amiro-os / devices / DiWheelDrive / main.cpp @ a47d64ad
History | View | Annotate | Download (45.117 KB)
| 1 |
#include <cstdint> |
|---|---|
| 2 |
#define BL_CALLBACK_TABLE_ADDR (0x08000000 + 0x01C0) |
| 3 |
#define BL_MAGIC_NUMBER ((uint32_t)0xFF669900u) |
| 4 |
|
| 5 |
#define SHUTDOWN_NONE 0 |
| 6 |
#define SHUTDOWN_TRANSPORTATION 1 |
| 7 |
#define SHUTDOWN_DEEPSLEEP 2 |
| 8 |
#define SHUTDOWN_HIBERNATE 3 |
| 9 |
#define SHUTDOWN_RESTART 4 |
| 10 |
#define SHUTDOWN_HANDLE_REQUEST 5 |
| 11 |
|
| 12 |
#include <ch.hpp> |
| 13 |
|
| 14 |
#include <amiro/util/util.h> |
| 15 |
#include <global.hpp> |
| 16 |
#include <exti.hpp> |
| 17 |
|
| 18 |
#include <chprintf.h> |
| 19 |
#include <shell.h> |
| 20 |
|
| 21 |
#include "linefollow.hpp" |
| 22 |
#include "amiro_map.hpp" |
| 23 |
using namespace chibios_rt; |
| 24 |
|
| 25 |
Global global; |
| 26 |
|
| 27 |
struct blVersion_t {
|
| 28 |
const uint8_t identifier;
|
| 29 |
const uint8_t major;
|
| 30 |
const uint8_t minor;
|
| 31 |
const uint8_t patch;
|
| 32 |
} __attribute__((packed)); |
| 33 |
|
| 34 |
void systemShutdown() {
|
| 35 |
types::kinematic k; |
| 36 |
uint8_t i; |
| 37 |
|
| 38 |
// // make sure we assert SYS_PD_N to delay shutdown until we're done.
|
| 39 |
// boardRequestShutdown();
|
| 40 |
|
| 41 |
// stop the user thread
|
| 42 |
global.userThread.requestTerminate(); |
| 43 |
global.userThread.wait(); |
| 44 |
|
| 45 |
k.x = 0x00u;
|
| 46 |
k.w_z = 0x00u;
|
| 47 |
|
| 48 |
// stop wheels
|
| 49 |
global.robot.setTargetSpeed(k); |
| 50 |
global.robot.terminate(); |
| 51 |
|
| 52 |
for (i = 0x00; i < global.vcnl4020.size(); i++) { |
| 53 |
global.vcnl4020[i].requestTerminate(); |
| 54 |
global.vcnl4020[i].wait(); |
| 55 |
} |
| 56 |
|
| 57 |
global.ina219.requestTerminate(); |
| 58 |
global.ina219.wait(); |
| 59 |
global.hmc5883l.requestTerminate(); |
| 60 |
global.hmc5883l.wait(); |
| 61 |
global.l3g4200d.requestTerminate(); |
| 62 |
global.l3g4200d.wait(); |
| 63 |
|
| 64 |
global.motorcontrol.requestTerminate(); |
| 65 |
global.motorcontrol.wait(); |
| 66 |
global.odometry.requestTerminate(); |
| 67 |
global.odometry.wait(); |
| 68 |
|
| 69 |
// stop I²C
|
| 70 |
for (i = 0; i < global.V_I2C2.size(); ++i) |
| 71 |
global.V_I2C2[i].stop(); |
| 72 |
global.HW_I2C2.stop(); |
| 73 |
|
| 74 |
global.lis331dlh.requestTerminate(); |
| 75 |
global.lis331dlh.wait(); |
| 76 |
|
| 77 |
global.lis331dlh.configure(&global.accel_sleep_config); |
| 78 |
// global.lis331dlh.start(NORMALPRIO +4);
|
| 79 |
|
| 80 |
// boardWriteIoPower(0);
|
| 81 |
// boardStandby();
|
| 82 |
|
| 83 |
return;
|
| 84 |
} |
| 85 |
|
| 86 |
|
| 87 |
//void (*shellcmd_t)(BaseSequentialStream *chp, int argc, char *argv[]);
|
| 88 |
|
| 89 |
void shellRequestShutdown(BaseSequentialStream *chp, int argc, char *argv[]) { |
| 90 |
|
| 91 |
chprintf(chp, "shellRequestShutdown\n");
|
| 92 |
|
| 93 |
/* if nor argument was given, print some help text */
|
| 94 |
if (argc == 0 || strcmp(argv[0], "help") == 0) { |
| 95 |
chprintf(chp, "\tUSAGE:\n");
|
| 96 |
chprintf(chp, "> shutdown <type>\n");
|
| 97 |
chprintf(chp, "\n");
|
| 98 |
chprintf(chp, "\ttype\n");
|
| 99 |
chprintf(chp, "The type of shutdown to perform.\n");
|
| 100 |
chprintf(chp, "Choose one of the following types:\n");
|
| 101 |
chprintf(chp, " transportation - Ultra low-power mode with all wakeups disabled.\n");
|
| 102 |
chprintf(chp, " The robot can not be charged.\n");
|
| 103 |
chprintf(chp, " deepsleep - Ultra low-power mode with several wakeups enabled.\n");
|
| 104 |
chprintf(chp, " The robot can only be charged via the power plug.\n");
|
| 105 |
chprintf(chp, " hibernate - Medium low-power mode, but with full charging capabilities.\n");
|
| 106 |
chprintf(chp, " restart - Performs a system restart.\n");
|
| 107 |
chprintf(chp, "Alternatively, you can use the shortcuts 't', 'd', 'h', and 'r' respectively.");
|
| 108 |
chprintf(chp, "\n");
|
| 109 |
return;
|
| 110 |
} |
| 111 |
|
| 112 |
if (strcmp(argv[0],"transportation") == 0 || strcmp(argv[0],"t") == 0) { |
| 113 |
shutdown_now = SHUTDOWN_TRANSPORTATION; |
| 114 |
chprintf(chp, "shutdown to transportation mode initialized\n");
|
| 115 |
} else if (strcmp(argv[0],"deepsleep") == 0 || strcmp(argv[0],"d") == 0) { |
| 116 |
shutdown_now = SHUTDOWN_DEEPSLEEP; |
| 117 |
chprintf(chp, "shutdown to deepsleep mode initialized\n");
|
| 118 |
} else if (strcmp(argv[0],"hibernate") == 0 || strcmp(argv[0],"h") == 0) { |
| 119 |
shutdown_now = SHUTDOWN_HIBERNATE; |
| 120 |
chprintf(chp, "shutdown to hibernate mode initialized\n");
|
| 121 |
} else if (strcmp(argv[0],"restart") == 0 || strcmp(argv[0],"r") == 0) { |
| 122 |
chprintf(chp, "restart initialized\n");
|
| 123 |
shutdown_now = SHUTDOWN_RESTART; |
| 124 |
} else {
|
| 125 |
chprintf(chp, "ERROR: unknown argument!\n");
|
| 126 |
shutdown_now = SHUTDOWN_NONE; |
| 127 |
} |
| 128 |
|
| 129 |
return;
|
| 130 |
} |
| 131 |
|
| 132 |
void shellRequestWakeup(BaseSequentialStream *chp, int argc, char *argv[]) { |
| 133 |
int i;
|
| 134 |
chprintf(chp, "shellRequestWakeup\n");
|
| 135 |
|
| 136 |
for (i = 0x00u; i < argc; i++) |
| 137 |
chprintf(chp, "%s\n", argv[i]);
|
| 138 |
|
| 139 |
boardWakeup(); |
| 140 |
} |
| 141 |
|
| 142 |
void shellRequestGetMemoryData(BaseSequentialStream *chp, int argc, char *argv[]) { |
| 143 |
enum Type {HEX, U8, U16, U32, S8, S16, S32};
|
| 144 |
|
| 145 |
chprintf(chp, "shellRequestReadData\n");
|
| 146 |
|
| 147 |
if (argc < 2 || strcmp(argv[0],"help") == 0) |
| 148 |
{
|
| 149 |
chprintf(chp, "Usage: %s\n","get_memory_data <type> <start> [<count>]"); |
| 150 |
chprintf(chp, "\n");
|
| 151 |
chprintf(chp, "\ttype\n");
|
| 152 |
chprintf(chp, "The data type as which to interpret the data.\n");
|
| 153 |
chprintf(chp, "Choose one of the following types:\n");
|
| 154 |
chprintf(chp, " hex - one byte as hexadecimal value\n");
|
| 155 |
chprintf(chp, " u8 - unsigned integer (8 bit)\n");
|
| 156 |
chprintf(chp, " u16 - unsigned integer (16 bit)\n");
|
| 157 |
