amiro-os / devices / LightRing / main.cpp @ 58fe0e0b
History | View | Annotate | Download (20.8 KB)
1 |
#define BL_CALLBACK_TABLE_ADDR (0x08000000 + 0x01C0) |
---|---|
2 |
#define BL_MAGIC_NUMBER ((uint32_t)0xFF669900u) |
3 |
|
4 |
#define SHUTDOWN_NONE 0 |
5 |
#define SHUTDOWN_TRANSPORTATION 1 |
6 |
#define SHUTDOWN_DEEPSLEEP 2 |
7 |
#define SHUTDOWN_HIBERNATE 3 |
8 |
#define SHUTDOWN_RESTART 4 |
9 |
#define SHUTDOWN_HANDLE_REQUEST 5 |
10 |
|
11 |
#include <ch.hpp> |
12 |
|
13 |
#include "global.hpp" |
14 |
#include <amiro/util/util.h> |
15 |
#include <amiro/Color.h> |
16 |
#include <exti.hpp> |
17 |
|
18 |
#include <chprintf.h> |
19 |
#include <shell.h> |
20 |
|
21 |
using namespace amiro; |
22 |
using namespace chibios_rt; |
23 |
|
24 |
Global global; |
25 |
|
26 |
void shellRequestShutdown(BaseSequentialStream* chp, int argc, char *argv[]) { |
27 |
|
28 |
chprintf(chp, "shellRequestShutdown\n");
|
29 |
|
30 |
/* if nor argument was given, print some help text */
|
31 |
if (argc == 0 || strcmp(argv[0], "help") == 0) { |
32 |
chprintf(chp, "\tUSAGE:\n");
|
33 |
chprintf(chp, "> shutdown <type>\n");
|
34 |
chprintf(chp, "\n");
|
35 |
chprintf(chp, "\ttype\n");
|
36 |
chprintf(chp, "The type of shutdown to perform.\n");
|
37 |
chprintf(chp, "Choose one of the following types:\n");
|
38 |
chprintf(chp, " transportation - Ultra low-power mode with all wakeups disabled.\n");
|
39 |
chprintf(chp, " The robot can not be charged.\n");
|
40 |
chprintf(chp, " deepsleep - Ultra low-power mode with several wakeups enabled.\n");
|
41 |
chprintf(chp, " The robot can only be charged via the power plug.\n");
|
42 |
chprintf(chp, " hibernate - Medium low-power mode, but with full charging capabilities.\n");
|
43 |
chprintf(chp, " restart - Performs a system restart.\n");
|
44 |
chprintf(chp, "Alternatively, you can use the shortcuts 't', 'd', 'h', and 'r' respectively.");
|
45 |
chprintf(chp, "\n");
|
46 |
return;
|
47 |
} |
48 |
|
49 |
if (strcmp(argv[0],"transportation") == 0 || strcmp(argv[0],"t") == 0) { |
50 |
shutdown_now = SHUTDOWN_TRANSPORTATION; |
51 |
chprintf(chp, "shutdown to transportation mode initialized\n");
|
52 |
} else if (strcmp(argv[0],"deepsleep") == 0 || strcmp(argv[0],"d") == 0) { |
53 |
shutdown_now = SHUTDOWN_DEEPSLEEP; |
54 |
chprintf(chp, "shutdown to deepsleep mode initialized\n");
|
55 |
} else if (strcmp(argv[0],"hibernate") == 0 || strcmp(argv[0],"h") == 0) { |
56 |
shutdown_now = SHUTDOWN_HIBERNATE; |
57 |
chprintf(chp, "shutdown to hibernate mode initialized\n");
|
58 |
} else if (strcmp(argv[0],"restart") == 0 || strcmp(argv[0],"r") == 0) { |
59 |
chprintf(chp, "restart initialized\n");
|
60 |
shutdown_now = SHUTDOWN_RESTART; |
61 |
} else {
|
62 |
chprintf(chp, "ERROR: unknown argument!\n");
|
63 |
shutdown_now = SHUTDOWN_NONE; |
64 |
} |
65 |
|
66 |
return;
|
67 |
} |
68 |
|
69 |
void testLights() {
|
70 |
for (int i = 0; i < (8 * 16 * 2); i++) { |
71 |
Color color; |
72 |
int brightness;
|
73 |
|
74 |
