amiro-os / devices / DiWheelDrive / main.cpp @ 9c46b728
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| 1 | 58fe0e0b | Thomas Schöpping | #define BL_CALLBACK_TABLE_ADDR (0x08000000 + 0x01C0) |
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| 2 | #define BL_MAGIC_NUMBER ((uint32_t)0xFF669900u) |
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| 3 | |||
| 4 | #define SHUTDOWN_NONE 0 |
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| 5 | #define SHUTDOWN_TRANSPORTATION 1 |
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| 6 | #define SHUTDOWN_DEEPSLEEP 2 |
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| 7 | #define SHUTDOWN_HIBERNATE 3 |
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| 8 | #define SHUTDOWN_RESTART 4 |
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| 9 | #define SHUTDOWN_HANDLE_REQUEST 5 |
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| 10 | |||
| 11 | #include <ch.hpp> |
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| 12 | |||
| 13 | #include <amiro/util/util.h> |
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| 14 | #include <global.hpp> |
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| 15 | #include <exti.hpp> |
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| 16 | |||
| 17 | #include <chprintf.h> |
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| 18 | #include <shell.h> |
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| 19 | |||
| 20 | af93a91c | galberding | #include "linefollow2.hpp" |
| 21 | |||
| 22 | 58fe0e0b | Thomas Schöpping | using namespace chibios_rt; |
| 23 | |||
| 24 | Global global; |
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| 25 | |||
| 26 | 10687985 | Thomas Schöpping | struct blVersion_t {
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| 27 | const uint8_t identifier;
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| 28 | const uint8_t major;
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| 29 | const uint8_t minor;
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| 30 | const uint8_t patch;
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| 31 | } __attribute__((packed)); |
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| 32 | |||
| 33 | 58fe0e0b | Thomas Schöpping | void systemShutdown() {
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| 34 | types::kinematic k; |
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| 35 | uint8_t i; |
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| 36 | |||
| 37 | // // make sure we assert SYS_PD_N to delay shutdown until we're done.
|
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| 38 | // boardRequestShutdown();
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| 39 | |||
| 40 | // stop the user thread
|
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| 41 | global.userThread.requestTerminate(); |
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| 42 | global.userThread.wait(); |
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| 43 | |||
| 44 | k.x = 0x00u;
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| 45 | k.w_z = 0x00u;
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| 46 | |||
| 47 | // stop wheels
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| 48 | global.robot.setTargetSpeed(k); |
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| 49 | global.robot.terminate(); |
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| 50 | |||
| 51 | for (i = 0x00; i < global.vcnl4020.size(); i++) { |
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| 52 | global.vcnl4020[i].requestTerminate(); |
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| 53 | global.vcnl4020[i].wait(); |
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| 54 | } |
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| 55 | |||
| 56 | global.ina219.requestTerminate(); |
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| 57 | global.ina219.wait(); |
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| 58 | global.hmc5883l.requestTerminate(); |
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| 59 | global.hmc5883l.wait(); |
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| 60 | global.l3g4200d.requestTerminate(); |
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| 61 | global.l3g4200d.wait(); |
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| 62 | |||
| 63 | global.motorcontrol.requestTerminate(); |
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| 64 | global.motorcontrol.wait(); |
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| 65 | global.odometry.requestTerminate(); |
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| 66 | global.odometry.wait(); |
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| 67 | |||
| 68 | // stop I²C
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| 69 | for (i = 0; i < global.V_I2C2.size(); ++i) |
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| 70 | global.V_I2C2[i].stop(); |
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| 71 | global.HW_I2C2.stop(); |
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| 72 | |||
| 73 | global.lis331dlh.requestTerminate(); |
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| 74 | global.lis331dlh.wait(); |
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| 75 | |||
| 76 | global.lis331dlh.configure(&global.accel_sleep_config); |
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| 77 | // global.lis331dlh.start(NORMALPRIO +4);
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| 78 | |||
| 79 | // boardWriteIoPower(0);
|
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| 80 | // boardStandby();
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| 81 | |||
| 82 | return;
|
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| 83 | } |
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| 84 | |||
| 85 | |||
| 86 | //void (*shellcmd_t)(BaseSequentialStream *chp, int argc, char *argv[]);
|
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| 87 | |||
| 88 | void shellRequestShutdown(BaseSequentialStream *chp, int argc, char *argv[]) { |
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| 89 | |||
| 90 | chprintf(chp, "shellRequestShutdown\n");
|
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| 91 | |||
| 92 | /* if nor argument was given, print some help text */
|
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| 93 | if (argc == 0 || strcmp(argv[0], "help") == 0) { |
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| 94 | chprintf(chp, "\tUSAGE:\n");
|
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| 95 | chprintf(chp, "> shutdown <type>\n");
|
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| 96 | chprintf(chp, "\n");
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| 97 | chprintf(chp, "\ttype\n");
|
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| 98 | chprintf(chp, "The type of shutdown to perform.\n");
|
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| 99 | chprintf(chp, "Choose one of the following types:\n");
|
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| 100 | chprintf(chp, " transportation - Ultra low-power mode with all wakeups disabled.\n");
|
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| 101 | chprintf(chp, " The robot can not be charged.\n");
|
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| 102 | chprintf(chp, " deepsleep - Ultra low-power mode with several wakeups enabled.\n");
|
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| 103 | chprintf(chp, " The robot can only be charged via the power plug.\n");
|
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| 104 | chprintf(chp, " hibernate - Medium low-power mode, but with full charging capabilities.\n");
|
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| 105 | chprintf(chp, " restart - Performs a system restart.\n");
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| 106 | chprintf(chp, "Alternatively, you can use the shortcuts 't', 'd', 'h', and 'r' respectively.");
|
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| 107 | chprintf(chp, "\n");
|
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| 108 | return;
|
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| 109 | } |
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| 110 | |||
| 111 | if (strcmp(argv[0],"transportation") == 0 || strcmp(argv[0],"t") == 0) { |
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| 112 | shutdown_now = SHUTDOWN_TRANSPORTATION; |
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| 113 | chprintf(chp, "shutdown to transportation mode initialized\n");
|
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| 114 | } else if (strcmp(argv[0],"deepsleep") == 0 || strcmp(argv[0],"d") == 0) { |
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| 115 | shutdown_now = SHUTDOWN_DEEPSLEEP; |
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| 116 | chprintf(chp, "shutdown to deepsleep mode initialized\n");
|
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| 117 | } else if (strcmp(argv[0],"hibernate") == 0 || strcmp(argv[0],"h") == 0) { |
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| 118 | shutdown_now = SHUTDOWN_HIBERNATE; |
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| 119 | chprintf(chp, "shutdown to hibernate mode initialized\n");
|
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| 120 | } else if (strcmp(argv[0],"restart") == 0 || strcmp(argv[0],"r") == 0) { |
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| 121 | chprintf(chp, "restart initialized\n");
|
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| 122 | shutdown_now = SHUTDOWN_RESTART; |
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| 123 | } else {
|
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| 124 | chprintf(chp, "ERROR: unknown argument!\n");
|
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| 125 | shutdown_now = SHUTDOWN_NONE; |
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| 126 | } |
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| 127 | |||
| 128 | return;
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| 129 | } |
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| 130 | |||
| 131 | void shellRequestWakeup(BaseSequentialStream *chp, int argc, char *argv[]) { |
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| 132 | int i;
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| 133 | chprintf(chp, "shellRequestWakeup\n");
|
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| 134 | |||
| 135 | for (i = 0x00u; i < argc; i++) |
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| 136 | chprintf(chp, "%s\n", argv[i]);
|
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| 137 | |||
| 138 | boardWakeup(); |
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| 139 | } |
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| 140 | |||
| 141 | void shellRequestGetMemoryData(BaseSequentialStream *chp, int argc, char *argv[]) { |
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| 142 | enum Type {HEX, U8, U16, U32, S8, S16, S32};
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| 143 | |||
| 144 | chprintf(chp, "shellRequestReadData\n");
|
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| 145 | |||
| 146 | if (argc < 2 || strcmp(argv[0],"help") == 0) |
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| 147 | {
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| 148 | chprintf(chp, "Usage: %s\n","get_memory_data <type> <start> [<count>]"); |
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| 149 | chprintf(chp, "\n");
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| 150 | chprintf(chp, "\ttype\n");
|
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| 151 | chprintf(chp, "The data type as which to interpret the data.\n");
|
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| 152 | chprintf(chp, "Choose one of the following types:\n");
|
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| 153 | chprintf(chp, " hex - one byte as hexadecimal value\n");
|
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| 154 | chprintf(chp, " u8 - unsigned integer (8 bit)\n");
|
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| 155 | chprintf(chp, " u16 - unsigned integer (16 bit)\n");
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| 156 | chprintf(chp, " u32 - unsigned integer (32 bit)\n");
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| 157 | chprintf(chp, " s8 - signed integer (8 bit)\n");
