499 |
for (int32_t rep = 0x00; rep < atoi(argv[0]); ++rep) { |
500 |
for (uint8_t idx = 0x00; idx < global.vcnl4020.size(); idx++) { |
501 |
chprintf(chp, "%d: Ambi %d\tProx raw %d\tProx scaled %d\n", idx, global.vcnl4020[idx].getAmbientLight(), global.vcnl4020[idx].getProximity(), global.vcnl4020[idx].getProximityScaledWoOffset());
|
502 |
} |
503 |
chprintf(chp, "\n\n");
|
504 |
BaseThread::sleep(MS2ST(250));
|
505 |
} |
506 |
} |
507 |
|
508 |
void shellRequestSetVcnlOffset(BaseSequentialStream *chp, int argc, char *argv[]) { |
509 |
chprintf(chp, "shellRequestSetVcnlOffset\n");
|
510 |
if (argc != 2) { |
511 |
chprintf(chp, "Usage: %s\n","set_vcnl <idx> <offset>"); |
512 |
return;
|
513 |
} |
514 |
|
515 |
uint8_t vcnlIdx = static_cast<uint8_t>(atoi(argv[0])); |
516 |
uint16_t vcnlOffset = static_cast<uint16_t>(atoi(argv[1])); |
517 |
|
518 |
if (vcnlIdx >= global.vcnl4020.size()) {
|
519 |
chprintf(chp, "Wrong VCNL index: Choose [0 .. %d]\n", global.vcnl4020.size()-1); |
520 |
return;
|
521 |
} |
522 |
|
523 |
msg_t res = global.memory.setVcnl4020Offset(vcnlOffset, vcnlIdx); |
524 |
if (res != global.memory.OK) {
|
525 |
chprintf(chp, "Set Offset: FAIL\n");
|
526 |
} else {
|
527 |
chprintf(chp, "Set Offset: OK\n");
|
528 |
global.vcnl4020[vcnlIdx].setProximityOffset(vcnlOffset); |
529 |
} |
530 |
} |
531 |
|
532 |
void shellRequestResetVcnlOffset(BaseSequentialStream *chp, int argc, char *argv[]) { |
533 |
msg_t res = global.memory.OK; |
534 |
for (uint8_t idx = 0; idx < 4; ++idx) { |
535 |
msg_t r = global.memory.setVcnl4020Offset(0, idx);
|
536 |
if (r == global.memory.OK) {
|
537 |
global.vcnl4020[idx].setProximityOffset(0);
|
538 |
} else {
|
539 |
chprintf(chp, "Reset Offset %u: FAIL\n", idx);
|
540 |
res = r; |
541 |
} |
542 |
} |
543 |
|
544 |
if (res == global.memory.OK) {
|
545 |
chprintf(chp, "Reset Offset: DONE\n");
|
546 |
} |
547 |
|
548 |
return;
|
549 |
} |
550 |
|
551 |
void shellRequestGetVcnlOffset(BaseSequentialStream *chp, int argc, char *argv[]) { |
552 |
chprintf(chp, "shellRequestGetVcnlOffset\n");
|
553 |
if (argc != 1) { |
554 |
chprintf(chp, "Call with decimal numbers: get_vcnl <idx>\n");
|
555 |
return;
|
556 |
} |
557 |
|
558 |
uint8_t vcnlIdx = static_cast<uint8_t>(atoi(argv[0])); |
559 |
|
560 |
if (vcnlIdx >= global.vcnl4020.size()) {
|
561 |
chprintf(chp, "Wrong VCNL index: Choose [0 .. %d]\n", global.vcnl4020.size()-1); |
562 |
return;
|
563 |
} |
564 |
|
565 |
uint16_t vcnlOffset; |
566 |
msg_t res = global.memory.getVcnl4020Offset(&vcnlOffset, vcnlIdx); |
567 |
if (res != global.memory.OK) {
|
568 |
chprintf(chp, "Get Offset: FAIL\n");
|
569 |
} else {
|
570 |
chprintf(chp, "Get Offset: OK \t Offset=%d\n", vcnlOffset);
|
571 |
} |
572 |
} |
573 |
|
574 |
void shellRequestCalib(BaseSequentialStream *chp, int __unused argc, char __unused *argv[]) { |
575 |
chprintf(chp, "shellRequestCalib\n");
|
576 |
global.robot.calibrate(); |
577 |
} |
578 |
|
579 |
void shellRequestGetRobotId(BaseSequentialStream *chp, int __unused argc, char __unused *argv[]) { |
580 |
chprintf(chp, "shellRequestGetRobotId\n");
|
581 |
chprintf(chp, "Robot ID: %u\n", global.robot.getRobotID());
|
582 |
if (global.robot.getRobotID() == 0) |
583 |
chprintf(chp, "Warning: The board ID seems to be uninitialized.\n");
|
584 |
} |
585 |
|
586 |
void shellRequestGetSystemLoad(BaseSequentialStream *chp, int argc, char *argv[]) { |
587 |
chprintf(chp, "shellRequestGetSystemLoad\n");
|
588 |
uint8_t seconds = 1;
|
589 |
if (argc >= 1) { |
590 |
seconds = atoi(argv[0]);
|
591 |
} |
592 |
chprintf(chp, "measuring CPU load for %u %s...\n", seconds, (seconds>1)? "seconds" : "second"); |
593 |
|
594 |
const systime_t before = chThdGetTicks(chSysGetIdleThread());
|
595 |
BaseThread::sleep(S2ST(seconds)); |
596 |