switch (((i / 16) / 2) % 8) { |
75 |
case 0: |
76 |
color = Color::WHITE; |
77 |
break;
|
78 |
case 1: |
79 |
color = Color::RED; |
80 |
break;
|
81 |
case 2: |
82 |
color = Color::FUCHSIA; |
83 |
break;
|
84 |
case 3: |
85 |
color = Color::BLUE; |
86 |
break;
|
87 |
case 4: |
88 |
color = Color::AQUA; |
89 |
break;
|
90 |
case 5: |
91 |
color = Color::LIME; |
92 |
break;
|
93 |
case 6: |
94 |
color = Color::YELLOW; |
95 |
break;
|
96 |
case 7: |
97 |
default:
|
98 |
color = Color::BLACK; |
99 |
break;
|
100 |
} |
101 |
|
102 |
if (i & (1 << 4)) |
103 |
brightness = 10 + (i % 16) * 6; |
104 |
else
|
105 |
brightness = 10;
|
106 |
|
107 |
global.robot.setLightBrightness(brightness); |
108 |
global.robot.setLightColor((i / 2) % 8, color); |
109 |
|
110 |
BaseThread::sleep(MS2ST(250));
|
111 |
} |
112 |
} |
113 |
|
114 |
void testColors() {
|
115 |
Color color; |
116 |
|
117 |
global.robot.setLightBrightness(50);
|
118 |
|
119 |
for (int i = 0; i < Color::YELLOWGREEN; i++) { |
120 |
color = Color(static_cast<Color::GlobalColor>(i));
|
121 |
for (int j = 0; j < 8; j++) |
122 |
global.robot.setLightColor(j, color); |
123 |
|
124 |
BaseThread::sleep(MS2ST(250));
|
125 |
} |
126 |
|
127 |
} |
128 |
|
129 |
void testFade() {
|
130 |
for (int i = 0; i < 255; i += 16) { |
131 |
Color color(255 - i, i, 0); |
132 |
for (int j = 0; j < 8; j++) { |
133 |
global.robot.setLightColor(j, color); |
134 |
BaseThread::sleep(MS2ST(250));
|
135 |
} |
136 |
} |
137 |
} |
138 |
|
139 |
void testBrightness() {
|
140 |
for (int j = 0; j < 8; j++) |
141 |
global.robot.setLightColor(j, Color::WHITE); |
142 |
|
143 |
for (int i = 0; i < 200; i += 5) { |
144 |
int brightness = (i > 100) ? 200 - i : i; |
145 |
global.robot.setLightBrightness(brightness); |
146 |
BaseThread::sleep(MS2ST(100));
|
147 |
} |
148 |
} |
149 |
|
150 |
static msg_t shutdownRequest(void *arg) { |
151 |
|
152 |
(void) arg;
|
153 |
const size_t max_str_len = strlen("shutdown"); |
154 |
uint8_t buffer[20];
|
155 |
uint8_t num_bytes = 0x00u;
|
156 |
uint8_t consume; |
157 |
|
158 |
while (true) { |
159 |
|
160 |
num_bytes += sdAsynchronousRead(&SD1, &buffer[num_bytes], sizeof(buffer) - num_bytes);
|
161 |
|
162 |
if (num_bytes) {
|
163 |
|
164 |
consume = 0x01u;
|
165 |
|
166 |
if (num_bytes >= strlen("shutdown") && !strncmp((char*) buffer, "shutdown", strlen("shutdown"))) { |
167 |
|
168 |
boardRequestShutdown(); |
169 |
consume = strlen("shutdown");
|
170 |
|
171 |
} |
172 |
|
173 |
if (consume != 0x01 || num_bytes >= max_str_len) { |
174 |
|
175 |
num_bytes -= consume; |
176 |
memcpy(&buffer[0], &buffer[consume], num_bytes);
|
177 |
|
178 |
} |
179 |
|
180 |
} |
181 |
|
182 |
BaseThread::sleep(MS2ST(1000));
|
183 |
|
184 |
} |
185 |
|
186 |
return RDY_OK;
|
187 |
|
188 |
} |
189 |
|
190 |
void systemShutdown() {
|
191 |
|
192 |
global.userThread.requestTerminate(); |
193 |
global.userThread.wait(); |
194 |
|
195 |
global.robot.setLightBrightness(0);
|
196 |
global.robot.terminate(); |
197 |
|