chprintf(chp, " u32 - unsigned integer (32 bit)\n");
|
| 158 |
chprintf(chp, " s8 - signed integer (8 bit)\n");
|
| 159 |
chprintf(chp, " s16 - signed integer (16 bit)\n");
|
| 160 |
chprintf(chp, " s32 - signed integer (32 bit)\n");
|
| 161 |
chprintf(chp, "\tstart\n");
|
| 162 |
chprintf(chp, "The first byte to read from the memory.\n");
|
| 163 |
chprintf(chp, "\tcount [default = 1]\n");
|
| 164 |
chprintf(chp, "The number of elements to read.\n");
|
| 165 |
chprintf(chp, "\n");
|
| 166 |
chprintf(chp, "\tNOTE\n");
|
| 167 |
chprintf(chp, "Type conversions of this function might fail.\n");
|
| 168 |
chprintf(chp, "If so, use type=hex and convert by hand.\n");
|
| 169 |
chprintf(chp, "\n");
|
| 170 |
return;
|
| 171 |
} |
| 172 |
|
| 173 |
uint8_t type_size = 0;
|
| 174 |
Type type = HEX; |
| 175 |
if (strcmp(argv[0],"hex") == 0) { |
| 176 |
type_size = sizeof(unsigned char); |
| 177 |
type = HEX; |
| 178 |
} else if(strcmp(argv[0],"u8") == 0) { |
| 179 |
type_size = sizeof(uint8_t);
|
| 180 |
type = U8; |
| 181 |
} else if(strcmp(argv[0],"u16") == 0) { |
| 182 |
type_size = sizeof(uint16_t);
|
| 183 |
type = U16; |
| 184 |
} else if(strcmp(argv[0],"u32") == 0) { |
| 185 |
type_size = sizeof(uint32_t);
|
| 186 |
type = U32; |
| 187 |
} else if(strcmp(argv[0],"s8") == 0) { |
| 188 |
type_size = sizeof(int8_t);
|
| 189 |
type = S8; |
| 190 |
} else if(strcmp(argv[0],"s16") == 0) { |
| 191 |
type_size = sizeof(int16_t);
|
| 192 |
type = S16; |
| 193 |
} else if(strcmp(argv[0],"s32") == 0) { |
| 194 |
type_size = sizeof(int32_t);
|
| 195 |
type = S32; |
| 196 |
} else {
|
| 197 |
chprintf(chp, "First argument invalid. Use 'get_memory_data help' for help.\n");
|
| 198 |
return;
|
| 199 |
} |
| 200 |
|
| 201 |
unsigned int start_byte = atoi(argv[1]); |
| 202 |
|
| 203 |
unsigned int num_elements = 1; |
| 204 |
if (argc >= 3) |
| 205 |
num_elements = atoi(argv[2]);
|
| 206 |
|
| 207 |
const size_t eeprom_size = EEPROM::getsize(&global.at24c01);
|
| 208 |
uint8_t buffer[eeprom_size]; |
| 209 |
if (start_byte + (type_size * num_elements) > eeprom_size) {
|
| 210 |
num_elements = (eeprom_size - start_byte) / type_size; |
| 211 |
chprintf(chp, "Warning: request exceeds eeprom size -> limiting to %u values.\n", num_elements);
|
| 212 |
} |
| 213 |
|
| 214 |
chFileStreamSeek((BaseFileStream*)&global.at24c01, start_byte); |
| 215 |
|
| 216 |
// Work around, because stm32f1 cannot read a single byte
|
| 217 |
if (type_size*num_elements < 2) |
| 218 |
type_size = 2;
|
| 219 |
|
| 220 |
uint32_t bytes_read = chSequentialStreamRead((BaseFileStream*)&global.at24c01, buffer, type_size*num_elements); |
| 221 |
|
| 222 |
if (bytes_read != type_size*num_elements)
|
| 223 |
chprintf(chp, "Warning: %u of %u requested bytes were read.\n", bytes_read, type_size*num_elements);
|
| 224 |
|
| 225 |
for (unsigned int i = 0; i < num_elements; ++i) { |
| 226 |
switch (type) {
|
| 227 |
case HEX:
|
| 228 |
chprintf(chp, "%02X ", buffer[i]);
|
| 229 |
break;
|
| 230 |
case U8:
|
| 231 |
chprintf(chp, "%03u ", ((uint8_t*)buffer)[i]);
|
| 232 |
break;
|
| 233 |
case U16:
|
| 234 |
chprintf(chp, "%05u ", ((uint16_t*)buffer)[i]);
|
| 235 |
break;
|
| 236 |
case U32:
|
| 237 |
chprintf(chp, "%010u ", ((uint32_t*)buffer)[i]);
|
| 238 |
break;
|
| 239 |
case S8:
|
| 240 |
chprintf(chp, "%+03d ", ((int8_t*)buffer)[i]);
|
| 241 |
break;
|
| 242 |
case S16:
|
| 243 |
chprintf(chp, "%+05d ", ((int16_t*)buffer)[i]);
|
| 244 |
break;
|
| 245 |
case S32:
|
| 246 |
chprintf(chp, "%+010d ", ((int32_t*)buffer)[i]);
|
| 247 |
break;
|
| 248 |
default:
|
| 249 |
break;
|
| 250 |
} |
| 251 |
} |
| 252 |
chprintf(chp, "\n");
|
| 253 |
|
| 254 |
return;
|
| 255 |
} |
| 256 |
|
| 257 |
void shellRequestSetLights(BaseSequentialStream *chp, int argc, char *argv[]) { |
| 258 |
|
| 259 |
if (argc < 2 || argc == 3 ||strcmp(argv[0],"help") == 0) { |
| 260 |
chprintf(chp, "\tUSAGE:\n");
|
| 261 |
chprintf(chp, "> set_lights <led mask> <white/red> [<green> <blue>]\n");
|
| 262 |
chprintf(chp, "\n");
|
| 263 |
chprintf(chp, "\tled mask\n");
|
| 264 |
chprintf(chp, "The LEDs to be set.\n");
|
| 265 |
chprintf(chp, "You can set multiple LEDs at once by adding the following values:\n");
|
| 266 |
chprintf(chp, " 0x01 - rear left LED (SSW)\n");
|
| 267 |
chprintf(chp, " 0x02 - left rear LED (WSW)\n");
|
| 268 |
chprintf(chp, " 0x04 - left front LED (WNW)\n");
|
| 269 |
chprintf(chp, " 0x08 - front left LED (NNW)\n");
|
| 270 |
chprintf(chp, " 0x10 - front right LED (NNE)\n");
|
| 271 |
chprintf(chp, " 0x20 - right front LED (ENE)\n");
|
| 272 |
chprintf(chp, " 0x40 - right rear LED (ESE)\n");
|
| 273 |
chprintf(chp, " 0x80 - rear right LED (SSE)\n");
|
| 274 |
chprintf(chp, "\twhite/red\n");
|
| 275 |
chprintf(chp, "If no optional argument is given, this arguments sets the white value of the selected LEDs.\n");
|
| 276 |
chprintf(chp, "Otherwise this arguments sets the red color channel value.\n");
|
| 277 |
chprintf(chp, "\tgreen\n");
|
| 278 |
chprintf(chp, "Sets the green color channel value.\n");
|
| 279 |
chprintf(chp, "\tblue\n");
|
| 280 |
chprintf(chp, "Sets the blue color channel value.\n");
|
| 281 |
chprintf(chp, "\n");
|
| 282 |
chprintf(chp, "\tExample:\n");
|
| 283 |
chprintf(chp, "This line will set the two most left and two most right LEDs to bright cyan.\n");
|
| 284 |
chprintf(chp, "> set_lights 0x66 0 255 255\n");
|
| 285 |
chprintf(chp, "\n");
|
| 286 |
return;
|
| 287 |
} |
| 288 |
|
| 289 |
int arg_mask = strtol(argv[0], NULL, 0); |
| 290 |
int red = strtol(argv[1], NULL, 0); |
| 291 |
int green = red;
|
| 292 |
int blue = red;
|
| 293 |
if (argc >= 4) { |
| 294 |
green = strtol(argv[2], NULL, 0); |
| 295 |
blue = strtol(argv[3], NULL, 0); |
| 296 |
} |
| 297 |
Color color(red, green, blue); |
| 298 |
|
| 299 |
if (arg_mask & 0x01) { |
| 300 |
global.robot.setLightColor(constants::LightRing::LED_SSW, color); |
| 301 |
} |
| 302 |
if (arg_mask & 0x02) { |
| 303 |
global.robot.setLightColor(constants::LightRing::LED_WSW, color); |
| 304 |
} |
| 305 |
if (arg_mask & 0x04) { |