const systime_t after = chThdGetTicks(chSysGetIdleThread());
|
597 |
const float usage = 1.0f - (float(after - before) / float(seconds * CH_FREQUENCY)); |
598 |
|
599 |
chprintf(chp, "CPU load: %3.2f%%\n", usage * 100); |
600 |
const uint32_t memory_total = 0x10000; |
601 |
const uint32_t memory_load = memory_total - chCoreStatus();
|
602 |
chprintf(chp, "RAM load: %3.2f%% (%u / %u Byte)\n", float(memory_load)/float(memory_total) * 100, memory_load, memory_total); |
603 |
} |
604 |
|
605 |
void shellSwitchBoardCmd(BaseSequentialStream *chp, int argc, char *argv[]) { |
606 |
if (argc != 1) { |
607 |
chprintf(chp, "Call with decimal numbers: shell_board <idx>\n");
|
608 |
return;
|
609 |
} |
610 |
uint8_t boardIdx = static_cast<uint8_t>(atoi(argv[0])); |
611 |
|
612 |
chprintf(chp, "shellSwitchBoardCmd\n");
|
613 |
global.sercanmux1.sendSwitchCmd(boardIdx); |
614 |
} |
615 |
|
616 |
void shellRequestGetBootloaderInfo(BaseSequentialStream* chp, int argc, char *argv[]) { |
617 |
// check the magic number
|
618 |
switch (*((uint32_t*)(BL_CALLBACK_TABLE_ADDR))) {
|
619 |
case (('A'<<24) | ('-'<<16) | ('B'<<8) | ('L'<<0)): |
620 |
chprintf((BaseSequentialStream*) &SD1, "Bootloader %u.%u.%u\n",
|
621 |
((blVersion_t*)(BL_CALLBACK_TABLE_ADDR + (1*4)))->major, |
622 |
((blVersion_t*)(BL_CALLBACK_TABLE_ADDR + (1*4)))->minor, |
623 |
((blVersion_t*)(BL_CALLBACK_TABLE_ADDR + (1*4)))->patch); |
624 |
break;
|
625 |
|
626 |
case BL_MAGIC_NUMBER:
|
627 |
chprintf((BaseSequentialStream*) &SD1, "Bootloader %u.%u.%u\n",
|
628 |
*((uint32_t*)(BL_CALLBACK_TABLE_ADDR + (1*4))), |
629 |
*((uint32_t*)(BL_CALLBACK_TABLE_ADDR + (1*4))), |
630 |
*((uint32_t*)(BL_CALLBACK_TABLE_ADDR + (1*4)))); |
631 |
break;
|
632 |
|
633 |
default:
|
634 |
chprintf((BaseSequentialStream*) &SD1, "Bootloader incompatible\n");
|
635 |
break;
|
636 |
} |
637 |
|
638 |
return;
|
639 |
} |
640 |
|
641 |
void shellRequestMotorDrive(BaseSequentialStream *chp, int argc, char *argv[]) { |
642 |
types::kinematic tmp; |
643 |
tmp.w_z = 0;
|
644 |
tmp.x = 0;
|
645 |
if (argc == 1){ |
646 |
chprintf(chp, "Set speed to %i um/s \n", atoi(argv[0])); |
647 |
tmp.x = atoi(argv[0]);
|
648 |
} else {
|
649 |
if(argc == 2){ |
650 |
chprintf(chp, "Set speed to %i \n um/s", atoi(argv[0])); |
651 |
chprintf(chp, "Set angular speed to %i \n urad/s", atoi(argv[1])); |
652 |
tmp.x = atoi(argv[0]);
|
653 |
tmp.w_z= atoi(argv[1]);
|
654 |
} else {
|
655 |
chprintf(chp, "Wrong number of parameters given (%i), stopping robot \n", argc);
|
656 |
} |
657 |
} |
658 |
|
659 |
global.motorcontrol.setTargetSpeed(tmp); |
660 |
return;
|
661 |
} |
662 |
|
663 |
void shellRequestMotorStop(BaseSequentialStream *chp, int argc, char *argv[]) { |
664 |
types::kinematic tmp; |
665 |
tmp.x = 0;
|
666 |
tmp.w_z = 0;
|
667 |
|
668 |
global.motorcontrol.setTargetSpeed(tmp); |
669 |
|
670 |
chprintf(chp, "stop");
|
671 |
return;
|
672 |
} |
673 |
|
674 |
void shellRequestMotorCalibrate(BaseSequentialStream *chp, int argc, char *argv[]) { |
675 |
global.motorcontrol.resetGains(); |
676 |
chprintf((BaseSequentialStream*)&global.sercanmux1, "motor calibration starts in five seconds...\n");
|
677 |
BaseThread::sleep(MS2ST(5000));
|
678 |
global.motorcontrol.isCalibrating = true;
|
679 |
|
680 |
return;
|
681 |
} |
682 |
|
683 |
void shellRequestMotorGetGains(BaseSequentialStream *chp, int argc, char *argv[]){ |
684 |
global.motorcontrol.printGains(); |
685 |
|
686 |
return;
|
687 |
} |
688 |
|
689 |
void shellRequestMotorResetGains(BaseSequentialStream *chp, int argc, char *argv[]) { |
690 |
global.motorcontrol.resetGains();; |
691 |
|
692 |
return;
|
693 |
} |
694 |
|
695 |
|
696 |
/**
|
697 |
* Calibrate the thresholds for left and right sensor to get the maximum threshold and to
|
698 |
* be able to detect the correction direction.
