amiro-os / devices / LightRing / main.cpp @ 10687985
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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 "global.hpp" |
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#include <amiro/util/util.h> |
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#include <amiro/Color.h> |
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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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|
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using namespace amiro; |
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using namespace chibios_rt; |
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|
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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 shellRequestShutdown(BaseSequentialStream* chp, int argc, char *argv[]) { |
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|
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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 testLights() {
|
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for (int i = 0; i < (8 * 16 * 2); i++) { |
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Color color; |
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int brightness;
|
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|
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switch (((i / 16) / 2) % 8) { |
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case 0: |
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color = Color::WHITE; |
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break;
|
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case 1: |
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color = Color::RED; |
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break;
|
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case 2: |
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color = Color::FUCHSIA; |
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break;
|
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case 3: |
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color = Color::BLUE; |
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break;
|
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case 4: |
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color = Color::AQUA; |
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break;
|
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case 5: |
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color = Color::LIME; |
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break;
|
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case 6: |
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color = Color::YELLOW; |
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break;
|
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case 7: |
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default:
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color = Color::BLACK; |
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break;
|
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} |
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|
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if (i & (1 << 4)) |
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brightness = 10 + (i % 16) * 6; |
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else
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brightness = 10;
|
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|
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global.robot.setLightBrightness(brightness); |
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global.robot.setLightColor((i / 2) % 8, color); |
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|
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BaseThread::sleep(MS2ST(250));
|
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} |
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} |
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|
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void testColors() {
|
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Color color; |
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|
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global.robot.setLightBrightness(50);
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|
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for (int i = 0; i < Color::YELLOWGREEN; i++) { |
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color = Color(static_cast<Color::GlobalColor>(i));
|
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for (int j = 0; j < 8; j++) |
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global.robot.setLightColor(j, color); |
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|
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BaseThread::sleep(MS2ST(250));
|
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} |
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|
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} |
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|
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void testFade() {
|
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for (int i = 0; i < 255; i += 16) { |
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Color color(255 - i, i, 0); |
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for (int j = 0; j < 8; j++) { |
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global.robot.setLightColor(j, color); |
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BaseThread::sleep(MS2ST(250));
|
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} |
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} |