| 306 |
global.robot.setLightColor(constants::LightRing::LED_WNW, color); |
| 307 |
} |
| 308 |
if (arg_mask & 0x08) { |
| 309 |
global.robot.setLightColor(constants::LightRing::LED_NNW, color); |
| 310 |
} |
| 311 |
if (arg_mask & 0x10) { |
| 312 |
global.robot.setLightColor(constants::LightRing::LED_NNE, color); |
| 313 |
} |
| 314 |
if (arg_mask & 0x20) { |
| 315 |
global.robot.setLightColor(constants::LightRing::LED_ENE, color); |
| 316 |
} |
| 317 |
if (arg_mask & 0x40) { |
| 318 |
global.robot.setLightColor(constants::LightRing::LED_ESE, color); |
| 319 |
} |
| 320 |
if (arg_mask & 0x80) { |
| 321 |
global.robot.setLightColor(constants::LightRing::LED_SSE, color); |
| 322 |
} |
| 323 |
|
| 324 |
return;
|
| 325 |
} |
| 326 |
|
| 327 |
void boardPeripheryCheck(BaseSequentialStream *chp) {
|
| 328 |
msg_t result; |
| 329 |
chprintf(chp, "\nCHECK: START\n");
|
| 330 |
// Check the accelerometer
|
| 331 |
result = global.lis331dlh.getCheck(); |
| 332 |
if (result == global.lis331dlh.CHECK_OK)
|
| 333 |
chprintf(chp, "LIS331DLH: OK\n");
|
| 334 |
else
|
| 335 |
chprintf(chp, "LIS331DLH: FAIL\n");
|
| 336 |
|
| 337 |
// Self-test accelerometer
|
| 338 |
// lis331dlh.printSelfTest(NULL);
|
| 339 |
|
| 340 |
// Check the eeprom
|
| 341 |
result = global.memory.getCheck(); |
| 342 |
if ( result != global.memory.OK)
|
| 343 |
chprintf(chp, "Memory Structure: FAIL\n");
|
| 344 |
else
|
| 345 |
chprintf(chp, "Memory Structure: OK\n");
|
| 346 |
|
| 347 |
// Check the gyroscope
|
| 348 |
result = global.l3g4200d.getCheck(); |
| 349 |
if (result == global.l3g4200d.CHECK_OK)
|
| 350 |
chprintf(chp, "L3G4200D: OK\n");
|
| 351 |
else
|
| 352 |
chprintf(chp, "L3G4200D: FAIL\n");
|
| 353 |
|
| 354 |
// Check the magnetometer
|
| 355 |
result = global.hmc5883l.getCheck(); |
| 356 |
if (result == global.hmc5883l.CHECK_OK)
|
| 357 |
chprintf(chp, "HMC5883L: OK\n");
|
| 358 |
else
|
| 359 |
chprintf(chp, "HMC5883L: FAIL\n");
|
| 360 |
|
| 361 |
// Check the MUX
|
| 362 |
result = global.HW_PCA9544.getCheck(); |
| 363 |
if (result == global.HW_PCA9544.CHECK_OK)
|
| 364 |
chprintf(chp, "PCA9544: OK\n");
|
| 365 |
else
|
| 366 |
chprintf(chp, "PCA9544: FAIL\n");
|
| 367 |
|
| 368 |
// Check the power monitor
|
| 369 |
chprintf(chp, "INA219:\tVDD (3.3V):\n");
|
| 370 |
result = global.ina219.selftest(); |
| 371 |
if (result == BaseSensor<>::NOT_IMPLEMENTED)
|
| 372 |
chprintf(chp, "->\tnot implemented\n");
|
| 373 |
else if (result != INA219::Driver::ST_OK) |
| 374 |
chprintf(chp, "->\tFAIL (error code 0x%02X)\n", result);
|
| 375 |
else
|
| 376 |
chprintf(chp, "->\tOK\n");
|
| 377 |
|
| 378 |
// Check the proximitysensors
|
| 379 |
for (uint8_t i = 0x00; i < global.vcnl4020.size(); i++) { |
| 380 |
result = global.vcnl4020[i].getCheck(); |
| 381 |
if (result == global.vcnl4020[i].CHECK_OK)
|
| 382 |
chprintf(chp, "VCNL4020: %d OK\n", i);
|
| 383 |
else
|
| 384 |
chprintf(chp, "VCNL4020: %d FAIL\n", i);
|
| 385 |
} |
| 386 |
chprintf(chp, "CHECK: FINISH\n");
|
| 387 |
} |
| 388 |
|
| 389 |
void shellRequestCheck(BaseSequentialStream *chp, int __unused argc, char __unused *argv[]) { |
| 390 |
chprintf(chp, "shellRequestCheck\n");
|
| 391 |
boardPeripheryCheck(chp); |
| 392 |
} |
| 393 |
|
| 394 |
void shellRequestResetMemory(BaseSequentialStream *chp, int __unused argc, char __unused *argv[]) { |
| 395 |
chprintf(chp, "shellRequestInitMemory\n");
|
| 396 |
|
| 397 |
msg_t res = global.memory.resetMemory(); |
| 398 |
if ( res != global.memory.OK)
|
| 399 |
chprintf(chp, "Memory Init: FAIL\n");
|
| 400 |
else
|
| 401 |
chprintf(chp, "Memory Init: OK\n");
|
| 402 |
} |
| 403 |
|
| 404 |
void shellRequestGetBoardId(BaseSequentialStream *chp, int __unused argc, char __unused *argv[]) { |
| 405 |
chprintf(chp, "shellRequestGetBoardId\n");
|
| 406 |
uint8_t id = 0xFFu;
|
| 407 |
|
| 408 |
msg_t res = global.memory.getBoardId(&id); |
| 409 |
|
| 410 |
if (res != global.memory.OK)
|
| 411 |
chprintf(chp, "Get Board ID: FAIL\n");
|
| 412 |
else
|
| 413 |
chprintf(chp, "Get Board ID: %u\n", id);
|
| 414 |
} |
| 415 |
|
| 416 |
void shellRequestSetBoardId(BaseSequentialStream *chp, int argc, char *argv[]) { |
| 417 |
chprintf(chp, "shellRequestSetBoardId\n");
|
| 418 |
|
| 419 |
if (argc == 0) { |
| 420 |
chprintf(chp, "Usage: %s\n","set_board_id <idx>"); |
| 421 |
} else {
|
| 422 |
msg_t res = global.memory.setBoardId(atoi(argv[0]));
|
| 423 |
if (res != global.memory.OK)
|
| 424 |
chprintf(chp, "Set Board ID: FAIL\n");
|
| 425 |
else
|
| 426 |
chprintf(chp, "Set Board ID: OK\n");
|
| 427 |
} |
| 428 |
} |
| 429 |
|
| 430 |
void shellRequestResetCalibrationConstants(BaseSequentialStream *chp, int __unused argc, char __unused *argv[]) { |
| 431 |
chprintf(chp, "shellRequestResetCalibrationConstants\n");
|
| 432 |
chprintf(chp, "Setting Ed=1.0f, Eb=1.0f\n");
|
| 433 |
msg_t res; |
| 434 |
|
| 435 |
res = global.memory.setEd(1.0f); |
| 436 |
if (res != global.memory.OK)
|
| 437 |
chprintf(chp, "Set Ed: FAIL\n");
|
| 438 |
else
|
| 439 |
chprintf(chp, "Set Ed: OK\n");
|
| 440 |
|
| 441 |
res = global.memory.setEb(1.0f); |
| 442 |
if (res != global.memory.OK)
|
| 443 |
chprintf(chp, "Set Eb: FAIL\n");
|
| 444 |
else
|
| 445 |
chprintf(chp, "Set Eb: OK\n");
|
| 446 |
} |
| 447 |
|
| 448 |
void shellRequestGetCalibrationConstants(BaseSequentialStream *chp, int __unused argc, char __unused *argv[]) { |
| 449 |
chprintf(chp, "shellRequestGetCalibrationConstants\n");
|
| 450 |
msg_t res; |
| 451 |
float Ed, Eb;
|
| 452 |
|
| 453 |
res = global.memory.getEd(&Ed); |
| 454 |
if (res != global.memory.OK)
|
| 455 |
chprintf(chp, "Get Ed: FAIL\n");
|
| 456 |
else
|
| 457 |
chprintf(chp, "Get Ed: OK \t Ed=%f\n", Ed);
|
| 458 |
|
| 459 |
res = global.memory.getEb(&Eb); |
| 460 |
if (res != global.memory.OK)
|
| 461 |
chprintf(chp, "Get Eb: FAIL\n");
|
| 462 |
else
|
| 463 |
chprintf(chp, "Get Eb: OK \t Eb=%f\n", Eb);
|
| 464 |
} |
| 465 |
|
| 466 |
void shellRequestSetCalibrationConstants(BaseSequentialStream *chp, int argc, char *argv[]) { |