|
699 |
* In this case it is expected that the FL-Sensor sould be in the white part of the edge and the FR-Sensor in the black one.
|
700 |
*
|
701 |
* Note: invert the threshs to drive on the other edge.
|
702 |
*
|
703 |
* */
|
704 |
void shellRequestCalibrateLineSensores(BaseSequentialStream *chp, int argc, char *argv[]) { |
705 |
// int vcnl4020AmbientLight[4];
|
706 |
int vcnl4020Proximity[4]; |
707 |
int rounds = 1; |
708 |
int proxyL = 0; |
709 |
int proxyR = 0; |
710 |
int maxDelta = 0; |
711 |
int sensorL = 0; |
712 |
int sensorR = 0; |
713 |
|
714 |
if (argc == 1){ |
715 |
chprintf(chp, "Test %i rounds \n", atoi(argv[0])); |
716 |
rounds = atoi(argv[0]);
|
717 |
|
718 |
}else{
|
719 |
chprintf(chp, "Usage: calbrate_line_sensors [1,n]\nThis will calibrate the thresholds for the left and right sensor\naccording to the maximum delta value recorded.\n");
|
720 |
return;
|
721 |
} |
722 |
for (uint8_t led = 0; led < 8; ++led) { |
723 |
global.robot.setLightColor(led, Color(Color::BLACK)); |
724 |
} |
725 |
|
726 |
for (int j = 0; j < rounds; j++) { |
727 |
for (int i = 0; i < 4; i++) { |
728 |
// vcnl4020AmbientLight[i] = global.vcnl4020[i].getAmbientLight();
|
729 |
vcnl4020Proximity[i] = global.vcnl4020[i].getProximityScaledWoOffset(); |
730 |
} |
731 |
global.robot.setLightColor(j % 8, Color(Color::BLACK));
|
732 |
global.robot.setLightColor(j+1 % 8, Color(Color::WHITE)); |
733 |
int delta = abs(vcnl4020Proximity[constants::DiWheelDrive::PROX_FRONT_LEFT]
|
734 |
- vcnl4020Proximity[constants::DiWheelDrive::PROX_FRONT_RIGHT]); |
735 |
// Update proximity thresh
|
736 |
if (delta > maxDelta) {
|
737 |
for (uint8_t led = 0; led < 8; ++led) { |
738 |
global.robot.setLightColor(led, Color(Color::GREEN)); |
739 |
} |
740 |
maxDelta = delta; |
741 |
proxyL = vcnl4020Proximity[constants::DiWheelDrive::PROX_FRONT_LEFT]; |
742 |
proxyR = vcnl4020Proximity[constants::DiWheelDrive::PROX_FRONT_RIGHT]; |
743 |
} |
744 |
sensorL += global.vcnl4020[constants::DiWheelDrive::PROX_FRONT_LEFT].getProximityScaledWoOffset(); |
745 |
sensorR += global.vcnl4020[constants::DiWheelDrive::PROX_FRONT_RIGHT].getProximityScaledWoOffset(); |
746 |
|
747 |
// if (vcnl4020Proximity[constants::DiWheelDrive::PROX_FRONT_RIGHT] > proxyR && vcnl4020Proximity[constants::DiWheelDrive::PROX_FRONT_LEFT] > proxyL ){
|
748 |
// delta *= -1;
|
749 |
// }
|
750 |
|
751 |
chprintf(chp,"FL: 0x%x, FR: 0x%x, Delta: %d, ProxyL: %x, ProxyR: %x, MaxDelta: %d\n",
|
752 |
vcnl4020Proximity[constants::DiWheelDrive::PROX_FRONT_LEFT], |
753 |
vcnl4020Proximity[constants::DiWheelDrive::PROX_FRONT_RIGHT], |
754 |
delta, |
755 |
proxyL, |
756 |
proxyR, |
757 |
maxDelta); |
758 |
// sleep(CAN::UPDATE_PERIOD);
|
759 |
BaseThread::sleep(CAN::UPDATE_PERIOD); |
760 |
} |
761 |
|
762 |
|
763 |
global.linePID.threshProxyL = sensorL / rounds; |
764 |
global.linePID.threshProxyR = sensorR / rounds; |
765 |
chprintf(chp,"Thresh FL: %d, FR: %d\n", global.linePID.threshProxyL, global.linePID.threshProxyR);
|
766 |
return;
|
767 |
} |
768 |
|
769 |
|
770 |
|
771 |
void sellRequestgetBottomSensorData(BaseSequentialStream *chp, int argc, char *argv[]) { |
772 |