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| 158 | chprintf(chp, " s16 - signed integer (16 bit)\n");
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| 159 | chprintf(chp, " s32 - signed integer (32 bit)\n");
|
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| 160 | chprintf(chp, "\tstart\n");
|
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| 161 | chprintf(chp, "The first byte to read from the memory.\n");
|
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| 162 | chprintf(chp, "\tcount [default = 1]\n");
|
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| 163 | chprintf(chp, "The number of elements to read.\n");
|
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| 164 | chprintf(chp, "\n");
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| 165 | chprintf(chp, "\tNOTE\n");
|
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| 166 | chprintf(chp, "Type conversions of this function might fail.\n");
|
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| 167 | chprintf(chp, "If so, use type=hex and convert by hand.\n");
|
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| 168 | chprintf(chp, "\n");
|
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| 169 | return;
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| 170 | } |
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| 171 | |||
| 172 | uint8_t type_size = 0;
|
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| 173 | Type type = HEX; |
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| 174 | if (strcmp(argv[0],"hex") == 0) { |
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| 175 | type_size = sizeof(unsigned char); |
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| 176 | type = HEX; |
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| 177 | } else if(strcmp(argv[0],"u8") == 0) { |
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| 178 | type_size = sizeof(uint8_t);
|
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| 179 | type = U8; |
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| 180 | } else if(strcmp(argv[0],"u16") == 0) { |
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| 181 | type_size = sizeof(uint16_t);
|
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| 182 | type = U16; |
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| 183 | } else if(strcmp(argv[0],"u32") == 0) { |
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| 184 | type_size = sizeof(uint32_t);
|
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| 185 | type = U32; |
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| 186 | } else if(strcmp(argv[0],"s8") == 0) { |
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| 187 | type_size = sizeof(int8_t);
|
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| 188 | type = S8; |
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| 189 | } else if(strcmp(argv[0],"s16") == 0) { |
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| 190 | type_size = sizeof(int16_t);
|
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| 191 | type = S16; |
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| 192 | } else if(strcmp(argv[0],"s32") == 0) { |
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| 193 | type_size = sizeof(int32_t);
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| 194 | type = S32; |
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| 195 | } else {
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| 196 | chprintf(chp, "First argument invalid. Use 'get_memory_data help' for help.\n");
|
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| 197 | return;
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| 198 | } |
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| 199 | |||
| 200 | unsigned int start_byte = atoi(argv[1]); |
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| 201 | |||
| 202 | unsigned int num_elements = 1; |
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| 203 | if (argc >= 3) |
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| 204 | num_elements = atoi(argv[2]);
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| 205 | |||
| 206 | const size_t eeprom_size = EEPROM::getsize(&global.at24c01);
|
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| 207 | uint8_t buffer[eeprom_size]; |
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| 208 | if (start_byte + (type_size * num_elements) > eeprom_size) {
|
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| 209 | num_elements = (eeprom_size - start_byte) / type_size; |
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| 210 | chprintf(chp, "Warning: request exceeds eeprom size -> limiting to %u values.\n", num_elements);
|
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| 211 | } |
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| 212 | |||
| 213 | chFileStreamSeek((BaseFileStream*)&global.at24c01, start_byte); |
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| 214 | |||
| 215 | // Work around, because stm32f1 cannot read a single byte
|
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| 216 | if (type_size*num_elements < 2) |
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| 217 | type_size = 2;
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| 218 | |||
| 219 | uint32_t bytes_read = chSequentialStreamRead((BaseFileStream*)&global.at24c01, buffer, type_size*num_elements); |
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| 220 | |||
| 221 | if (bytes_read != type_size*num_elements)
|
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| 222 | chprintf(chp, "Warning: %u of %u requested bytes were read.\n", bytes_read, type_size*num_elements);
|
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| 223 | |||
| 224 | for (unsigned int i = 0; i < num_elements; ++i) { |
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| 225 | switch (type) {
|
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| 226 | case HEX:
|
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| 227 | chprintf(chp, "%02X ", buffer[i]);
|
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| 228 | break;
|
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| 229 | case U8:
|
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| 230 | chprintf(chp, "%03u ", ((uint8_t*)buffer)[i]);
|
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| 231 | break;
|
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| 232 | case U16:
|
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| 233 | chprintf(chp, "%05u ", ((uint16_t*)buffer)[i]);
|
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| 234 | break;
|
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| 235 | case U32:
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| 236 | chprintf(chp, "%010u ", ((uint32_t*)buffer)[i]);
|
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| 237 | break;
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| 238 | case S8:
|
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| 239 | chprintf(chp, "%+03d ", ((int8_t*)buffer)[i]);
|
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| 240 | break;
|
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| 241 | case S16:
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| 242 | chprintf(chp, "%+05d ", ((int16_t*)buffer)[i]);
|
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| 243 | break;
|
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| 244 | case S32:
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| 245 | chprintf(chp, "%+010d ", ((int32_t*)buffer)[i]);
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| 246 | break;
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| 247 | default:
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| 248 | break;
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| 249 | } |
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| 250 | } |
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| 251 | chprintf(chp, "\n");
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| 252 | |||
| 253 | return;
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| 254 | } |
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| 255 | |||
| 256 | void shellRequestSetLights(BaseSequentialStream *chp, int argc, char *argv[]) { |
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| 257 | |||
| 258 | if (argc < 2 || argc == 3 ||strcmp(argv[0],"help") == 0) { |
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| 259 | chprintf(chp, "\tUSAGE:\n");
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| 260 | chprintf(chp, "> set_lights <led mask> <white/red> [<green> <blue>]\n");
|
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| 261 | chprintf(chp, "\n");
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| 262 | chprintf(chp, "\tled mask\n");
|
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| 263 | chprintf(chp, "The LEDs to be set.\n");
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| 264 | chprintf(chp, "You can set multiple LEDs at once by adding the following values:\n");
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| 265 | chprintf(chp, " 0x01 - rear left LED (SSW)\n");
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| 266 | chprintf(chp, " 0x02 - left rear LED (WSW)\n");
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| 267 | chprintf(chp, " 0x04 - left front LED (WNW)\n");
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| 268 | chprintf(chp, " 0x08 - front left LED (NNW)\n");
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| 269 | chprintf(chp, " 0x10 - front right LED (NNE)\n");
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| 270 | chprintf(chp, " 0x20 - right front LED (ENE)\n");
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| 271 | chprintf(chp, " 0x40 - right rear LED (ESE)\n");
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| 272 | chprintf(chp, " 0x80 - rear right LED (SSE)\n");
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| 273 | chprintf(chp, "\twhite/red\n");
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| 274 | chprintf(chp, "If no optional argument is given, this arguments sets the white value of the selected LEDs.\n");
|
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| 275 | chprintf(chp, "Otherwise this arguments sets the red color channel value.\n");
|
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| 276 | chprintf(chp, "\tgreen\n");
|
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| 277 | chprintf(chp, "Sets the green color channel value.\n");
|
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| 278 | chprintf(chp, "\tblue\n");
|
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| 279 | chprintf(chp, "Sets the blue color channel value.\n");
|
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| 280 | chprintf(chp, "\n");
|
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| 281 | chprintf(chp, "\tExample:\n");
|
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| 282 | chprintf(chp, "This line will set the two most left and two most right LEDs to bright cyan.\n");
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| 283 | chprintf(chp, "> set_lights 0x66 0 255 255\n");
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| 284 | chprintf(chp, "\n");
|
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| 285 | return;
|
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| 286 | } |
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| 287 | |||
| 288 | int arg_mask = strtol(argv[0], NULL, 0); |
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| 289 | int red = strtol(argv[1], NULL, 0); |
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| 290 | int green = red;
|
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| 291 | int blue = red;
|
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| 292 | if (argc >= 4) { |
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| 293 | green = strtol(argv[2], NULL, 0); |
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| 294 | blue = strtol(argv[3], NULL, 0); |
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| 295 | } |
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| 296 | Color color(red, green, blue); |
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| 297 | |||
| 298 | if (arg_mask & 0x01) { |
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| 299 | global.robot.setLightColor(constants::LightRing::LED_SSW, color); |