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} |
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|
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void testBrightness() {
|
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for (int j = 0; j < 8; j++) |
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global.robot.setLightColor(j, Color::WHITE); |
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|
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for (int i = 0; i < 200; i += 5) { |
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int brightness = (i > 100) ? 200 - i : i; |
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global.robot.setLightBrightness(brightness); |
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BaseThread::sleep(MS2ST(100));
|
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} |
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} |
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|
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static msg_t shutdownRequest(void *arg) { |
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|
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(void) arg;
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const size_t max_str_len = strlen("shutdown"); |
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uint8_t buffer[20];
|
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uint8_t num_bytes = 0x00u;
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uint8_t consume; |
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|
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while (true) { |
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|
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num_bytes += sdAsynchronousRead(&SD1, &buffer[num_bytes], sizeof(buffer) - num_bytes);
|
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|
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if (num_bytes) {
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|
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consume = 0x01u;
|
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|
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if (num_bytes >= strlen("shutdown") && !strncmp((char*) buffer, "shutdown", strlen("shutdown"))) { |
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|
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boardRequestShutdown(); |
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consume = strlen("shutdown");
|
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|
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} |
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|
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if (consume != 0x01 || num_bytes >= max_str_len) { |
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|
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num_bytes -= consume; |
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memcpy(&buffer[0], &buffer[consume], num_bytes);
|
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|
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} |
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|
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} |
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|
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BaseThread::sleep(MS2ST(1000));
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|
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} |
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|
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return RDY_OK;
|
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|
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} |
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|
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void systemShutdown() {
|
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|
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global.userThread.requestTerminate(); |
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global.userThread.wait(); |
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|
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global.robot.setLightBrightness(0);
|
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global.robot.terminate(); |
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|
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global.tlc5947.requestTerminate(); |
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global.tlc5947.update(); |
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global.tlc5947.wait(); |
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|
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global.lidar.requestTerminate(); |
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global.lidar.wait(); |
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|
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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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void shellRequestResetMemory(BaseSequentialStream *chp, int __unused argc, char __unused *argv[]) { |
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chprintf(chp, "shellRequestInitMemory\n");
|
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|
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msg_t res = global.memory.resetMemory(); |
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if ( res != global.memory.OK)
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chprintf(chp, "Memory Init: FAIL\n");
|
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else
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chprintf(chp, "Memory Init: OK\n");
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} |
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|