// uint16_t vcnl4020AmbientLight[4];
|
773 |
uint16_t vcnl4020Proximity[4];
|
774 |
uint16_t rounds = 1;
|
775 |
// int sensorR = 0;
|
776 |
if (argc == 1){ |
777 |
chprintf(chp, "Test %i rounds \n", atoi(argv[0])); |
778 |
rounds = atoi(argv[0]);
|
779 |
|
780 |
} else {
|
781 |
chprintf(chp, "Usage: dev_proxi_sensor_data <rounds> \n");
|
782 |
} |
783 |
global.motorcontrol.setMotorEnable(false);
|
784 |
|
785 |
for (int j = 0; j < rounds; j++) { |
786 |
for (int i = 0; i < 4; i++) { |
787 |
// vcnl4020AmbientLight[i] = global.vcnl4020[i].getAmbientLight();
|
788 |
vcnl4020Proximity[i] = global.vcnl4020[i].getProximityScaledWoOffset(); |
789 |
} |
790 |
|
791 |
int32_t delta = (vcnl4020Proximity[constants::DiWheelDrive::PROX_FRONT_LEFT] |
792 |
- vcnl4020Proximity[constants::DiWheelDrive::PROX_FRONT_RIGHT]); |
793 |
|
794 |
chprintf(chp,"WL:%d,FL:%d,FR:%d,WR:%d,Delta:%d\n",
|
795 |
vcnl4020Proximity[constants::DiWheelDrive::PROX_WHEEL_LEFT], |
796 |
vcnl4020Proximity[constants::DiWheelDrive::PROX_FRONT_LEFT], |
797 |
vcnl4020Proximity[constants::DiWheelDrive::PROX_FRONT_RIGHT], |
798 |
vcnl4020Proximity[constants::DiWheelDrive::PROX_WHEEL_RIGHT], |
799 |
delta); |
800 |
// sleep(CAN::UPDATE_PERIOD);
|
801 |
BaseThread::sleep(CAN::UPDATE_PERIOD); |
802 |
} |
803 |
global.motorcontrol.setMotorEnable(true);
|
804 |
// chprintf(chp,"Summary: MaxDelta: %d, FL: %x, FR: %d\n", maxDelta, proxyL, proxyR);
|
805 |
return;
|
806 |
} |
807 |
|
808 |
void shellRequestCheckPower(BaseSequentialStream *chp, int argc, char *argv[]){ |
809 |
int steps = 2000; |
810 |
int led = 0; |
811 |
|
812 |
chprintf(chp, "Power over Pins: %s Pins Enabled: %s, Power: %d\n", global.ltc4412.isPluggedIn() ? "y" : "n", global.ltc4412.isEnabled() ? "y" : "n", global.robot.getPowerStatus().state_of_charge); |
813 |
} |
814 |
|
815 |
|
816 |
void shellRequestProxyRingValues(BaseSequentialStream *chp, int argc, char *argv[]){ |
817 |
int steps = 100; |
818 |
int i;
|
819 |
|
820 |
uint16_t prox[8];
|
821 |
uint32_t prox_sum = 0;
|
822 |
|
823 |
if (argc == 1){ |
824 |
chprintf(chp, "%i steps \n", atoi(argv[0])); |
825 |
steps = atoi(argv[0]);
|
826 |
}else{
|
827 |
chprintf(chp, "Usage: proxyRing <steps> \n");
|
828 |
} |
829 |
for (int j=0; j<steps; j++){ |
830 |
prox_sum = 0;
|
831 |
for(i=0; i<8;i++){ |
832 |
prox[i] = global.robot.getProximityRingValue(i); |
833 |
prox_sum += prox[i]; |
834 |
} |
835 |
// uint16_t notouch = 100;
|
836 |
// uint16_t toucht = 20031;
|
837 |
// sign =
|
838 |
// i = 0;
|
839 |
chprintf(chp, "0:%i 1:%i 2:%i 3:%i 4:%i 5:%i 6:%i 7:%i prox_sum:%i \n", prox[0], prox[1], prox[2], prox[3], prox[4], prox[5], prox[6], prox[7], prox_sum); |
840 |
BaseThread::sleep(CAN::UPDATE_PERIOD); |
841 |
} |
842 |
} |
843 |
|
844 |
static const ShellCommand commands[] = { |
845 |
{"shutdown", shellRequestShutdown},
|
846 |
{"wakeup", shellRequestWakeup},
|
847 |
{"check", shellRequestCheck},
|
848 |
{"reset_memory", shellRequestResetMemory},
|
849 |
{"get_board_id", shellRequestGetBoardId},
|
850 |
{"set_board_id", shellRequestSetBoardId},
|
851 |
{"get_memory_data", shellRequestGetMemoryData},
|
852 |
{"get_vcnl", shellRequestGetVcnl},
|
853 |
