AMiRo-OS

#include "ch.hpp"

#include "hal.h"

#include "qei.h"

#include "DiWheelDrive.h"

#include <global.hpp>

using namespace chibios_rt;

using namespace amiro;

using namespace types;

extern volatile uint32_t shutdown_now;

extern Global global;

DiWheelDrive::DiWheelDrive(CANDriver *can)

    : ControllerAreaNetworkTx(can, CAN::DI_WHEEL_DRIVE_ID),

      ControllerAreaNetworkRx(can, CAN::DI_WHEEL_DRIVE_ID),

      bcCounter(0)

{

}

msg_t DiWheelDrive::receiveMessage(CANRxFrame *frame) {

  int deviceId = this->decodeDeviceId(frame);

  switch (deviceId) {

    case CAN::SHELL_REPLY_ID(CAN::DI_WHEEL_DRIVE_ID):

      if (frame->DLC > 0) {

        sdWrite(&SD1, frame->data8, frame->DLC);

        return RDY_OK;

      }

      break;

    case CAN::SHELL_QUERY_ID(CAN::DI_WHEEL_DRIVE_ID):

      if (frame->DLC != 0) {

        global.sercanmux1.convCan2Serial(frame->data8, frame->DLC);

        return RDY_OK;

      } else {

        global.sercanmux1.rcvSwitchCmd(this->decodeBoardId(frame));

        return RDY_OK;

      }

      break;

    case CAN::TARGET_SPEED_ID:

      if (frame->DLC == 8) {

        global.distcontrol.deactivateController();

        kinematic targetVelocity;

        targetVelocity.x = frame->data32[0];

        targetVelocity.w_z = frame->data32[1];

        global.motorcontrol.setTargetSpeed(targetVelocity);

        return RDY_OK;

      }

      break;

    case CAN::TARGET_RPM_ID:

      if (frame->DLC == 8) {

        global.distcontrol.deactivateController();

        global.motorcontrol.setTargetRPM(frame->data32[0], frame->data32[1]);

        return RDY_OK;

      }

      break;

    case CAN::SET_ODOMETRY_ID:

      if (frame->DLC == 8) {

        int32_t robotPositionX = (frame->data8[0] << 8 | frame->data8[1] << 16 | frame->data8[2] << 24);

        int32_t robotPositionY = (frame->data8[3] << 8 | frame->data8[4] << 16 | frame->data8[5] << 24);

        int32_t robotPositionF_Z = (frame->data8[6] << 8 | frame->data8[7] << 16);

        global.odometry.setPosition(float(robotPositionX)*1e-6,float(robotPositionY)*1e-6,float(robotPositionF_Z)*1e-6);

        return RDY_OK;

      }

      break;

    case CAN::BROADCAST_SHUTDOWN:

      if (frame->DLC == 2 && frame->data16[0] == CAN::SHUTDOWN_MAGIC) {

        shutdown_now = 0x4;

        return RDY_OK;

      }

      break;

    case CAN::CALIBRATE_PROXIMITY_FLOOR:

      // Dont care about the payload but start the calibration

      // TODO Care about the payload. Differ between:

      // 1: Do fresh calibration (Save values to memory and to temporary values)

      // 2: Remove temporary Calibration and get uncalibrated values

      // 3: Load calibration from memory

      this->calibrate();

      break;

    case CAN::TARGET_POSITION_ID:

      if (frame->DLC == 8) {

        // Robot target position [x] = µm, [f_z] = µrad, [t] = ms

        int32_t robotPositionX = (frame->data8[0] << 8 | frame->data8[1] << 16 | frame->data8[2] << 24);

        int32_t robotPositionF_Z = (frame->data8[3] << 8 | frame->data8[4] << 16 | frame->data8[5] << 24);

        uint16_t targetTimeMilliSeconds = (frame->data8[6] | frame->data8[7] << 8);

        //chprintf((BaseSequentialStream*) &SD1, "\nx=%d\nf_z=%d\nt=%d", robotPositionX, robotPositionF_Z, targetTimeMilliSeconds);

        global.distcontrol.setTargetPosition(robotPositionX, robotPositionF_Z, targetTimeMilliSeconds);

        return RDY_OK;

      }

      break;

    case CAN::SET_LINE_FOLLOW_SPEED:

      if (frame->DLC == 5) {

        global.rpmForward[0] = frame->data8[0];

        global.rpmForward[1] = frame->data8[0];

        global.rpmSoftLeft[0] = frame->data8[1];

        global.rpmSoftLeft[1] = frame->data8[2];

        global.rpmHardLeft[0] = frame->data8[3];

        global.rpmHardLeft[1] = frame->data8[4];

        global.rpmSoftRight[0] = global.rpmSoftLeft[1];

        global.rpmSoftRight[1] = global.rpmSoftLeft[0];

        global.rpmHardRight[0] = global.rpmHardLeft[1];

        global.rpmHardRight[1] = global.rpmHardLeft[0];

        return RDY_OK;

