amiro-os / devices / PowerManagement / main.cpp @ 552936c8
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| 1 | 58fe0e0b | Thomas Schöpping | #ifndef IN_CCM
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| 2 | /*
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| 3 | * @brief Makro to store data in the core coupled memory (ccm).
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| 4 | * Example:
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| 5 | * int compute_buffer[128] IN_CCM;
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| 6 | *
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| 7 | * @note The ccm is not connected to any bus system.
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| 8 | */
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| 9 | #define IN_CCM __attribute__((section(".ccm"))) __attribute__((aligned(4))) |
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| 10 | #endif
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| 11 | |||
| 12 | #ifndef IN_ETH
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| 13 | /*
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| 14 | * @brief Makro to store data in the ethernet memory (eth).
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| 15 | * Example:
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| 16 | * int dma_buffer[128] IN_ETH;
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| 17 | *
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| 18 | * @note The eth is a dedicated memory block with its own DMA controller.
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| 19 | */
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| 20 | #define IN_ETH __attribute__((section(".eth"))) __attribute__((aligned(4))) |
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| 21 | #endif
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| 22 | |||
| 23 | #define BL_CALLBACK_TABLE_ADDR (0x08000000 + 0x01C0) |
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| 24 | #define BL_MAGIC_NUMBER ((uint32_t)0xFF669900u) |
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| 25 | |||
| 26 | #define SHUTDOWN_NONE 0 |
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| 27 | #define SHUTDOWN_TRANSPORTATION 1 |
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| 28 | #define SHUTDOWN_DEEPSLEEP 2 |
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| 29 | #define SHUTDOWN_HIBERNATE 3 |
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| 30 | #define SHUTDOWN_RESTART 4 |
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| 31 | #define SHUTDOWN_HANDLE_REQUEST 5 |
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| 32 | |||
| 33 | #include <ch.hpp> |
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| 34 | #include <shell.h> |
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| 35 | #include <chprintf.h> |
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| 36 | #include <wakeup.h> |
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| 37 | #include <cstdlib> |
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| 38 | #include <cstring> |
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| 39 | #include <amiro/util/util.h> |
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| 40 | #include <global.hpp> |
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| 41 | #include <exti.hpp> |
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| 42 | |||
| 43 | using namespace amiro; |
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| 44 | using namespace constants::PowerManagement; |
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| 45 | |||
| 46 | Global global; |
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| 47 | |||
| 48 | void shutdownTimeoutISR(void *arg) { |
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| 49 | |||
| 50 | (void) arg;
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| 51 | |||
| 52 | } |
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| 53 | |||
| 54 | void systemStop() {
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| 55 | |||
| 56 | // VirtualTimer shutdownTimeout;
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| 57 | uint8_t i; |
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| 58 | |||
| 59 | // tell all boards that it's time to shut down
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| 60 | global.robot.broadcastShutdown(); |
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| 61 | |||
| 62 | global.userThread.requestTerminate(); |
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| 63 | global.userThread.wait(); |
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| 64 | |||
| 65 | // kill bluetooth
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| 66 | boardBluetoothSetState(0);
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| 67 | |||
| 68 | global.adc1_vsys.requestTerminate(); |
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| 69 | global.adc1_vsys.wait(); |
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| 70 | |||
| 71 | for (i = 0; i < global.vcnl4020.size(); ++i) { |
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| 72 | global.vcnl4020[i].requestTerminate(); |
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| 73 | global.vcnl4020[i].wait(); |
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| 74 | } |
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| 75 | |||
| 76 | for (i = 0; i < global.bq27500.size(); ++i) { |
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| 77 | global.bq27500[i].requestTerminate(); |
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| 78 | global.bq27500[i].wait(); |
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| 79 | } |
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| 80 | |||
| 81 | for (i = 0; i < global.ina219.size(); ++i) { |
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| 82 | global.ina219[i].requestTerminate(); |
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| 83 | global.ina219[i].wait(); |
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| 84 | } |
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| 85 | |||
| 86 | // boardWriteIoPower(0);
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| 87 | global.mpr121.configure(&global.mpr121_stdby_config); |
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| 88 | /* cannot shut down touch, b/c we need it to
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| 89 | * clear any interrupt, so WKUP is not blocked
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| 90 | */
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| 91 | |||
| 92 | // stop I²C
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| 93 | for (i = 0; i < global.V_I2C1.size(); ++i) |
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| 94 | global.V_I2C1[i].stop(); |
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| 95 | for (i = 0; i < global.V_I2C2.size(); ++i) |
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| 96 | global.V_I2C2[i].stop(); |
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| 97 | |||
| 98 | global.mpr121.requestTerminate(); |
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| 99 | global.mpr121.wait(); |
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| 100 | |||
| 101 | global.HW_I2C2.stop(); |
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| 102 | global.HW_I2C1.stop(); |
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| 103 | |||
| 104 | // stop all threads
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| 105 | global.robot.terminate(); |
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| 106 | |||
| 107 | // // 60 sec timeout
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| 108 | // palWritePad(GPIOC, GPIOC_SYS_INT_N, PAL_HIGH);
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| 109 | // chVTSet(&shutdownTimeout, MS2ST(60000), shutdownTimeoutISR, NULL);
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| 110 | // // wait for all boards to release SYS_INT_N
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| 111 | // while (palReadPad(GPIOC, GPIOC_SYS_INT_N)!=PAL_HIGH && chVTIsArmedI(&shutdownTimeout)) {
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| 112 | // BaseThread::sleep(MS2ST(1)); /* must sleep for VT, else it will never fire */
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| 113 | // }
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| 114 | // chVTReset(&shutdownTimeout);
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| 115 | |||
| 116 | // chprintf((BaseSequentialStream*) &SD1, "Stop\n");
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| 117 | // boardWriteSystemPower(0);
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| 118 | // boardWriteLed(1);
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| 119 | // boardStop(0x00, 0x00);
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| 120 | |||
| 121 | // /*
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| 122 | // * HSI-PLL domain now.
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| 123 | // */
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| 124 | // //chprintf((BaseSequentialStream*) &SD1, "After Stop\n");
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| 125 | // boardWriteLed(1);
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| 126 | |||
| 127 | // while (true)
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| 128 | // BaseThread::sleep(MS2ST(250));
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| 129 | |||