| 467 |
chprintf(chp, "shellRequestSetCalibrationConstants\n");
|
| 468 |
msg_t res; |
| 469 |
|
| 470 |
if (argc != 3) { |
| 471 |
chprintf(chp, "Usage: %s\n","set_Ed_Eb <Ed> <Eb> <Write To Eeprom ? 1 : 0>"); |
| 472 |
chprintf(chp, "(Call with floating point values for Ed and Eb values and write condition):\n");
|
| 473 |
return;
|
| 474 |
} |
| 475 |
// Get the write condition
|
| 476 |
const float Ed = atof(argv[0]); |
| 477 |
const float Eb = atof(argv[1]); |
| 478 |
bool_t writeToMemory = atoi(argv[2]) == 1 ? true : false; |
| 479 |
|
| 480 |
res = global.motorcontrol.setWheelDiameterCorrectionFactor(Ed, writeToMemory); |
| 481 |
if (res != global.memory.OK)
|
| 482 |
chprintf(chp, "Set Ed: FAIL\n");
|
| 483 |
else
|
| 484 |
chprintf(chp, "Set Ed: OK \t Ed=%f\n", Ed);
|
| 485 |
|
| 486 |
res = global.motorcontrol.setActualWheelBaseDistance(Eb, writeToMemory); |
| 487 |
if (res != global.memory.OK)
|
| 488 |
chprintf(chp, "Set Eb: FAIL\n");
|
| 489 |
else
|
| 490 |
chprintf(chp, "Set Eb: OK \t Ed=%f\n", Eb);
|
| 491 |
} |
| 492 |
|
| 493 |
void shellRequestGetVcnl(BaseSequentialStream *chp, int argc, char *argv[]) { |
| 494 |
chprintf(chp, "shellRequestGetVcnl\n");
|
| 495 |
// Print the sensor information
|
| 496 |
if (argc != 1) { |
| 497 |
chprintf(chp, "Usage: %s\n","get_vcnl <rep>"); |
| 498 |
return;
|
| 499 |
} |
| 500 |
for (int32_t rep = 0x00; rep < atoi(argv[0]); ++rep) { |
| 501 |
for (uint8_t idx = 0x00; idx < global.vcnl4020.size(); idx++) { |
| 502 |
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());
|
| 503 |
} |
| 504 |
chprintf(chp, "\n\n");
|
| 505 |
BaseThread::sleep(MS2ST(250));
|
| 506 |
} |
| 507 |
} |
| 508 |
|
| 509 |
void shellRequestSetVcnlOffset(BaseSequentialStream *chp, int argc, char *argv[]) { |
| 510 |
chprintf(chp, "shellRequestSetVcnlOffset\n");
|
| 511 |
if (argc != 2) { |
| 512 |
chprintf(chp, "Usage: %s\n","set_vcnl <idx> <offset>"); |
| 513 |
return;
|
| 514 |
} |
| 515 |
|
| 516 |
uint8_t vcnlIdx = static_cast<uint8_t>(atoi(argv[0])); |
| 517 |
uint16_t vcnlOffset = static_cast<uint16_t>(atoi(argv[1])); |
| 518 |
|
| 519 |
if (vcnlIdx >= global.vcnl4020.size()) {
|
| 520 |
chprintf(chp, "Wrong VCNL index: Choose [0 .. %d]\n", global.vcnl4020.size()-1); |
| 521 |
return;
|
| 522 |
} |
| 523 |
|
| 524 |
msg_t res = global.memory.setVcnl4020Offset(vcnlOffset, vcnlIdx); |
| 525 |
if (res != global.memory.OK) {
|
| 526 |
chprintf(chp, "Set Offset: FAIL\n");
|
| 527 |
} else {
|
| 528 |
chprintf(chp, "Set Offset: OK\n");
|
| 529 |
global.vcnl4020[vcnlIdx].setProximityOffset(vcnlOffset); |
| 530 |
} |
| 531 |
} |
| 532 |
|
| 533 |
void shellRequestResetVcnlOffset(BaseSequentialStream *chp, int argc, char *argv[]) { |
| 534 |
msg_t res = global.memory.OK; |
| 535 |
for (uint8_t idx = 0; idx < 4; ++idx) { |
| 536 |
msg_t r = global.memory.setVcnl4020Offset(0, idx);
|
| 537 |
if (r == global.memory.OK) {
|
| 538 |
global.vcnl4020[idx].setProximityOffset(0);
|
| 539 |
} else {
|
| 540 |
chprintf(chp, "Reset Offset %u: FAIL\n", idx);
|
| 541 |
res = r; |
| 542 |
} |
| 543 |
} |
| 544 |
|
| 545 |
if (res == global.memory.OK) {
|
| 546 |
chprintf(chp, "Reset Offset: DONE\n");
|
| 547 |
} |
| 548 |
|
| 549 |
return;
|
| 550 |
} |
| 551 |
|
| 552 |
void shellRequestGetVcnlOffset(BaseSequentialStream *chp, int argc, char *argv[]) { |
| 553 |
chprintf(chp, "shellRequestGetVcnlOffset\n");
|
| 554 |
if (argc != 1) { |
| 555 |
chprintf(chp, "Call with decimal numbers: get_vcnl <idx>\n");
|
| 556 |
return;
|
| 557 |
} |
| 558 |
|
| 559 |
uint8_t vcnlIdx = static_cast<uint8_t>(atoi(argv[0])); |
| 560 |
|
| 561 |
if (vcnlIdx >= global.vcnl4020.size()) {
|
| 562 |
chprintf(chp, "Wrong VCNL index: Choose [0 .. %d]\n", global.vcnl4020.size()-1); |
| 563 |
return;
|
| 564 |
} |
| 565 |
|
| 566 |
uint16_t vcnlOffset; |
| 567 |
msg_t res = global.memory.getVcnl4020Offset(&vcnlOffset, vcnlIdx); |
| 568 |
if (res != global.memory.OK) {
|
| 569 |
chprintf(chp, "Get Offset: FAIL\n");
|
| 570 |
} else {
|
| 571 |
chprintf(chp, "Get Offset: OK \t Offset=%d\n", vcnlOffset);
|
| 572 |
} |
| 573 |
} |
| 574 |
|
| 575 |
void shellRequestCalib(BaseSequentialStream *chp, int __unused argc, char __unused *argv[]) { |
| 576 |
chprintf(chp, "shellRequestCalib\n");
|
| 577 |
global.robot.calibrate(); |
| 578 |
} |
| 579 |
|
| 580 |
void shellRequestGetRobotId(BaseSequentialStream *chp, int __unused argc, char __unused *argv[]) { |
| 581 |
chprintf(chp, "shellRequestGetRobotId\n");
|
| 582 |
chprintf(chp, "Robot ID: %u\n", global.robot.getRobotID());
|
| 583 |
if (global.robot.getRobotID() == 0) |
| 584 |
chprintf(chp, "Warning: The board ID seems to be uninitialized.\n");
|
| 585 |
} |
| 586 |
|
| 587 |
void shellRequestGetSystemLoad(BaseSequentialStream *chp, int argc, char *argv[]) { |
| 588 |
chprintf(chp, "shellRequestGetSystemLoad\n");
|
| 589 |
uint8_t seconds = 1;
|
| 590 |
if (argc >= 1) { |
| 591 |
seconds = atoi(argv[0]);
|
| 592 |
} |
| 593 |
chprintf(chp, "measuring CPU load for %u %s...\n", seconds, (seconds>1)? "seconds" : "second"); |
| 594 |
|
| 595 |
const systime_t before = chThdGetTicks(chSysGetIdleThread());
|
| 596 |
BaseThread::sleep(S2ST(seconds)); |
| 597 |
const systime_t after = chThdGetTicks(chSysGetIdleThread());
|
| 598 |
const float usage = 1.0f - (float(after - before) / float(seconds * CH_FREQUENCY)); |
| 599 |
|
| 600 |
chprintf(chp, "CPU load: %3.2f%%\n", usage * 100); |
| 601 |
const uint32_t memory_total = 0x10000; |
| 602 |
const uint32_t memory_load = memory_total - chCoreStatus();
|
| 603 |
chprintf(chp, "RAM load: %3.2f%% (%u / %u Byte)\n", float(memory_load)/float(memory_total) * 100, memory_load, memory_total); |
| 604 |
} |
| 605 |
|
| 606 |
void shellSwitchBoardCmd(BaseSequentialStream *chp, int argc, char *argv[]) { |
| 607 |
if (argc != 1) { |
| 608 |
chprintf(chp, "Call with decimal numbers: shell_board <idx>\n");
|
| 609 |
return;
|
| 610 |
} |
| 611 |
uint8_t boardIdx = static_cast<uint8_t>(atoi(argv[0])); |
| 612 |
|
| 613 |