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void shellRequestGetBoardId(BaseSequentialStream *chp, int __unused argc, char __unused *argv[]) { |
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chprintf(chp, "shellRequestGetBoardId\n");
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|
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uint8_t id = 0xFFu;
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msg_t res = global.memory.getBoardId(&id); |
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if (res != global.memory.OK)
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chprintf(chp, "Get Board ID: FAIL\n");
|
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else
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chprintf(chp, "Get Board ID: %u\n", id);
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} |
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|
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void shellRequestSetBoardId(BaseSequentialStream *chp, int argc, char *argv[]) { |
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chprintf(chp, "shellRequestSetBoardId\n");
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|
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if (argc == 0) { |
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chprintf(chp, "Usage: %s\n","set_board_id <idx>"); |
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} else {
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msg_t res = global.memory.setBoardId(atoi(argv[0]));
|
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if (res != global.memory.OK)
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chprintf(chp, "Set Board ID: FAIL\n");
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else
|
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chprintf(chp, "Set Board ID: OK\n");
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} |
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} |
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|
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void boardPeripheryCheck(BaseSequentialStream *chp) {
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msg_t result; |
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chprintf(chp, "\nCHECK: START\n");
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|
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// Check the radio
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result = global.a2500r24a.getCheck(); |
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if (result == global.a2500r24a.CHECK_OK)
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chprintf(chp, "A2500R24A: OK\n");
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else
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chprintf(chp, "A2500R24A: FAIL\n");
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|
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// Check the eeprom
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result = global.memory.getCheck(); |
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if ( result != global.memory.OK)
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chprintf(chp, "Memory Structure: FAIL\n");
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else
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chprintf(chp, "Memory Structure: OK\n");
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|
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// Check the lights
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chprintf(chp, "LEDs: Test colors\n");
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testColors(); |
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chprintf(chp, "LEDs: Off\n");
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global.robot.setLightBrightness(0);
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|
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chprintf(chp, "CHECK: FINISH\n");
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} |
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|
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void shellRequestGetMemoryData(BaseSequentialStream *chp, int argc, char *argv[]) { |
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|
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enum Type {HEX, U8, U16, U32, S8, S16, S32};
|
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|
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chprintf(chp, "shellRequestReadData\n");
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|
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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;
|
309 |
} |
310 |
|
311 |
uint8_t type_size = 0;
|
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Type type = HEX; |
313 |
if (strcmp(argv[0],"hex") == 0) { |
314 |
type_size = sizeof(unsigned char); |
315 |
type = HEX; |
316 |
} else if(strcmp(argv[0],"u8") == 0) { |
317 |
type_size = sizeof(uint8_t);
|
318 |
type = U8; |
319 |
} else if(strcmp(argv[0],"u16") == 0) { |
320 |
type_size = sizeof(uint16_t);
|
321 |
type = U16; |
322 |
} else if(strcmp(argv[0],"u32") == 0) { |
323 |
type_size = sizeof(uint32_t);
|
324 |
type = U32; |
325 |
} else if(strcmp(argv[0],"s8") == 0) { |
326 |
type_size = sizeof(int8_t);
|
327 |
type = S8; |
328 |
} else if(strcmp(argv[0],"s16") == 0) { |
329 |
type_size = sizeof(int16_t);
|
330 |
type = S16; |
331 |
} else if(strcmp(argv[0],"s32") == 0) { |
332 |
type_size = sizeof(int32_t);
|
333 |
type = S32; |
334 |
} else {
|
335 |
chprintf(chp, "First argument invalid. Use 'get_memory_data help' for help.\n");
|
336 |
return;
|
337 |
} |
338 |
|
339 |
unsigned int start_byte = atoi(argv[1]); |
340 |
|
341 |
unsigned int num_elements = 1; |