198 |
global.tlc5947.requestTerminate(); |
199 |
global.tlc5947.update(); |
200 |
global.tlc5947.wait(); |
201 |
|
202 |
global.lidar.requestTerminate(); |
203 |
global.lidar.wait(); |
204 |
|
205 |
// boardStandby();
|
206 |
|
207 |
return;
|
208 |
} |
209 |
|
210 |
void shellRequestResetMemory(BaseSequentialStream *chp, int __unused argc, char __unused *argv[]) { |
211 |
chprintf(chp, "shellRequestInitMemory\n");
|
212 |
|
213 |
msg_t res = global.memory.resetMemory(); |
214 |
if ( res != global.memory.OK)
|
215 |
chprintf(chp, "Memory Init: FAIL\n");
|
216 |
else
|
217 |
chprintf(chp, "Memory Init: OK\n");
|
218 |
} |
219 |
|
220 |
void shellRequestGetBoardId(BaseSequentialStream *chp, int __unused argc, char __unused *argv[]) { |
221 |
chprintf(chp, "shellRequestGetBoardId\n");
|
222 |
|
223 |
uint8_t id = 0xFFu;
|
224 |
msg_t res = global.memory.getBoardId(&id); |
225 |
if (res != global.memory.OK)
|
226 |
chprintf(chp, "Get Board ID: FAIL\n");
|
227 |
else
|
228 |
chprintf(chp, "Get Board ID: %u\n", id);
|
229 |
} |
230 |
|
231 |
void shellRequestSetBoardId(BaseSequentialStream *chp, int argc, char *argv[]) { |
232 |
chprintf(chp, "shellRequestSetBoardId\n");
|
233 |
|
234 |
if (argc == 0) { |
235 |
chprintf(chp, "Usage: %s\n","set_board_id <idx>"); |
236 |
} else {
|
237 |
msg_t res = global.memory.setBoardId(atoi(argv[0]));
|
238 |
if (res != global.memory.OK)
|
239 |
chprintf(chp, "Set Board ID: FAIL\n");
|
240 |
else
|
241 |
chprintf(chp, "Set Board ID: OK\n");
|
242 |
} |
243 |
} |
244 |
|
245 |
void boardPeripheryCheck(BaseSequentialStream *chp) {
|
246 |
msg_t result; |
247 |
chprintf(chp, "\nCHECK: START\n");
|
248 |
|
249 |
// Check the radio
|
250 |
result = global.a2500r24a.getCheck(); |
251 |
if (result == global.a2500r24a.CHECK_OK)
|
252 |
chprintf(chp, "A2500R24A: OK\n");
|
253 |
else
|
254 |
chprintf(chp, "A2500R24A: FAIL\n");
|
255 |
|
256 |
// Check the eeprom
|
257 |
result = global.memory.getCheck(); |
258 |
if ( result != global.memory.OK)
|
259 |
chprintf(chp, "Memory Structure: FAIL\n");
|
260 |
else
|
261 |
chprintf(chp, "Memory Structure: OK\n");
|
262 |
|
263 |
// Check the lights
|
264 |
chprintf(chp, "LEDs: Test colors\n");
|
265 |
testColors(); |
266 |
chprintf(chp, "LEDs: Off\n");
|
267 |
global.robot.setLightBrightness(0);
|
268 |
|
269 |
chprintf(chp, "CHECK: FINISH\n");
|
270 |
} |
271 |
|
272 |
void shellRequestGetMemoryData(BaseSequentialStream *chp, int argc, char *argv[]) { |
273 |
|
274 |
enum Type {HEX, U8, U16, U32, S8, S16, S32};
|
275 |
|
276 |
chprintf(chp, "shellRequestReadData\n");
|
277 |
|
278 |
if (argc < 2 || strcmp(argv[0],"help") == 0) |
279 |
{ |
280 |
chprintf(chp, "Usage: %s\n","get_memory_data <type> <start> [<count>]"); |
281 |
chprintf(chp, "\n");
|
282 |
chprintf(chp, "\ttype\n");
|
283 |
chprintf(chp, "The data type as which to interpret the data.\n");
|
284 |
chprintf(chp, "Choose one of the following types:\n");
|
285 |
chprintf(chp, " hex - one byte as hexadecimal value\n");