{"calib_vcnl_offset", shellRequestCalib},
|
854 |
{"set_vcnl_offset", shellRequestSetVcnlOffset},
|
855 |
{"reset_vcnl_offset", shellRequestResetVcnlOffset},
|
856 |
{"get_vcnl_offset", shellRequestGetVcnlOffset},
|
857 |
{"reset_Ed_Eb", shellRequestResetCalibrationConstants},
|
858 |
{"get_Ed_Eb", shellRequestGetCalibrationConstants},
|
859 |
{"set_Ed_Eb", shellRequestSetCalibrationConstants},
|
860 |
{"get_robot_id", shellRequestGetRobotId},
|
861 |
{"get_system_load", shellRequestGetSystemLoad},
|
862 |
{"set_lights", shellRequestSetLights},
|
863 |
{"shell_board", shellSwitchBoardCmd},
|
864 |
{"get_bootloader_info", shellRequestGetBootloaderInfo},
|
865 |
{"motor_drive", shellRequestMotorDrive},
|
866 |
{"motor_stop", shellRequestMotorStop},
|
867 |
{"motor_calibrate", shellRequestMotorCalibrate},
|
868 |
{"motor_getGains", shellRequestMotorGetGains},
|
869 |
{"motor_resetGains", shellRequestMotorResetGains},
|
870 |
{"calibrate_line_sensors", shellRequestCalibrateLineSensores},
|
871 |
{"printProxyBottom", sellRequestgetBottomSensorData},
|
872 |
{"printProxyRing", shellRequestProxyRingValues},
|
873 |
{"checkPowerPins", shellRequestCheckPower},
|
874 |
{NULL, NULL} |
875 |
}; |
876 |
|
877 |
static const ShellConfig shell_cfg1 = { |
878 |
(BaseSequentialStream *) &global.sercanmux1, |
879 |
commands |
880 |
}; |
881 |
|
882 |
void initPowermonitor(INA219::Driver &ina219, const float shuntResistance_O, const float maxExpectedCurrent_A, const uint16_t currentLsb_uA) |
883 |
{ |
884 |
INA219::CalibData calibData; |
885 |
INA219::InitData initData; |
886 |
|
887 |
calibData.input.configuration.content.brng = INA219::Configuration::BRNG_16V; |
888 |
calibData.input.configuration.content.pg = INA219::Configuration::PGA_40mV; |
889 |
calibData.input.configuration.content.badc = INA219::Configuration::ADC_68100us; |
890 |
calibData.input.configuration.content.sadc = INA219::Configuration::ADC_68100us; |
891 |
calibData.input.configuration.content.mode = INA219::Configuration::MODE_ShuntBus_Continuous; |
892 |
calibData.input.shunt_resistance_O = shuntResistance_O; |
893 |
calibData.input.max_expected_current_A = maxExpectedCurrent_A; |
894 |
calibData.input.current_lsb_uA = currentLsb_uA; |
895 |
if (ina219.calibration(&calibData) != BaseSensor<>::SUCCESS)
|
896 |
{ |
897 |
chprintf((BaseSequentialStream*)&SD1, "WARNING: calibration of INA219 failed.\n");
|
898 |
} |
899 |
|
900 |
initData.configuration.value = calibData.input.configuration.value; |
901 |
initData.calibration = calibData.output.calibration_value; |
902 |
initData.current_lsb_uA = calibData.output.current_lsb_uA; |
903 |
if (ina219.init(&initData) != BaseSensor<>::SUCCESS)
|
904 |
{ |
905 |
chprintf((BaseSequentialStream*)&SD1, "WARNING: initialization of INA219 failed.\n");
|
906 |
} |
907 |
|
908 |
if (calibData.input.current_lsb_uA != initData.current_lsb_uA)
|
909 |
{ |
910 |
chprintf((BaseSequentialStream*)&SD1, "NOTE: LSB for current measurement was limited when initializing INA219 (%u -> %u)", calibData.input.current_lsb_uA, initData.current_lsb_uA);
|
911 |
} |
912 |
|
913 |
return;
|
914 |
} |
915 |
|
916 |
/*
|
917 |
* Application entry point.