chprintf(chp, "shellSwitchBoardCmd\n");
|
| 614 |
global.sercanmux1.sendSwitchCmd(boardIdx); |
| 615 |
} |
| 616 |
|
| 617 |
void shellRequestGetBootloaderInfo(BaseSequentialStream* chp, int argc, char *argv[]) { |
| 618 |
// check the magic number
|
| 619 |
switch (*((uint32_t*)(BL_CALLBACK_TABLE_ADDR))) {
|
| 620 |
case (('A'<<24) | ('-'<<16) | ('B'<<8) | ('L'<<0)): |
| 621 |
chprintf((BaseSequentialStream*) &SD1, "Bootloader %u.%u.%u\n",
|
| 622 |
((blVersion_t*)(BL_CALLBACK_TABLE_ADDR + (1*4)))->major, |
| 623 |
((blVersion_t*)(BL_CALLBACK_TABLE_ADDR + (1*4)))->minor, |
| 624 |
((blVersion_t*)(BL_CALLBACK_TABLE_ADDR + (1*4)))->patch); |
| 625 |
break;
|
| 626 |
|
| 627 |
case BL_MAGIC_NUMBER:
|
| 628 |
chprintf((BaseSequentialStream*) &SD1, "Bootloader %u.%u.%u\n",
|
| 629 |
*((uint32_t*)(BL_CALLBACK_TABLE_ADDR + (1*4))), |
| 630 |
*((uint32_t*)(BL_CALLBACK_TABLE_ADDR + (1*4))), |
| 631 |
*((uint32_t*)(BL_CALLBACK_TABLE_ADDR + (1*4)))); |
| 632 |
break;
|
| 633 |
|
| 634 |
default:
|
| 635 |
chprintf((BaseSequentialStream*) &SD1, "Bootloader incompatible\n");
|
| 636 |
break;
|
| 637 |
} |
| 638 |
|
| 639 |
return;
|
| 640 |
} |
| 641 |
|
| 642 |
void shellRequestMotorDrive(BaseSequentialStream *chp, int argc, char *argv[]) { |
| 643 |
types::kinematic tmp; |
| 644 |
tmp.w_z = 0;
|
| 645 |
tmp.x = 0;
|
| 646 |
if (argc == 1){ |
| 647 |
chprintf(chp, "Set speed to %i um/s \n", atoi(argv[0])); |
| 648 |
tmp.x = atoi(argv[0]);
|
| 649 |
} else {
|
| 650 |
if(argc == 2){ |
| 651 |
chprintf(chp, "Set speed to %i \n um/s", atoi(argv[0])); |
| 652 |
chprintf(chp, "Set angular speed to %i \n urad/s", atoi(argv[1])); |
| 653 |
tmp.x = atoi(argv[0]);
|
| 654 |
tmp.w_z= atoi(argv[1]);
|
| 655 |
} else {
|
| 656 |
chprintf(chp, "Wrong number of parameters given (%i), stopping robot \n", argc);
|
| 657 |
} |
| 658 |
} |
| 659 |
|
| 660 |
global.motorcontrol.setTargetSpeed(tmp); |
| 661 |
return;
|
| 662 |
} |
| 663 |
|
| 664 |
void shellRequestMotorStop(BaseSequentialStream *chp, int argc, char *argv[]) { |
| 665 |
types::kinematic tmp; |
| 666 |
tmp.x = 0;
|
| 667 |
tmp.w_z = 0;
|
| 668 |
|
| 669 |
global.motorcontrol.setTargetSpeed(tmp); |
| 670 |
|
| 671 |
chprintf(chp, "stop");
|
| 672 |
return;
|
| 673 |
} |
| 674 |
|
| 675 |
void shellRequestMotorCalibrate(BaseSequentialStream *chp, int argc, char *argv[]) { |
| 676 |
global.motorcontrol.resetGains(); |
| 677 |
chprintf((BaseSequentialStream*)&global.sercanmux1, "motor calibration starts in five seconds...\n");
|
| 678 |
BaseThread::sleep(MS2ST(5000));
|
| 679 |
global.motorcontrol.isCalibrating = true;
|
| 680 |
|
| 681 |
return;
|
| 682 |
} |
| 683 |
|
| 684 |
void shellRequestMotorGetGains(BaseSequentialStream *chp, int argc, char *argv[]){ |
| 685 |
global.motorcontrol.printGains(); |
| 686 |
|
| 687 |
return;
|
| 688 |
} |
| 689 |
|
| 690 |
void shellRequestMotorResetGains(BaseSequentialStream *chp, int argc, char *argv[]) { |
| 691 |
global.motorcontrol.resetGains();; |
| 692 |
|
| 693 |
return;
|
| 694 |
} |
| 695 |
|
| 696 |
|
| 697 |
/**
|
| 698 |
* Calibrate the thresholds for left and right sensor to get the maximum threshold and to
|
| 699 |
* be able to detect the correction direction.
|
| 700 |
* 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.
|
| 701 |
*
|
| 702 |
* Note: invert the threshs to drive on the other edge.
|
| 703 |
*
|
| 704 |
* */
|
| 705 |
void shellRequestCalibrateLineSensores(BaseSequentialStream *chp, int argc, char *argv[]) { |
| 706 |
// int vcnl4020AmbientLight[4];
|
| 707 |
int vcnl4020Proximity[4]; |
| 708 |
int rounds = 1; |
| 709 |
int proxyL = 0; |
| 710 |
int proxyR = 0; |
| 711 |
int maxDelta = 0; |
| 712 |
int sensorL = 0; |
| 713 |
int sensorR = 0; |
| 714 |
|
| 715 |
if (argc == 1){ |
| 716 |
chprintf(chp, "Test %i rounds \n", atoi(argv[0])); |
| 717 |
rounds = atoi(argv[0]);
|
| 718 |
|
| 719 |
}else{
|
| 720 |
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");
|
| 721 |
return;
|
| 722 |
} |
| 723 |
for (uint8_t led = 0; led < 8; ++led) { |
| 724 |
global.robot.setLightColor(led, Color(Color::BLACK)); |
| 725 |
} |
| 726 |
|
| 727 |
for (int j = 0; j < rounds; j++) { |
| 728 |
for (int i = 0; i < 4; i++) { |
| 729 |
// vcnl4020AmbientLight[i] = global.vcnl4020[i].getAmbientLight();
|
| 730 |
vcnl4020Proximity[i] = global.vcnl4020[i].getProximityScaledWoOffset(); |
| 731 |
} |
| 732 |
global.robot.setLightColor(j % 8, Color(Color::BLACK));
|
| 733 |
global.robot.setLightColor(j+1 % 8, Color(Color::WHITE)); |
| 734 |
int delta = abs(vcnl4020Proximity[constants::DiWheelDrive::PROX_FRONT_LEFT]
|
| 735 |
- vcnl4020Proximity[constants::DiWheelDrive::PROX_FRONT_RIGHT]); |
| 736 |
// Update proximity thresh
|
| 737 |
if (delta > maxDelta) {
|
| 738 |
for (uint8_t led = 0; led < 8; ++led) { |
| 739 |
global.robot.setLightColor(led, Color(Color::GREEN)); |
| 740 |
} |
| 741 |
maxDelta = delta; |
| 742 |
proxyL = vcnl4020Proximity[constants::DiWheelDrive::PROX_FRONT_LEFT]; |
| 743 |
proxyR = vcnl4020Proximity[constants::DiWheelDrive::PROX_FRONT_RIGHT]; |
| 744 |
} |
| 745 |
sensorL += global.vcnl4020[constants::DiWheelDrive::PROX_FRONT_LEFT].getProximityScaledWoOffset(); |
| 746 |
sensorR += global.vcnl4020[constants::DiWheelDrive::PROX_FRONT_RIGHT].getProximityScaledWoOffset(); |
| 747 |
|
| 748 |
// if (vcnl4020Proximity[constants::DiWheelDrive::PROX_FRONT_RIGHT] > proxyR && vcnl4020Proximity[constants::DiWheelDrive::PROX_FRONT_LEFT] > proxyL ){
|
| 749 |
// delta *= -1;
|
| 750 |
// }
|
| 751 |
|
| 752 |
chprintf(chp,"FL: 0x%x, FR: 0x%x, Delta: %d, ProxyL: %x, ProxyR: %x, MaxDelta: %d\n",
|
| 753 |
vcnl4020Proximity[constants::DiWheelDrive::PROX_FRONT_LEFT], |
| 754 |
vcnl4020Proximity[constants::DiWheelDrive::PROX_FRONT_RIGHT], |
| 755 |
delta, |
| 756 |
proxyL, |
| 757 |
proxyR, |
| 758 |
maxDelta); |
| 759 |
// sleep(CAN::UPDATE_PERIOD);
|
| 760 |
BaseThread::sleep(CAN::UPDATE_PERIOD); |
| 761 |
} |
| 762 |
|
| 763 |
|
| 764 |
global.linePID.threshProxyL = sensorL / rounds; |
| 765 |