| 130 | return;
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| 131 | } |
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| 132 | |||
| 133 | void systemShutdown() {
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| 134 | |||
| 135 | VirtualTimer shutdownTimeout; |
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| 136 | uint8_t i; |
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| 137 | |||
| 138 | // tell all boards that it's time to shut down
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| 139 | global.robot.broadcastShutdown(); |
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| 140 | |||
| 141 | // wait a little to make sure all boards got the message and had time to pull their SYS_PD_N pins down
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| 142 | BaseThread::sleep(MS2ST(500));
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| 143 | |||
| 144 | // stop the user thread
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| 145 | global.userThread.requestTerminate(); |
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| 146 | global.userThread.wait(); |
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| 147 | |||
| 148 | // kill bluetooth
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| 149 | boardBluetoothSetState(0);
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| 150 | |||
| 151 | // stop all threads
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| 152 | global.robot.terminate(); |
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| 153 | |||
| 154 | global.adc1_vsys.requestTerminate(); |
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| 155 | global.adc1_vsys.wait(); |
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| 156 | |||
| 157 | for (i = 0; i < global.vcnl4020.size(); ++i) { |
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| 158 | global.vcnl4020[i].requestTerminate(); |
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| 159 | global.vcnl4020[i].wait(); |
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| 160 | } |
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| 161 | |||
| 162 | for (i = 0; i < global.bq27500.size(); ++i) { |
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| 163 | global.bq27500[i].requestTerminate(); |
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| 164 | global.bq27500[i].wait(); |
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| 165 | } |
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| 166 | |||
| 167 | for (i = 0; i < global.ina219.size(); ++i) { |
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| 168 | global.ina219[i].requestTerminate(); |
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| 169 | global.ina219[i].wait(); |
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| 170 | } |
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| 171 | |||
| 172 | // 60 sec timeout
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| 173 | chVTSet(&shutdownTimeout, MS2ST(60000), shutdownTimeoutISR, NULL); |
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| 174 | |||
| 175 | // wait for all boards to release SYS_PD_N
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| 176 | while (!palReadPad(GPIOC, GPIOC_SYS_PD_N) && chVTIsArmedI(&shutdownTimeout))
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| 177 | BaseThread::sleep(MS2ST(1)); /* must sleep for VT, else it will never fire */ |
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| 178 | |||
| 179 | chVTReset(&shutdownTimeout); |
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| 180 | boardWriteIoPower(0);
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| 181 | global.mpr121.configure(&global.mpr121_stdby_config); |
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| 182 | /* cannot shut down touch, b/c we need it to
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| 183 | * clear any interrupt, so WKUP is not blocked
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| 184 | */
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| 185 | |||
| 186 | // stop I²C
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| 187 | for (i = 0; i < global.V_I2C1.size(); ++i) |
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| 188 | global.V_I2C1[i].stop(); |
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| 189 | for (i = 0; i < global.V_I2C2.size(); ++i) |
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| 190 | global.V_I2C2[i].stop(); |
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| 191 | |||
| 192 | boardWriteSystemPower(0);
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| 193 | boardStandby(); |
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| 194 | |||
| 195 | } |
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| 196 | |||
| 197 | |||
| 198 | void boardPeripheryCheck(BaseSequentialStream *chp) {
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| 199 | |||
| 200 | #ifndef AMIRO_NSELFTEST
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| 201 | chprintf(chp, "\nCHECK: START\n");
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| 202 | msg_t result = 0;
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| 203 | |||
| 204 | // Check the proximitysensors
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| 205 | for (uint8_t i = 0; i < global.vcnl4020.size(); i++) { |
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| 206 | result = global.vcnl4020[i].getCheck(); |
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| 207 | if (result == global.vcnl4020[i].CHECK_OK)
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| 208 | chprintf(chp, "VCNL4020: %d OK\n", i);
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| 209 | else
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| 210 | chprintf(chp, "VCNL4020: %d FAIL\n", i);
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| 211 | } |
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| 212 | chprintf(chp, "----------------------------------------\n");
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| 213 | |||
| 214 | // check the PowerPath controller
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| 215 | chprintf(chp, "\n");
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| 216 | if (global.ltc4412.isPluggedIn())
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| 217 | chprintf(chp, "LTC4412: plugged in\n");
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| 218 | else
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| 219 | chprintf(chp, "LTC4412: not plugged in\n");
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| 220 | chprintf(chp, "----------------------------------------\n");
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| 221 | |||
| 222 | // Check the eeprom
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| 223 | result = global.memory.getCheck(); |
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| 224 | if ( result != global.memory.OK)
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| 225 | chprintf(chp, "Memory Structure: FAIL\n");
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| 226 | else
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| 227 | chprintf(chp, "Memory Structure: OK\n");
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| 228 | chprintf(chp, "----------------------------------------\n");
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| 229 | |||
| 230 | // Check the power monitors
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| 231 | INA219::BusVoltage bus_voltage; |
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| 232 | chprintf(chp, "\n");
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| 233 | chprintf(chp, "INA219:\n");
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| 234 | chprintf(chp, "\tVDD (3.3V):\n");
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| 235 | uint8_t result_ina219_vdd = global.ina219[INA_VDD].selftest(); |
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| 236 | chprintf(chp, "->\t");
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| 237 | if (result_ina219_vdd == BaseSensor<>::NOT_IMPLEMENTED)
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| 238 | chprintf(chp, "not implemented");
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| 239 | else if (result_ina219_vdd != INA219::Driver::ST_OK) |
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| 240 | chprintf(chp, "FAIL (error code 0x%02X)", result_ina219_vdd);
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| 241 | else
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| 242 | chprintf(chp, "OK");
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| 243 | |||
| 244 | chprintf(chp, "\n\n");
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| 245 | chprintf(chp, "\tVIO1.8:\n");
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| 246 | uint8_t result_ina219_vio18 = global.ina219[INA_VIO18].selftest(); |
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| 247 | chprintf(chp, "->\t");
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| 248 | if (result_ina219_vio18 == BaseSensor<>::NOT_IMPLEMENTED)
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| 249 | chprintf(chp, "not implemented");
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| 250 | else if (result_ina219_vio18 != INA219::Driver::ST_OK) |
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| 251 | chprintf(chp, "FAIL (error code 0x%02X)", result_ina219_vio18);
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| 252 | else