342 |
if (argc >= 3) |
343 |
num_elements = atoi(argv[2]);
|
344 |
|
345 |
const size_t eeprom_size = EEPROM::getsize(&global.at24c01);
|
346 |
uint8_t buffer[eeprom_size]; |
347 |
if (start_byte + (type_size * num_elements) > eeprom_size) {
|
348 |
num_elements = (eeprom_size - start_byte) / type_size; |
349 |
chprintf(chp, "Warning: request exceeds eeprom size -> limiting to %u values.\n", num_elements);
|
350 |
} |
351 |
|
352 |
chFileStreamSeek((BaseFileStream*)&global.at24c01, start_byte); |
353 |
|
354 |
// Work around, because stm32f1 cannot read a single byte
|
355 |
if (type_size*num_elements < 2) |
356 |
type_size = 2;
|
357 |
|
358 |
uint32_t bytes_read = chSequentialStreamRead((BaseFileStream*)&global.at24c01, buffer, type_size*num_elements); |
359 |
|
360 |
if (bytes_read != type_size*num_elements)
|
361 |
chprintf(chp, "Warning: %u of %u requested bytes were read.\n", bytes_read, type_size*num_elements);
|
362 |
|
363 |
for (unsigned int i = 0; i < num_elements; ++i) { |
364 |
switch (type) {
|
365 |
case HEX:
|
366 |
chprintf(chp, "%02X ", buffer[i]);
|
367 |
break;
|
368 |
case U8:
|
369 |
chprintf(chp, "%03u ", ((uint8_t*)buffer)[i]);
|
370 |
break;
|
371 |
case U16:
|
372 |
chprintf(chp, "%05u ", ((uint16_t*)buffer)[i]);
|
373 |
break;
|
374 |
case U32:
|
375 |
chprintf(chp, "%010u ", ((uint32_t*)buffer)[i]);
|
376 |
break;
|
377 |
case S8:
|
378 |
chprintf(chp, "%+03d ", ((int8_t*)buffer)[i]);
|
379 |
break;
|
380 |
case S16:
|
381 |
chprintf(chp, "%+05d ", ((int16_t*)buffer)[i]);
|
382 |
break;
|
383 |
case S32:
|
384 |
chprintf(chp, "%+010d ", ((int32_t*)buffer)[i]);
|
385 |
break;
|
386 |
default:
|
387 |
break;
|
388 |
} |
389 |
} |
390 |
chprintf(chp, "\n");
|
391 |
|
392 |
return;
|
393 |
|
394 |
} |
395 |
|
396 |
void shellRequestCheck(BaseSequentialStream *chp, int __unused argc, char __unused *argv[]) { |
397 |
chprintf(chp, "shellRequestCheck\n");
|
398 |
boardPeripheryCheck(chp); |
399 |
} |
400 |
|
401 |
void shellRequestGetRobotId(BaseSequentialStream *chp, int __unused argc, char __unused *argv[]) { |
402 |
chprintf(chp, "shellRequestGetRobotId\n");
|
403 |
chprintf(chp, "Robot ID: %u\n", global.robot.getRobotID());
|
404 |
if (global.robot.getRobotID() == 0) |
405 |
chprintf(chp, "Warning: The ID seems to be uninitialized. Is CAN communication working correctly?\n");
|
406 |
} |
407 |
|
408 |
void shellRequestGetSystemLoad(BaseSequentialStream *chp, int argc, char *argv[]) { |
409 |
chprintf(chp, "shellRequestGetSystemLoad\n");
|
410 |
uint8_t seconds = 1;
|
411 |
if (argc >= 1) { |
412 |
seconds = atoi(argv[0]);
|
413 |
} |
414 |
chprintf(chp, "measuring CPU load for %u %s...\n", seconds, (seconds>1)? "seconds" : "second"); |
415 |
|
416 |
const systime_t before = chThdGetTicks(chSysGetIdleThread());
|
417 |
BaseThread::sleep(S2ST(seconds)); |
418 |
const systime_t after = chThdGetTicks(chSysGetIdleThread());
|
419 |
const float usage = 1.0f - (float(after - before) / float(seconds * CH_FREQUENCY)); |
420 |
|
421 |
chprintf(chp, "CPU load: %3.2f%%\n", usage * 100); |
422 |
const uint32_t memory_total = 0x10000; |
423 |
const uint32_t memory_load = memory_total - chCoreStatus();
|
424 |
chprintf(chp, "RAM load: %3.2f%% (%u / %u Byte)\n", float(memory_load)/float(memory_total) * 100, memory_load, memory_total); |
425 |
} |
426 |
|
427 |
void shellSwitchBoardCmd(BaseSequentialStream *chp, int argc, char *argv[]) { |
428 |
if (argc != 1) { |
429 |
chprintf(chp, "Call with decimal numbers: shell_board <idx>\n");
|
430 |
return;
|
431 |
} |
432 |
uint8_t boardIdx = static_cast<uint8_t>(atoi(argv[0])); |
433 |
|
434 |
chprintf(chp, "shellSwitchBoardCmd\n");
|
435 |
global.sercanmux1.sendSwitchCmd(boardIdx); |
436 |
} |
437 |
|
438 |
void shellRequestGetBootloaderInfo(BaseSequentialStream* chp, int argc, char *argv[]) { |
439 |
// check the magic number
|
440 |
switch (*((uint32_t*)(BL_CALLBACK_TABLE_ADDR))) {
|
441 |
case (('A'<<24) | ('-'<<16) | ('B'<<8) | ('L'<<0)): |
442 |
chprintf((BaseSequentialStream*) &SD1, "Bootloader %u.%u.%u\n",
|
443 |
((blVersion_t*)(BL_CALLBACK_TABLE_ADDR + (1*4)))->major, |
444 |
((blVersion_t*)(BL_CALLBACK_TABLE_ADDR + (1*4)))->minor, |
445 |
((blVersion_t*)(BL_CALLBACK_TABLE_ADDR + (1*4)))->patch); |
446 |
break;
|
447 |
|
448 |
case BL_MAGIC_NUMBER:
|
449 |
chprintf((BaseSequentialStream*) &SD1, "Bootloader %u.%u.%u\n",
|
450 |
*((uint32_t*)(BL_CALLBACK_TABLE_ADDR + (1*4))), |
451 |
*((uint32_t*)(BL_CALLBACK_TABLE_ADDR + (1*4))), |
452 |
*((uint32_t*)(BL_CALLBACK_TABLE_ADDR + (1*4)))); |
453 |
break;
|
454 |
|
455 |
default:
|
456 |
chprintf((BaseSequentialStream*) &SD1, "Bootloader incompatible\n");
|
457 |
break;
|
458 |
} |
459 |
|
460 |
return;
|
461 |
} |
462 |
|
463 |
static const ShellCommand commands[] = { |
464 |
{"shutdown", shellRequestShutdown},
|
465 |
{"check", shellRequestCheck},
|
466 |
{"reset_memory", shellRequestResetMemory},
|
467 |
{"get_board_id", shellRequestGetBoardId},
|
468 |
{"set_board_id", shellRequestSetBoardId},
|
469 |
{"get_memory_data", shellRequestGetMemoryData},
|
470 |
{"get_robot_id", shellRequestGetRobotId},
|
471 |
{"get_system_load", shellRequestGetSystemLoad},
|
472 |
{"shell_board", shellSwitchBoardCmd},
|
473 |
{"get_bootloader_info", shellRequestGetBootloaderInfo},
|
474 |
{NULL, NULL} |
475 |
}; |
476 |
|
477 |
static const ShellConfig shell_cfg1 = { |
478 |
(BaseSequentialStream *) &global.sercanmux1, |
479 |
commands |
480 |
}; |
481 |
|
482 |
|
483 |
|
484 |
/*
|
485 |
* Application entry point.
|
486 |
*/
|
487 |
int main(void) { |
488 |
|
489 |
Thread *shelltp = NULL;
|
490 |
// global.shellTermID = CAN::LIGHT_RING_ID;
|
491 |
/*
|
492 |
* System initializations.
|
493 |
* - HAL initialization, this also initializes the configured device drivers
|
494 |
* and performs the board-specific initializations.