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| 300 | } |
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| 301 | if (arg_mask & 0x02) { |
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| 302 | global.robot.setLightColor(constants::LightRing::LED_WSW, color); |
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| 303 | } |
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| 304 | if (arg_mask & 0x04) { |
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| 305 | global.robot.setLightColor(constants::LightRing::LED_WNW, color); |
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| 306 | } |
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| 307 | if (arg_mask & 0x08) { |
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| 308 | global.robot.setLightColor(constants::LightRing::LED_NNW, color); |
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| 309 | } |
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| 310 | if (arg_mask & 0x10) { |
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| 311 | global.robot.setLightColor(constants::LightRing::LED_NNE, color); |
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| 312 | } |
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| 313 | if (arg_mask & 0x20) { |
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| 314 | global.robot.setLightColor(constants::LightRing::LED_ENE, color); |
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| 315 | } |
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| 316 | if (arg_mask & 0x40) { |
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| 317 | global.robot.setLightColor(constants::LightRing::LED_ESE, color); |
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| 318 | } |
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| 319 | if (arg_mask & 0x80) { |
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| 320 | global.robot.setLightColor(constants::LightRing::LED_SSE, color); |
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| 321 | } |
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| 322 | |||
| 323 | return;
|
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| 324 | } |
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| 325 | |||
| 326 | void boardPeripheryCheck(BaseSequentialStream *chp) {
|
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| 327 | msg_t result; |
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| 328 | chprintf(chp, "\nCHECK: START\n");
|
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| 329 | // Check the accelerometer
|
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| 330 | result = global.lis331dlh.getCheck(); |
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| 331 | if (result == global.lis331dlh.CHECK_OK)
|
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| 332 | chprintf(chp, "LIS331DLH: OK\n");
|
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| 333 | else
|
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| 334 | chprintf(chp, "LIS331DLH: FAIL\n");
|
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| 335 | |||
| 336 | // Self-test accelerometer
|
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| 337 | // lis331dlh.printSelfTest(NULL);
|
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| 338 | |||
| 339 | // Check the eeprom
|
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| 340 | result = global.memory.getCheck(); |
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| 341 | if ( result != global.memory.OK)
|
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| 342 | chprintf(chp, "Memory Structure: FAIL\n");
|
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| 343 | else
|
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| 344 | chprintf(chp, "Memory Structure: OK\n");
|
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| 345 | |||
| 346 | // Check the gyroscope
|
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| 347 | result = global.l3g4200d.getCheck(); |
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| 348 | if (result == global.l3g4200d.CHECK_OK)
|
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| 349 | chprintf(chp, "L3G4200D: OK\n");
|
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| 350 | else
|
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| 351 | chprintf(chp, "L3G4200D: FAIL\n");
|
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| 352 | |||
| 353 | // Check the magnetometer
|
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| 354 | result = global.hmc5883l.getCheck(); |
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| 355 | if (result == global.hmc5883l.CHECK_OK)
|
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| 356 | chprintf(chp, "HMC5883L: OK\n");
|
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| 357 | else
|
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| 358 | chprintf(chp, "HMC5883L: FAIL\n");
|
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| 359 | |||
| 360 | // Check the MUX
|
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| 361 | result = global.HW_PCA9544.getCheck(); |
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| 362 | if (result == global.HW_PCA9544.CHECK_OK)
|
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| 363 | chprintf(chp, "PCA9544: OK\n");
|
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| 364 | else
|
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| 365 | chprintf(chp, "PCA9544: FAIL\n");
|
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| 366 | |||
| 367 | // Check the power monitor
|
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| 368 | chprintf(chp, "INA219:\tVDD (3.3V):\n");
|
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| 369 | result = global.ina219.selftest(); |
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| 370 | if (result == BaseSensor<>::NOT_IMPLEMENTED)
|
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| 371 | chprintf(chp, "->\tnot implemented\n");
|
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| 372 | else if (result != INA219::Driver::ST_OK) |
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| 373 | chprintf(chp, "->\tFAIL (error code 0x%02X)\n", result);
|
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| 374 | else
|
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| 375 | chprintf(chp, "->\tOK\n");
|
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| 376 | |||
| 377 | // Check the proximitysensors
|
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| 378 | for (uint8_t i = 0x00; i < global.vcnl4020.size(); i++) { |
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| 379 | result = global.vcnl4020[i].getCheck(); |
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| 380 | if (result == global.vcnl4020[i].CHECK_OK)
|
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| 381 | chprintf(chp, "VCNL4020: %d OK\n", i);
|
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| 382 | else
|
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| 383 | chprintf(chp, "VCNL4020: %d FAIL\n", i);
|
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| 384 | } |
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| 385 | chprintf(chp, "CHECK: FINISH\n");
|
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| 386 | } |
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| 387 | |||
| 388 | void shellRequestCheck(BaseSequentialStream *chp, int __unused argc, char __unused *argv[]) { |
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| 389 | chprintf(chp, "shellRequestCheck\n");
|
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| 390 | boardPeripheryCheck(chp); |
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| 391 | } |
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| 392 | |||
| 393 | void shellRequestResetMemory(BaseSequentialStream *chp, int __unused argc, char __unused *argv[]) { |
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| 394 | chprintf(chp, "shellRequestInitMemory\n");
|
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| 395 | |||
| 396 | msg_t res = global.memory.resetMemory(); |
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| 397 | if ( res != global.memory.OK)
|
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| 398 | chprintf(chp, "Memory Init: FAIL\n");
|
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| 399 | else
|
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| 400 | chprintf(chp, "Memory Init: OK\n");
|
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| 401 | } |
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| 402 | |||
| 403 | void shellRequestGetBoardId(BaseSequentialStream *chp, int __unused argc, char __unused *argv[]) { |
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| 404 | chprintf(chp, "shellRequestGetBoardId\n");
|
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| 405 | uint8_t id = 0xFFu;
|
||
| 406 | |||
| 407 | msg_t res = global.memory.getBoardId(&id); |
||
| 408 | |||
| 409 | if (res != global.memory.OK)
|
||
| 410 | chprintf(chp, "Get Board ID: FAIL\n");
|
||
| 411 | else
|
||
| 412 | chprintf(chp, "Get Board ID: %u\n", id);
|
||
| 413 | } |
||
| 414 | |||
| 415 | void shellRequestSetBoardId(BaseSequentialStream *chp, int argc, char *argv[]) { |
||
| 416 | chprintf(chp, "shellRequestSetBoardId\n");
|
||
| 417 | |||
| 418 | if (argc == 0) { |
||
| 419 | chprintf(chp, "Usage: %s\n","set_board_id <idx>"); |
||
| 420 | } else {
|
||
| 421 | msg_t res = global.memory.setBoardId(atoi(argv[0]));
|
||
| 422 | if (res != global.memory.OK)
|
||
| 423 | chprintf(chp, "Set Board ID: FAIL\n");
|
||
| 424 | else
|
||
| 425 | chprintf(chp, "Set Board ID: OK\n");
|
||
| 426 | } |
||
| 427 | } |
||
| 428 | |||
| 429 | void shellRequestResetCalibrationConstants(BaseSequentialStream *chp, int __unused argc, char __unused *argv[]) { |
||
| 430 | chprintf(chp, "shellRequestResetCalibrationConstants\n");
|
||
| 431 | chprintf(chp, "Setting Ed=1.0f, Eb=1.0f\n");
|
||
| 432 | msg_t res; |
||
| 433 | |||
| 434 | res = global.memory.setEd(1.0f); |
||
| 435 | if (res != global.memory.OK)
|
||
| 436 | chprintf(chp, "Set Ed: FAIL\n");
|
||
| 437 | else
|
||
| 438 | chprintf(chp, "Set Ed: OK\n");
|
||
| 439 | |||
| 440 | res = global.memory.setEb(1.0f); |
||
| 441 | if (res != global.memory.OK)
|
||
| 442 | chprintf(chp, "Set Eb: FAIL\n");
|
||
| 443 | else
|
||
| 444 | chprintf(chp, "Set Eb: OK\n");
|
||
| 445 | } |
||
| 446 | |||
| 447 | void shellRequestGetCalibrationConstants(BaseSequentialStream *chp, int __unused argc, char __unused *argv[]) { |
||
| 448 | chprintf(chp, "shellRequestGetCalibrationConstants\n");
|
||
| 449 | msg_t res; |
||
| 450 | float Ed, Eb;
|
||
| 451 | |||
| 452 | res = global.memory.getEd(&Ed); |
||
| 453 | if (res != global.memory.OK)
|
||
| 454 | chprintf(chp, "Get Ed: FAIL\n");
|
||
| 455 | else
|
||
| 456 | chprintf(chp, "Get Ed: OK \t Ed=%f\n", Ed);
|
||
| 457 | |||
| 458 | res = global.memory.getEb(&Eb); |
||
| 459 | if (res != global.memory.OK)
|
||
| 460 | chprintf(chp, "Get Eb: FAIL\n");
|
||
| 461 | else
|
||
| 462 | chprintf(chp, "Get Eb: OK \t Eb=%f\n", Eb);
|
||
| 463 | } |
||
| 464 | |||
| 465 | void shellRequestSetCalibrationConstants(BaseSequentialStream *chp, int argc, char *argv[]) { |
||
| 466 | chprintf(chp, "shellRequestSetCalibrationConstants\n");
|
||
| 467 | msg_t res; |
||
| 468 | |||
| 469 | if (argc != 3) { |
||
| 470 | chprintf(chp, "Usage: %s\n","set_Ed_Eb <Ed> <Eb> <Write To Eeprom ? 1 : 0>"); |
||
| 471 | chprintf(chp, "(Call with floating point values for Ed and Eb values and write condition):\n");
|
||
| 472 | return;
|
||
| 473 | } |
||
| 474 | // Get the write condition
|
||
| 475 | const float Ed = atof(argv[0]); |
||
| 476 | const float Eb = atof(argv[1]); |
||
| 477 | bool_t writeToMemory = atoi(argv[2]) == 1 ? true : false; |
||
| 478 | |||
| 479 | res = global.motorcontrol.setWheelDiameterCorrectionFactor(Ed, writeToMemory); |
||
| 480 | if (res != global.memory.OK)
|
||
| 481 | chprintf(chp, "Set Ed: FAIL\n");
|
||
| 482 | else
|
||
| 483 | chprintf(chp, "Set Ed: OK \t Ed=%f\n", Ed);
|
||
| 484 | |||
| 485 | res = global.motorcontrol.setActualWheelBaseDistance(Eb, writeToMemory); |
||
| 486 | if (res != global.memory.OK)
|
||
| 487 | chprintf(chp, "Set Eb: FAIL\n");
|
||
| 488 | else
|
||
| 489 | chprintf(chp, "Set Eb: OK \t Ed=%f\n", Eb);
|
||
| 490 | } |
||
| 491 | |||
| 492 | void shellRequestGetVcnl(BaseSequentialStream *chp, int argc, char *argv[]) { |