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| 253 | chprintf(chp, "OK");
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| 254 | |||
| 255 | chprintf(chp, "\n\n");
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| 256 | chprintf(chp, "\tVIO3.3:\n");
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| 257 | uint8_t result_ina219_vio33 = global.ina219[INA_VIO33].selftest(); |
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| 258 | chprintf(chp, "->\t");
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| 259 | if (result_ina219_vio33 == BaseSensor<>::NOT_IMPLEMENTED)
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| 260 | chprintf(chp, "not implemented");
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| 261 | else if (result_ina219_vio33 != INA219::Driver::ST_OK) |
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| 262 | chprintf(chp, "FAIL (error code 0x%02X)", result_ina219_vio33);
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| 263 | else
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| 264 | chprintf(chp, "OK");
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| 265 | |||
| 266 | chprintf(chp, "\n\n");
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| 267 | chprintf(chp, "\tVIO4.2:\n");
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| 268 | uint8_t result_ina219_vio42 = global.ina219[INA_VIO42].selftest(); |
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| 269 | chprintf(chp, "->\t");
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| 270 | if (result_ina219_vio42 == BaseSensor<>::NOT_IMPLEMENTED)
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| 271 | chprintf(chp, "not implemented");
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| 272 | else if (result_ina219_vio42 != INA219::Driver::ST_OK) |
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| 273 | chprintf(chp, "FAIL (error code 0x%02X)", result_ina219_vio42);
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| 274 | else
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| 275 | chprintf(chp, "OK");
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| 276 | |||
| 277 | bus_voltage = global.ina219[INA_VIO42].readBusVoltage(); |
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| 278 | chprintf(chp, "\n\n");
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| 279 | chprintf(chp, "\tVIO5.0:\n");
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| 280 | uint8_t result_ina219_vio50 = global.ina219[INA_VIO50].selftest(); |
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| 281 | chprintf(chp, "->\t");
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| 282 | if (result_ina219_vio50 == BaseSensor<>::NOT_IMPLEMENTED)
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| 283 | chprintf(chp, "not implemented");
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| 284 | else if (result_ina219_vio50 != INA219::Driver::ST_OK) |
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| 285 | chprintf(chp, "FAIL (error code 0x%02X)", result_ina219_vio50);
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| 286 | else
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| 287 | chprintf(chp, "OK");
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| 288 | |||
| 289 | chprintf(chp, "\n\n");
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| 290 | result = result_ina219_vdd | result_ina219_vio18 | result_ina219_vio33 | result_ina219_vio42 | result_ina219_vio50; |
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| 291 | if (result == BaseSensor<>::NOT_IMPLEMENTED)
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| 292 | chprintf(chp, "->\tINA219: not implemented\n");
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| 293 | else
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| 294 | chprintf(chp, "->\tINA219: %s\n", (result != INA219::Driver::ST_OK)? "FAIL" : "OK"); |
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| 295 | chprintf(chp, "----------------------------------------\n");
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| 296 | |||
| 297 | // check the fuel gauges
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| 298 | chprintf(chp, "\n");
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| 299 | chprintf(chp, "BQ27500:\n");
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| 300 | chprintf(chp, "\tP7:\n");
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| 301 | msg_t result_bq27500_p7 = global.bq27500[BAT_P7].selftest(); |
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| 302 | chprintf(chp, "->\tP7: ");
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| 303 | if (result == BaseSensor<>::NOT_IMPLEMENTED)
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| 304 | chprintf(chp, "not implemented");
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| 305 | else if (result_bq27500_p7 == BQ27500::Driver::ST_ABORT_NO_BAT) |
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| 306 | chprintf(chp, "ABORT (no battery detected)");
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| 307 | else if (result_bq27500_p7 != BQ27500::Driver::ST_OK) |
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| 308 | chprintf(chp, "FAIL (error code 0x%02X)", result);
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| 309 | else
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| 310 | chprintf(chp, "OK");
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| 311 | |||
| 312 | chprintf(chp, "\n\n");
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| 313 | chprintf(chp, "\tP8:\n");
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| 314 | msg_t result_bq27500_p8 = global.bq27500[BAT_P8].selftest(); |
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| 315 | chprintf(chp, "->\tP8: ");
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| 316 | if (result == BaseSensor<>::NOT_IMPLEMENTED)
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| 317 | chprintf(chp, "not implemented");
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| 318 | else if (result_bq27500_p8 == BQ27500::Driver::ST_ABORT_NO_BAT) |
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| 319 | chprintf(chp, "ABORT (no battery detected)");
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| 320 | else if (result_bq27500_p8 != BQ27500::Driver::ST_OK) |
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| 321 | chprintf(chp, "FAIL (error code 0x%02X)", result);
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| 322 | else
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| 323 | chprintf(chp, "OK");
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| 324 | |||
| 325 | chprintf(chp, "\n");
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| 326 | result = result_bq27500_p7 | result_bq27500_p8; |
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| 327 | if (result == BaseSensor<>::NOT_IMPLEMENTED)
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| 328 | chprintf(chp, "\n->\tBQ27500: not implemented\n");
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| 329 | else
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| 330 | chprintf(chp, "\n->\tBQ27500: %s\n", (result != BQ27500::Driver::ST_OK)? "FAIL" : "OK"); |
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| 331 | chprintf(chp, "----------------------------------------\n");
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| 332 | |||
| 333 | // check the chargers
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| 334 | chprintf(chp, "\n");
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| 335 | chprintf(chp, "BQ24103A:\n");
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| 336 | if (!global.ltc4412.isPluggedIn())
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| 337 | chprintf(chp, "This test is skipped. Rerun when plugged in.\n");
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| 338 | else {
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| 339 | bool status1, status2, status3;
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| 340 | chprintf(chp, "\tP7:\n");
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| 341 | bool status_p7 = global.bq27500[BAT_P7].isBatteryGood();
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| 342 | chprintf(chp, "Battery good: %s\n", (status_p7? "yes" : "no")); |
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| 343 | if (!status_p7) {
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| 344 | chprintf(chp, "-> Rerun test with (another) battery!\n");
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| 345 | status_p7 = true;
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| 346 | } else {
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| 347 | status1 = global.bq24103a[BAT_P7]->isCharging(); |
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| 348 | chprintf(chp, "status:%scharging\n", (status1? " " : " not ")); |
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| 349 | chprintf(chp, "%sabling charger...\n", (status1? "dis" : "en")); |
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| 350 | global.bq24103a[BAT_P7]->enable(!status1); |
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| 351 | BaseThread::sleep(MS2ST(1500));
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| 352 | status2 = global.bq24103a[BAT_P7]->isCharging(); |
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| 353 | chprintf(chp, "status:%scharging\n", (status2? " " : " not ")); |