|
918 |
*/
|
919 |
int main(void) { |
920 |
|
921 |
// int16_t accel;
|
922 |
Thread *shelltp = NULL;
|
923 |
|
924 |
/*
|
925 |
* System initializations.
|
926 |
* - HAL initialization, this also initializes the configured device drivers
|
927 |
* and performs the board-specific initializations.
|
928 |
* - Kernel initialization, the main() function becomes a thread and the
|
929 |
* RTOS is active.
|
930 |
*/
|
931 |
halInit(); |
932 |
qeiInit(); |
933 |
System::init(); |
934 |
|
935 |
// boardWakeup();
|
936 |
// boardWriteIoPower(1);
|
937 |
|
938 |
/*
|
939 |
* Activates the serial driver 2 using the driver default configuration.
|
940 |
*/
|
941 |
sdStart(&SD1, &global.sd1_config); |
942 |
|
943 |
chprintf((BaseSequentialStream*) &SD1, "\n");
|
944 |
chprintf((BaseSequentialStream*) &SD1, BOARD_NAME " " BOARD_VERSION "\n"); |
945 |
switch (*((uint32_t*)(BL_CALLBACK_TABLE_ADDR))) {
|
946 |
case (('A'<<24) | ('-'<<16) | ('B'<<8) | ('L'<<0)): |
947 |
chprintf((BaseSequentialStream*) &SD1, "Bootloader %u.%u.%u\n",
|
948 |
((blVersion_t*)(BL_CALLBACK_TABLE_ADDR + (1*4)))->major, |
949 |
((blVersion_t*)(BL_CALLBACK_TABLE_ADDR + (1*4)))->minor, |
950 |
((blVersion_t*)(BL_CALLBACK_TABLE_ADDR + (1*4)))->patch); |
951 |
break;
|
952 |
|
953 |
case BL_MAGIC_NUMBER:
|
954 |
chprintf((BaseSequentialStream*) &SD1, "Bootloader %u.%u.%u\n",
|
955 |
*((uint32_t*)(BL_CALLBACK_TABLE_ADDR + (1*4))), |
956 |
*((uint32_t*)(BL_CALLBACK_TABLE_ADDR + (1*4))), |
957 |
*((uint32_t*)(BL_CALLBACK_TABLE_ADDR + (1*4)))); |
958 |
break;
|
959 |
|
960 |
default:
|
961 |
chprintf((BaseSequentialStream*) &SD1, "Bootloader incompatible\n");
|
962 |
break;
|
963 |
} |
964 |
chprintf((BaseSequentialStream*) &SD1, "ChibiOS " CH_KERNEL_VERSION "\n"); |
965 |
// make sure that the info text is completetly printed
|
966 |
BaseThread::sleep(10);
|
967 |
|
968 |
extStart(&EXTD1, &extcfg); |
969 |
|
970 |
/*
|
971 |
* Wait for a certain amount of time, so that the PowerBoard can activate
|
972 |
* the IO voltages for the I2C Bus
|
973 |
*/
|
974 |
BaseThread::sleep(MS2ST(2000));
|
975 |
|
976 |
boardClearI2CBus(GPIOB_COMPASS_SCL, GPIOB_COMPASS_SDA); |
977 |
boardClearI2CBus(GPIOB_IR_SCL, GPIOB_IR_SDA); |
978 |
|
979 |
global.HW_I2C1.start(&global.i2c1_config); |
980 |
global.HW_I2C2.start(&global.i2c2_config); |
981 |
|
982 |
global.memory.init(); |
983 |
|
984 |
uint8_t i = 0;
|
985 |
if (global.memory.getBoardId(&i) == fileSystemIo::FileSystemIoBase::OK) {
|
986 |
chprintf((BaseSequentialStream*) &SD1, "Board ID: %u\n", i);
|
987 |
} else {
|
988 |
chprintf((BaseSequentialStream*) &SD1, "Error reading board ID\n");
|
989 |
} |
990 |
chprintf((BaseSequentialStream*) &SD1, "\n");
|
991 |
|
992 |
initPowermonitor(global.ina219, 0.1f, 0.075f, 10); |
993 |
|
994 |
for (i = 0x00u; i < global.vcnl4020.size(); i++) { |
995 |
uint16_t buffer; |
996 |
global.memory.getVcnl4020Offset(&buffer,i); |
997 |
global.vcnl4020[i].setProximityOffset(buffer); |
998 |
global.vcnl4020[i].start(NORMALPRIO); |
999 |
} |
1000 |
|
1001 |
global.ina219.start(NORMALPRIO); |
1002 |
|
1003 |
global.hmc5883l.start(NORMALPRIO + 8);
|
1004 |
|
1005 |