      }

      break;

    case CAN::SET_LINE_FOLLOW_MSG:

      // chprintf((BaseSequentialStream*) &SD1, "Received Strategy!\n");

      if (frame->DLC == 1) {

        global.lfStrategy = frame->data8[0];

        global.msgReceived = true;

        // return RDY_OK;

      }

      break;

    case CAN::SET_KINEMATIC_CONST_ID:

      if (frame->DLC == 8) {

/*        // Set (but do not store) Ed

        global.motorcontrol.setWheelDiameterCorrectionFactor(static_cast<float>(frame->data32[0]), false);

        // Set (but do not store) Eb

        global.motorcontrol.setActualWheelBaseDistance(static_cast<float>(frame->data32[1]), false);

        return RDY_OK;*/

        // Set (but do not store) Ed

        uint32_t ed_int = static_cast<uint32_t>(frame->data32[0]);

        float ed_float = static_cast<float>(ed_int)/1000000.0;

        global.motorcontrol.setWheelDiameterCorrectionFactor(ed_float, false);

        // Set (but do not store) Eb

        uint32_t eb_int = static_cast<uint32_t>(frame->data32[1]);

        float eb_float = static_cast<float>(eb_int)/1000000.0;

        global.motorcontrol.setActualWheelBaseDistance(eb_float, false);

        //chprintf((BaseSequentialStream*) &SD1, "Edi=%i, Edf=%f, Ebi=%i, Ebf=%f\n", ed_int, ed_float, eb_int, eb_float);

        return RDY_OK;

      }

      break;

    case CAN::POWER_STATUS_ID:

      if (frame->DLC == 6) {

        // The power status is evaluated by inherited ControllerAreaNetworkRx object, but depending on the flags the power path controller needs to enabled or disabled.

        types::power_status::ChargingState charging_flags;

        charging_flags.value = frame->data8[0];

        global.ltc4412.enable(charging_flags.content.diwheeldrive_enable_power_path);

        // Do not return with RDY_OK, or the inherited ControllerAreaNetworkRx object would not evaluate the rest of this message.

      }

    break;

    default:

      break;

  }

  return -1;

}

msg_t DiWheelDrive::updateSensorVal() {

  // Update robot velocity values

  kinematic currentVelocity = global.motorcontrol.getCurrentVelocity();

  this->actualSpeed[0] = currentVelocity.x;

  this->actualSpeed[1] = currentVelocity.w_z;

  // Update odometry values

  this->robotPosition = global.odometry.getPosition();

  // Update proximity values

  for (int idx = 0; idx < 4; ++idx)

    this->proximityFloorValue[idx] = global.vcnl4020[idx].getProximityScaledWoOffset();

  // Update magnetometer values

  for (uint8_t axis = 0; axis < 3; ++axis) {

    this->magnetometerValue[axis] = global.hmc5883l.getMagnetizationGauss(axis);

  }

  // Update gyroscope values

  for (uint8_t axis = 0; axis < 3; ++axis) {

    this->gyroscopeValue[axis] = global.l3g4200d.getAngularRate(axis);

  }

  return 0;

}

void DiWheelDrive::requestCharging(uint8_t power){

  CANTxFrame frame;

  frame.SID = 0;

  this->encodeDeviceId(&frame, CAN::REQUEST_CHARGING_OVER_PIN);

  frame.data8[0] = power;

  frame.DLC = 1;

  this->transmitMessage(&frame);

}

void DiWheelDrive::transmitState(uint8_t state){

  CANTxFrame frame;

  frame.SID = 0;

  this->encodeDeviceId(&frame, CAN::TRANSMIT_LINE_FOLLOW_STATE);

  frame.data8[0] = state;

  frame.DLC = 1;

  this->transmitMessage(&frame);

}

void DiWheelDrive::periodicBroadcast() {

  CANTxFrame frame;

  frame.SID = 0;

  // Send the velocites µm/s of the x axis and µrad/s around z axis: start

  this->encodeDeviceId(&frame, CAN::ACTUAL_SPEED_ID);

  frame.data32[0] = this->actualSpeed[0];

  frame.data32[1] = this->actualSpeed[1];

  frame.DLC = 8;

  this->transmitMessage(&frame);