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| 354 | chprintf(chp, "%sabling charger...\n", (!status1? "dis" : "en")); |
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| 355 | global.bq24103a[BAT_P7]->enable(status1); |
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| 356 | BaseThread::sleep(MS2ST(1500));
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| 357 | status3 = global.bq24103a[BAT_P7]->isCharging(); |
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| 358 | chprintf(chp, "status:%scharging\n", (status3? " " : " not ")); |
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| 359 | status_p7 = status2 != status1 && status3 == status1; |
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| 360 | chprintf(chp, "->\t");
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| 361 | if (status_p7) {
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| 362 | chprintf(chp, "OK");
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| 363 | } else {
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| 364 | chprintf(chp, "FAIL");
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| 365 | } |
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| 366 | chprintf(chp, "\n");
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| 367 | } |
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| 368 | chprintf(chp, "\n");
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| 369 | chprintf(chp, "\tP8:\n");
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| 370 | bool status_p8 = global.bq27500[BAT_P8].isBatteryGood();
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| 371 | chprintf(chp, "Battery good: %s\n", (status_p8? "yes" : "no")); |
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| 372 | if (!status_p8) {
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| 373 | chprintf(chp, "-> Rerun test with (another) battery!\n");
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| 374 | status_p8 = true;
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| 375 | } else {
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| 376 | status1 = global.bq24103a[BAT_P8]->isCharging(); |
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| 377 | chprintf(chp, "status:%scharging\n", (status1? " " : " not ")); |
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| 378 | chprintf(chp, "%sabling charger...\n", (status1? "dis" : "en")); |
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| 379 | global.bq24103a[BAT_P8]->enable(!status1); |
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| 380 | BaseThread::sleep(MS2ST(1500));
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| 381 | status2 = global.bq24103a[BAT_P8]->isCharging(); |
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| 382 | chprintf(chp, "status:%scharging\n", (status2? " " : " not ")); |
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| 383 | chprintf(chp, "%sabling charger...\n", (!status1? "dis" : "en")); |
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| 384 | global.bq24103a[BAT_P8]->enable(status1); |
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| 385 | BaseThread::sleep(MS2ST(1500));
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| 386 | status3 = global.bq24103a[BAT_P8]->isCharging(); |
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| 387 | chprintf(chp, "status:%scharging\n", (status3? " " : "not ")); |
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| 388 | status_p8 = status2 != status1 && status3 == status1; |
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| 389 | chprintf(chp, "->\t");
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| 390 | if (status_p8)
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| 391 | chprintf(chp, "OK");
|
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| 392 | else
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| 393 | chprintf(chp, "FAIL");
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| 394 | chprintf(chp, "\n");
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| 395 | } |
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| 396 | chprintf(chp, "\n");
|
||
| 397 | chprintf(chp, "->\tBQ24103A: ");
|
||
| 398 | if (status_p7 && status_p8)
|
||
| 399 | chprintf(chp, "OK");
|
||
| 400 | else
|
||
| 401 | chprintf(chp, "FAIL");
|
||
| 402 | chprintf(chp, "\n");
|
||
| 403 | } |
||
| 404 | chprintf(chp, "----------------------------------------\n");
|
||
| 405 | |||
| 406 | // check Bluetooth (TODO: move this check to driver)
|
||
| 407 | chprintf(chp, "\n");
|
||
| 408 | chprintf(chp, "WT12-A-AI:\n");
|
||
| 409 | |||
| 410 | chprintf(chp, "testing for MUX mode:\t");
|
||
| 411 | |||
| 412 | if (global.wt12.bluetoothIsMuxMode()) {
|
||
| 413 | chprintf(chp, "PASSED\n");
|
||
| 414 | } else {
|
||
| 415 | chprintf(chp, "FAILED -> setting MUX mode now\n");
|
||
| 416 | /* initialise the WT-12 bluetooth chip on AMIRO (Please, run this processes once) */
|
||
| 417 | global.wt12.bluetoothSendCommand("SET BT AUTH *");
|
||
| 418 | global.wt12.bluetoothSendCommand("SET BT PAIR *");
|
||
| 419 | global.wt12.bluetoothSendCommand("SET BT SSP 3 0");
|
||
| 420 | global.wt12.bluetoothEnableMux(); |
||
| 421 | global.wt12.bluetoothReset(); |
||
| 422 | } |
||
| 423 | |||
| 424 | global.wt12.bluetoothSendCommand("TEMP");
|
||
| 425 | global.wt12.bluetoothSendCommand("SET");
|
||
| 426 | |||
| 427 | chprintf(chp, "----------------------------------------\n");
|
||
| 428 | |||
| 429 | // check the buzzer
|
||
| 430 | chprintf(chp, "\n");
|
||
| 431 | chprintf(chp, "PKLCS1212E4001:\n");
|
||
| 432 | chprintf(chp, "you should hear the buzzer for one second...\n");
|
||
| 433 | pwmEnableChannel(&PWMD3, 1, 50); |
||
| 434 | BaseThread::sleep(MS2ST(1000));
|
||
| 435 | pwmDisableChannel(&PWMD3, 1);
|
||
| 436 | chprintf(chp, "----------------------------------------\n");
|
||
| 437 | |||
| 438 | chprintf(chp, "CHECK: FINISH\n");
|
||
| 439 | #endif
|
||
| 440 | |||
| 441 | return;
|
||
| 442 | } |
||
| 443 | |||
| 444 | void shellRequestShutdown(BaseSequentialStream* chp, int __unused argc, char __unused *argv[]) { |
||
| 445 | |||
| 446 | chprintf(chp, "shellRequestShutdown\n");
|
||
| 447 | |||
| 448 | /* if no argument was given, print some help text */
|
||
| 449 | if (argc == 0 || strcmp(argv[0],"help") == 0) { |
||
| 450 | chprintf(chp, "\tUSAGE:\n");
|
||
| 451 | chprintf(chp, "> shutdown <type>\n");
|
||
| 452 | chprintf(chp, "\n");
|
||
| 453 | chprintf(chp, "\ttype\n");
|
||
| 454 | chprintf(chp, "The type of shutdown to perform.\n");
|
||
| 455 | chprintf(chp, "Choose one of the following types:\n");
|
||
| 456 | chprintf(chp, " transportation - Ultra low-power mode with all wakeups disabled.\n");
|
||
| 457 | chprintf(chp, " The robot can not be charged.\n");
|
||
| 458 | chprintf(chp, " deepsleep - Ultra low-power mode with several wakeups enabled.\n");
|
||
| 459 | chprintf(chp, " The robot can only be charged via the power plug.\n");
|
||
| 460 | chprintf(chp, " hibernate - Medium low-power mode, but with full charging capabilities.\n");
|
||
| 461 | chprintf(chp, " restart - Performs a system restart.\n");
|
||
| 462 | chprintf(chp, "Alternatively, you can use the shortcuts 't', 'd', 'h', and 'r' respectively.");
|
||
| 463 | chprintf(chp, "\n");
|
||
| 464 | return;
|
||
| 465 | } |
||
| 466 | |||
| 467 | if (strcmp(argv[0],"transportation") == 0 || strcmp(argv[0],"t") == 0) { |
||
| 468 | shutdown_now = SHUTDOWN_TRANSPORTATION; |
||
| 469 | chprintf(chp, "shutdown to transportation mode initialized\n");
|
||
| 470 | } else if (strcmp(argv[0],"deepsleep") == 0 || strcmp(argv[0],"d") == 0) { |
||
| 471 | shutdown_now = SHUTDOWN_DEEPSLEEP; |
||
| 472 | chprintf(chp, "shutdown to deepsleep mode initialized\n");
|
||
| 473 | } else if (strcmp(argv[0],"hibernate") == 0 || strcmp(argv[0],"h") == 0) { |
||
| 474 | shutdown_now = SHUTDOWN_HIBERNATE; |
||
| 475 | chprintf(chp, "shutdown to hibernate mode initialized\n");
|
||
| 476 | } else if (strcmp(argv[0],"restart") == 0 || strcmp(argv[0],"r") == 0) { |
||
| 477 | chprintf(chp, "restart initialized\n");
|
||
| 478 | shutdown_now = SHUTDOWN_RESTART; |
||
| 479 | } else {
|
||
| 480 | chprintf(chp, "ERROR: unknown argument!\n");
|
||
| 481 | shutdown_now = SHUTDOWN_NONE; |
||
| 482 | } |
||
| 483 | |||
| 484 | return;
|
||
| 485 | } |
||
| 486 | |||
| 487 | void shellRequestResetMemory(BaseSequentialStream *chp, int __unused argc, char __unused *argv[]) { |
||
| 488 | chprintf(chp, "shellRequestInitMemory\n");
|
||
| 489 | |||
| 490 | msg_t res = global.memory.resetMemory(); |
||
| 491 | |||
| 492 | if ( res != global.memory.OK)
|
||
| 493 | chprintf(chp, "Memory Init: FAIL\n");
|
||
| 494 | else
|
||
| 495 | chprintf(chp, "Memory Init: OK\n");
|
||
| 496 | } |
||
| 497 | |||
| 498 | void shellRequestGetBoardId(BaseSequentialStream *chp, int __unused argc, char __unused *argv[]) { |
||
| 499 | chprintf(chp, "shellRequestGetBoardId\n");
|
||
| 500 | |||
| 501 | uint8_t id = 0xFFu;
|
||
| 502 | msg_t res = global.memory.getBoardId(&id); |
||
| 503 | if (res != global.memory.OK)
|
||
| 504 | chprintf(chp, "Get Board ID: FAIL\n");
|
||
| 505 | else
|
||
| 506 | chprintf(chp, "Get Board ID: %u\n", id);
|
||
| 507 | } |
||
| 508 | |||
| 509 | void shellRequestSetBoardId(BaseSequentialStream *chp, int argc, char *argv[]) { |
||
| 510 | chprintf(chp, "shellRequestSetBoardId\n");
|
||
| 511 | |||
| 512 | if (argc == 0) { |
||
| 513 | chprintf(chp, "Usage: %s\n","set_board_id <idx>"); |
||
| 514 | } else {
|
||
| 515 | msg_t res = global.memory.setBoardId(atoi(argv[0]));