|
286 |
chprintf(chp, " u8 - unsigned integer (8 bit)\n");
|
287 |
chprintf(chp, " u16 - unsigned integer (16 bit)\n");
|
288 |
chprintf(chp, " u32 - unsigned integer (32 bit)\n");
|
289 |
chprintf(chp, " s8 - signed integer (8 bit)\n");
|
290 |
chprintf(chp, " s16 - signed integer (16 bit)\n");
|
291 |
chprintf(chp, " s32 - signed integer (32 bit)\n");
|
292 |
chprintf(chp, "\tstart\n");
|
293 |
chprintf(chp, "The first byte to read from the memory.\n");
|
294 |
chprintf(chp, "\tcount [default = 1]\n");
|
295 |
chprintf(chp, "The number of elements to read.\n");
|
296 |
chprintf(chp, "\n");
|
297 |
chprintf(chp, "\tNOTE\n");
|
298 |
chprintf(chp, "Type conversions of this function might fail.\n");
|
299 |
chprintf(chp, "If so, use type=hex and convert by hand.\n");
|
300 |
chprintf(chp, "\n");
|
301 |
return;
|
302 |
} |
303 |
|
304 |
uint8_t type_size = 0;
|
305 |
Type type = HEX; |
306 |
if (strcmp(argv[0],"hex") == 0) { |
307 |
type_size = sizeof(unsigned char); |
308 |
type = HEX; |
309 |
} else if(strcmp(argv[0],"u8") == 0) { |
310 |
type_size = sizeof(uint8_t);
|
311 |
type = U8; |
312 |
} else if(strcmp(argv[0],"u16") == 0) { |
313 |
type_size = sizeof(uint16_t);
|
314 |
type = U16; |
315 |
} else if(strcmp(argv[0],"u32") == 0) { |
316 |
type_size = sizeof(uint32_t);
|
317 |
type = U32; |
318 |
} else if(strcmp(argv[0],"s8") == 0) { |
319 |
type_size = sizeof(int8_t);
|
320 |
type = S8; |
321 |
} else if(strcmp(argv[0],"s16") == 0) { |
322 |
type_size = sizeof(int16_t);
|
323 |
type = S16; |
324 |
} else if(strcmp(argv[0],"s32") == 0) { |
325 |
type_size = sizeof(int32_t);
|
326 |
type = S32; |
327 |
} else {
|
328 |
chprintf(chp, "First argument invalid. Use 'get_memory_data help' for help.\n");
|
329 |
return;
|
330 |
} |
331 |
|
332 |
unsigned int start_byte = atoi(argv[1]); |
333 |
|
334 |
unsigned int num_elements = 1; |
335 |
if (argc >= 3) |
336 |
num_elements = atoi(argv[2]);
|
337 |
|
338 |
const size_t eeprom_size = EEPROM::getsize(&global.at24c01);
|
339 |
uint8_t buffer[eeprom_size]; |
340 |
if (start_byte + (type_size * num_elements) > eeprom_size) {
|
341 |
num_elements = (eeprom_size - start_byte) / type_size; |
342 |
chprintf(chp, "Warning: request exceeds eeprom size -> limiting to %u values.\n", num_elements);
|
343 |
} |
344 |
|
345 |
chFileStreamSeek((BaseFileStream*)&global.at24c01, start_byte); |
346 |
|
347 |
// Work around, because stm32f1 cannot read a single byte
|
348 |
if (type_size*num_elements < 2) |
349 |
type_size = 2;
|
350 |
|
351 |
uint32_t bytes_read = chSequentialStreamRead((BaseFileStream*)&global.at24c01, buffer, type_size*num_elements); |
352 |
|
353 |
if (bytes_read != type_size*num_elements)
|
354 |
chprintf(chp, "Warning: %u of %u requested bytes were read.\n", bytes_read, type_size*num_elements);
|
355 |
|
356 |
for (unsigned int i = 0; i < num_elements; ++i) { |
357 |
switch (type) {
|
358 |
case HEX:
|
359 |
chprintf(chp, "%02X ", buffer[i]);
|
360 |
break;
|
361 |