  // Send the valocites µm/s of the x axis and µrad/s around z axis: end

  // Send the odometry: start

  BaseThread::sleep(US2ST(10)); // Use to sleep for 10 CAN cycle (@1Mbit), otherwise the cognition-board might not receive all messagee

  // Set the frame id

  frame.SID = 0;

  this->encodeDeviceId(&frame, CAN::ODOMETRY_ID);

  // Cut of the first byte, which precission is not needed

  int32_t x_mm = (this->robotPosition.x >> 8);

  int32_t y_mm = (this->robotPosition.y >> 8);

  int16_t f_z_mrad = int16_t(this->robotPosition.f_z >> 8 );

  // Copy the data structure

  memcpy((uint8_t *)&(frame.data8[0]), (uint8_t *)&x_mm, 3);

  memcpy((uint8_t *)&(frame.data8[3]), (uint8_t *)&y_mm, 3);

  memcpy((uint8_t *)&(frame.data8[6]), (uint8_t *)&f_z_mrad, 2);

  frame.DLC = 8;

  this->transmitMessage(&frame);

  // Send the odometry: end

  // Send the proximity values of the floor: start

  BaseThread::sleep(US2ST(10)); // Use to sleep for 10 CAN cycle (@1Mbit), otherwise the cognition-board might not receive all messagee

  // Set the frame id

  frame.SID = 0;

  this->encodeDeviceId(&frame, CAN::PROXIMITY_FLOOR_ID);

  frame.data16[0] = this->proximityFloorValue[0];

  frame.data16[1] = this->proximityFloorValue[1];

  frame.data16[2] = this->proximityFloorValue[2];

  frame.data16[3] = this->proximityFloorValue[3];

  frame.DLC = 8;

  this->transmitMessage(&frame);

  // Send the magnetometer data

  for (uint8_t axis = 0; axis < 3; ++axis) {

    frame.SID = 0;

    this->encodeDeviceId(&frame, CAN::MAGNETOMETER_X_ID + axis); // Y- and Z-axis have according IDs

    frame.data32[0] = this->magnetometerValue[axis];

    frame.DLC = 4;

    this->transmitMessage(&frame);

  }

  // Send gyroscope data

  frame.SID = 0;

  this->encodeDeviceId(&frame, CAN::GYROSCOPE_ID);

  frame.data16[0] = this->gyroscopeValue[0];

  frame.data16[1] = this->gyroscopeValue[1];

  frame.data16[2] = this->gyroscopeValue[2];

  frame.DLC = 6;

  this->transmitMessage(&frame);

  // Send the board ID (board ID of DiWheelDrive = Robot ID)

  if (this->bcCounter % 10 == 0) {

    frame.SID = 0;

    this->encodeDeviceId(&frame, CAN::ROBOT_ID);

    frame.data8[0] = this->robotId;

    frame.DLC = 1;

    this->transmitMessage(&frame);

  }

  ++this->bcCounter;

}

void DiWheelDrive::calibrate() {

  // Stop sending and receiving of values to indicate the calibration phase

//   eventTimerEvtSource->unregister(&this->eventTimerEvtListener);

//   rxFullCanEvtSource->unregister(&this->rxFullCanEvtListener);

  this->calibrateProximityFloorValues();

  // Start sending and receving of values

//   eventTimerEvtSource->registerOne(&this->eventTimerEvtListener, CAN::PERIODIC_TIMER_ID);

//   rxFullCanEvtSource->registerOne(&this->rxFullCanEvtListener, CAN::RECEIVED_ID);

}

void DiWheelDrive::calibrateProximityFloorValues() {

  uint16_t buffer;

  for (uint8_t idx = 0; idx < 4; ++idx) {

    global.vcnl4020[idx].calibrate();

    buffer = global.vcnl4020[idx].getProximityOffset();

    global.memory.setVcnl4020Offset(buffer,idx);

  }

}

ThreadReference DiWheelDrive::start(tprio_t PRIO) {

  // set the robot ID as the board ID, which is read from the memory

  if (global.memory.getBoardId(&this->robotId) != fileSystemIo::FileSystemIoBase::OK) {

    this->robotId = 0;

  }

  this->ControllerAreaNetworkRx::start(PRIO + 1);

  this->ControllerAreaNetworkTx::start(PRIO);

  return NULL;

}

msg_t

DiWheelDrive::terminate(void) {

  msg_t ret = RDY_OK;

  this->ControllerAreaNetworkTx::requestTerminate();

  ret |= this->ControllerAreaNetworkTx::wait();

  this->ControllerAreaNetworkRx::requestTerminate();

  ret |= this->ControllerAreaNetworkRx::wait();

  return ret;

}