|
||
| 516 | if (res != global.memory.OK)
|
||
| 517 | chprintf(chp, "Set Board ID: FAIL\n");
|
||
| 518 | else
|
||
| 519 | chprintf(chp, "Set Board ID: OK\n");
|
||
| 520 | } |
||
| 521 | |||
| 522 | } |
||
| 523 | |||
| 524 | void shellRequestGetMemoryData(BaseSequentialStream *chp, int argc, char *argv[]) { |
||
| 525 | enum Type {HEX, U8, U16, U32, S8, S16, S32};
|
||
| 526 | |||
| 527 | chprintf(chp, "shellRequestReadData\n");
|
||
| 528 | |||
| 529 | if (argc < 2 || strcmp(argv[0],"help") == 0) |
||
| 530 | {
|
||
| 531 | chprintf(chp, "Usage: %s\n","get_memory_data <type> <start> [<count>]"); |
||
| 532 | chprintf(chp, "\n");
|
||
| 533 | chprintf(chp, "\ttype\n");
|
||
| 534 | chprintf(chp, "The data type as which to interpret the data.\n");
|
||
| 535 | chprintf(chp, "Choose one of the following types:\n");
|
||
| 536 | chprintf(chp, " hex - one byte as hexadecimal value\n");
|
||
| 537 | chprintf(chp, " u8 - unsigned integer (8 bit)\n");
|
||
| 538 | chprintf(chp, " u16 - unsigned integer (16 bit)\n");
|
||
| 539 | chprintf(chp, " u32 - unsigned integer (32 bit)\n");
|
||
| 540 | chprintf(chp, " s8 - signed integer (8 bit)\n");
|
||
| 541 | chprintf(chp, " s16 - signed integer (16 bit)\n");
|
||
| 542 | chprintf(chp, " s32 - signed integer (32 bit)\n");
|
||
| 543 | chprintf(chp, "\tstart\n");
|
||
| 544 | chprintf(chp, "The first byte to read from the memory.\n");
|
||
| 545 | chprintf(chp, "\tcount [default = 1]\n");
|
||
| 546 | chprintf(chp, "The number of elements to read.\n");
|
||
| 547 | chprintf(chp, "\n");
|
||
| 548 | chprintf(chp, "\tNOTE\n");
|
||
| 549 | chprintf(chp, "Type conversions of this function might fail.\n");
|
||
| 550 | chprintf(chp, "If so, use type=hex and convert by hand.\n");
|
||
| 551 | chprintf(chp, "\n");
|
||
| 552 | return;
|
||
| 553 | } |
||
| 554 | |||
| 555 | uint8_t type_size = 0;
|
||
| 556 | Type type = HEX; |
||
| 557 | if (strcmp(argv[0],"hex") == 0) { |
||
| 558 | type_size = sizeof(unsigned char); |
||
| 559 | type = HEX; |
||
| 560 | } else if(strcmp(argv[0],"u8") == 0) { |
||
| 561 | type_size = sizeof(uint8_t);
|
||
| 562 | type = U8; |
||
| 563 | } else if(strcmp(argv[0],"u16") == 0) { |
||
| 564 | type_size = sizeof(uint16_t);
|
||
| 565 | type = U16; |
||
| 566 | } else if(strcmp(argv[0],"u32") == 0) { |
||
| 567 | type_size = sizeof(uint32_t);
|
||
| 568 | type = U32; |
||
| 569 | } else if(strcmp(argv[0],"s8") == 0) { |
||
| 570 | type_size = sizeof(int8_t);
|
||
| 571 | type = S8; |
||
| 572 | } else if(strcmp(argv[0],"s16") == 0) { |
||
| 573 | type_size = sizeof(int16_t);
|
||
| 574 | type = S16; |
||
| 575 | } else if(strcmp(argv[0],"s32") == 0) { |
||
| 576 | type_size = sizeof(int32_t);
|
||
| 577 | type = S32; |
||
| 578 | } else {
|
||
| 579 | chprintf(chp, "First argument invalid. Use 'get_memory_data help' for help.\n");
|
||
| 580 | return;
|
||
| 581 | } |
||
| 582 | |||
| 583 | unsigned int start_byte = atoi(argv[1]); |
||
| 584 | |||
| 585 | unsigned int num_elements = 1; |
||
| 586 | if (argc >= 3) { |
||
| 587 | num_elements = atoi(argv[2]);
|
||
| 588 | } |
||
| 589 | |||
| 590 | const size_t eeprom_size = EEPROM::getsize(&global.at24c01);
|
||
| 591 | uint8_t buffer[eeprom_size]; |
||
| 592 | if (start_byte + (type_size * num_elements) > eeprom_size) {
|
||
| 593 | num_elements = (eeprom_size - start_byte) / type_size; |
||
| 594 | chprintf(chp, "Warning: request exceeds eeprom size -> limiting to %u values.\n", num_elements);
|
||
| 595 | } |
||
| 596 | |||
| 597 | chFileStreamSeek((BaseFileStream*)&global.at24c01, start_byte); |
||
| 598 | uint32_t bytes_read = chSequentialStreamRead((BaseFileStream*)&global.at24c01, buffer, type_size*num_elements); |
||
| 599 | |||
| 600 | if (bytes_read != type_size*num_elements) {
|
||
| 601 | chprintf(chp, "Warning: %u of %u requested bytes were read.\n", bytes_read, type_size*num_elements);
|
||
| 602 | } |
||
| 603 | |||
| 604 | for (unsigned int i = 0; i < num_elements; ++i) |
||
| 605 | {
|
||
| 606 | switch (type)
|
||
| 607 | {
|
||
| 608 | case HEX:
|
||
| 609 | chprintf(chp, "%02X ", buffer[i]);
|
||
| 610 | break;
|
||
| 611 | case U8:
|
||
| 612 | chprintf(chp, "%03u ", ((uint8_t*)buffer)[i]);
|
||
| 613 | break;
|
||
| 614 | case U16:
|
||
| 615 | chprintf(chp, "%05u ", ((uint16_t*)buffer)[i]);
|
||
| 616 | break;
|
||
| 617 | case U32:
|
||
| 618 | chprintf(chp, "%010u ", ((uint32_t*)buffer)[i]);
|
||
| 619 | break;
|
||
| 620 | case S8:
|
||
| 621 | chprintf(chp, "%+03d ", ((int8_t*)buffer)[i]);
|
||
| 622 | break;
|
||
| 623 | case S16:
|
||
| 624 | chprintf(chp, "%+05d ", ((int16_t*)buffer)[i]);
|
||
| 625 | break;
|
||
| 626 | case S32:
|
||
| 627 | chprintf(chp, "%+010d ", ((int32_t*)buffer)[i]);
|
||
| 628 | break;
|
||
| 629 | default:
|
||
| 630 | break;
|
||
| 631 | } |
||
| 632 | } |
||
| 633 | chprintf(chp, "\n");
|
||
| 634 | |||
| 635 | return;
|
||
| 636 | } |
||
| 637 | |||
| 638 | void shellRequestSetVcnlOffset(BaseSequentialStream *chp, int argc, char *argv[]) { |
||
| 639 | chprintf(chp, "shellRequestSetVcnlOffset\n");
|
||
| 640 | if (argc != 2) { |
||
| 641 | chprintf(chp, "Usage: %s\n","set_vcnl <idx> <offset>"); |
||
| 642 | return;
|
||
| 643 | } |
||
| 644 | |||
| 645 | uint8_t vcnlIdx = static_cast<uint8_t>(atoi(argv[0])); |
||
| 646 | uint16_t vcnlOffset = static_cast<uint16_t>(atoi(argv[1])); |
||
| 647 | |||
| 648 | if (vcnlIdx >= global.vcnl4020.size()) {
|
||
| 649 | chprintf((BaseSequentialStream *)&SD1, "Wrong VCNL index: Choose [0 .. %d]\n", global.vcnl4020.size()-1); |
||
| 650 | return;
|
||
| 651 | } |
||
| 652 | |||
| 653 | msg_t res = global.memory.setVcnl4020Offset(vcnlOffset, vcnlIdx); |
||
| 654 | if (res != global.memory.OK) {
|
||
| 655 | chprintf(chp, "Set Offset: FAIL\n");
|
||
| 656 | } else {
|
||
| 657 | chprintf(chp, "Set Offset: OK\n");
|
||
| 658 | global.vcnl4020[vcnlIdx].setProximityOffset(vcnlOffset); |
||
| 659 | } |
||
| 660 | } |
||
| 661 | |||
| 662 | void shellRequestResetVcnlOffset(BaseSequentialStream *chp, int argc, char *argv[]) { |
||
| 663 | msg_t res = global.memory.OK; |
||
| 664 | for (uint8_t idx = 0; idx < 8; ++idx) { |
||
| 665 | msg_t r = global.memory.setVcnl4020Offset(0, idx);
|
||
| 666 | if (r == global.memory.OK) {
|
||
| 667 | global.vcnl4020[idx].setProximityOffset(0);
|
||
| 668 | } else {
|
||
| 669 | chprintf(chp, "Reset Offset %u: FAIL\n", idx);
|
||
| 670 | res = r; |
||
| 671 | } |
||
| 672 | } |
||
| 673 | |||
| 674 | if (res == global.memory.OK) {
|
||
| 675 | chprintf(chp, "Reset Offset: DONE\n");
|
||
| 676 | } |
||
| 677 | |||
| 678 | return;
|
||
| 679 | } |
||
| 680 | |||
| 681 | void shellRequestGetVcnlOffset(BaseSequentialStream *chp, int argc, char *argv[]) { |
||
| 682 | chprintf(chp, "shellRequestGetVcnlOffset\n");
|
||
| 683 | if (argc != 1) { |
||
| 684 | chprintf(chp, "Usage: %s\n","get_vcnl_offset <idx>"); |
||
| 685 | return;
|
||
| 686 | } |
||
| 687 | |||
| 688 | uint8_t vcnlIdx = static_cast<uint8_t>(atoi(argv[0])); |
||
| 689 | |||
| 690 | if (vcnlIdx >= global.vcnl4020.size()) {
|
||
| 691 | chprintf((BaseSequentialStream *)&SD1, "Wrong VCNL index: Choose [0 .. %d]\n", global.vcnl4020.size()-1); |
||
| 692 | return;
|
||
| 693 | } |
||
| 694 | |||
| 695 | uint16_t vcnlOffset; |
||
| 696 | msg_t res = global.memory.getVcnl4020Offset(&vcnlOffset, vcnlIdx); |
||
| 697 | if (res != global.memory.OK) {
|
||
| 698 | chprintf(chp, "Get Offset: FAIL\n");
|
||
| 699 | } else {
|
||
| 700 | chprintf(chp, "Get Offset: OK \t Offset=%d\n", vcnlOffset);
|
||
| 701 | } |
||
| 702 | } |
||
| 703 | |||
| 704 | void shellRequestCheck(BaseSequentialStream *chp, int __unused argc, char __unused *argv[]) { |
||
| 705 | chprintf(chp, "shellRequestCheck\n");
|
||
| 706 | boardPeripheryCheck(chp); |
||
| 707 | |||
| 708 | } |
||
| 709 | |||
| 710 | void shellRequestGetVcnl(BaseSequentialStream *chp, int argc, char *argv[]) { |
||
| 711 | chprintf(chp, "shellRequestGetVcnl\n");
|
||
| 712 | // Print the sensor information
|
||
| 713 | if (argc != 1) { |
||
| 714 | chprintf(chp, "Usage: %s\n","get_vcnl <rep>"); |
||
| 715 | return;
|
||
| 716 | } |
||
| 717 | for (int32_t rep = 0x00; rep < atoi(argv[0]); ++rep) { |
||
| 718 | for (uint8_t idx = 0x00; idx < global.vcnl4020.size(); idx++) { |
||
| 719 | 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());
|
||
| 720 | } |
||
| 721 | chprintf(chp, "\n\n");
|
||
| 722 | BaseThread::sleep(MS2ST(250));
|
||
| 723 | } |
||
| 724 | } |
||
| 725 | |||
| 726 | void shellRequestCalib(BaseSequentialStream *chp, int __unused argc, char __unused *argv[]) { |
||
| 727 | chprintf(chp, "shellRequestCalib\n");
|
||
| 728 | global.robot.calibrate(); |
||
| 729 | |||
| 730 | } |
||
| 731 | |||
| 732 | void shellRequestGetRobotId(BaseSequentialStream *chp, int __unused argc, char __unused *argv[]) { |
||
| 733 | chprintf(chp, "shellRequestGetRobotId\n");
|
||
| 734 | chprintf(chp, "Robot ID: %u\n", global.robot.getRobotID());
|
||
| 735 | if (global.robot.getRobotID() == 0) { |
||
| 736 | chprintf(chp, "Warning: The ID seems to be uninitialized. Is CAN communication working correctly?\n");
|
||
| 737 | } |
||
| 738 | } |
||
| 739 | |||
| 740 | void shellRequestGetSystemLoad(BaseSequentialStream *chp, int argc, char *argv[]) { |
||
| 741 | chprintf(chp, "shellRequestGetSystemLoad\n");
|
||
| 742 | uint8_t seconds = 1;
|
||
| 743 | if (argc >= 1) { |
||
| 744 | seconds = atoi(argv[0]);
|
||
| 745 | } |
||
| 746 | chprintf(chp, "measuring CPU load for %u %s...\n", seconds, (seconds>1)? "seconds" : "second"); |
||
| 747 | |||