global.linePID.threshProxyR = sensorR / rounds; |
| 766 |
chprintf(chp,"Thresh FL: %d, FR: %d\n", global.linePID.threshProxyL, global.linePID.threshProxyR);
|
| 767 |
return;
|
| 768 |
} |
| 769 |
|
| 770 |
|
| 771 |
|
| 772 |
void sellRequestgetBottomSensorData(BaseSequentialStream *chp, int argc, char *argv[]) { |
| 773 |
// uint16_t vcnl4020AmbientLight[4];
|
| 774 |
uint16_t vcnl4020Proximity[4];
|
| 775 |
uint16_t rounds = 1;
|
| 776 |
// int sensorR = 0;
|
| 777 |
if (argc == 1){ |
| 778 |
chprintf(chp, "Test %i rounds \n", atoi(argv[0])); |
| 779 |
rounds = atoi(argv[0]);
|
| 780 |
|
| 781 |
} else {
|
| 782 |
chprintf(chp, "Usage: dev_proxi_sensor_data <rounds> \n");
|
| 783 |
} |
| 784 |
global.motorcontrol.setMotorEnable(false);
|
| 785 |
|
| 786 |
for (int j = 0; j < rounds; j++) { |
| 787 |
for (int i = 0; i < 4; i++) { |
| 788 |
// vcnl4020AmbientLight[i] = global.vcnl4020[i].getAmbientLight();
|
| 789 |
vcnl4020Proximity[i] = global.vcnl4020[i].getProximityScaledWoOffset(); |
| 790 |
} |
| 791 |
|
| 792 |
int32_t delta = (vcnl4020Proximity[constants::DiWheelDrive::PROX_FRONT_LEFT] |
| 793 |
- vcnl4020Proximity[constants::DiWheelDrive::PROX_FRONT_RIGHT]); |
| 794 |
|
| 795 |
chprintf(chp,"WL:%d,FL:%d,FR:%d,WR:%d,Delta:%d\n",
|
| 796 |
vcnl4020Proximity[constants::DiWheelDrive::PROX_WHEEL_LEFT], |
| 797 |
vcnl4020Proximity[constants::DiWheelDrive::PROX_FRONT_LEFT], |
| 798 |
vcnl4020Proximity[constants::DiWheelDrive::PROX_FRONT_RIGHT], |
| 799 |
vcnl4020Proximity[constants::DiWheelDrive::PROX_WHEEL_RIGHT], |
| 800 |
delta); |
| 801 |
// sleep(CAN::UPDATE_PERIOD);
|
| 802 |
BaseThread::sleep(CAN::UPDATE_PERIOD); |
| 803 |
} |
| 804 |
global.motorcontrol.setMotorEnable(true);
|
| 805 |
// chprintf(chp,"Summary: MaxDelta: %d, FL: %x, FR: %d\n", maxDelta, proxyL, proxyR);
|
| 806 |
return;
|
| 807 |
} |
| 808 |
|
| 809 |
void shellRequestCheckPower(BaseSequentialStream *chp, int argc, char *argv[]){ |
| 810 |
int steps = 2000; |
| 811 |
int led = 0; |
| 812 |
|
| 813 |
chprintf(chp, "Power over Pins: %s Pins Enabled: %s, Power: %d\n", global.ltc4412.isPluggedIn() ? "y" : "n", global.ltc4412.isEnabled() ? "y" : "n", global.robot.getPowerStatus().state_of_charge); |
| 814 |
} |
| 815 |
|
| 816 |
#define window 5 |
| 817 |
int32_t counter = 0;
|
| 818 |
int32_t proxbuf[window]= { 0 };
|
| 819 |
int32_t meanDeviation(uint16_t a, uint16_t b){
|
| 820 |
int32_t diff = a-b; |
| 821 |
int32_t res = 0;
|
| 822 |
proxbuf[counter] = (diff*100)/((a+b)/2); |
| 823 |
for (int i = 0; i< window; i++){ |
| 824 |
res += proxbuf[i]; |
| 825 |
} |
| 826 |
counter++; |
| 827 |
counter = counter % window; |
| 828 |
return res / window;
|
| 829 |
} |
| 830 |
|
| 831 |
|
| 832 |
void shellRequestProxyRingValues(BaseSequentialStream *chp, int argc, char *argv[]){ |
| 833 |
int steps = 100; |
| 834 |
int i;
|
| 835 |
int16_t old3 = 0;
|
| 836 |
int16_t old4 = 0;
|
| 837 |
uint16_t prox[8];
|
| 838 |
uint32_t prox_sum = 0;
|
| 839 |
|
| 840 |
if (argc == 1){ |
| 841 |
chprintf(chp, "%i steps \n", atoi(argv[0])); |
| 842 |
steps = atoi(argv[0]);
|
| 843 |
}else{
|
| 844 |
chprintf(chp, "Usage: proxyRing <steps> \n");
|
| 845 |
} |
| 846 |
for (int j=0; j<steps; j++){ |
| 847 |
prox_sum = 0;
|
| 848 |
old3 = prox[3];
|
| 849 |
old4 = prox[4];
|
| 850 |
for(i=0; i<8;i++){ |
| 851 |
prox[i] = global.robot.getProximityRingValue(i); |
| 852 |
prox_sum += prox[i]; |
| 853 |
} |
| 854 |
int32_t deviation = meanDeviation(prox[3] & 0xFFF0 , prox[4] & 0xFFF0); |
| 855 |
// int32_t deviation = meanDeviation((prox[3]+old3) / 2 , (prox[4]+old4) / 2);
|
| 856 |
// uint16_t notouch = 100;
|
| 857 |
// uint16_t toucht = 20031;
|
| 858 |
// sign =
|
| 859 |
// i = 0;
|
| 860 |
chprintf(chp, "0:%i 1:%i 2:%i 3:%i 4:%i 5:%i 6:%i 7:%i Deviation:%i \n", prox[0], prox[1], prox[2], prox[3], prox[4], prox[5], prox[6], prox[7], deviation); |
| 861 |
BaseThread::sleep(CAN::UPDATE_PERIOD); |
| 862 |
} |
| 863 |
} |
| 864 |
int buf[10][3] = { 0 }; |
| 865 |
void shellRequestMagnetoMeter(BaseSequentialStream *chp, int argc, char *argv[]){ |
| 866 |
int steps = 10; |
| 867 |
// int i;
|
| 868 |
|
| 869 |
// uint16_t prox[8];
|
| 870 |
// uint32_t prox_sum = 0;
|
| 871 |
|
| 872 |
if (argc == 1){ |
| 873 |
chprintf(chp, "%i steps \n", atoi(argv[0])); |
| 874 |
steps = atoi(argv[0]);
|
| 875 |
}else{
|
| 876 |
chprintf(chp, "Usage: proxyRing <steps> \n");
|
| 877 |
} |
| 878 |
chprintf((BaseSequentialStream*)&global.sercanmux1, "motor calibration starts in five seconds...\n");
|
| 879 |
BaseThread::sleep(MS2ST(5000));
|
| 880 |
for (int j=0; j<steps; j++){ |
| 881 |
// prox_sum = 0;
|
| 882 |
// for(i=0; i<8;i++){
|
| 883 |
// prox[i] = global.robot.getProximityRingValue(i);
|
| 884 |
// prox_sum += prox[i];
|
| 885 |
// }
|
| 886 |
// uint16_t notouch = 100;
|
| 887 |
// uint16_t toucht = 20031;
|
| 888 |
// sign =
|
| 889 |
// i = 0;
|
| 890 |
|
| 891 |
if (j < 10){ |
| 892 |
buf[j][0] = global.hmc5883l.getMagnetizationGauss(0x00u); |
| 893 |
buf[j][1] = global.hmc5883l.getMagnetizationGauss(0x02u); |
| 894 |
buf[j][2] = global.hmc5883l.getMagnetizationGauss(0x01u); |
| 895 |
} |
| 896 |
chprintf(chp, "X:%i Y:%i Z:%i\n", global.hmc5883l.getMagnetizationGauss(0x00u), global.hmc5883l.getMagnetizationGauss(0x02u), global.hmc5883l.getMagnetizationGauss(0x01u)); |
| 897 |
BaseThread::sleep(CAN::UPDATE_PERIOD); |
| 898 |
} |
| 899 |
} |
| 900 |
void shellRequestMagnetoMeterPrint(BaseSequentialStream *chp, int argc, char *argv[]){ |
| 901 |
for (int j=0; j<10; j++){ |
| 902 |
chprintf(chp, "X:%i Y:%i Z:%i\n", buf[j][0], buf[j][1], buf[j][2]); |
| 903 |
BaseThread::sleep(CAN::UPDATE_PERIOD); |
| 904 |
} |
| 905 |
} |
| 906 |
|
| 907 |
void shellRequestPrintCoordinate(BaseSequentialStream *chp, int argc, char *argv[]){ |
| 908 |
types::position oldPos = global.odometry.getPosition(); |
| 909 |
chprintf(chp, "X:%i Y:%i\n",oldPos.x, oldPos.y);
|
| 910 |
} |
| 911 |
|
| 912 |
|
| 913 |
void shellRequestErrorInfo(BaseSequentialStream *chp, int argc, char *argv[]){ |
| 914 |