||
| 493 | chprintf(chp, "shellRequestGetVcnl\n");
|
||
| 494 | // Print the sensor information
|
||
| 495 | if (argc != 1) { |
||
| 496 | chprintf(chp, "Usage: %s\n","get_vcnl <rep>"); |
||
| 497 | return;
|
||
| 498 | } |
||
| 499 | for (int32_t rep = 0x00; rep < atoi(argv[0]); ++rep) { |
||
| 500 | for (uint8_t idx = 0x00; idx < global.vcnl4020.size(); idx++) { |
||
| 501 | chprintf(chp, "%d: Ambi %d\tProx raw %d\tProx scaled %d\n", idx, global.vcnl4020[idx].getAmbientLight(), global.vcnl4020[idx].getProximity(), global.vcnl4020[idx].getProximityScaledWoOffset());
|
||
| 502 | } |
||
| 503 | chprintf(chp, "\n\n");
|
||
| 504 | BaseThread::sleep(MS2ST(250));
|
||
| 505 | } |
||
| 506 | } |
||
| 507 | |||
| 508 | void shellRequestSetVcnlOffset(BaseSequentialStream *chp, int argc, char *argv[]) { |
||
| 509 | chprintf(chp, "shellRequestSetVcnlOffset\n");
|
||
| 510 | if (argc != 2) { |
||
| 511 | chprintf(chp, "Usage: %s\n","set_vcnl <idx> <offset>"); |
||
| 512 | return;
|
||
| 513 | } |
||
| 514 | |||
| 515 | uint8_t vcnlIdx = static_cast<uint8_t>(atoi(argv[0])); |
||
| 516 | uint16_t vcnlOffset = static_cast<uint16_t>(atoi(argv[1])); |
||
| 517 | |||
| 518 | if (vcnlIdx >= global.vcnl4020.size()) {
|
||
| 519 | chprintf(chp, "Wrong VCNL index: Choose [0 .. %d]\n", global.vcnl4020.size()-1); |
||
| 520 | return;
|
||
| 521 | } |
||
| 522 | |||
| 523 | msg_t res = global.memory.setVcnl4020Offset(vcnlOffset, vcnlIdx); |
||
| 524 | if (res != global.memory.OK) {
|
||
| 525 | chprintf(chp, "Set Offset: FAIL\n");
|
||
| 526 | } else {
|
||
| 527 | chprintf(chp, "Set Offset: OK\n");
|
||
| 528 | global.vcnl4020[vcnlIdx].setProximityOffset(vcnlOffset); |
||
| 529 | } |
||
| 530 | } |
||
| 531 | |||
| 532 | void shellRequestResetVcnlOffset(BaseSequentialStream *chp, int argc, char *argv[]) { |
||
| 533 | msg_t res = global.memory.OK; |
||
| 534 | for (uint8_t idx = 0; idx < 4; ++idx) { |
||
| 535 | msg_t r = global.memory.setVcnl4020Offset(0, idx);
|
||
| 536 | if (r == global.memory.OK) {
|
||
| 537 | global.vcnl4020[idx].setProximityOffset(0);
|
||
| 538 | } else {
|
||
| 539 | chprintf(chp, "Reset Offset %u: FAIL\n", idx);
|
||
| 540 | res = r; |
||
| 541 | } |
||
| 542 | } |
||
| 543 | |||
| 544 | if (res == global.memory.OK) {
|
||
| 545 | chprintf(chp, "Reset Offset: DONE\n");
|
||
| 546 | } |
||
| 547 | |||
| 548 | return;
|
||
| 549 | } |
||
| 550 | |||
| 551 | void shellRequestGetVcnlOffset(BaseSequentialStream *chp, int argc, char *argv[]) { |
||
| 552 | chprintf(chp, "shellRequestGetVcnlOffset\n");
|
||
| 553 | if (argc != 1) { |
||
| 554 | chprintf(chp, "Call with decimal numbers: get_vcnl <idx>\n");
|
||
| 555 | return;
|
||
| 556 | } |
||
| 557 | |||
| 558 | uint8_t vcnlIdx = static_cast<uint8_t>(atoi(argv[0])); |
||
| 559 | |||
| 560 | if (vcnlIdx >= global.vcnl4020.size()) {
|
||
| 561 | chprintf(chp, "Wrong VCNL index: Choose [0 .. %d]\n", global.vcnl4020.size()-1); |
||
| 562 | return;
|
||
| 563 | } |
||
| 564 | |||
| 565 | uint16_t vcnlOffset; |
||
| 566 | msg_t res = global.memory.getVcnl4020Offset(&vcnlOffset, vcnlIdx); |
||
| 567 | if (res != global.memory.OK) {
|
||
| 568 | chprintf(chp, "Get Offset: FAIL\n");
|
||
| 569 | } else {
|
||
| 570 | chprintf(chp, "Get Offset: OK \t Offset=%d\n", vcnlOffset);
|
||
| 571 | } |
||
| 572 | } |
||
| 573 | |||
| 574 | void shellRequestCalib(BaseSequentialStream *chp, int __unused argc, char __unused *argv[]) { |
||
| 575 | chprintf(chp, "shellRequestCalib\n");
|
||
| 576 | global.robot.calibrate(); |
||
| 577 | } |
||
| 578 | |||
| 579 | void shellRequestGetRobotId(BaseSequentialStream *chp, int __unused argc, char __unused *argv[]) { |
||
| 580 | chprintf(chp, "shellRequestGetRobotId\n");
|
||
| 581 | chprintf(chp, "Robot ID: %u\n", global.robot.getRobotID());
|
||
| 582 | if (global.robot.getRobotID() == 0) |
||
| 583 | chprintf(chp, "Warning: The board ID seems to be uninitialized.\n");
|
||
| 584 | } |
||
| 585 | |||
| 586 | void shellRequestGetSystemLoad(BaseSequentialStream *chp, int argc, char *argv[]) { |
||
| 587 | chprintf(chp, "shellRequestGetSystemLoad\n");
|
||
| 588 | uint8_t seconds = 1;
|
||
| 589 | if (argc >= 1) { |
||
| 590 | seconds = atoi(argv[0]);
|
||
| 591 | } |
||
| 592 | chprintf(chp, "measuring CPU load for %u %s...\n", seconds, (seconds>1)? "seconds" : "second"); |
||
| 593 | |||
| 594 | const systime_t before = chThdGetTicks(chSysGetIdleThread());
|
||
| 595 | BaseThread::sleep(S2ST(seconds)); |
||
| 596 | const systime_t after = chThdGetTicks(chSysGetIdleThread());
|
||
| 597 | const float usage = 1.0f - (float(after - before) / float(seconds * CH_FREQUENCY)); |
||
| 598 | |||
| 599 | chprintf(chp, "CPU load: %3.2f%%\n", usage * 100); |
||
| 600 | const uint32_t memory_total = 0x10000; |
||
| 601 | const uint32_t memory_load = memory_total - chCoreStatus();
|
||
| 602 | chprintf(chp, "RAM load: %3.2f%% (%u / %u Byte)\n", float(memory_load)/float(memory_total) * 100, memory_load, memory_total); |
||
| 603 | } |
||
| 604 | |||
| 605 | void shellSwitchBoardCmd(BaseSequentialStream *chp, int argc, char *argv[]) { |
||
| 606 | if (argc != 1) { |
||
| 607 | chprintf(chp, "Call with decimal numbers: shell_board <idx>\n");
|
||
| 608 | return;
|
||
| 609 | } |
||
| 610 | uint8_t boardIdx = static_cast<uint8_t>(atoi(argv[0])); |
||
| 611 | |||
| 612 | chprintf(chp, "shellSwitchBoardCmd\n");
|
||
| 613 | global.sercanmux1.sendSwitchCmd(boardIdx); |
||
| 614 | } |
||
| 615 | |||
| 616 | void shellRequestGetBootloaderInfo(BaseSequentialStream* chp, int argc, char *argv[]) { |
||
| 617 | // check the magic number
|
||
| 618 | 10687985 | Thomas Schöpping | switch (*((uint32_t*)(BL_CALLBACK_TABLE_ADDR))) {
|
| 619 | case (('A'<<24) | ('-'<<16) | ('B'<<8) | ('L'<<0)): |
||
| 620 | chprintf((BaseSequentialStream*) &SD1, "Bootloader %u.%u.%u\n",
|
||
| 621 | ((blVersion_t*)(BL_CALLBACK_TABLE_ADDR + (1*4)))->major, |
||
| 622 | ((blVersion_t*)(BL_CALLBACK_TABLE_ADDR + (1*4)))->minor, |
||
| 623 | ((blVersion_t*)(BL_CALLBACK_TABLE_ADDR + (1*4)))->patch); |
||
| 624 | break;
|
||
| 625 | |||
| 626 | case BL_MAGIC_NUMBER:
|
||
| 627 | chprintf((BaseSequentialStream*) &SD1, "Bootloader %u.%u.%u\n",
|
||
| 628 | *((uint32_t*)(BL_CALLBACK_TABLE_ADDR + (1*4))), |
||
| 629 | *((uint32_t*)(BL_CALLBACK_TABLE_ADDR + (1*4))), |
||
| 630 | *((uint32_t*)(BL_CALLBACK_TABLE_ADDR + (1*4)))); |
||
| 631 | break;
|
||
| 632 | |||
| 633 | default:
|
||
| 634 | chprintf((BaseSequentialStream*) &SD1, "Bootloader incompatible\n");
|
||
| 635 | break;
|
||
| 636 | 58fe0e0b | Thomas Schöpping | } |
| 637 | |||
| 638 | return;
|
||
| 639 | } |
||
| 640 | |||
| 641 | void shellRequestMotorDrive(BaseSequentialStream *chp, int argc, char *argv[]) { |
||
| 642 | types::kinematic tmp; |
||
| 643 | tmp.w_z = 0;
|
||
| 644 | tmp.x = 0;
|
||
| 645 | if (argc == 1){ |
||
| 646 | chprintf(chp, "Set speed to %i um/s \n", atoi(argv[0])); |
||
| 647 | tmp.x = atoi(argv[0]);
|
||
| 648 | } else {
|
||
| 649 | if(argc == 2){ |
||
| 650 | chprintf(chp, "Set speed to %i \n um/s", atoi(argv[0])); |
||
| 651 | chprintf(chp, "Set angular speed to %i \n urad/s", atoi(argv[1])); |
||
| 652 | tmp.x = atoi(argv[0]);
|
||
| 653 | tmp.w_z= atoi(argv[1]);
|
||
| 654 | } else {
|
||
| 655 | chprintf(chp, "Wrong number of parameters given (%i), stopping robot \n", argc);
|
||
| 656 | } |
||
| 657 | } |
||
| 658 | |||
| 659 | global.motorcontrol.setTargetSpeed(tmp); |
||
| 660 | return;
|
||
| 661 | } |
||
| 662 | |||
| 663 | void shellRequestMotorStop(BaseSequentialStream *chp, int argc, char *argv[]) { |
||
| 664 | types::kinematic tmp; |
||
| 665 | tmp.x = 0;
|
||
| 666 | tmp.w_z = 0;
|
||
| 667 | |||
| 668 | global.motorcontrol.setTargetSpeed(tmp); |
||
| 669 | |||
| 670 | chprintf(chp, "stop");
|
||
| 671 | return;
|
||
| 672 | } |
||
| 673 | |||
| 674 | void shellRequestMotorCalibrate(BaseSequentialStream *chp, int argc, char *argv[]) { |
||
| 675 | ff7ad65b | Thomas Schöpping | global.motorcontrol.resetGains(); |
| 676 | chprintf((BaseSequentialStream*)&global.sercanmux1, "motor calibration starts in five seconds...\n");
|
||
| 677 | BaseThread::sleep(MS2ST(5000));
|
||
| 678 | 58fe0e0b | Thomas Schöpping | global.motorcontrol.isCalibrating = true;
|
| 679 | |||
| 680 | return;
|
||
| 681 | } |
||
| 682 | |||
| 683 | void shellRequestMotorGetGains(BaseSequentialStream *chp, int argc, char *argv[]){ |
||
| 684 | global.motorcontrol.printGains(); |
||
| 685 | |||
| 686 | return;
|
||
| 687 | } |
||
| 688 | |||
| 689 | ff7ad65b | Thomas Schöpping | void shellRequestMotorResetGains(BaseSequentialStream *chp, int argc, char *argv[]) { |
| 690 | global.motorcontrol.resetGains();; |
||
| 691 | |||
| 692 | return;
|
||
| 693 | } |
||
| 694 | |||
| 695 | 12463563 | galberding | |
| 696 | /**
|
||
| 697 | * Calibrate the thresholds for left and right sensor to get the maximum threshold and to
|
||
| 698 | * be able to detect the correction direction.
|
||
| 699 | * In this case it is expected that the FL-Sensor sould be in the white part of the edge and the FR-Sensor in the black one.
|
||
| 700 | *
|
||
| 701 | * Note: invert the threshs to drive on the other edge.
|
||
| 702 | *
|
||
| 703 | * */
|
||
| 704 | void calibrateLineSensores(BaseSequentialStream *chp, int argc, char *argv[]) { |
||
| 705 | 1b3adcdd | galberding | // int vcnl4020AmbientLight[4];
|
| 706 | 12463563 | galberding | int vcnl4020Proximity[4]; |
| 707 | int rounds = 1; |
||
| 708 | int proxyL = 0; |
||
| 709 | int proxyR = 0; |
||
| 710 | int maxDelta = 0; |
||
| 711 | 22b85da1 | galberding | int sensorL = 0; |
| 712 | int sensorR = 0; |
||
| 713 | 12463563 | galberding | |
| 714 | if (argc == 1){ |
||
| 715 | chprintf(chp, "Test %i rounds \n", atoi(argv[0])); |
||
| 716 | rounds = atoi(argv[0]);
|
||
| 717 | |||
| 718 | }else{
|
||
| 719 | chprintf(chp, "Usage: calbrate_line_sensors [1,n]\nThis will calibrate the thresholds for the left and right sensor\naccording to the maximum delta value recorded.\n");
|
||
| 720 | return;
|
||
| 721 | } |
||
| 722 | af93a91c | galberding | for (uint8_t led = 0; led < 8; ++led) { |
| 723 | global.robot.setLightColor(led, Color(Color::BLACK)); |
||
| 724 | } |
||
| 725 | 12463563 | galberding | |
| 726 | for (int j = 0; j < rounds; j++) { |
||
| 727 | for (int i = 0; i < 4; i++) { |
||
| 728 | 1b3adcdd | galberding | // vcnl4020AmbientLight[i] = global.vcnl4020[i].getAmbientLight();
|
| 729 | 12463563 | galberding | vcnl4020Proximity[i] = global.vcnl4020[i].getProximityScaledWoOffset(); |
| 730 | } |
||
| 731 | af93a91c | galberding | global.robot.setLightColor(j % 8, Color(Color::BLACK));
|
| 732 | global.robot.setLightColor(j+1 % 8, Color(Color::WHITE)); |
||
| 733 | 12463563 | galberding | int delta = abs(vcnl4020Proximity[constants::DiWheelDrive::PROX_FRONT_LEFT]
|
| 734 | - vcnl4020Proximity[constants::DiWheelDrive::PROX_FRONT_RIGHT]); |
||
| 735 | // Update proximity thresh
|
||
| 736 | if (delta > maxDelta) {
|
||
| 737 | af93a91c | galberding | for (uint8_t led = 0; led < 8; ++led) { |
| 738 | global.robot.setLightColor(led, Color(Color::GREEN)); |
||
| 739 | } |
||
| 740 | 12463563 | galberding | maxDelta = delta; |
| 741 | proxyL = vcnl4020Proximity[constants::DiWheelDrive::PROX_FRONT_LEFT]; |
||
| 742 | proxyR = vcnl4020Proximity[constants::DiWheelDrive::PROX_FRONT_RIGHT]; |
||
| 743 | } |
||
| 744 | 22b85da1 | galberding | sensorL += global.vcnl4020[constants::DiWheelDrive::PROX_FRONT_LEFT].getProximityScaledWoOffset(); |
| 745 | sensorR += global.vcnl4020[constants::DiWheelDrive::PROX_FRONT_RIGHT].getProximityScaledWoOffset(); |
||
| 746 | 12463563 | galberding | |
| 747 | // if (vcnl4020Proximity[constants::DiWheelDrive::PROX_FRONT_RIGHT] > proxyR && vcnl4020Proximity[constants::DiWheelDrive::PROX_FRONT_LEFT] > proxyL ){
|
||
| 748 | // delta *= -1;
|
||
| 749 | // }
|
||
| 750 | |||
| 751 | chprintf(chp,"FL: 0x%x, FR: 0x%x, Delta: %d, ProxyL: %x, ProxyR: %x, MaxDelta: %d\n",
|
||
| 752 | vcnl4020Proximity[constants::DiWheelDrive::PROX_FRONT_LEFT], |
||
| 753 | vcnl4020Proximity[constants::DiWheelDrive::PROX_FRONT_RIGHT], |
||
| 754 | delta, |
||
| 755 | proxyL, |
||
| 756 | proxyR, |
||
| 757 | maxDelta); |
||
| 758 | // sleep(CAN::UPDATE_PERIOD);
|
||
| 759 | BaseThread::sleep(CAN::UPDATE_PERIOD); |
||
| 760 | } |
||
| 761 | 22b85da1 | galberding | |
| 762 | 12463563 | galberding | |
| 763 | 22b85da1 | galberding | global.threshProxyL = sensorL / rounds; |
| 764 | global.threshProxyR = sensorR / rounds; |
||