| 748 | const systime_t before = chThdGetTicks(chSysGetIdleThread());
|
||
| 749 | BaseThread::sleep(S2ST(seconds)); |
||
| 750 | const systime_t after = chThdGetTicks(chSysGetIdleThread());
|
||
| 751 | const float usage = 1.0f - (float(after - before) / float(seconds * CH_FREQUENCY)); |
||
| 752 | |||
| 753 | chprintf(chp, "CPU load: %3.2f%%\n", usage * 100); |
||
| 754 | const uint32_t memory_total = 0x1C000; |
||
| 755 | const uint32_t memory_load = memory_total - chCoreStatus();
|
||
| 756 | chprintf(chp, "RAM load: %3.2f%% (%u / %u Byte)\n", float(memory_load)/float(memory_total) * 100, memory_load, memory_total); |
||
| 757 | } |
||
| 758 | |||
| 759 | void shellRequestSetCharging(BaseSequentialStream *chp, int argc, char *argv[]) { |
||
| 760 | chprintf(chp, "shellRequestSetCharging\n");
|
||
| 761 | if (argc < 1) { |
||
| 762 | chprintf(chp, "Usage: %s\n","set_charging <enable>"); |
||
| 763 | chprintf(chp, "\n");
|
||
| 764 | chprintf(chp, "\tenable\n");
|
||
| 765 | chprintf(chp, "Whether to enable (1) or to disable (0) the power path controller of the DiWheelDrive board.\n");
|
||
| 766 | chprintf(chp, "\n");
|
||
| 767 | return;
|
||
| 768 | } |
||
| 769 | |||
| 770 | const bool enable = atoi(argv[0]); |
||
| 771 | chprintf(chp, "%s power path controller\n", enable ? "enabling" : "disabling"); |
||
| 772 | global.robot.getPowerStatus().charging_flags.content.diwheeldrive_enable_power_path = enable; |
||
| 773 | |||
| 774 | return;
|
||
| 775 | } |
||
| 776 | |||
| 777 | void shellRequestPrintVCNL(BaseSequentialStream *chp, int argc, char *argv[]) { |
||
| 778 | chprintf(chp, "shellRequestPrintVCNL\n");
|
||
| 779 | if (argc < 1) { |
||
| 780 | chprintf(chp, "Warning: no arguments specified.\n");
|
||
| 781 | chprintf(chp, "Using default values (prints one measurement).\n");
|
||
| 782 | chprintf(chp, "Type 'print_vcnl help' for help.\n");
|
||
| 783 | chprintf(chp, "----------------------------------------\n");
|
||
| 784 | } |
||
| 785 | |||
| 786 | if (strcmp(argv[0],"help") == 0) { |
||
| 787 | chprintf(chp, "Usage: %s\n","print_vcnl [<seconds>] [<frequency>]"); |
||
| 788 | chprintf(chp, "\n");
|
||
| 789 | chprintf(chp, "\tseconds\n");
|
||
| 790 | chprintf(chp, "Number of seconds to print the VCNL values. (default: 1)\n");
|
||
| 791 | chprintf(chp, "\n");
|
||
| 792 | chprintf(chp, "\tfrequency\n");
|
||
| 793 | chprintf(chp, "Number prints per second. (default: 1)\n");
|
||
| 794 | return;
|
||
| 795 | } |
||
| 796 | |||
| 797 | const uint32_t seconds = (argc >= 1) ? atoi(argv[0]) : 1; |
||
| 798 | const uint32_t freq = (argc >= 2) ? atoi(argv[1]) : 1; |
||
| 799 | |||
| 800 | uint16_t ambient = 0;
|
||
| 801 | uint16_t proximity = 0;
|
||
| 802 | |||
| 803 | for (uint32_t loop = 0; loop < seconds*freq; ++loop) { |
||
| 804 | // Print proximity and ambilight values
|
||
| 805 | for (uint8_t i = 0x00; i < global.vcnl4020.size(); ++i) { |
||
| 806 | ambient = global.vcnl4020[i].getAmbientLight(); |
||
| 807 | proximity = global.vcnl4020[i].getProximity(); |
||
| 808 | chprintf(chp, "#%d: ambient=0x%04X\tproximity=0x%04X\n", i, ambient, proximity);
|
||
| 809 | } |
||
| 810 | chprintf(chp, "----------------------------------------\n");
|
||
| 811 | |||
| 812 | BaseThread::sleep(US2ST(1000000 / freq));
|
||
| 813 | } |
||
| 814 | |||
| 815 | return;
|
||
| 816 | } |
||
| 817 | |||
| 818 | void shellSwitchBoardCmd(BaseSequentialStream *chp, int argc, char *argv[]) { |
||
| 819 | if (argc != 1) { |
||
| 820 | chprintf(chp, "Call with decimal numbers: shell_board <idx>\n");
|
||
| 821 | return;
|
||
| 822 | } |
||
| 823 | uint8_t boardIdx = static_cast<uint8_t>(atoi(argv[0])); |
||
| 824 | |||
| 825 | chprintf(chp, "shellSwitchBoardCmd\n");
|
||
| 826 | global.sercanmux1.sendSwitchCmd(boardIdx); |
||
| 827 | } |
||
| 828 | |||
| 829 | void shellRequestGetBootloaderInfo(BaseSequentialStream* chp, int argc, char *argv[]) { |
||
| 830 | // check the magic number
|
||
| 831 | if (*((uint32_t*)(BL_CALLBACK_TABLE_ADDR)) == BL_MAGIC_NUMBER) {
|
||
| 832 | chprintf(chp, "Bootloader version: %u.%u.%u\n",
|
||
| 833 | *((uint32_t*)(BL_CALLBACK_TABLE_ADDR + (1*4))), |
||
| 834 | *((uint32_t*)(BL_CALLBACK_TABLE_ADDR + (2*4))), |
||
| 835 | *((uint32_t*)(BL_CALLBACK_TABLE_ADDR + (3*4)))); |
||
| 836 | chprintf(chp, "Callback functions:\n");
|
||
| 837 | if (*((uint32_t*)(BL_CALLBACK_TABLE_ADDR + (1*4))) == 0 && *((uint32_t*)(BL_CALLBACK_TABLE_ADDR + (2*4))) == 2) { |
||
| 838 | chprintf(chp, "\thibernate: %s\n", *((uint32_t*)(BL_CALLBACK_TABLE_ADDR + (4*4))) ? "available" : "unsupported"); |
||
| 839 | chprintf(chp, "\tdeepsleep: %s\n", *((uint32_t*)(BL_CALLBACK_TABLE_ADDR + (5*4))) ? "available" : "unsupported"); |
||
| 840 | chprintf(chp, "\ttransportation: %s\n", *((uint32_t*)(BL_CALLBACK_TABLE_ADDR + (6*4))) ? "available" : "unsupported"); |
||
| 841 | chprintf(chp, "\trestart: %s\n", *((uint32_t*)(BL_CALLBACK_TABLE_ADDR + (10*4))) ? "available" : "unsupported"); |
||
| 842 | } else if (*((uint32_t*)(BL_CALLBACK_TABLE_ADDR + (1*4))) == 0 && *((uint32_t*)(BL_CALLBACK_TABLE_ADDR + (2*4))) == 3) { |
||
| 843 | chprintf(chp, "\thibernate: %s\n", *((uint32_t*)(BL_CALLBACK_TABLE_ADDR + (4*4))) ? "available" : "unsupported"); |
||
| 844 | chprintf(chp, "\tdeepsleep: %s\n", *((uint32_t*)(BL_CALLBACK_TABLE_ADDR + (5*4))) ? "available" : "unsupported"); |
||
| 845 | chprintf(chp, "\ttransportation: %s\n", *((uint32_t*)(BL_CALLBACK_TABLE_ADDR + (6*4))) ? "available" : "unsupported"); |
||
| 846 | chprintf(chp, "\trestart: %s\n", *((uint32_t*)(BL_CALLBACK_TABLE_ADDR + (7*4))) ? "available" : "unsupported"); |
||
| 847 | chprintf(chp, "\thandle request: %s\n", *((uint32_t*)(BL_CALLBACK_TABLE_ADDR + (8*4))) ? "available" : "unsupported"); |
||
| 848 | } |
||
| 849 | } else {
|
||
| 850 | chprintf((BaseSequentialStream*) &SD1, "Bootloader deprecated\n");
|
||
| 851 | } |
||
| 852 | |||
| 853 | return;
|
||
| 854 | } |
||
| 855 | |||
| 856 | static const ShellCommand commands[] = { |
||
| 857 | {"shutdown", shellRequestShutdown},
|
||
| 858 | {"check", shellRequestCheck},
|
||
| 859 | {"reset_memory", shellRequestResetMemory},
|
||
| 860 | {"get_board_id", shellRequestGetBoardId},
|
||
| 861 | {"set_board_id", shellRequestSetBoardId},
|
||
| 862 | {"get_memory_data", shellRequestGetMemoryData},
|
||
| 863 | {"get_vcnl", shellRequestGetVcnl},
|
||
| 864 | {"calib_vcnl_offset", shellRequestCalib},
|
||
| 865 | {"set_vcnl_offset", shellRequestSetVcnlOffset},
|
||
| 866 | {"reset_vcnl_offset", shellRequestResetVcnlOffset},
|
||
| 867 | {"get_vcnl_offset", shellRequestGetVcnlOffset},
|
||
| 868 | {"get_robot_id", shellRequestGetRobotId},
|
||
| 869 | {"get_system_load", shellRequestGetSystemLoad},
|
||
| 870 | {"set_charging", shellRequestSetCharging},
|
||
| 871 | {"print_vcnl", shellRequestPrintVCNL},
|
||
| 872 | {"shell_board", shellSwitchBoardCmd},
|
||
| 873 | {"get_bootloader_info", shellRequestGetBootloaderInfo},
|
||
| 874 | {NULL, NULL}
|
||
| 875 | }; |
||
| 876 | |||
| 877 | static const ShellConfig shell_cfg1 = { |
||
| 878 | (BaseSequentialStream *) &global.sercanmux1, |
||
| 879 | commands |
||
| 880 | }; |
||
| 881 | |||
| 882 | void charger_logic() {
|
||
| 883 | /*
|
||
| 884 | * if supply connected, activate charger, else
|
||
| 885 | * deactivate charger
|
||
| 886 | */
|
||
| 887 | if (global.ltc4412.isPluggedIn()) {
|
||
| 888 | boardChargerSetState(0x03u, 1), chprintf((BaseSequentialStream*) &SD1, "Charging.\n"); |
||
| 889 | } else {
|
||
| 890 | boardChargerSetState(0x03u, 0), chprintf((BaseSequentialStream*) &SD1, "Not charging.\n"); |
||
| 891 | } |
||
| 892 | } |
||
| 893 | |||
| 894 | void init_powermonitor(INA219::Driver &ina219, const float shunt_resistance_O, const float max_expected_current_A, const uint16_t current_lsb_uA) |
||
| 895 | {
|
||
| 896 | INA219::CalibData calib_data; |
||
| 897 | INA219::InitData init_data; |
||
| 898 | |||
| 899 | calib_data.input.configuration.content.brng = INA219::Configuration::BRNG_16V; |
||
| 900 | calib_data.input.configuration.content.pg = INA219::Configuration::PGA_40mV; |
||
| 901 | calib_data.input.configuration.content.badc = INA219::Configuration::ADC_68100us; |
||
| 902 | calib_data.input.configuration.content.sadc = INA219::Configuration::ADC_68100us; |
||
| 903 | calib_data.input.configuration.content.mode = INA219::Configuration::MODE_ShuntBus_Continuous; |
||
| 904 | calib_data.input.shunt_resistance_O = shunt_resistance_O; |
||
| 905 | calib_data.input.max_expected_current_A = max_expected_current_A; |
||
| 906 | calib_data.input.current_lsb_uA = current_lsb_uA; |
||
| 907 | if (ina219.calibration(&calib_data) != BaseSensor<>::SUCCESS)
|
||
| 908 | chprintf((BaseSequentialStream*)&SD1, "WARNING: calibration of INA219 failed.\n");
|
||
| 909 | |||
| 910 | init_data.configuration.value = calib_data.input.configuration.value; |
||
| 911 | init_data.calibration = calib_data.output.calibration_value; |
||
| 912 | init_data.current_lsb_uA = calib_data.output.current_lsb_uA; |
||
| 913 | if (ina219.init(&init_data) != BaseSensor<>::SUCCESS)
|
||
| 914 | chprintf((BaseSequentialStream*)&SD1, "WARNING: initialization of INA219 failed.\n");
|
||
| 915 | |||
| 916 | if (calib_data.input.current_lsb_uA != init_data.current_lsb_uA)
|
||
| 917 | {
|
||
| 918 | chprintf((BaseSequentialStream*)&SD1, "NOTE: LSB for current measurement was limited when initializing INA219 (%u -> %u)", calib_data.input.current_lsb_uA, init_data.current_lsb_uA);
|
||
| 919 | } |
||
| 920 | |||
| 921 | return;
|
||
| 922 | } |
||
| 923 | |||
| 924 | /*
|
||
| 925 | * Application entry point.