// Print out the error info collected. Clear buffer after calling
|
| 915 |
chprintf(chp, "Error Info\n");
|
| 916 |
chprintf(chp, "\n");
|
| 917 |
// uint8_t IDLE = 0;
|
| 918 |
// uint8_t FOLLOW_LINE = 1;
|
| 919 |
// uint8_t DETECT_STATION = 2;
|
| 920 |
// uint8_t REVERSE = 3;
|
| 921 |
// uint8_t PUSH_BACK = 4;
|
| 922 |
// uint8_t CHECK_POSITIONING = 5;
|
| 923 |
// uint8_t CHECK_VOLTAGE = 6;
|
| 924 |
// uint8_t CHARGING = 7;
|
| 925 |
// uint8_t RELEASE = 8;
|
| 926 |
// uint8_t RELEASE_TO_CORRECT = 9;
|
| 927 |
// uint8_t CORRECT_POSITIONING = 10;
|
| 928 |
// uint8_t TURN = 12;
|
| 929 |
// uint8_t INACTIVE = 13;
|
| 930 |
// uint8_t CALIBRATION = 14;
|
| 931 |
// uint8_t CALIBRATION_CHECK = 15;
|
| 932 |
// uint8_t DEVIATION_CORRECTION = 16;
|
| 933 |
// uint8_t DOCKING_ERROR = 16+1;
|
| 934 |
// uint8_t REVERSE_TIMEOUT_ERROR = 16+2;
|
| 935 |
// uint8_t CALIBRATION_ERROR = 16+3;
|
| 936 |
// uint8_t WHITE_DETECTION_ERROR = 16+4;
|
| 937 |
// uint8_t PROXY_DETECTION_ERROR = 16+5;
|
| 938 |
// uint8_t NO_CHARGING_POWER_ERROR = 16+6;
|
| 939 |
// uint8_t UNKNOWN_STATE_ERROR = 16+7;
|
| 940 |
|
| 941 |
// chprintf(chp, "IDLE: %d\n", global.stateTracker[IDLE]);
|
| 942 |
// chprintf(chp, "FOLLOW_LINE: %d\n", global.stateTracker[FOLLOW_LINE]);
|
| 943 |
// chprintf(chp, "DETECT_STATION: %d\n", global.stateTracker[DETECT_STATION]);
|
| 944 |
// chprintf(chp, "REVERSE: %d\n", global.stateTracker[REVERSE]);
|
| 945 |
// chprintf(chp, "PUSH_BACK: %d\n", global.stateTracker[PUSH_BACK]);
|
| 946 |
// chprintf(chp, "CHECK_POSITIONING: %d\n", global.stateTracker[CHECK_POSITIONING]);
|
| 947 |
// chprintf(chp, "CHECK_VOLTAGE: %d\n", global.stateTracker[CHECK_VOLTAGE]);
|
| 948 |
// chprintf(chp, "CHARGING: %d\n", global.stateTracker[CHARGING]);
|
| 949 |
// chprintf(chp, "RELEASE: %d\n", global.stateTracker[RELEASE]);
|
| 950 |
// chprintf(chp, "RELEASE_TO_CORRECT: %d\n", global.stateTracker[RELEASE_TO_CORRECT]);
|
| 951 |
// chprintf(chp, "CORRECT_POSITIONING: %d\n", global.stateTracker[CORRECT_POSITIONING]);
|
| 952 |
// chprintf(chp, "TURN: %d\n", global.stateTracker[TURN]);
|
| 953 |
// chprintf(chp, "INACTIVE: %d\n", global.stateTracker[INACTIVE]);
|
| 954 |
// chprintf(chp, "CALIBRATION: %d\n", global.stateTracker[CALIBRATION]);
|
| 955 |
// chprintf(chp, "CALIBRATION_CHECK: %d\n", global.stateTracker[CALIBRATION_CHECK]);
|
| 956 |
// chprintf(chp, "DEVIATION_CORRECTION: %d\n", global.stateTracker[DEVIATION_CORRECTION]);
|
| 957 |
// chprintf(chp, "DOCKING_ERROR: %d\n", global.stateTracker[DOCKING_ERROR]);
|
| 958 |
// chprintf(chp, "REVERSE_TIMEOUT_ERROR: %d\n", global.stateTracker[REVERSE_TIMEOUT_ERROR]);
|
| 959 |
// chprintf(chp, "CALIBRATION_ERROR: %d\n", global.stateTracker[CALIBRATION_ERROR]);
|
| 960 |
// chprintf(chp, "WHITE_DETECTION_ERROR: %d\n", global.stateTracker[WHITE_DETECTION_ERROR]);
|
| 961 |
// chprintf(chp, "PROXY_DETECTION_ERROR: %d\n", global.stateTracker[PROXY_DETECTION_ERROR]);
|
| 962 |
// chprintf(chp, "NO_CHARGING_POWER_ERROR: %d\n", global.stateTracker[NO_CHARGING_POWER_ERROR]);
|
| 963 |
// chprintf(chp, "UNKNOWN_STATE_ERROR: %d\n", global.stateTracker[UNKNOWN_STATE_ERROR]);
|
| 964 |
|
| 965 |
// for (int i=0; i<24;i++){
|
| 966 |
// global.stateTracker[i] = 0;
|
| 967 |
|
| 968 |
// }
|
| 969 |
} |
| 970 |
|
| 971 |
|
| 972 |
void shellRequestMapTest(BaseSequentialStream *chp, int argc, char *argv[]) { |
| 973 |
|
| 974 |
// TODO:
|
| 975 |
// For now see everything fixed. Create array with pointer to all node structs. Determine
|
| 976 |
|
| 977 |
chprintf(chp, " +-------------------+\n");
|
| 978 |
chprintf(chp, " | |\n");
|
| 979 |
chprintf(chp, " | |\n");
|
| 980 |
chprintf(chp, "+-v--+ |\n");
|
| 981 |
chprintf(chp, "| 0 | +-++\n");
|
| 982 |
chprintf(chp, "+-+--+ +--------+2 | <-------+\n");
|
| 983 |
chprintf(chp, " | | +--+ |\n");
|
| 984 |
chprintf(chp, " | | ^ |\n");
|
| 985 |
chprintf(chp, " | | | |\n");
|
| 986 |
chprintf(chp, " | v | |\n");
|
| 987 |
chprintf(chp, " | +-+-+------+ |\n");
|
| 988 |
chprintf(chp, " +------> 1 | |\n");
|
| 989 |
chprintf(chp, " +---+-------------------+\n");
|
| 990 |
// BaseThread::sleep(MS2ST(250));
|
| 991 |
global.lfStrategy = msg_content::MSG_TEST_MAP_STATE; |
| 992 |
global.msgReceived = true;
|
| 993 |
|
| 994 |
} |
| 995 |
|
| 996 |
static const ShellCommand commands[] = { |
| 997 |
{"shutdown", shellRequestShutdown},
|
| 998 |
{"wakeup", shellRequestWakeup},
|
| 999 |
{"check", shellRequestCheck},
|
| 1000 |
{"reset_memory", shellRequestResetMemory},
|
| 1001 |
{"get_board_id", shellRequestGetBoardId},
|
| 1002 |
{"set_board_id", shellRequestSetBoardId},
|
| 1003 |
{"get_memory_data", shellRequestGetMemoryData},
|
| 1004 |
{"get_vcnl", shellRequestGetVcnl},
|
| 1005 |
{"calib_vcnl_offset", shellRequestCalib},
|
| 1006 |
{"set_vcnl_offset", shellRequestSetVcnlOffset},
|
| 1007 |
{"reset_vcnl_offset", shellRequestResetVcnlOffset},
|
| 1008 |
{"get_vcnl_offset", shellRequestGetVcnlOffset},
|
| 1009 |
{"reset_Ed_Eb", shellRequestResetCalibrationConstants},
|
| 1010 |
{"get_Ed_Eb", shellRequestGetCalibrationConstants},
|
| 1011 |
{"set_Ed_Eb", shellRequestSetCalibrationConstants},
|
| 1012 |
{"get_robot_id", shellRequestGetRobotId},
|
| 1013 |
{"get_system_load", shellRequestGetSystemLoad},
|
| 1014 |
{"set_lights", shellRequestSetLights},
|
| 1015 |
{"shell_board", shellSwitchBoardCmd},
|
| 1016 |
{"get_bootloader_info", shellRequestGetBootloaderInfo},
|
| 1017 |
{"motor_drive", shellRequestMotorDrive},
|
| 1018 |
{"motor_stop", shellRequestMotorStop},
|
| 1019 |
{"motor_calibrate", shellRequestMotorCalibrate},
|
| 1020 |
{"motor_getGains", shellRequestMotorGetGains},
|
| 1021 |
{"motor_resetGains", shellRequestMotorResetGains},
|
| 1022 |
{"calibrate_line_sensors", shellRequestCalibrateLineSensores},
|
| 1023 |
{"printProxyBottom", sellRequestgetBottomSensorData},
|
| 1024 |
{"printProxyRing", shellRequestProxyRingValues},
|
| 1025 |
{"printMagnetometer", shellRequestMagnetoMeter},
|
| 1026 |
{"printMagnetometerRes", shellRequestMagnetoMeterPrint},