global.increments.start(); // Start the qei driver
|
1006 |
|
1007 |
// Start the three axes gyroscope
|
1008 |
global.l3g4200d.configure(&global.gyro_run_config); |
1009 |
global.l3g4200d.start(NORMALPRIO+5);
|
1010 |
|
1011 |
global.odometry.start(NORMALPRIO + 20);
|
1012 |
|
1013 |
global.robot.start(HIGHPRIO - 1);
|
1014 |
|
1015 |
global.motorcontrol.start(NORMALPRIO + 7);
|
1016 |
|
1017 |
global.distcontrol.start(NORMALPRIO + 9);
|
1018 |
|
1019 |
// Set target velocity
|
1020 |
types::kinematic velocity; |
1021 |
velocity.x = 0; // E.g. "100*1e3" equals "10 cm/s" |
1022 |
velocity.w_z = 0; // E.g. "2*1e6" equals "2 rad/s" |
1023 |
global.motorcontrol.setTargetSpeed(velocity); |
1024 |
|
1025 |
// Start the three axes linear accelerometer
|
1026 |
global.lis331dlh.configure(&global.accel_run_config); |
1027 |
global.lis331dlh.start(NORMALPRIO+4);
|
1028 |
|
1029 |
// Start the user thread
|
1030 |
global.userThread.start(NORMALPRIO); |
1031 |
|
1032 |
/* let the SYS_SYNC_N pin go, to signal that the initialization of the module is done */
|
1033 |
palWritePad(GPIOC, GPIOC_SYS_INT_N, PAL_HIGH); |
1034 |
|
1035 |
/* wait until all modules are done */
|
1036 |
while (palReadPad(GPIOC, GPIOC_SYS_INT_N) == PAL_LOW) {
|
1037 |
continue;
|
1038 |
} |
1039 |
|
1040 |
while (true) { |
1041 |
|
1042 |
if (!shelltp)
|
1043 |
shelltp = shellCreate(&shell_cfg1, THD_WA_SIZE(1024), NORMALPRIO);
|
1044 |
else if (chThdTerminated(shelltp)) { |
1045 |
chThdRelease(shelltp); /* Recovers memory of the previous shell. */
|
1046 |
shelltp = NULL; /* Triggers spawning of a new shell. */ |
1047 |
} |
1048 |
|
1049 |
// Let the LED just blink as an alive signal
|
1050 |
boardWriteLed(1);
|
1051 |
BaseThread::sleep(MS2ST(250));
|
1052 |
boardWriteLed(0);
|
1053 |
BaseThread::sleep(MS2ST(250));
|
1054 |
|
1055 |
if (shutdown_now != SHUTDOWN_NONE) {
|
1056 |
if ((*((uint32_t*)(BL_CALLBACK_TABLE_ADDR)) != (('A'<<24) | ('-'<<16) | ('B'<<8) | ('L'<<0))) && (*((uint32_t*)(BL_CALLBACK_TABLE_ADDR)) != BL_MAGIC_NUMBER)) { |
1057 |
chprintf((BaseSequentialStream*) &SD1, "ERROR: unable to shut down (bootloader deprecated).\n");
|
1058 |
shutdown_now = SHUTDOWN_NONE; |
1059 |
} else {
|
1060 |
uint32_t blCallbackPtrAddr = BL_CALLBACK_TABLE_ADDR; |
1061 |
// handle bootloader version 0.2.x
|
1062 |
if ((*((uint32_t*)(BL_CALLBACK_TABLE_ADDR)) == BL_MAGIC_NUMBER) &&
|
1063 |
(*((uint32_t*)(BL_CALLBACK_TABLE_ADDR + (1*4))) == 0 && *((uint32_t*)(BL_CALLBACK_TABLE_ADDR + (2*4))) == 2)) { |
1064 |
switch (shutdown_now) {
|
1065 |
case SHUTDOWN_TRANSPORTATION:
|
1066 |
blCallbackPtrAddr += 6 * 4; |
1067 |
break;
|
1068 |
case SHUTDOWN_DEEPSLEEP:
|
1069 |
blCallbackPtrAddr += 5 * 4; |
1070 |
break;
|
1071 |
case SHUTDOWN_HIBERNATE:
|
1072 |
blCallbackPtrAddr += 4 * 4; |
1073 |
break;
|
1074 |
case SHUTDOWN_HANDLE_REQUEST:
|
1075 |
case SHUTDOWN_RESTART:
|
1076 |
blCallbackPtrAddr += 10 * 4; |
1077 |
break;
|
1078 |
default:
|
1079 |
blCallbackPtrAddr = 0;
|
1080 |
break;
|
1081 |
} |
1082 |
} |
1083 |
// handle bootloader version 0.3.x
|
1084 |
else if ((*((uint32_t*)(BL_CALLBACK_TABLE_ADDR)) == BL_MAGIC_NUMBER) && |
1085 |