| 765 | chprintf(chp,"Thresh FL: %d, FR: %d\n", global.threshProxyL, global.threshProxyR);
|
||
| 766 | 12463563 | galberding | return;
|
| 767 | } |
||
| 768 | |||
| 769 | |||
| 770 | |||
| 771 | void proxySensorData(BaseSequentialStream *chp, int argc, char *argv[]) { |
||
| 772 | 1b3adcdd | galberding | // uint16_t vcnl4020AmbientLight[4];
|
| 773 | af93a91c | galberding | uint16_t vcnl4020Proximity[4];
|
| 774 | uint16_t rounds = 1;
|
||
| 775 | 1b3adcdd | galberding | // uint16_t proxyL = global.threshProxyL;
|
| 776 | // uint16_t proxyR = global.threshProxyR;
|
||
| 777 | // uint16_t maxDelta = 0;
|
||
| 778 | 22b85da1 | galberding | |
| 779 | 1b3adcdd | galberding | // int sensorL = 0;
|
| 780 | // int sensorR = 0;
|
||
| 781 | 12463563 | galberding | if (argc == 1){ |
| 782 | chprintf(chp, "Test %i rounds \n", atoi(argv[0])); |
||
| 783 | rounds = atoi(argv[0]);
|
||
| 784 | |||
| 785 | } |
||
| 786 | bfffb0bd | galberding | global.motorcontrol.getGains(&global.motorConfigGains); |
| 787 | global.motorcontrol.setGains(&global.stopGains); |
||
| 788 | 12463563 | galberding | |
| 789 | for (int j = 0; j < rounds; j++) { |
||
| 790 | for (int i = 0; i < 4; i++) { |
||
| 791 | 1b3adcdd | galberding | // vcnl4020AmbientLight[i] = global.vcnl4020[i].getAmbientLight();
|
| 792 | 12463563 | galberding | vcnl4020Proximity[i] = global.vcnl4020[i].getProximityScaledWoOffset(); |
| 793 | } |
||
| 794 | 22b85da1 | galberding | |
| 795 | af93a91c | galberding | uint16_t delta = (vcnl4020Proximity[constants::DiWheelDrive::PROX_FRONT_LEFT] |
| 796 | 12463563 | galberding | - vcnl4020Proximity[constants::DiWheelDrive::PROX_FRONT_RIGHT]); |
| 797 | // // Update proximity thresh
|
||
| 798 | // if (delta > maxDelta) {
|
||
| 799 | // maxDelta = delta;
|
||
| 800 | // proxyL = vcnl4020Proximity[constants::DiWheelDrive::PROX_FRONT_LEFT];
|
||
| 801 | // proxyR = vcnl4020Proximity[constants::DiWheelDrive::PROX_FRONT_RIGHT];
|
||
| 802 | // }
|
||
| 803 | |||
| 804 | af93a91c | galberding | // if (vcnl4020Proximity[constants::DiWheelDrive::PROX_FRONT_RIGHT] > proxyR && vcnl4020Proximity[constants::DiWheelDrive::PROX_FRONT_LEFT] > proxyL ){
|
| 805 | // delta *= -1;
|
||
| 806 | // }
|
||
| 807 | 12463563 | galberding | |
| 808 | af93a91c | galberding | chprintf(chp,"WL:%d,FL:%d,FR:%d,WR:%d,Delta:%d\n",
|
| 809 | 12463563 | galberding | vcnl4020Proximity[constants::DiWheelDrive::PROX_WHEEL_LEFT], |
| 810 | vcnl4020Proximity[constants::DiWheelDrive::PROX_FRONT_LEFT], |
||
| 811 | vcnl4020Proximity[constants::DiWheelDrive::PROX_FRONT_RIGHT], |
||
| 812 | vcnl4020Proximity[constants::DiWheelDrive::PROX_WHEEL_RIGHT], |
||
| 813 | delta); |
||
| 814 | // sleep(CAN::UPDATE_PERIOD);
|
||
| 815 | BaseThread::sleep(CAN::UPDATE_PERIOD); |
||
| 816 | } |
||
| 817 | bfffb0bd | galberding | global.motorcontrol.setGains(&global.motorConfigGains); |
| 818 | af93a91c | galberding | // chprintf(chp,"Summary: MaxDelta: %d, FL: %x, FR: %d\n", maxDelta, proxyL, proxyR);
|
| 819 | 12463563 | galberding | return;
|
| 820 | } |
||
| 821 | |||
| 822 | 22b85da1 | galberding | // Either 0 to disable record or > 0 to enable it
|
| 823 | void setRecord(BaseSequentialStream *chp, int argc, char *argv[]){ |
||
| 824 | if (argc == 1){ |
||
| 825 | chprintf(chp, "Set recording to %d\n", atoi(argv[0])); |
||
| 826 | global.enableRecord = atoi(argv[0]);
|
||
| 827 | } |
||
| 828 | } |
||
| 829 | 12463563 | galberding | |
| 830 | |||
| 831 | af93a91c | galberding | void zieglerMeth2(BaseSequentialStream *chp, int argc, char *argv[]) { |
| 832 | 1b3adcdd | galberding | // int vcnl4020AmbientLight[4];
|
| 833 | // int vcnl4020Proximity[4];
|
||
| 834 | af93a91c | galberding | int rpmSpeed[2] = {0}; |
| 835 | int steps = 0; |
||
| 836 | 1b3adcdd | galberding | // int proxyL = global.threshProxyL;
|
| 837 | // int proxyR = global.threshProxyR;
|
||
| 838 | af93a91c | galberding | int maxDelta = 0; |
| 839 | float KCrit = 0.0f; |
||
| 840 | 88afb834 | galberding | global.sensSamples = 0;
|
| 841 | 22b85da1 | galberding | global.maxDist.error = 0;
|
| 842 | af93a91c | galberding | LineFollow lf(&global); |
| 843 | 22b85da1 | galberding | int led = 0; |
| 844 | af93a91c | galberding | |
| 845 | if (argc == 2){ |
||
| 846 | chprintf(chp, "KCrti %f\n", atof(argv[0])); |
||
| 847 | chprintf(chp, "Steps %i\n", atoi(argv[1])); |
||
| 848 | KCrit = atof(argv[0]);
|
||
| 849 | steps = atoi(argv[1]);
|
||
| 850 | 22b85da1 | galberding | } else if (argc == 3){ |
| 851 | chprintf(chp, "KCrti %f\n", atof(argv[0])); |
||
| 852 | chprintf(chp, "Steps %i\n", atoi(argv[1])); |
||
| 853 | KCrit = atof(argv[0]);
|
||
| 854 | steps = atoi(argv[1]);
|
||
| 855 | global.forwardSpeed = atoi(argv[2]);
|
||
| 856 | |||
| 857 | }else{
|
||
| 858 | chprintf(chp, "Usage: dev_ziegler2 <K_crit> <steps> (<speed>)");
|
||
| 859 | af93a91c | galberding | return;
|
| 860 | } |
||
| 861 | 22b85da1 | galberding | global.K_p = KCrit; |
| 862 | for(led=0; led<8; led++){ |
||
| 863 | global.robot.setLightColor(led, Color(Color::BLACK)); |
||
| 864 | } |
||
| 865 | 88afb834 | galberding | chprintf((BaseSequentialStream*)&global.sercanmux1, "Recodring starts in five seconds...\n");
|
| 866 | BaseThread::sleep(MS2ST(5000));
|
||
| 867 | af93a91c | galberding | // global.motorcontrol.setTargetRPM(rpmSpeed[constants::DiWheelDrive::LEFT_WHEEL] * 1000000, rpmSpeed[constants::DiWheelDrive::RIGHT_WHEEL] * 1000000);
|
| 868 | 22b85da1 | galberding | int checkWhite = 0; |
| 869 | int it_switch = steps / 2; |
||
| 870 | 1b3adcdd | galberding | // lf.setStrategie(LineFollowStrategie::MIDDLE);
|
| 871 | af93a91c | galberding | for(int s=0; s < steps; s++){ |
| 872 | 1b3adcdd | galberding | |
| 873 | checkWhite = lf.followLine(rpmSpeed); |
||
| 874 | 22b85da1 | galberding | // chprintf(chp,"S:%d,",s);
|
| 875 | 1b3adcdd | galberding | // if(global.threshWhite)
|
| 876 | // if(s < it_switch){
|
||
| 877 | // lf.setStrategie(LineFollowStrategie::EDGE_LEFT);
|
||
| 878 | // checkWhite = lf.followLine(rpmSpeed);
|
||
| 879 | // }else{
|
||
| 880 | // lf.setStrategie(LineFollowStrategie::EDGE_RIGHT);
|
||
| 881 | // checkWhite = lf.followLine(rpmSpeed);
|
||
| 882 | // }
|
||
| 883 | 22b85da1 | galberding | if(checkWhite){
|
| 884 | 1b3adcdd | galberding | global.motorcontrol.setTargetRPM(0,0); |
| 885 | 22b85da1 | galberding | for(led=0; led<8; led++){ |
| 886 | global.robot.setLightColor(led, Color(Color::RED)); |
||
| 887 | } |
||
| 888 | }else{
|
||
| 889 | global.motorcontrol.setTargetRPM(rpmSpeed[constants::DiWheelDrive::LEFT_WHEEL] * 1000000, rpmSpeed[constants::DiWheelDrive::RIGHT_WHEEL] * 1000000); |
||
| 890 | } |
||
| 891 | |||
| 892 | |||
| 893 | af93a91c | galberding | BaseThread::sleep(CAN::UPDATE_PERIOD); |
| 894 | } |
||
| 895 | 22b85da1 | galberding | |
| 896 | af93a91c | galberding | global.motorcontrol.setTargetRPM(0,0); |
| 897 | } |
||
| 898 | |||
| 899 | |||
| 900 | 1b3adcdd | galberding | void followLine(BaseSequentialStream *chp, int argc, char *argv[]){ |
| 901 | int steps = 1000; |
||
| 902 | 88afb834 | galberding | int speed = 0; |
| 903 | 1b3adcdd | galberding | int strategy = 0; |
| 904 | int led = 0; |
||
| 905 | int checkWhite = 0; |
||
| 906 | int rpmSpeed[2] = {0}; |
||
| 907 | LineFollow lf(&global); |
||
| 908 | 88afb834 | galberding | if (argc == 1){ |
| 909 | chprintf(chp, "%i steps \n", atoi(argv[0])); |
||
| 910 | steps = atoi(argv[0]);
|
||
| 911 | 1b3adcdd | galberding | }else if (argc == 2){ |
| 912 | steps = atoi(argv[0]);
|
||
| 913 | speed = atoi(argv[1]);
|
||
| 914 | }else if (argc == 3){ |
||
| 915 | steps = atoi(argv[0]);
|
||
| 916 | speed = atoi(argv[1]);
|
||
| 917 | strategy = atoi(argv[2]);
|
||
| 918 | }else{
|
||
| 919 | chprintf(chp, "Use: followLine <steps> <speed> <strategy>\n");
|
||
| 920 | return;
|
||
| 921 | } |
||
| 922 | global.forwardSpeed = speed; |
||
| 923 | switch (strategy)
|
||
| 924 | {
|
||
| 925 | case 0: |
||
| 926 | lf.setStrategy(amiro::LineFollowStrategy::EDGE_RIGHT); |
||
| 927 | break;
|
||
| 928 | case 1: |
||
| 929 | lf.setStrategy(amiro::LineFollowStrategy::EDGE_LEFT); |
||
| 930 | break;
|
||
| 931 | case 2: |
||
| 932 | lf.setStrategy(amiro::LineFollowStrategy::FUZZY); |
||
| 933 | break;
|
||
| 934 | default:
|
||
| 935 | break;
|
||
| 936 | 88afb834 | galberding | } |
| 937 | |||
| 938 | |||
| 939 | 1b3adcdd | galberding | for(int s=0; s < steps; s++){ |
| 940 | |||
| 941 | checkWhite = lf.followLine(rpmSpeed); |
||
| 942 | if(checkWhite){
|
||
| 943 | global.motorcontrol.setTargetRPM(0,0); |
||
| 944 | for(led=0; led<8; led++){ |
||
| 945 | global.robot.setLightColor(led, Color(Color::RED)); |
||
| 946 | } |
||
| 947 | }else{
|
||
| 948 | global.motorcontrol.setTargetRPM(rpmSpeed[constants::DiWheelDrive::LEFT_WHEEL] * 1000000, rpmSpeed[constants::DiWheelDrive::RIGHT_WHEEL] * 1000000); |
||
| 949 | } |
||
| 950 | |||
| 951 | BaseThread::sleep(CAN::UPDATE_PERIOD); |
||
| 952 | 88afb834 | galberding | } |
| 953 | 1b3adcdd | galberding | |
| 954 | 88afb834 | galberding | global.motorcontrol.setTargetRPM(0,0); |
| 955 | } |
||
| 956 | |||
| 957 | 1b3adcdd | galberding | |
| 958 | 88afb834 | galberding | void printMove(BaseSequentialStream *chp, int argc, char *argv[]){ |
| 959 | |||
| 960 | for (int j=0; j<global.sensSamples;j++){ |
||
| 961 | 22b85da1 | galberding | chprintf(chp,"FL:%d,FR:%d,Delta:%d,Error:%d\n",global.senseRec[j].FL, global.senseRec[j].FR, global.senseRec[j].delta, global.senseRec[j].error);
|
| 962 | 88afb834 | galberding | } |
| 963 | 22b85da1 | galberding | chprintf(chp,"MaxDist: FL:%d,FR:%d,Delta:%d,Error:%d\n",global.maxDist.FL, global.maxDist.FR, global.maxDist.delta, global.maxDist.error);
|
| 964 | |||
| 965 | 88afb834 | galberding | |
| 966 | } |
||
| 967 | bfffb0bd | galberding | void freeGains(BaseSequentialStream *chp, int argc, char *argv[]){ |
| 968 | if (global.resetProtect){
|
||
| 969 | global.motorcontrol.getGains(&global.motorConfigGains); |
||
| 970 | global.resetProtect = 0;
|
||
| 971 | } |
||
| 972 | |||
| 973 | global.motorcontrol.setGains(&global.stopGains); |
||
| 974 | } |
||
| 975 | |||
| 976 | |||
| 977 | void setGains(BaseSequentialStream *chp, int argc, char *argv[]){ |
||
| 978 | if(!global.resetProtect){
|
||
| 979 | global.motorcontrol.setGains(&global.motorConfigGains); |
||
| 980 | global.resetProtect = 1;
|
||
| 981 | } |
||
| 982 | } |
||
| 983 | void motorToggle(BaseSequentialStream *chp, int argc, char *argv[]){ |
||
| 984 | global.odometry.resetPosition(); |
||
| 985 | global.motorcontrol.toggleMotorEnable(); |
||
| 986 | } |
||
| 987 | 88afb834 | galberding | |
| 988 | |||
| 989 | bfffb0bd | galberding | void rotate(BaseSequentialStream *chp, int argc, char *argv[]){ |
| 990 | int steps = 1000; |
||
| 991 | int speed = 0; |
||
| 992 | int strategy = 0; |
||
| 993 | int led = 0; |
||
| 994 | int checkWhite = 0; |
||
| 995 | int rpmSpeed[2] = {0}; |
||
| 996 | LineFollow lf(&global); |
||
| 997 | if (argc == 1){ |
||
| 998 | chprintf(chp, "%i steps \n", atoi(argv[0])); |
||
| 999 | speed = atoi(argv[0]);
|
||
| 1000 | }else if (argc == 2){ |
||
| 1001 | speed = atoi(argv[0]);
|
||
| 1002 | steps = atoi(argv[1]);
|
||
| 1003 | }else{
|
||
| 1004 | chprintf(chp, "Use: rotate <speed> <steps>\n");
|
||
| 1005 | return;
|
||
| 1006 | } |
||
| 1007 | chprintf((BaseSequentialStream*)&global.sercanmux1, "Recodring starts in five seconds...\n");
|
||
| 1008 | BaseThread::sleep(MS2ST(5000));
|
||
| 1009 | // global.forwardSpeed = speed;
|
||
| 1010 | // rpmSpeed[0] = -speed;
|
||
| 1011 | // rpmSpeed[1] = speed;
|
||
| 1012 | // global.motorcontrol.setTargetRPM(rpmSpeed[constants::DiWheelDrive::LEFT_WHEEL] * 1000000, rpmSpeed[constants::DiWheelDrive::RIGHT_WHEEL] * 1000000);
|
||
| 1013 | // for(int s=0; s < steps; s++){
|
||
| 1014 | // BaseThread::sleep(CAN::UPDATE_PERIOD);
|
||
| 1015 | // }
|
||
| 1016 | global.odometry.resetPosition(); |
||
| 1017 | global.startPos = global.odometry.getPosition(); |
||
| 1018 | global.distcontrol.setTargetPosition(0, 3141592, 5000); |
||
| 1019 | BaseThread::sleep(MS2ST(11000));
|
||
| 1020 | global.endPos = global.odometry.getPosition(); |
||
| 1021 | // global.motorcontrol.setTargetRPM(0,0);
|
||
| 1022 | } |
||
| 1023 | |||
| 1024 | void setSpeed(int (&rpmSpeed)[2]){ |
||
| 1025 | global.motorcontrol.setTargetRPM(rpmSpeed[constants::DiWheelDrive::LEFT_WHEEL] * 1000000, rpmSpeed[constants::DiWheelDrive::RIGHT_WHEEL] * 1000000); |
||
| 1026 | } |
||
| 1027 | |||
| 1028 | c0757912 | galberding | /**
|
| 1029 | * Blocks as long as the position changes.