|
495 |
* - Kernel initialization, the main() function becomes a thread and the
|
496 |
* RTOS is active.
|
497 |
*/
|
498 |
halInit(); |
499 |
System::init(); |
500 |
|
501 |
/*
|
502 |
* Activates the serial driver 2 using the driver default configuration.
|
503 |
*/
|
504 |
sdStart(&SD1, &global.sd1_config); |
505 |
sdStart(&SD2, &global.sd2_config); |
506 |
|
507 |
chprintf((BaseSequentialStream*) &SD1, "\n");
|
508 |
chprintf((BaseSequentialStream*) &SD1, BOARD_NAME " " BOARD_VERSION "\n"); |
509 |
switch (*((uint32_t*)(BL_CALLBACK_TABLE_ADDR))) {
|
510 |
case (('A'<<24) | ('-'<<16) | ('B'<<8) | ('L'<<0)): |
511 |
chprintf((BaseSequentialStream*) &SD1, "Bootloader %u.%u.%u\n",
|
512 |
((blVersion_t*)(BL_CALLBACK_TABLE_ADDR + (1*4)))->major, |
513 |
((blVersion_t*)(BL_CALLBACK_TABLE_ADDR + (1*4)))->minor, |
514 |
((blVersion_t*)(BL_CALLBACK_TABLE_ADDR + (1*4)))->patch); |
515 |
break;
|
516 |
|
517 |
case BL_MAGIC_NUMBER:
|
518 |
chprintf((BaseSequentialStream*) &SD1, "Bootloader %u.%u.%u\n",
|
519 |
*((uint32_t*)(BL_CALLBACK_TABLE_ADDR + (1*4))), |
520 |
*((uint32_t*)(BL_CALLBACK_TABLE_ADDR + (1*4))), |
521 |
*((uint32_t*)(BL_CALLBACK_TABLE_ADDR + (1*4)))); |
522 |
break;
|
523 |
|
524 |
default:
|
525 |
chprintf((BaseSequentialStream*) &SD1, "Bootloader incompatible\n");
|
526 |
break;
|
527 |
} |
528 |
chprintf((BaseSequentialStream*) &SD1, "ChibiOS " CH_KERNEL_VERSION "\n"); |
529 |
// make sure that the info text is completetly printed
|
530 |
BaseThread::sleep(10);
|
531 |
|
532 |
extStart(&EXTD1, &extcfg); |
533 |
|
534 |
boardClearI2CBus(GPIOB_MEM_SCL, GPIOB_MEM_SDA); |
535 |
|
536 |
global.HW_I2C2.start(&global.i2c2_config); |
537 |
|
538 |
global.memory.init(); |
539 |
|
540 |
uint8_t i = 0;
|
541 |
if (global.memory.getBoardId(&i) == fileSystemIo::FileSystemIoBase::OK) {
|
542 |
chprintf((BaseSequentialStream*) &SD1, "Board ID: %u\n", i);
|
543 |
} else {
|
544 |
chprintf((BaseSequentialStream*) &SD1, "Error reading board ID\n");
|
545 |
} |
546 |
chprintf((BaseSequentialStream*) &SD1, "\n");
|
547 |
|
548 |
global.tlc5947.start(NORMALPRIO + 5);
|
549 |
global.tlc5947.enable(); |
550 |
|
551 |
global.robot.start(HIGHPRIO - 1);
|
552 |
|
553 |
// lidar.start(NORMALPRIO + 15); UNCOMMENT TO START LIDAR
|
554 |
|
555 |
global.lidar.start(NORMALPRIO); |
556 |
|
557 |
global.userThread.start(NORMALPRIO); |
558 |
|
559 |
/* let the SYS_SYNC_N pin go, to signal that the initialization of the module is done */
|
560 |
palWritePad(GPIOD, GPIOD_SYS_INT_N, PAL_HIGH); |
561 |
|
562 |
/* wait until all modules are done */
|
563 |
while (palReadPad(GPIOD, GPIOD_SYS_INT_N) == PAL_LOW) {
|
564 |