(*((uint32_t*)(BL_CALLBACK_TABLE_ADDR + (1*4))) == 0 && *((uint32_t*)(BL_CALLBACK_TABLE_ADDR + (2*4))) == 3)) { |
1086 |
switch (shutdown_now) {
|
1087 |
case SHUTDOWN_TRANSPORTATION:
|
1088 |
blCallbackPtrAddr += 6 * 4; |
1089 |
break;
|
1090 |
case SHUTDOWN_DEEPSLEEP:
|
1091 |
blCallbackPtrAddr += 5 * 4; |
1092 |
break;
|
1093 |
case SHUTDOWN_HIBERNATE:
|
1094 |
blCallbackPtrAddr += 4 * 4; |
1095 |
break;
|
1096 |
case SHUTDOWN_RESTART:
|
1097 |
blCallbackPtrAddr += 7 * 4; |
1098 |
break;
|
1099 |
case SHUTDOWN_HANDLE_REQUEST:
|
1100 |
blCallbackPtrAddr += 8 * 4; |
1101 |
break;
|
1102 |
default:
|
1103 |
blCallbackPtrAddr = 0;
|
1104 |
break;
|
1105 |
} |
1106 |
} |
1107 |
// handle bootloader version 1.0.x and 1.1.x
|
1108 |
else if ((*((uint32_t*)(BL_CALLBACK_TABLE_ADDR)) == (('A'<<24) | ('-'<<16) | ('B'<<8) | ('L'<<0))) && |
1109 |
((blVersion_t*)(BL_CALLBACK_TABLE_ADDR + (1*4)))->major == 1 && (((blVersion_t*)(BL_CALLBACK_TABLE_ADDR + (1*4)))->minor == 0 || ((blVersion_t*)(BL_CALLBACK_TABLE_ADDR + (1*4)))->minor == 1)) { |
1110 |
switch (shutdown_now) {
|
1111 |
case SHUTDOWN_TRANSPORTATION:
|
1112 |
blCallbackPtrAddr += 6 * 4; |
1113 |
break;
|
1114 |
case SHUTDOWN_DEEPSLEEP:
|
1115 |
blCallbackPtrAddr += 5 * 4; |
1116 |
break;
|
1117 |
case SHUTDOWN_HIBERNATE:
|
1118 |
blCallbackPtrAddr += 4 * 4; |
1119 |
break;
|
1120 |
case SHUTDOWN_RESTART:
|
1121 |
blCallbackPtrAddr += 7 * 4; |
1122 |
break;
|
1123 |
case SHUTDOWN_HANDLE_REQUEST:
|
1124 |
blCallbackPtrAddr += 8 * 4; |
1125 |
break;
|
1126 |
default:
|
1127 |
blCallbackPtrAddr = 0;
|
1128 |
break;
|
1129 |
} |
1130 |
} |
1131 |
|
1132 |
void (*blCallback)(void) = NULL; |
1133 |
if (blCallbackPtrAddr > BL_CALLBACK_TABLE_ADDR) {
|
1134 |
blCallback = (void (*)(void))(*((uint32_t*)blCallbackPtrAddr)); |
1135 |
|
1136 |
if (!blCallback) {
|
1137 |
chprintf((BaseSequentialStream*) &SD1, "ERROR: Requested shutdown not supported.\n");
|
1138 |
shutdown_now = SHUTDOWN_NONE; |
1139 |
} else {
|
1140 |
chprintf((BaseSequentialStream*)&SD1, "initiating shutdown sequence...\n");
|
1141 |
palWritePad(GPIOC, GPIOC_SYS_INT_N, PAL_LOW); |
1142 |
palWritePad(GPIOC, GPIOC_SYS_PD_N, PAL_LOW); |
1143 |
|
1144 |
chprintf((BaseSequentialStream*)&SD1, "stopping all threads and periphery...");
|
1145 |
systemShutdown(); |
1146 |
chprintf((BaseSequentialStream*)&SD1, "\tdone\n");
|
1147 |
BaseThread::sleep(MS2ST(10)); // sleep to print everything |
1148 |
|
1149 |
blCallback(); |
1150 |
} |
1151 |
|
1152 |
} else {
|
1153 |
chprintf((BaseSequentialStream*) &SD1, "ERROR: invalid shutdown requested (%u).\n", shutdown_now);
|
1154 |
shutdown_now = SHUTDOWN_NONE; |
1155 |
} |
1156 |
} |
1157 |
|
1158 |
// for (uint8_t i = LIS331DLH::AXIS_X; i <= LIS331DLH::AXIS_Z; i++) {
|
1159 |
// accel = lis331dlh.getAcceleration(i);
|
1160 |
// chprintf((BaseSequentialStream*) &SD1, "%c%04X ", accel < 0 ? '-' : '+', accel < 0 ? -accel : accel);
|
1161 |
// }
|
1162 |
//
|
1163 |
// chprintf((BaseSequentialStream*) &SD1, "\n");
|
1164 |
//
|
1165 |
// // Print out an alive signal
|
1166 |
// chprintf((BaseSequentialStream*) &SD1, ".");
|
1167 |
} |
1168 |
} |
1169 |
|
1170 |
return 0; |
1171 |
} |