|
||
| 1030 | */
|
||
| 1031 | void checkForMotion(){
|
||
| 1032 | int motion = 1; |
||
| 1033 | int led = 0; |
||
| 1034 | types::position oldPos = global.odometry.getPosition(); |
||
| 1035 | while(motion){
|
||
| 1036 | BaseThread::sleep(500);
|
||
| 1037 | types::position tmp = global.odometry.getPosition(); |
||
| 1038 | motion = abs(oldPos.x - tmp.x)+ abs(oldPos.y - tmp.y)+abs(oldPos.z - tmp.z); |
||
| 1039 | oldPos = tmp; |
||
| 1040 | global.robot.setLightColor((led + 1) % 8, Color(Color::YELLOW)); |
||
| 1041 | global.robot.setLightColor(led % 8, Color(Color::BLACK));
|
||
| 1042 | led++; |
||
| 1043 | } |
||
| 1044 | } |
||
| 1045 | |||
| 1046 | /**
|
||
| 1047 | * Turns MotorControl off and checks if position remains stable.
|
||
| 1048 | */
|
||
| 1049 | int checkDockingSuccess(){
|
||
| 1050 | // global.motorcontrol.setTargetRPM(0,0);
|
||
| 1051 | checkForMotion(); |
||
| 1052 | int led = 0; |
||
| 1053 | int success = 0; |
||
| 1054 | global.odometry.resetPosition(); |
||
| 1055 | types::position start = global.startPos = global.odometry.getPosition(); |
||
| 1056 | global.motorcontrol.toggleMotorEnable(); |
||
| 1057 | BaseThread::sleep(1000);
|
||
| 1058 | types::position stop = global.endPos = global.odometry.getPosition(); |
||
| 1059 | global.motorcontrol.toggleMotorEnable(); |
||
| 1060 | // Amiro moved, docking was not successful
|
||
| 1061 | if ((start.x + stop.x) || (start.y + stop.y)){
|
||
| 1062 | for(led=0; led<8; led++){ |
||
| 1063 | global.robot.setLightColor(led, Color(Color::RED)); |
||
| 1064 | } |
||
| 1065 | success = 0;
|
||
| 1066 | }else{
|
||
| 1067 | for(led=0; led<8; led++){ |
||
| 1068 | global.robot.setLightColor(led, Color(Color::GREEN)); |
||
| 1069 | } |
||
| 1070 | success = 1;
|
||
| 1071 | } |
||
| 1072 | |||
| 1073 | BaseThread::sleep(500);
|
||
| 1074 | for(led=0; led<8; led++){ |
||
| 1075 | global.robot.setLightColor(led, Color(Color::BLACK)); |
||
| 1076 | } |
||
| 1077 | return success;
|
||
| 1078 | } |
||
| 1079 | |||
| 1080 | /**
|
||
| 1081 | * Switch to EDGE_LEFT line following and orientate for n steps along the line.
|
||
| 1082 | *
|
||
| 1083 | * @param lf current line following
|
||
| 1084 | * @param steps steps to take for the correction (measured in CAN-update durations)
|
||
| 1085 | */
|
||
| 1086 | void correctPosition(LineFollow &lf, int steps){ |
||
| 1087 | int checkWhite = 0; |
||
| 1088 | int rpmSpeed[2] = {0}; |
||
| 1089 | lf.setStrategy(LineFollowStrategy::EDGE_LEFT); |
||
| 1090 | for (int correction=0; correction<steps; correction++){ |
||
| 1091 | checkWhite = lf.followLine(rpmSpeed); |
||
| 1092 | setSpeed(rpmSpeed); |
||
| 1093 | BaseThread::sleep(CAN::UPDATE_PERIOD); |
||
| 1094 | } |
||
| 1095 | } |
||
| 1096 | |||
| 1097 | |||
| 1098 | |||
| 1099 | bfffb0bd | galberding | void followAndRotate(BaseSequentialStream *chp, int argc, char *argv[]){ |
| 1100 | int steps = 10000; |
||
| 1101 | int speed = 0; |
||
| 1102 | int strategy = 0; |
||
| 1103 | int led = 0; |
||
| 1104 | int checkWhite = 0; |
||
| 1105 | int rpmSpeed[2] = {0}; |
||
| 1106 | c0757912 | galberding | int proxyWheelThresh = 20000; |
| 1107 | bfffb0bd | galberding | LineFollow lf(&global); |
| 1108 | if (argc == 1){ |
||
| 1109 | chprintf(chp, "%i steps \n", atoi(argv[0])); |
||
| 1110 | speed = atoi(argv[0]);
|
||
| 1111 | }else if (argc == 2){ |
||
| 1112 | speed = atoi(argv[0]);
|
||
| 1113 | steps = atoi(argv[1]);
|
||
| 1114 | }else{
|
||
| 1115 | chprintf(chp, "Use: rotate <speed> <steps>\n");
|
||
| 1116 | return;
|
||
| 1117 | } |
||
| 1118 | chprintf((BaseSequentialStream*)&global.sercanmux1, "Recodring starts in five seconds...\n");
|
||
| 1119 | BaseThread::sleep(MS2ST(5000));
|
||
| 1120 | global.forwardSpeed = speed; |
||
| 1121 | |||
| 1122 | setSpeed(rpmSpeed); |
||
| 1123 | c0757912 | galberding | |
| 1124 | |||
| 1125 | bfffb0bd | galberding | for(int s=0; s < steps; s++){ |
| 1126 | |||
| 1127 | int WL = global.vcnl4020[constants::DiWheelDrive::PROX_WHEEL_LEFT].getProximityScaledWoOffset();
|
||
| 1128 | int WR = global.vcnl4020[constants::DiWheelDrive::PROX_WHEEL_LEFT].getProximityScaledWoOffset();
|
||
| 1129 | if ((WL+WR) < proxyWheelThresh){
|
||
| 1130 | c0757912 | galberding | global.motorcontrol.setTargetRPM(0,0); |
| 1131 | bfffb0bd | galberding | chprintf((BaseSequentialStream*)&global.sercanmux1, "Hit Break!\n");
|
| 1132 | if(lf.getStrategy() == LineFollowStrategy::DOCKING){
|
||
| 1133 | c0757912 | galberding | // Check if Docking was successful
|
| 1134 | if(checkDockingSuccess()){
|
||
| 1135 | break;
|
||
| 1136 | }else{
|
||
| 1137 | correctPosition(lf, 250);
|
||
| 1138 | lf.setStrategy(LineFollowStrategy::DOCKING); |
||
| 1139 | // break;
|
||
| 1140 | } |
||
| 1141 | |||
| 1142 | bfffb0bd | galberding | }else{
|
| 1143 | c0757912 | galberding | // global.motorcontrol.setTargetRPM(0,0);
|
| 1144 | bfffb0bd | galberding | BaseThread::sleep(1000);
|
| 1145 | c0757912 | galberding | // 180° Rotation
|
| 1146 | bfffb0bd | galberding | global.distcontrol.setTargetPosition(0, 3141592, 10000); |
| 1147 | c0757912 | galberding | // BaseThread::sleep(8000);
|
| 1148 | checkForMotion(); |
||
| 1149 | correctPosition(lf, 250);
|
||
| 1150 | bfffb0bd | galberding | // break;
|
| 1151 | lf.setStrategy(LineFollowStrategy::DOCKING); |
||
| 1152 | |||
| 1153 | } |
||
| 1154 | } |
||
| 1155 | checkWhite = lf.followLine(rpmSpeed); |
||
| 1156 | setSpeed(rpmSpeed); |
||
| 1157 | BaseThread::sleep(CAN::UPDATE_PERIOD); |
||
| 1158 | } |
||
| 1159 | |||
| 1160 | c0757912 | galberding | |
| 1161 | bfffb0bd | galberding | } |
| 1162 | |||
| 1163 | 9c46b728 | galberding | void enableCharging(){
|
| 1164 | global.ltc4412.enable(true);
|
||
| 1165 | } |
||
| 1166 | bfffb0bd | galberding | |
| 1167 | 9c46b728 | galberding | void disableCharging(){
|
| 1168 | global.ltc4412.enable(false);
|
||
| 1169 | } |
||
| 1170 | bfffb0bd | galberding | |
| 1171 | 9c46b728 | galberding | |
| 1172 | void setGlobalStrategy(BaseSequentialStream *chp, int argc, char *argv[]){ |
||
| 1173 | if(argc == 1){ |
||
| 1174 | |||
| 1175 | global.lfStrategy = atoi(argv[0]);
|
||
| 1176 | } |
||
| 1177 | bfffb0bd | galberding | } |
| 1178 | |||
| 1179 | void getPosition(BaseSequentialStream *chp, int argc, char *argv[]){ |
||
| 1180 | types::position pos = global.odometry.getPosition(); |
||
| 1181 | chprintf(chp, "Start: Position X: %d, Y: %d, Rotation X: %d, Y: %d, Z: %d\n", global.startPos.x, global.startPos.y, global.startPos.f_x, global.startPos.f_y, global.startPos.f_z);
|
||
| 1182 | chprintf(chp, "End: Position X: %d, Y: %d, Rotation X: %d, Y: %d, Z: %d\n", global.endPos.x, global.endPos.y, global.endPos.f_x, global.endPos.f_y, global.endPos.f_z);
|
||
| 1183 | c0757912 | galberding | |
| 1184 | if(argc == 1){ |
||
| 1185 | for (int i=0; i<atoi(argv[0]);i++){ |
||
| 1186 | types::position pos = global.odometry.getPosition(); |
||
| 1187 | chprintf(chp, "End: Position X: %d, Y: %d, Rotation X: %d, Y: %d, Z: %d\n", pos.x, pos.y, pos.f_x, pos.f_y, pos.f_z);
|
||
| 1188 | BaseThread::sleep(CAN::UPDATE_PERIOD); |
||
| 1189 | } |
||
| 1190 | } |
||
| 1191 | bfffb0bd | galberding | } |
| 1192 | |||
| 1193 | 9c46b728 | galberding | // TODO: Not wokring, either loading station has no power or logic not working
|
| 1194 | void checkPower(BaseSequentialStream *chp, int argc, char *argv[]){ |
||
| 1195 | int steps = 2000; |
||
| 1196 | int led = 0; |
||
| 1197 | enableCharging(); |
||
| 1198 | for (int i=0; i<steps;i++){ |
||
| 1199 | chprintf(chp, "%s Enable: %s\n", global.ltc4412.isPluggedIn() ? "y" : "n", global.ltc4412.isEnabled() ? "y2" : "n2"); |
||
| 1200 | if(global.ltc4412.isPluggedIn()){
|
||
| 1201 | // enableCharging();
|
||
| 1202 | for(led=0; led<8; led++){ |
||
| 1203 | global.robot.setLightColor(led, Color(Color::GREEN)); |
||
| 1204 | } |
||
| 1205 | }else{
|
||
| 1206 | // disableCharging();
|
||
| 1207 | for(led=0; led<8; led++){ |
||
| 1208 | global.robot.setLightColor(led, Color(Color::RED)); |
||
| 1209 | } |
||
| 1210 | } |
||
| 1211 | BaseThread::sleep(CAN::UPDATE_PERIOD); |
||
| 1212 | } |
||
| 1213 | disableCharging(); |