|
||
| 926 | */
|
||
| 927 | int main(void) { |
||
| 928 | |||
| 929 | Thread *shelltp = NULL;
|
||
| 930 | |||
| 931 | /*
|
||
| 932 | * System initializations.
|
||
| 933 | * - HAL initialization, this also initializes the configured device drivers
|
||
| 934 | * and performs the board-specific initializations.
|
||
| 935 | * - Kernel initialization, the main() function becomes a thread and the
|
||
| 936 | * RTOS is active.
|
||
| 937 | */
|
||
| 938 | halInit(); |
||
| 939 | System::init(); |
||
| 940 | |||
| 941 | /*
|
||
| 942 | * TODO: detect the reason why the system was started by reading the 1st backup register of the RTC.
|
||
| 943 | * To do that, it is probably required to extend the RTC LLD by the required methods.
|
||
| 944 | * For further details, how to interprete the data in the backu register, please have a look at the bootloader project.
|
||
| 945 | */
|
||
| 946 | |||
| 947 | /*
|
||
| 948 | * Activates the serial driver 1 using the driver default configuration.
|
||
| 949 | */
|
||
| 950 | sdStart(&SD1, &global.sd1_config); |
||
| 951 | |||
| 952 | chprintf((BaseSequentialStream*) &SD1, "\n");
|
||
| 953 | chprintf((BaseSequentialStream*) &SD1, BOARD_NAME " " BOARD_VERSION "\n"); |
||
| 954 | if (*((uint32_t*)(BL_CALLBACK_TABLE_ADDR)) == BL_MAGIC_NUMBER) {
|
||
| 955 | chprintf((BaseSequentialStream*) &SD1, "Bootloader %u.%u.%u\n",
|
||
| 956 | *((uint32_t*)(BL_CALLBACK_TABLE_ADDR + (1*4))), |
||
| 957 | *((uint32_t*)(BL_CALLBACK_TABLE_ADDR + (2*4))), |
||
| 958 | *((uint32_t*)(BL_CALLBACK_TABLE_ADDR + (3*4)))); |
||
| 959 | } else {
|
||
| 960 | chprintf((BaseSequentialStream*) &SD1, "Bootloader deprecated\n");
|
||
| 961 | } |
||
| 962 | chprintf((BaseSequentialStream*) &SD1, "ChibiOS " CH_KERNEL_VERSION "\n"); |
||
| 963 | // make sure that the info text is completetly printed
|
||
| 964 | BaseThread::sleep(10);
|
||
| 965 | |||
| 966 | // boardWriteSystemPower(1);
|
||
| 967 | // boardWriteIoPower(1);
|
||
| 968 | // boardWriteWarmRestart(0);
|
||
| 969 | |||
| 970 | global.robot.start(HIGHPRIO - 1);
|
||
| 971 | |||
| 972 | pwmStart(&PWMD3, &global.pwm3_config); |
||
| 973 | pwmDisableChannel(&PWMD3, 1);
|
||
| 974 | |||
| 975 | adcStart(&ADCD1, NULL);
|
||
| 976 | |||
| 977 | extStart(&EXTD1, &extcfg); |
||
| 978 | |||
| 979 | b4885314 | Thomas Schöpping | boardClearI2CBus(GPIOB_GAUGE_SCL1, GPIOB_GAUGE_SDA1); |
| 980 | boardClearI2CBus(GPIOB_GAUGE_SCL2, GPIOB_GAUGE_SDA2); |
||
| 981 | 58fe0e0b | Thomas Schöpping | |
| 982 | global.HW_I2C1.start(&global.i2c1_config); |
||
| 983 | global.HW_I2C2.start(&global.i2c2_config); |
||
| 984 | |||
| 985 | b4885314 | Thomas Schöpping | uint16_t i2c_test = 0;
|
| 986 | while (global.ina219[INA_VIO18].readRegister(INA219::Driver::REG_BUS_VOLTAGE, i2c_test) != RDY_OK) {
|
||
| 987 | chprintf((BaseSequentialStream*)&global.sercanmux1, "I2C #1 stalled! trying to clear the bus... (this will take 20 seconds)\n");
|
||
| 988 | boardWriteLed(1);
|
||
| 989 | boardResetBQ27500I2C(GPIOB_GAUGE_SCL2, GPIOB_GAUGE_SDA2); |
||
| 990 | boardWriteLed(0);
|
||
| 991 | } |
||
| 992 | while (global.ina219[INA_VDD].readRegister(INA219::Driver::REG_BUS_VOLTAGE, i2c_test) != RDY_OK) {
|
||
| 993 | chprintf((BaseSequentialStream*)&global.sercanmux1, "I2C #2 stalled! trying to clear the bus... (this will take 20 seconds)\n");
|
||
| 994 | boardWriteLed(1);
|
||
| 995 | boardResetBQ27500I2C(GPIOB_GAUGE_SCL1, GPIOB_GAUGE_SDA1); |
||
| 996 | boardWriteLed(0);
|
||
| 997 | } |
||
| 998 | |||
| 999 | 58fe0e0b | Thomas Schöpping | global.memory.init(); |
| 1000 | uint8_t i = 0;
|
||
| 1001 | if (global.memory.getBoardId(&i) == fileSystemIo::FileSystemIoBase::OK) {
|
||
| 1002 | chprintf((BaseSequentialStream*) &SD1, "Board ID: %u\n", i);
|
||
| 1003 | } else {
|
||
| 1004 | chprintf((BaseSequentialStream*) &SD1, "Error reading board ID\n");
|
||
| 1005 | } |
||
| 1006 | chprintf((BaseSequentialStream*) &SD1, "\n");
|
||
| 1007 | |||
| 1008 | shelltp = shellCreate(&shell_cfg1, THD_WA_SIZE(1024), NORMALPRIO);
|
||
| 1009 | |||
| 1010 | // initialize the power monitors
|
||
| 1011 | init_powermonitor(global.ina219[INA_VDD], 0.1f, 0.075f, 10); |
||
| 1012 | init_powermonitor(global.ina219[INA_VIO18], 0.01f, 1.5f, 100); |
||
| 1013 | init_powermonitor(global.ina219[INA_VIO33], 0.01f, 1.5f, 100); |
||
| 1014 | init_powermonitor(global.ina219[INA_VIO42], 0.01f, 1.5f, 100); |
||
| 1015 | init_powermonitor(global.ina219[INA_VIO50], 0.01f, 1.5f, 100); |
||
| 1016 | |||
| 1017 | // start the ADC watchdog
|
||
| 1018 | global.adc1_vsys.start(NORMALPRIO); |
||
| 1019 | |||
| 1020 | // start the ina threads
|
||
| 1021 | for (i = 0; i < global.ina219.size(); ++i) |
||
| 1022 | global.ina219[i].start(NORMALPRIO); |
||
| 1023 | |||
| 1024 | // // calibrate the fuel gauges (TODO)
|
||
| 1025 | // BQ27500::CalibData bq27500_calib_data;
|
||
| 1026 | // bq27500_p7.calibration(&bq27500_calib_data);
|
||
| 1027 | |||
| 1028 | // start the fuel gauge threads
|
||
| 1029 | for (i = 0; i < global.bq27500.size(); ++i) |
||
| 1030 | global.bq27500[i].start(NORMALPRIO); |
||
| 1031 | |||
| 1032 | // start the proximity sensor threads
|
||
| 1033 | for (i = 0; i < global.vcnl4020.size(); ++i) { |
||
| 1034 | uint16_t buffer; |
||
| 1035 | global.memory.getVcnl4020Offset(&buffer,i); |
||
| 1036 | global.vcnl4020[i].setProximityOffset(buffer); |
||
| 1037 | global.vcnl4020[i].start(NORMALPRIO); |