case U8:
|
362 |
chprintf(chp, "%03u ", ((uint8_t*)buffer)[i]);
|
363 |
break;
|
364 |
case U16:
|
365 |
chprintf(chp, "%05u ", ((uint16_t*)buffer)[i]);
|
366 |
break;
|
367 |
case U32:
|
368 |
chprintf(chp, "%010u ", ((uint32_t*)buffer)[i]);
|
369 |
break;
|
370 |
case S8:
|
371 |
chprintf(chp, "%+03d ", ((int8_t*)buffer)[i]);
|
372 |
break;
|
373 |
case S16:
|
374 |
chprintf(chp, "%+05d ", ((int16_t*)buffer)[i]);
|
375 |
break;
|
376 |
case S32:
|
377 |
chprintf(chp, "%+010d ", ((int32_t*)buffer)[i]);
|
378 |
break;
|
379 |
default:
|
380 |
break;
|
381 |
} |
382 |
} |
383 |
chprintf(chp, "\n");
|
384 |
|
385 |
return;
|
386 |
|
387 |
} |
388 |
|
389 |
void shellRequestCheck(BaseSequentialStream *chp, int __unused argc, char __unused *argv[]) { |
390 |
chprintf(chp, "shellRequestCheck\n");
|
391 |
boardPeripheryCheck(chp); |
392 |
} |
393 |
|
394 |
void shellRequestGetRobotId(BaseSequentialStream *chp, int __unused argc, char __unused *argv[]) { |
395 |
chprintf(chp, "shellRequestGetRobotId\n");
|
396 |
chprintf(chp, "Robot ID: %u\n", global.robot.getRobotID());
|
397 |
if (global.robot.getRobotID() == 0) |
398 |
chprintf(chp, "Warning: The ID seems to be uninitialized. Is CAN communication working correctly?\n");
|
399 |
} |
400 |
|
401 |
void shellRequestGetSystemLoad(BaseSequentialStream *chp, int argc, char *argv[]) { |
402 |
chprintf(chp, "shellRequestGetSystemLoad\n");
|
403 |
uint8_t seconds = 1;
|
404 |
if (argc >= 1) { |
405 |
seconds = atoi(argv[0]);
|
406 |
} |
407 |
chprintf(chp, "measuring CPU load for %u %s...\n", seconds, (seconds>1)? "seconds" : "second"); |
408 |
|
409 |
const systime_t before = chThdGetTicks(chSysGetIdleThread());
|
410 |
BaseThread::sleep(S2ST(seconds)); |
411 |
const systime_t after = chThdGetTicks(chSysGetIdleThread());
|
412 |
const float usage = 1.0f - (float(after - before) / float(seconds * CH_FREQUENCY)); |
413 |
|
414 |
chprintf(chp, "CPU load: %3.2f%%\n", usage * 100); |
415 |
const uint32_t memory_total = 0x10000; |
416 |
const uint32_t memory_load = memory_total - chCoreStatus();
|
417 |
chprintf(chp, "RAM load: %3.2f%% (%u / %u Byte)\n", float(memory_load)/float(memory_total) * 100, memory_load, memory_total); |
418 |
} |
419 |
|
420 |
void shellSwitchBoardCmd(BaseSequentialStream *chp, int argc, char *argv[]) { |
421 |
if (argc != 1) { |
422 |
chprintf(chp, "Call with decimal numbers: shell_board <idx>\n");
|
423 |
return;
|
424 |
} |
425 |
uint8_t boardIdx = static_cast<uint8_t>(atoi(argv[0])); |
426 |
|
427 |
chprintf(chp, "shellSwitchBoardCmd\n");
|
428 |
global.sercanmux1.sendSwitchCmd(boardIdx); |
429 |
} |
430 |
|
431 |
void shellRequestGetBootloaderInfo(BaseSequentialStream* chp, int argc, char *argv[]) { |
432 |
// check the magic number
|
433 |
if (*((uint32_t*)(BL_CALLBACK_TABLE_ADDR)) == BL_MAGIC_NUMBER) {
|
434 |
chprintf(chp, "Bootloader version: %u.%u.%u\n",
|
435 |
*((uint32_t*)(BL_CALLBACK_TABLE_ADDR + (1*4))), |
436 |
*((uint32_t*)(BL_CALLBACK_TABLE_ADDR + (2*4))), |