||
| 1214 | for(led=0; led<8; led++){ |
||
| 1215 | global.robot.setLightColor(led, Color(Color::BLACK)); |
||
| 1216 | } |
||
| 1217 | } |
||
| 1218 | |||
| 1219 | |||
| 1220 | 58fe0e0b | Thomas Schöpping | static const ShellCommand commands[] = { |
| 1221 | {"shutdown", shellRequestShutdown},
|
||
| 1222 | {"wakeup", shellRequestWakeup},
|
||
| 1223 | {"check", shellRequestCheck},
|
||
| 1224 | {"reset_memory", shellRequestResetMemory},
|
||
| 1225 | {"get_board_id", shellRequestGetBoardId},
|
||
| 1226 | {"set_board_id", shellRequestSetBoardId},
|
||
| 1227 | {"get_memory_data", shellRequestGetMemoryData},
|
||
| 1228 | {"get_vcnl", shellRequestGetVcnl},
|
||
| 1229 | {"calib_vcnl_offset", shellRequestCalib},
|
||
| 1230 | {"set_vcnl_offset", shellRequestSetVcnlOffset},
|
||
| 1231 | {"reset_vcnl_offset", shellRequestResetVcnlOffset},
|
||
| 1232 | {"get_vcnl_offset", shellRequestGetVcnlOffset},
|
||
| 1233 | {"reset_Ed_Eb", shellRequestResetCalibrationConstants},
|
||
| 1234 | {"get_Ed_Eb", shellRequestGetCalibrationConstants},
|
||
| 1235 | {"set_Ed_Eb", shellRequestSetCalibrationConstants},
|
||
| 1236 | {"get_robot_id", shellRequestGetRobotId},
|
||
| 1237 | {"get_system_load", shellRequestGetSystemLoad},
|
||
| 1238 | {"set_lights", shellRequestSetLights},
|
||
| 1239 | {"shell_board", shellSwitchBoardCmd},
|
||
| 1240 | {"get_bootloader_info", shellRequestGetBootloaderInfo},
|
||
| 1241 | {"motor_drive", shellRequestMotorDrive},
|
||
| 1242 | {"motor_stop", shellRequestMotorStop},
|
||
| 1243 | {"motor_calibrate", shellRequestMotorCalibrate},
|
||
| 1244 | {"motor_getGains", shellRequestMotorGetGains},
|
||
| 1245 | bfffb0bd | galberding | {"motor_deactivate", freeGains},
|
| 1246 | {"motor_activate", setGains},
|
||
| 1247 | ff7ad65b | Thomas Schöpping | {"motor_resetGains", shellRequestMotorResetGains},
|
| 1248 | bfffb0bd | galberding | {"motorToggle", motorToggle},
|
| 1249 | 12463563 | galberding | {"dev_proxi_sensor_data", proxySensorData},
|
| 1250 | af93a91c | galberding | {"dev_ziegler2", zieglerMeth2},
|
| 1251 | // TODO: Stop user process from execution to finish/force calibration before anything starts
|
||
| 1252 | {"calibrate_line", calibrateLineSensores},
|
||
| 1253 | 1b3adcdd | galberding | // {"record_move", recordMove},
|
| 1254 | 88afb834 | galberding | {"print_record", printMove},
|
| 1255 | 22b85da1 | galberding | {"setRecord", setRecord},
|
| 1256 | 1b3adcdd | galberding | {"followLine", followLine},
|
| 1257 | bfffb0bd | galberding | {"rotate", rotate},
|
| 1258 | {"followRotate", followAndRotate},
|
||
| 1259 | {"getPos", getPosition},
|
||
| 1260 | 9c46b728 | galberding | {"checkPower", checkPower},
|
| 1261 | {"setStrategy", setGlobalStrategy},
|
||
| 1262 | 58fe0e0b | Thomas Schöpping | {NULL, NULL}
|
| 1263 | }; |
||
| 1264 | |||
| 1265 | static const ShellConfig shell_cfg1 = { |
||
| 1266 | (BaseSequentialStream *) &global.sercanmux1, |
||
| 1267 | commands |
||
| 1268 | }; |
||
| 1269 | |||
| 1270 | void initPowermonitor(INA219::Driver &ina219, const float shuntResistance_O, const float maxExpectedCurrent_A, const uint16_t currentLsb_uA) |
||
| 1271 | {
|
||
| 1272 | INA219::CalibData calibData; |
||
| 1273 | INA219::InitData initData; |
||
| 1274 | |||
| 1275 | calibData.input.configuration.content.brng = INA219::Configuration::BRNG_16V; |
||
| 1276 | calibData.input.configuration.content.pg = INA219::Configuration::PGA_40mV; |
||
| 1277 | calibData.input.configuration.content.badc = INA219::Configuration::ADC_68100us; |
||
| 1278 | calibData.input.configuration.content.sadc = INA219::Configuration::ADC_68100us; |
||
| 1279 | calibData.input.configuration.content.mode = INA219::Configuration::MODE_ShuntBus_Continuous; |
||
| 1280 | calibData.input.shunt_resistance_O = shuntResistance_O; |
||
| 1281 | calibData.input.max_expected_current_A = maxExpectedCurrent_A; |
||
| 1282 | calibData.input.current_lsb_uA = currentLsb_uA; |
||
| 1283 | if (ina219.calibration(&calibData) != BaseSensor<>::SUCCESS)
|
||
| 1284 | {
|
||
| 1285 | chprintf((BaseSequentialStream*)&SD1, "WARNING: calibration of INA219 failed.\n");
|
||
| 1286 | } |
||
| 1287 | |||
| 1288 | initData.configuration.value = calibData.input.configuration.value; |
||
| 1289 | initData.calibration = calibData.output.calibration_value; |
||
| 1290 | initData.current_lsb_uA = calibData.output.current_lsb_uA; |
||
| 1291 | if (ina219.init(&initData) != BaseSensor<>::SUCCESS)
|
||
| 1292 | {
|
||
| 1293 | chprintf((BaseSequentialStream*)&SD1, "WARNING: initialization of INA219 failed.\n");
|
||
| 1294 | } |
||
| 1295 | |||
| 1296 | if (calibData.input.current_lsb_uA != initData.current_lsb_uA)
|
||
| 1297 | {
|
||
| 1298 | chprintf((BaseSequentialStream*)&SD1, "NOTE: LSB for current measurement was limited when initializing INA219 (%u -> %u)", calibData.input.current_lsb_uA, initData.current_lsb_uA);
|
||
| 1299 | } |
||
| 1300 | |||
| 1301 | return;
|
||
| 1302 | } |
||
| 1303 | |||
| 1304 | /*
|
||
| 1305 | * Application entry point.
|
||
| 1306 | */
|
||
| 1307 | int main(void) { |
||
| 1308 | |||
| 1309 | // int16_t accel;
|
||
| 1310 | Thread *shelltp = NULL;
|
||
| 1311 | |||
| 1312 | /*
|
||
| 1313 | * System initializations.
|
||
| 1314 | * - HAL initialization, this also initializes the configured device drivers
|
||
| 1315 | * and performs the board-specific initializations.
|
||
| 1316 | * - Kernel initialization, the main() function becomes a thread and the
|
||
| 1317 | * RTOS is active.
|
||
| 1318 | */
|
||
| 1319 | halInit(); |
||
| 1320 | qeiInit(); |
||
| 1321 | System::init(); |
||
| 1322 | |||
| 1323 | // boardWakeup();
|
||
| 1324 | // boardWriteIoPower(1);
|
||
| 1325 | |||
| 1326 | /*
|
||
| 1327 | * Activates the serial driver 2 using the driver default configuration.
|
||
| 1328 | */
|
||
| 1329 | sdStart(&SD1, &global.sd1_config); |
||
| 1330 | |||
| 1331 | chprintf((BaseSequentialStream*) &SD1, "\n");
|
||
| 1332 | chprintf((BaseSequentialStream*) &SD1, BOARD_NAME " " BOARD_VERSION "\n"); |
||
| 1333 | 10687985 | Thomas Schöpping | switch (*((uint32_t*)(BL_CALLBACK_TABLE_ADDR))) {
|
| 1334 | case (('A'<<24) | ('-'<<16) | ('B'<<8) | ('L'<<0)): |
||
| 1335 | chprintf((BaseSequentialStream*) &SD1, "Bootloader %u.%u.%u\n",
|
||
| 1336 | ((blVersion_t*)(BL_CALLBACK_TABLE_ADDR + (1*4)))->major, |
||
| 1337 | ((blVersion_t*)(BL_CALLBACK_TABLE_ADDR + (1*4)))->minor, |
||
| 1338 | ((blVersion_t*)(BL_CALLBACK_TABLE_ADDR + (1*4)))->patch); |
||
| 1339 | break;
|
||
| 1340 | |||
| 1341 | case BL_MAGIC_NUMBER:
|
||
| 1342 | chprintf((BaseSequentialStream*) &SD1, "Bootloader %u.%u.%u\n",
|
||
| 1343 | *((uint32_t*)(BL_CALLBACK_TABLE_ADDR + (1*4))), |
||
| 1344 | *((uint32_t*)(BL_CALLBACK_TABLE_ADDR + (1*4))), |
||
| 1345 | *((uint32_t*)(BL_CALLBACK_TABLE_ADDR + (1*4)))); |
||
| 1346 | break;
|
||
| 1347 | |||
| 1348 | default:
|
||
| 1349 | chprintf((BaseSequentialStream*) &SD1, "Bootloader incompatible\n");
|
||
| 1350 | break;
|
||
| 1351 | 58fe0e0b | Thomas Schöpping | } |
| 1352 | chprintf((BaseSequentialStream*) &SD1, "ChibiOS " CH_KERNEL_VERSION "\n"); |
||
| 1353 | // make sure that the info text is completetly printed
|
||
| 1354 | BaseThread::sleep(10);
|
||
| 1355 | |||
| 1356 | extStart(&EXTD1, &extcfg); |
||
| 1357 | |||
| 1358 | /*
|
||
| 1359 | * Wait for a certain amount of time, so that the PowerBoard can activate
|
||
| 1360 | * the IO voltages for the I2C Bus
|
||
| 1361 | */
|
||
| 1362 | BaseThread::sleep(MS2ST(2000));
|
||
| 1363 | |||
| 1364 | b4885314 | Thomas Schöpping | boardClearI2CBus(GPIOB_COMPASS_SCL, GPIOB_COMPASS_SDA); |
| 1365 | boardClearI2CBus(GPIOB_IR_SCL, GPIOB_IR_SDA); |
||
| 1366 | 58fe0e0b | Thomas Schöpping | |
| 1367 | global.HW_I2C1.start(&global.i2c1_config); |
||
| 1368 | global.HW_I2C2.start(&global.i2c2_config); |
||
| 1369 | |||
| 1370 | global.memory.init(); |
||
| 1371 | |||
| 1372 | uint8_t i = 0;
|
||
| 1373 | if (global.memory.getBoardId(&i) == fileSystemIo::FileSystemIoBase::OK) {
|
||
| 1374 | chprintf((BaseSequentialStream*) &SD1, "Board ID: %u\n", i);
|
||
| 1375 | } else {
|
||