||
| 1038 | } |
||
| 1039 | |||
| 1040 | /* Start uart port connecting bluetooth chip */
|
||
| 1041 | global.wt12.bluetoothStart(); |
||
| 1042 | |||
| 1043 | global.mpr121.configure(&global.mpr121_run_config); |
||
| 1044 | global.mpr121.start(NORMALPRIO); |
||
| 1045 | |||
| 1046 | global.userThread.start(NORMALPRIO); |
||
| 1047 | |||
| 1048 | /* let the SYS_SYNC_N pin go, to signal that the initialization of the module is done */
|
||
| 1049 | palWritePad(GPIOC, GPIOC_SYS_INT_N, PAL_HIGH); |
||
| 1050 | |||
| 1051 | /* wait until all modules are done */
|
||
| 1052 | while (palReadPad(GPIOC, GPIOC_SYS_INT_N) == PAL_LOW) {
|
||
| 1053 | continue;
|
||
| 1054 | } |
||
| 1055 | |||
| 1056 | while (true) { |
||
| 1057 | |||
| 1058 | if (!shelltp)
|
||
| 1059 | shelltp = shellCreate(&shell_cfg1, THD_WA_SIZE(1024), NORMALPRIO);
|
||
| 1060 | else if (chThdTerminated(shelltp)) { |
||
| 1061 | chThdRelease(shelltp); /* Recovers memory of the previous shell. */
|
||
| 1062 | shelltp = NULL; /* Triggers spawning of a new shell. */ |
||
| 1063 | } |
||
| 1064 | |||
| 1065 | // Let the LED just blink as an alive signal
|
||
| 1066 | boardWriteLed(1);
|
||
| 1067 | BaseThread::sleep(MS2ST(250));
|
||
| 1068 | boardWriteLed(0);
|
||
| 1069 | BaseThread::sleep(MS2ST(250));
|
||
| 1070 | |||
| 1071 | /*
|
||
| 1072 | * Charger logic before shutdown logic,
|
||
| 1073 | * so we don't need to call it twice.
|
||
| 1074 | */
|
||
| 1075 | if (pathdc_change) {
|
||
| 1076 | pathdc_change = 0x00u;
|
||
| 1077 | // charger_logic();
|
||
| 1078 | } |
||
| 1079 | |||
| 1080 | /*
|
||
| 1081 | * Shutdown logic before user logic,
|
||
| 1082 | * so user does not get hopes up and
|
||
| 1083 | * prepares wheels to drive into the
|
||
| 1084 | * next wall or something like that.
|
||
| 1085 | */
|
||
| 1086 | if (shutdown_now != SHUTDOWN_NONE) {
|
||
| 1087 | if (*((uint32_t*)(BL_CALLBACK_TABLE_ADDR)) != BL_MAGIC_NUMBER) {
|
||
| 1088 | chprintf((BaseSequentialStream*) &SD1, "ERROR: unable to shut down (bootloader deprecated).\n");
|
||
| 1089 | shutdown_now = SHUTDOWN_NONE; |
||
| 1090 | } else {
|
||
| 1091 | uint32_t blCallbackPtrAddr = BL_CALLBACK_TABLE_ADDR; |
||
| 1092 | if (*((uint32_t*)(BL_CALLBACK_TABLE_ADDR + (1*4))) == 0 && *((uint32_t*)(BL_CALLBACK_TABLE_ADDR + (2*4))) == 2) { |
||
| 1093 | switch (shutdown_now) {
|
||
| 1094 | case SHUTDOWN_TRANSPORTATION:
|
||
| 1095 | blCallbackPtrAddr += 6 * 4; |
||
| 1096 | break;
|
||
| 1097 | case SHUTDOWN_DEEPSLEEP:
|
||
| 1098 | blCallbackPtrAddr += 5 * 4; |
||
| 1099 | break;
|
||
| 1100 | case SHUTDOWN_HIBERNATE:
|
||
| 1101 | blCallbackPtrAddr += 4 * 4; |
||
| 1102 | break;
|
||
| 1103 | case SHUTDOWN_HANDLE_REQUEST:
|
||
| 1104 | case SHUTDOWN_RESTART:
|
||
| 1105 | blCallbackPtrAddr += 10 * 4; |
||
| 1106 | break;
|
||
| 1107 | default:
|
||
| 1108 | blCallbackPtrAddr = 0;
|
||
| 1109 | break;
|
||
| 1110 | } |
||
| 1111 | } else if (*((uint32_t*)(BL_CALLBACK_TABLE_ADDR + (1*4))) == 0 && *((uint32_t*)(BL_CALLBACK_TABLE_ADDR + (2*4))) == 3) { |
||
| 1112 | switch (shutdown_now) {
|
||
| 1113 | case SHUTDOWN_TRANSPORTATION:
|
||
| 1114 | blCallbackPtrAddr += 6 * 4; |
||
| 1115 | break;
|
||
| 1116 | case SHUTDOWN_DEEPSLEEP:
|
||
| 1117 | blCallbackPtrAddr += 5 * 4; |
||
| 1118 | break;
|
||
| 1119 | case SHUTDOWN_HIBERNATE:
|
||
| 1120 | blCallbackPtrAddr += 4 * 4; |
||
| 1121 | break;
|
||
| 1122 | case SHUTDOWN_RESTART:
|
||
| 1123 | blCallbackPtrAddr += 7 * 4; |
||
| 1124 | break;
|
||
| 1125 | case SHUTDOWN_HANDLE_REQUEST:
|
||
| 1126 | blCallbackPtrAddr += 8 * 4; |
||
| 1127 | break;
|
||
| 1128 | default:
|
||
| 1129 | blCallbackPtrAddr = 0;
|
||
| 1130 | break;
|
||
| 1131 | } |
||
| 1132 | } |
||
| 1133 | |||
| 1134 | void (*blCallback)(void) = NULL; |
||
| 1135 | if (blCallbackPtrAddr) {
|
||
| 1136 | blCallback = (void (*)(void))(*((uint32_t*)blCallbackPtrAddr)); |
||
| 1137 | |||
| 1138 | if (!blCallback) {
|
||
| 1139 | chprintf((BaseSequentialStream*) &SD1, "ERROR: Requested shutdown not supported.\n");
|
||
| 1140 | shutdown_now = SHUTDOWN_NONE; |
||
| 1141 | } else {
|
||
| 1142 | chprintf((BaseSequentialStream*) &SD1, "initiating shutdown sequence...\n");
|
||
| 1143 | palWritePad(GPIOC, GPIOC_SYS_INT_N, PAL_LOW); |
||
| 1144 | palWritePad(GPIOC, GPIOC_SYS_PD_N, PAL_LOW); |
||
| 1145 | |||
| 1146 | chprintf((BaseSequentialStream*) &SD1, "stopping all threads and periphery...");
|
||
| 1147 | systemStop(); |
||
| 1148 | chprintf((BaseSequentialStream*) &SD1, "\tdone\n");
|
||
| 1149 | BaseThread::sleep(MS2ST(10)); // sleep to print everything |
||
| 1150 | |||
| 1151 | blCallback(); |
||
| 1152 | } |
||
| 1153 | |||
| 1154 | } else {
|
||
| 1155 | chprintf((BaseSequentialStream*) &SD1, "ERROR: invalid shutdown requested (%u).\n", shutdown_now);
|
||
| 1156 | shutdown_now = SHUTDOWN_NONE; |
||
| 1157 | } |
||
| 1158 | } |
||
| 1159 | |||
| 1160 | // shutdown_now = 0x00u;
|
||
| 1161 | // if (palReadPad(GPIOC, GPIOC_PATH_DC))
|
||
| 1162 | // systemStop();
|
||
| 1163 | // else
|
||
| 1164 | // systemShutdown();
|
||
| 1165 | // //boardStop(0x00u, 0x00u);
|
||
| 1166 | // //chprintf((BaseSequentialStream*) &SD1, "Stop exit\n");
|
||
| 1167 | } |
||
| 1168 | |||
| 1169 | } |
||
| 1170 | |||
| 1171 | global.HW_I2C2.stop(); |
||
| 1172 | global.HW_I2C1.stop(); |
||
| 1173 | |||
| 1174 | return 0; |
||
| 1175 | } |