continue;
|
565 |
} |
566 |
|
567 |
global.robot.setLightBrightness(10);
|
568 |
global.robot.setLightColor(0, Color::RED);
|
569 |
global.robot.setLightColor(1, Color::LIME);
|
570 |
global.robot.setLightColor(2, Color::BLUE);
|
571 |
global.robot.setLightColor(3, Color::WHITE);
|
572 |
global.robot.setLightColor(4, Color::RED);
|
573 |
global.robot.setLightColor(5, Color::LIME);
|
574 |
global.robot.setLightColor(6, Color::BLUE);
|
575 |
global.robot.setLightColor(7, Color::WHITE);
|
576 |
|
577 |
// static uint16_t scannedData[NUMBER_OF_STEPS /*see lidar.h for this variable*/] = {}; UNCOMMENT TO START LIDAR
|
578 |
while (true) { |
579 |
|
580 |
if (!shelltp)
|
581 |
shelltp = shellCreate(&shell_cfg1, THD_WA_SIZE(1024), NORMALPRIO);
|
582 |
else if (chThdTerminated(shelltp)) { |
583 |
chThdRelease(shelltp); /* Recovers memory of the previous shell. */
|
584 |
shelltp = NULL; /* Triggers spawning of a new shell. */ |
585 |
} |
586 |
|
587 |
// testLights();
|
588 |
// testColors();
|
589 |
// testFade();
|
590 |
// testBrightness();
|
591 |
if (shutdown_now != SHUTDOWN_NONE) {
|
592 |
if ((*((uint32_t*)(BL_CALLBACK_TABLE_ADDR)) != (('A'<<24) | ('-'<<16) | ('B'<<8) | ('L'<<0))) && (*((uint32_t*)(BL_CALLBACK_TABLE_ADDR)) != BL_MAGIC_NUMBER)) { |
593 |
chprintf((BaseSequentialStream*) &SD1, "ERROR: unable to shut down (bootloader deprecated).\n");
|
594 |
shutdown_now = SHUTDOWN_NONE; |
595 |
} else {
|
596 |
uint32_t blCallbackPtrAddr = BL_CALLBACK_TABLE_ADDR; |
597 |
// handle bootloader version 0.2.x
|
598 |
if ((*((uint32_t*)(BL_CALLBACK_TABLE_ADDR)) == BL_MAGIC_NUMBER) &&
|
599 |
(*((uint32_t*)(BL_CALLBACK_TABLE_ADDR + (1*4))) == 0 && *((uint32_t*)(BL_CALLBACK_TABLE_ADDR + (2*4))) == 2)) { |
600 |
switch (shutdown_now) {
|
601 |
case SHUTDOWN_TRANSPORTATION:
|
602 |
blCallbackPtrAddr += 6 * 4; |
603 |
break;
|
604 |
case SHUTDOWN_DEEPSLEEP:
|
605 |
blCallbackPtrAddr += 5 * 4; |
606 |
break;
|
607 |
case SHUTDOWN_HIBERNATE:
|
608 |
blCallbackPtrAddr += 4 * 4; |
609 |
break;
|
610 |
case SHUTDOWN_HANDLE_REQUEST:
|
611 |
case SHUTDOWN_RESTART:
|
612 |
blCallbackPtrAddr += 10 * 4; |
613 |
break;
|
614 |
default:
|
615 |
blCallbackPtrAddr = 0;
|
616 |
break;
|
617 |
} |
618 |
} |
619 |
// handle bootloader version 0.3.x
|
620 |
else if ((*((uint32_t*)(BL_CALLBACK_TABLE_ADDR)) == BL_MAGIC_NUMBER) && |
621 |
(*((uint32_t*)(BL_CALLBACK_TABLE_ADDR + (1*4))) == 0 && *((uint32_t*)(BL_CALLBACK_TABLE_ADDR + (2*4))) == 3)) { |
622 |
switch (shutdown_now) {
|
623 |
case SHUTDOWN_TRANSPORTATION:
|
624 |
blCallbackPtrAddr += 6 * 4; |
625 |
break;
|
626 |
case SHUTDOWN_DEEPSLEEP:
|
627 |
blCallbackPtrAddr += 5 * 4; |