437 |
*((uint32_t*)(BL_CALLBACK_TABLE_ADDR + (3*4)))); |
438 |
chprintf(chp, "Callback functions:\n");if (*((uint32_t*)(BL_CALLBACK_TABLE_ADDR + (1*4))) == 0 && *((uint32_t*)(BL_CALLBACK_TABLE_ADDR + (2*4))) == 2) { |
439 |
chprintf(chp, "\thibernate: %s\n", *((uint32_t*)(BL_CALLBACK_TABLE_ADDR + (4*4))) ? "available" : "unsupported"); |
440 |
chprintf(chp, "\tdeepsleep: %s\n", *((uint32_t*)(BL_CALLBACK_TABLE_ADDR + (5*4))) ? "available" : "unsupported"); |
441 |
chprintf(chp, "\ttransportation: %s\n", *((uint32_t*)(BL_CALLBACK_TABLE_ADDR + (6*4))) ? "available" : "unsupported"); |
442 |
chprintf(chp, "\trestart: %s\n", *((uint32_t*)(BL_CALLBACK_TABLE_ADDR + (10*4))) ? "available" : "unsupported"); |
443 |
} else if (*((uint32_t*)(BL_CALLBACK_TABLE_ADDR + (1*4))) == 0 && *((uint32_t*)(BL_CALLBACK_TABLE_ADDR + (2*4))) == 3) { |
444 |
chprintf(chp, "\thibernate: %s\n", *((uint32_t*)(BL_CALLBACK_TABLE_ADDR + (4*4))) ? "available" : "unsupported"); |
445 |
chprintf(chp, "\tdeepsleep: %s\n", *((uint32_t*)(BL_CALLBACK_TABLE_ADDR + (5*4))) ? "available" : "unsupported"); |
446 |
chprintf(chp, "\ttransportation: %s\n", *((uint32_t*)(BL_CALLBACK_TABLE_ADDR + (6*4))) ? "available" : "unsupported"); |
447 |
chprintf(chp, "\trestart: %s\n", *((uint32_t*)(BL_CALLBACK_TABLE_ADDR + (7*4))) ? "available" : "unsupported"); |
448 |
chprintf(chp, "\thandle request: %s\n", *((uint32_t*)(BL_CALLBACK_TABLE_ADDR + (8*4))) ? "available" : "unsupported"); |
449 |
} |
450 |
} else {
|
451 |
chprintf((BaseSequentialStream*) &SD1, "Bootloader deprecated\n");
|
452 |
} |
453 |
|
454 |
return;
|
455 |
} |
456 |
|
457 |
static const ShellCommand commands[] = { |
458 |
{"shutdown", shellRequestShutdown},
|
459 |
{"check", shellRequestCheck},
|
460 |
{"reset_memory", shellRequestResetMemory},
|
461 |
{"get_board_id", shellRequestGetBoardId},
|
462 |
{"set_board_id", shellRequestSetBoardId},
|
463 |
{"get_memory_data", shellRequestGetMemoryData},
|
464 |
{"get_robot_id", shellRequestGetRobotId},
|
465 |
{"get_system_load", shellRequestGetSystemLoad},
|
466 |
{"shell_board", shellSwitchBoardCmd},
|
467 |
{"get_bootloader_info", shellRequestGetBootloaderInfo},
|
468 |
{NULL, NULL} |
469 |
}; |
470 |
|
471 |
static const ShellConfig shell_cfg1 = { |
472 |
(BaseSequentialStream *) &global.sercanmux1, |
473 |
commands |
474 |
}; |
475 |
|
476 |
|
477 |
|
478 |
/*
|
479 |
* Application entry point.
|
480 |
*/
|
481 |
int main(void) { |
482 |
|
483 |
Thread *shelltp = NULL;
|
484 |
// global.shellTermID = CAN::LIGHT_RING_ID;
|
485 |
/*
|
486 |
* System initializations.
|
487 |
* - HAL initialization, this also initializes the configured device drivers
|
488 |
* and performs the board-specific initializations.
|
489 |
* - Kernel initialization, the main() function becomes a thread and the
|
490 |
* RTOS is active.
|
491 |
*/
|
492 |
halInit(); |
493 |
System::init(); |
494 |
|
495 |
/*
|
496 |
* Activates the serial driver 2 using the driver default configuration.