| 1376 | chprintf((BaseSequentialStream*) &SD1, "Error reading board ID\n");
|
||
| 1377 | } |
||
| 1378 | chprintf((BaseSequentialStream*) &SD1, "\n");
|
||
| 1379 | |||
| 1380 | initPowermonitor(global.ina219, 0.1f, 0.075f, 10); |
||
| 1381 | |||
| 1382 | for (i = 0x00u; i < global.vcnl4020.size(); i++) { |
||
| 1383 | uint16_t buffer; |
||
| 1384 | global.memory.getVcnl4020Offset(&buffer,i); |
||
| 1385 | global.vcnl4020[i].setProximityOffset(buffer); |
||
| 1386 | global.vcnl4020[i].start(NORMALPRIO); |
||
| 1387 | } |
||
| 1388 | |||
| 1389 | global.ina219.start(NORMALPRIO); |
||
| 1390 | |||
| 1391 | global.hmc5883l.start(NORMALPRIO + 8);
|
||
| 1392 | |||
| 1393 | global.increments.start(); // Start the qei driver
|
||
| 1394 | |||
| 1395 | f336542d | Timo Korthals | // Start the three axes gyroscope
|
| 1396 | global.l3g4200d.configure(&global.gyro_run_config); |
||
| 1397 | global.l3g4200d.start(NORMALPRIO+5);
|
||
| 1398 | |||
| 1399 | 58fe0e0b | Thomas Schöpping | global.odometry.start(NORMALPRIO + 20);
|
| 1400 | |||
| 1401 | global.robot.start(HIGHPRIO - 1);
|
||
| 1402 | |||
| 1403 | global.motorcontrol.start(NORMALPRIO + 7);
|
||
| 1404 | |||
| 1405 | global.distcontrol.start(NORMALPRIO + 9);
|
||
| 1406 | |||
| 1407 | // Set target velocity
|
||
| 1408 | types::kinematic velocity; |
||
| 1409 | velocity.x = 0; // E.g. "100*1e3" equals "10 cm/s" |
||
| 1410 | velocity.w_z = 0; // E.g. "2*1e6" equals "2 rad/s" |
||
| 1411 | global.motorcontrol.setTargetSpeed(velocity); |
||
| 1412 | |||
| 1413 | // Start the three axes linear accelerometer
|
||
| 1414 | global.lis331dlh.configure(&global.accel_run_config); |
||
| 1415 | global.lis331dlh.start(NORMALPRIO+4);
|
||
| 1416 | |||
| 1417 | // Start the user thread
|
||
| 1418 | global.userThread.start(NORMALPRIO); |
||
| 1419 | |||
| 1420 | /* let the SYS_SYNC_N pin go, to signal that the initialization of the module is done */
|
||
| 1421 | palWritePad(GPIOC, GPIOC_SYS_INT_N, PAL_HIGH); |
||
| 1422 | |||
| 1423 | /* wait until all modules are done */
|
||
| 1424 | while (palReadPad(GPIOC, GPIOC_SYS_INT_N) == PAL_LOW) {
|
||
| 1425 | continue;
|
||
| 1426 | } |
||
| 1427 | |||
| 1428 | while (true) { |
||
| 1429 | |||
| 1430 | if (!shelltp)
|
||
| 1431 | shelltp = shellCreate(&shell_cfg1, THD_WA_SIZE(1024), NORMALPRIO);
|
||
| 1432 | else if (chThdTerminated(shelltp)) { |
||
| 1433 | chThdRelease(shelltp); /* Recovers memory of the previous shell. */
|
||
| 1434 | shelltp = NULL; /* Triggers spawning of a new shell. */ |
||
| 1435 | } |
||
| 1436 | |||
| 1437 | // Let the LED just blink as an alive signal
|
||
| 1438 | boardWriteLed(1);
|
||
| 1439 | BaseThread::sleep(MS2ST(250));
|
||
| 1440 | boardWriteLed(0);
|
||
| 1441 | BaseThread::sleep(MS2ST(250));
|
||
| 1442 | |||
| 1443 | if (shutdown_now != SHUTDOWN_NONE) {
|
||
| 1444 | 10687985 | Thomas Schöpping | if ((*((uint32_t*)(BL_CALLBACK_TABLE_ADDR)) != (('A'<<24) | ('-'<<16) | ('B'<<8) | ('L'<<0))) && (*((uint32_t*)(BL_CALLBACK_TABLE_ADDR)) != BL_MAGIC_NUMBER)) { |
| 1445 | 58fe0e0b | Thomas Schöpping | chprintf((BaseSequentialStream*) &SD1, "ERROR: unable to shut down (bootloader deprecated).\n");
|
| 1446 | shutdown_now = SHUTDOWN_NONE; |
||
| 1447 | } else {
|
||
| 1448 | uint32_t blCallbackPtrAddr = BL_CALLBACK_TABLE_ADDR; |
||
| 1449 | 10687985 | Thomas Schöpping | // handle bootloader version 0.2.x
|
| 1450 | if ((*((uint32_t*)(BL_CALLBACK_TABLE_ADDR)) == BL_MAGIC_NUMBER) &&
|
||
| 1451 | (*((uint32_t*)(BL_CALLBACK_TABLE_ADDR + (1*4))) == 0 && *((uint32_t*)(BL_CALLBACK_TABLE_ADDR + (2*4))) == 2)) { |
||
| 1452 | 58fe0e0b | Thomas Schöpping | switch (shutdown_now) {
|
| 1453 | case SHUTDOWN_TRANSPORTATION:
|
||
| 1454 | blCallbackPtrAddr += 6 * 4; |
||
| 1455 | break;
|
||
| 1456 | case SHUTDOWN_DEEPSLEEP:
|
||
| 1457 | blCallbackPtrAddr += 5 * 4; |
||
| 1458 | break;
|
||
| 1459 | case SHUTDOWN_HIBERNATE:
|
||
| 1460 | blCallbackPtrAddr += 4 * 4; |
||
| 1461 | break;
|
||
| 1462 | case SHUTDOWN_HANDLE_REQUEST:
|
||
| 1463 | case SHUTDOWN_RESTART:
|
||
| 1464 | blCallbackPtrAddr += 10 * 4; |
||
| 1465 | break;
|
||
| 1466 | default:
|
||
| 1467 | blCallbackPtrAddr = 0;
|
||
| 1468 | break;
|
||
| 1469 | } |
||
| 1470 | 10687985 | Thomas Schöpping | } |
| 1471 | // handle bootloader version 0.3.x
|
||
| 1472 | else if ((*((uint32_t*)(BL_CALLBACK_TABLE_ADDR)) == BL_MAGIC_NUMBER) && |
||
| 1473 | (*((uint32_t*)(BL_CALLBACK_TABLE_ADDR + (1*4))) == 0 && *((uint32_t*)(BL_CALLBACK_TABLE_ADDR + (2*4))) == 3)) { |
||
| 1474 | switch (shutdown_now) {
|
||
| 1475 | case SHUTDOWN_TRANSPORTATION:
|
||
| 1476 | blCallbackPtrAddr += 6 * 4; |
||
| 1477 | break;
|
||
| 1478 | case SHUTDOWN_DEEPSLEEP:
|
||
| 1479 | blCallbackPtrAddr += 5 * 4; |
||
| 1480 | break;
|
||
| 1481 | case SHUTDOWN_HIBERNATE:
|
||
| 1482 | blCallbackPtrAddr += 4 * 4; |
||
| 1483 | break;
|
||
| 1484 | case SHUTDOWN_RESTART:
|
||
| 1485 | blCallbackPtrAddr += 7 * 4; |
||
| 1486 | break;
|
||
| 1487 | case SHUTDOWN_HANDLE_REQUEST:
|
||
| 1488 | blCallbackPtrAddr += 8 * 4; |
||
| 1489 | break;
|
||
| 1490 | default:
|
||
| 1491 | blCallbackPtrAddr = 0;
|
||
| 1492 | break;
|
||
| 1493 | } |
||
| 1494 | } |
||
| 1495 | 5b1b6715 | Thomas Schöpping | // handle bootloader version 1.0.x and 1.1.x
|
| 1496 | 10687985 | Thomas Schöpping | else if ((*((uint32_t*)(BL_CALLBACK_TABLE_ADDR)) == (('A'<<24) | ('-'<<16) | ('B'<<8) | ('L'<<0))) && |
| 1497 | 5b1b6715 | Thomas Schöpping | ((blVersion_t*)(BL_CALLBACK_TABLE_ADDR + (1*4)))->major == 1 && (((blVersion_t*)(BL_CALLBACK_TABLE_ADDR + (1*4)))->minor == 0 || ((blVersion_t*)(BL_CALLBACK_TABLE_ADDR + (1*4)))->minor == 1)) { |
| 1498 | 58fe0e0b | Thomas Schöpping | switch (shutdown_now) {
|
| 1499 | case SHUTDOWN_TRANSPORTATION:
|
||
| 1500 | blCallbackPtrAddr += 6 * 4; |
||
| 1501 | break;
|
||
| 1502 | case SHUTDOWN_DEEPSLEEP:
|
||
| 1503 | blCallbackPtrAddr += 5 * 4; |
||
| 1504 | break;
|
||
| 1505 | case SHUTDOWN_HIBERNATE:
|
||
| 1506 | blCallbackPtrAddr += 4 * 4; |
||
| 1507 | break;
|
||
| 1508 | case SHUTDOWN_RESTART:
|
||
| 1509 | blCallbackPtrAddr += 7 * 4; |
||
| 1510 | break;
|
||
| 1511 | case SHUTDOWN_HANDLE_REQUEST:
|
||
| 1512 | blCallbackPtrAddr += 8 * 4; |
||
| 1513 | break;
|
||
| 1514 | default:
|
||
| 1515 | blCallbackPtrAddr = 0;
|
||
| 1516 | break;
|
||
| 1517 | } |
||
| 1518 | } |
||
| 1519 | |||
| 1520 | void (*blCallback)(void) = NULL; |
||
| 1521 | 10687985 | Thomas Schöpping | if (blCallbackPtrAddr > BL_CALLBACK_TABLE_ADDR) {
|
| 1522 | 58fe0e0b | Thomas Schöpping | blCallback = (void (*)(void))(*((uint32_t*)blCallbackPtrAddr)); |
| 1523 | |||
| 1524 | if (!blCallback) {
|
||
| 1525 | chprintf((BaseSequentialStream*) &SD1, "ERROR: Requested shutdown not supported.\n");
|
||
| 1526 | shutdown_now = SHUTDOWN_NONE; |
||
| 1527 | } else {
|
||
| 1528 | chprintf((BaseSequentialStream*)&SD1, "initiating shutdown sequence...\n");
|
||
| 1529 | palWritePad(GPIOC, GPIOC_SYS_INT_N, PAL_LOW); |
||
| 1530 | palWritePad(GPIOC, GPIOC_SYS_PD_N, PAL_LOW); |
||
| 1531 | |||
| 1532 | chprintf((BaseSequentialStream*)&SD1, "stopping all threads and periphery...");
|
||
| 1533 | systemShutdown(); |
||
| 1534 | chprintf((BaseSequentialStream*)&SD1, "\tdone\n");
|
||
| 1535 | BaseThread::sleep(MS2ST(10)); // sleep to print everything |
||
| 1536 | |||
| 1537 | blCallback(); |
||
| 1538 | } |
||
| 1539 | |||
| 1540 | } else {
|
||
| 1541 | chprintf((BaseSequentialStream*) &SD1, "ERROR: invalid shutdown requested (%u).\n", shutdown_now);
|
||
| 1542 | shutdown_now = SHUTDOWN_NONE; |
||
| 1543 | } |
||
| 1544 | } |
||
| 1545 | |||
| 1546 | // for (uint8_t i = LIS331DLH::AXIS_X; i <= LIS331DLH::AXIS_Z; i++) {
|
||
| 1547 | // accel = lis331dlh.getAcceleration(i);
|
||
| 1548 | // chprintf((BaseSequentialStream*) &SD1, "%c%04X ", accel < 0 ? '-' : '+', accel < 0 ? -accel : accel);
|
||
| 1549 | // }
|
||
| 1550 | //
|
||
| 1551 | // chprintf((BaseSequentialStream*) &SD1, "\n");
|
||
| 1552 | //
|
||
| 1553 | // // Print out an alive signal
|
||
| 1554 | // chprintf((BaseSequentialStream*) &SD1, ".");
|
||
| 1555 | } |
||
| 1556 | } |
||
| 1557 | |||
| 1558 | return 0; |
||
| 1559 | } |