628 |
break;
|
629 |
case SHUTDOWN_HIBERNATE:
|
630 |
blCallbackPtrAddr += 4 * 4; |
631 |
break;
|
632 |
case SHUTDOWN_RESTART:
|
633 |
blCallbackPtrAddr += 7 * 4; |
634 |
break;
|
635 |
case SHUTDOWN_HANDLE_REQUEST:
|
636 |
blCallbackPtrAddr += 8 * 4; |
637 |
break;
|
638 |
default:
|
639 |
blCallbackPtrAddr = 0;
|
640 |
break;
|
641 |
} |
642 |
} |
643 |
// handle bootloader version 1.0.x
|
644 |
else if ((*((uint32_t*)(BL_CALLBACK_TABLE_ADDR)) == (('A'<<24) | ('-'<<16) | ('B'<<8) | ('L'<<0))) && |
645 |
((blVersion_t*)(BL_CALLBACK_TABLE_ADDR + (1*4)))->major == 1 && ((blVersion_t*)(BL_CALLBACK_TABLE_ADDR + (1*4)))->minor == 0) { |
646 |
switch (shutdown_now) {
|
647 |
case SHUTDOWN_TRANSPORTATION:
|
648 |
blCallbackPtrAddr += 6 * 4; |
649 |
break;
|
650 |
case SHUTDOWN_DEEPSLEEP:
|
651 |
blCallbackPtrAddr += 5 * 4; |
652 |
break;
|
653 |
case SHUTDOWN_HIBERNATE:
|
654 |
blCallbackPtrAddr += 4 * 4; |
655 |
break;
|
656 |
case SHUTDOWN_RESTART:
|
657 |
blCallbackPtrAddr += 7 * 4; |
658 |
break;
|
659 |
case SHUTDOWN_HANDLE_REQUEST:
|
660 |
blCallbackPtrAddr += 8 * 4; |
661 |
break;
|
662 |
default:
|
663 |
blCallbackPtrAddr = 0;
|
664 |
break;
|
665 |
} |
666 |
} |
667 |
|
668 |
void (*blCallback)(void) = NULL; |
669 |
if (blCallbackPtrAddr > BL_CALLBACK_TABLE_ADDR) {
|
670 |
blCallback = (void (*)(void))(*((uint32_t*)blCallbackPtrAddr)); |
671 |
|
672 |
if (!blCallback) {
|
673 |
chprintf((BaseSequentialStream*) &SD1, "ERROR: Requested shutdown not supported.\n");
|
674 |
shutdown_now = SHUTDOWN_NONE; |
675 |
} else {
|
676 |
chprintf((BaseSequentialStream*)&SD1, "initiating shutdown sequence...\n");
|
677 |
palWritePad(GPIOD, GPIOD_SYS_INT_N, PAL_LOW); |
678 |
palWritePad(GPIOC, GPIOC_SYS_PD_N, PAL_LOW); |
679 |
|
680 |
chprintf((BaseSequentialStream*)&SD1, "stopping all threads and periphery...");
|
681 |
systemShutdown(); |
682 |
chprintf((BaseSequentialStream*)&SD1, "\tdone\n");
|
683 |
BaseThread::sleep(MS2ST(10)); // sleep to print everything |
684 |
|
685 |
blCallback(); |
686 |
} |
687 |
|
688 |
} else {
|
689 |
chprintf((BaseSequentialStream*) &SD1, "ERROR: invalid shutdown requested (%u).\n", shutdown_now);
|
690 |
shutdown_now = SHUTDOWN_NONE; |
691 |
} |
692 |
} |
693 |
} |
694 |
|
695 |
// // Print LIDAR scan
|
696 |
// if (global.lidar.getScan(scannedData)) {
|
697 |
// for (uint16_t idx = 0; idx < NUMBER_OF_STEPS; ++idx) {
|
698 |
// chprintf((BaseSequentialStream*) &SD1, "%d ", scannedData[idx]);
|
699 |
// }
|
700 |
// chprintf((BaseSequentialStream*) &SD1, "\n\n");
|
701 |
// }
|
702 |
BaseThread::sleep(MS2ST(500));
|
703 |
} |
704 |
|
705 |
return 0; |
706 |
} |