|
497 |
*/
|
498 |
sdStart(&SD1, &global.sd1_config); |
499 |
sdStart(&SD2, &global.sd2_config); |
500 |
|
501 |
chprintf((BaseSequentialStream*) &SD1, "\n");
|
502 |
chprintf((BaseSequentialStream*) &SD1, BOARD_NAME " " BOARD_VERSION "\n"); |
503 |
if (*((uint32_t*)(BL_CALLBACK_TABLE_ADDR)) == BL_MAGIC_NUMBER) {
|
504 |
chprintf((BaseSequentialStream*) &SD1, "Bootloader %u.%u.%u\n",
|
505 |
*((uint32_t*)(BL_CALLBACK_TABLE_ADDR + (1*4))), |
506 |
*((uint32_t*)(BL_CALLBACK_TABLE_ADDR + (2*4))), |
507 |
*((uint32_t*)(BL_CALLBACK_TABLE_ADDR + (3*4)))); |
508 |
} else {
|
509 |
chprintf((BaseSequentialStream*) &SD1, "Bootloader deprecated\n");
|
510 |
} |
511 |
chprintf((BaseSequentialStream*) &SD1, "ChibiOS " CH_KERNEL_VERSION "\n"); |
512 |
// make sure that the info text is completetly printed
|
513 |
BaseThread::sleep(10);
|
514 |
|
515 |
extStart(&EXTD1, &extcfg); |
516 |
|
517 |
boardClearI2CBus(GPIOB_MEM_SCL); |
518 |
|
519 |
global.HW_I2C2.start(&global.i2c2_config); |
520 |
|
521 |
global.memory.init(); |
522 |
|
523 |
uint8_t i = 0;
|
524 |
if (global.memory.getBoardId(&i) == fileSystemIo::FileSystemIoBase::OK) {
|
525 |
chprintf((BaseSequentialStream*) &SD1, "Board ID: %u\n", i);
|
526 |
} else {
|
527 |
chprintf((BaseSequentialStream*) &SD1, "Error reading board ID\n");
|
528 |
} |
529 |
chprintf((BaseSequentialStream*) &SD1, "\n");
|
530 |
|
531 |
global.tlc5947.start(NORMALPRIO + 5);
|
532 |
global.tlc5947.enable(); |
533 |
|
534 |
global.robot.start(HIGHPRIO - 1);
|
535 |
|
536 |
// lidar.start(NORMALPRIO + 15); UNCOMMENT TO START LIDAR
|
537 |
|
538 |
global.lidar.start(NORMALPRIO); |
539 |
|
540 |
global.userThread.start(NORMALPRIO); |
541 |
|
542 |
/* let the SYS_SYNC_N pin go, to signal that the initialization of the module is done */
|
543 |
palWritePad(GPIOD, GPIOD_SYS_INT_N, PAL_HIGH); |
544 |
|
545 |
/* wait until all modules are done */
|
546 |
while (palReadPad(GPIOD, GPIOD_SYS_INT_N) == PAL_LOW) {
|
547 |
continue;
|
548 |
} |
549 |
|
550 |
global.robot.setLightBrightness(10);
|
551 |
global.robot.setLightColor(0, Color::RED);
|
552 |
global.robot.setLightColor(1, Color::LIME);
|
553 |
global.robot.setLightColor(2, Color::BLUE);
|
554 |
global.robot.setLightColor(3, Color::WHITE);
|
555 |
global.robot.setLightColor(4, Color::RED);
|
556 |
global.robot.setLightColor(5, Color::LIME);
|
557 |
global.robot.setLightColor(6, Color::BLUE);
|
558 |
global.robot.setLightColor(7, Color::WHITE);
|
559 |
|
560 |
// static uint16_t scannedData[NUMBER_OF_STEPS /*see lidar.h for this variable*/] = {}; UNCOMMENT TO START LIDAR
|
561 |
while (true) { |
562 |
|
563 |
if (!shelltp)
|
564 |
shelltp = shellCreate(&shell_cfg1, THD_WA_SIZE(1024), NORMALPRIO);
|
565 |
else if (chThdTerminated(shelltp)) { |
566 |
chThdRelease(shelltp); /* Recovers memory of the previous shell. */
|
567 |
shelltp = NULL; /* Triggers spawning of a new shell. */ |
568 |
} |
569 |
|
570 |
// testLights();
|
571 |
// testColors();
|
572 |
// testFade();
|
573 |
// testBrightness();
|
574 |
if (shutdown_now != SHUTDOWN_NONE) {
|
575 |
if (*((uint32_t*)(BL_CALLBACK_TABLE_ADDR)) != BL_MAGIC_NUMBER) {
|
576 |
chprintf((BaseSequentialStream*) &SD1, "ERROR: unable to shut down (bootloader deprecated).\n");
|
577 |
shutdown_now = SHUTDOWN_NONE; |
578 |
} else {
|
579 |
uint32_t blCallbackPtrAddr = BL_CALLBACK_TABLE_ADDR; |
580 |
if (*((uint32_t*)(BL_CALLBACK_TABLE_ADDR + (1*4))) == 0 && *((uint32_t*)(BL_CALLBACK_TABLE_ADDR + (2*4))) == 2) { |
581 |
switch (shutdown_now) {
|
582 |
case SHUTDOWN_TRANSPORTATION:
|
583 |
blCallbackPtrAddr += 6 * 4; |
584 |
break;
|
585 |
case SHUTDOWN_DEEPSLEEP:
|
586 |
blCallbackPtrAddr += 5 * 4; |
587 |
break;
|
588 |
case SHUTDOWN_HIBERNATE:
|
589 |
blCallbackPtrAddr += 4 * 4; |
590 |
break;
|
591 |
case SHUTDOWN_HANDLE_REQUEST:
|
592 |
case SHUTDOWN_RESTART:
|
593 |
blCallbackPtrAddr += 10 * 4; |
594 |
break;
|
595 |
default:
|
596 |
blCallbackPtrAddr = 0;
|
597 |
break;
|
598 |
} |
599 |
} else if (*((uint32_t*)(BL_CALLBACK_TABLE_ADDR + (1*4))) == 0 && *((uint32_t*)(BL_CALLBACK_TABLE_ADDR + (2*4))) == 3) { |
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_RESTART:
|
611 |
blCallbackPtrAddr += 7 * 4; |
612 |
break;
|
613 |
case SHUTDOWN_HANDLE_REQUEST:
|
614 |
blCallbackPtrAddr += 8 * 4; |
615 |
break;
|
616 |
default:
|
617 |
blCallbackPtrAddr = 0;
|
618 |
break;
|
619 |
} |
620 |
} |
621 |
|
622 |
void (*blCallback)(void) = NULL; |
623 |
if (blCallbackPtrAddr) {
|
624 |
blCallback = (void (*)(void))(*((uint32_t*)blCallbackPtrAddr)); |
625 |
|
626 |
if (!blCallback) {
|
627 |
chprintf((BaseSequentialStream*) &SD1, "ERROR: Requested shutdown not supported.\n");
|
628 |
shutdown_now = SHUTDOWN_NONE; |
629 |
} else {
|
630 |
chprintf((BaseSequentialStream*)&SD1, "initiating shutdown sequence...\n");
|
631 |
palWritePad(GPIOD, GPIOD_SYS_INT_N, PAL_LOW); |
632 |
palWritePad(GPIOC, GPIOC_SYS_PD_N, PAL_LOW); |
633 |
|
634 |
chprintf((BaseSequentialStream*)&SD1, "stopping all threads and periphery...");
|
635 |
systemShutdown(); |
636 |
chprintf((BaseSequentialStream*)&SD1, "\tdone\n");
|
637 |
BaseThread::sleep(MS2ST(10)); // sleep to print everything |
638 |
|
639 |
blCallback(); |
640 |
} |
641 |
|
642 |
} else {
|
643 |
chprintf((BaseSequentialStream*)&SD1, "ERROR: invalid shutdown requested (%u).\n", shutdown_now);
|
644 |
shutdown_now = SHUTDOWN_NONE; |
645 |
} |
646 |
} |
647 |
} |
648 |
|
649 |
// // Print LIDAR scan
|
650 |
// if (global.lidar.getScan(scannedData)) {
|
651 |
// for (uint16_t idx = 0; idx < NUMBER_OF_STEPS; ++idx) {
|
652 |
// chprintf((BaseSequentialStream*) &SD1, "%d ", scannedData[idx]);
|
653 |
// }
|
654 |
// chprintf((BaseSequentialStream*) &SD1, "\n\n");
|
655 |
// }
|
656 |
BaseThread::sleep(MS2ST(500));
|
657 |
} |
658 |
|
659 |
return 0; |
660 |
} |