|
| 1027 |
{"printLocation", shellRequestPrintCoordinate},
|
| 1028 |
{"checkPowerPins", shellRequestCheckPower},
|
| 1029 |
{"stateInfos", shellRequestErrorInfo},
|
| 1030 |
{"test", shellRequestMapTest},
|
| 1031 |
{NULL, NULL}};
|
| 1032 |
|
| 1033 |
static const ShellConfig shell_cfg1 = { |
| 1034 |
(BaseSequentialStream *) &global.sercanmux1, |
| 1035 |
commands |
| 1036 |
}; |
| 1037 |
|
| 1038 |
void initPowermonitor(INA219::Driver &ina219, const float shuntResistance_O, const float maxExpectedCurrent_A, const uint16_t currentLsb_uA) |
| 1039 |
{
|
| 1040 |
INA219::CalibData calibData; |
| 1041 |
INA219::InitData initData; |
| 1042 |
|
| 1043 |
calibData.input.configuration.content.brng = INA219::Configuration::BRNG_16V; |
| 1044 |
calibData.input.configuration.content.pg = INA219::Configuration::PGA_40mV; |
| 1045 |
calibData.input.configuration.content.badc = INA219::Configuration::ADC_68100us; |
| 1046 |
calibData.input.configuration.content.sadc = INA219::Configuration::ADC_68100us; |
| 1047 |
calibData.input.configuration.content.mode = INA219::Configuration::MODE_ShuntBus_Continuous; |
| 1048 |
calibData.input.shunt_resistance_O = shuntResistance_O; |
| 1049 |
calibData.input.max_expected_current_A = maxExpectedCurrent_A; |
| 1050 |
calibData.input.current_lsb_uA = currentLsb_uA; |
| 1051 |
if (ina219.calibration(&calibData) != BaseSensor<>::SUCCESS)
|
| 1052 |
{
|
| 1053 |
chprintf((BaseSequentialStream*)&SD1, "WARNING: calibration of INA219 failed.\n");
|
| 1054 |
} |
| 1055 |
|
| 1056 |
initData.configuration.value = calibData.input.configuration.value; |
| 1057 |
initData.calibration = calibData.output.calibration_value; |
| 1058 |
initData.current_lsb_uA = calibData.output.current_lsb_uA; |
| 1059 |
if (ina219.init(&initData) != BaseSensor<>::SUCCESS)
|
| 1060 |
{
|
| 1061 |
chprintf((BaseSequentialStream*)&SD1, "WARNING: initialization of INA219 failed.\n");
|
| 1062 |
} |
| 1063 |
|
| 1064 |
if (calibData.input.current_lsb_uA != initData.current_lsb_uA)
|
| 1065 |
{
|
| 1066 |
chprintf((BaseSequentialStream*)&SD1, "NOTE: LSB for current measurement was limited when initializing INA219 (%u -> %u)", calibData.input.current_lsb_uA, initData.current_lsb_uA);
|
| 1067 |
} |
| 1068 |
|
| 1069 |
return;
|
| 1070 |
} |
| 1071 |
|
| 1072 |
/*
|
| 1073 |
* Application entry point.
|
| 1074 |
*/
|
| 1075 |
int main(void) { |
| 1076 |
|
| 1077 |
// int16_t accel;
|
| 1078 |
Thread *shelltp = NULL;
|
| 1079 |
|
| 1080 |
/*
|
| 1081 |
* System initializations.
|
| 1082 |
* - HAL initialization, this also initializes the configured device drivers
|
| 1083 |
* and performs the board-specific initializations.
|
| 1084 |
* - Kernel initialization, the main() function becomes a thread and the
|
| 1085 |
* RTOS is active.
|
| 1086 |
*/
|
| 1087 |
halInit(); |
| 1088 |
qeiInit(); |
| 1089 |
System::init(); |
| 1090 |
|
| 1091 |
// boardWakeup();
|
| 1092 |
// boardWriteIoPower(1);
|
| 1093 |
|
| 1094 |
/*
|
| 1095 |
* Activates the serial driver 2 using the driver default configuration.
|
| 1096 |
*/
|
| 1097 |
sdStart(&SD1, &global.sd1_config); |
| 1098 |
|
| 1099 |
chprintf((BaseSequentialStream*) &SD1, "\n");
|
| 1100 |
chprintf((BaseSequentialStream*) &SD1, BOARD_NAME " " BOARD_VERSION "\n"); |
| 1101 |
switch (*((uint32_t*)(BL_CALLBACK_TABLE_ADDR))) {
|
| 1102 |
case (('A'<<24) | ('-'<<16) | ('B'<<8) | ('L'<<0)): |
| 1103 |
chprintf((BaseSequentialStream*) &SD1, "Bootloader %u.%u.%u\n",
|
| 1104 |
((blVersion_t*)(BL_CALLBACK_TABLE_ADDR + (1*4)))->major, |
| 1105 |
((blVersion_t*)(BL_CALLBACK_TABLE_ADDR + (1*4)))->minor, |
| 1106 |
((blVersion_t*)(BL_CALLBACK_TABLE_ADDR + (1*4)))->patch); |
| 1107 |
break;
|
| 1108 |
|
| 1109 |
case BL_MAGIC_NUMBER:
|
| 1110 |
chprintf((BaseSequentialStream*) &SD1, "Bootloader %u.%u.%u\n",
|
| 1111 |
*((uint32_t*)(BL_CALLBACK_TABLE_ADDR + (1*4))), |
| 1112 |
*((uint32_t*)(BL_CALLBACK_TABLE_ADDR + (1*4))), |
| 1113 |
*((uint32_t*)(BL_CALLBACK_TABLE_ADDR + (1*4)))); |
| 1114 |
break;
|
| 1115 |
|
| 1116 |
default:
|
| 1117 |
chprintf((BaseSequentialStream*) &SD1, "Bootloader incompatible\n");
|
| 1118 |
break;
|
| 1119 |
} |
| 1120 |
chprintf((BaseSequentialStream*) &SD1, "ChibiOS " CH_KERNEL_VERSION "\n"); |
| 1121 |
// make sure that the info text is completetly printed
|
| 1122 |
BaseThread::sleep(10);
|
| 1123 |
|
| 1124 |
extStart(&EXTD1, &extcfg); |
| 1125 |
|
| 1126 |
/*
|
| 1127 |
* Wait for a certain amount of time, so that the PowerBoard can activate
|
| 1128 |
* the IO voltages for the I2C Bus
|
| 1129 |
*/
|
| 1130 |
BaseThread::sleep(MS2ST(2000));
|
| 1131 |
|
| 1132 |
boardClearI2CBus(GPIOB_COMPASS_SCL, GPIOB_COMPASS_SDA); |
| 1133 |
boardClearI2CBus(GPIOB_IR_SCL, GPIOB_IR_SDA); |
| 1134 |
|
| 1135 |
global.HW_I2C1.start(&global.i2c1_config); |
| 1136 |
global.HW_I2C2.start(&global.i2c2_config); |
| 1137 |
|
| 1138 |
global.memory.init(); |
| 1139 |
|
| 1140 |
uint8_t i = 0;
|
| 1141 |
if (global.memory.getBoardId(&i) == fileSystemIo::FileSystemIoBase::OK) {
|
| 1142 |
chprintf((BaseSequentialStream*) &SD1, "Board ID: %u\n", i);
|
| 1143 |
} else {
|
| 1144 |
chprintf((BaseSequentialStream*) &SD1, "Error reading board ID\n");
|
| 1145 |
} |
| 1146 |
chprintf((BaseSequentialStream*) &SD1, "\n");
|
| 1147 |
|
| 1148 |
initPowermonitor(global.ina219, 0.1f, 0.075f, 10); |
| 1149 |
|
| 1150 |
for (i = 0x00u; i < global.vcnl4020.size(); i++) { |
| 1151 |
uint16_t buffer; |
| 1152 |
global.memory.getVcnl4020Offset(&buffer,i); |
| 1153 |
global.vcnl4020[i].setProximityOffset(buffer); |
| 1154 |
global.vcnl4020[i].start(NORMALPRIO); |
| 1155 |
} |
| 1156 |
|
| 1157 |
global.ina219.start(NORMALPRIO); |
| 1158 |
|
| 1159 |
global.hmc5883l.start(NORMALPRIO + 8);
|
| 1160 |
|
| 1161 |
global.increments.start(); // Start the qei driver
|
| 1162 |
|
| 1163 |
// Start the three axes gyroscope
|
| 1164 |
global.l3g4200d.configure(&global.gyro_run_config); |
| 1165 |
global.l3g4200d.start(NORMALPRIO+5);
|
| 1166 |
|
| 1167 |
global.odometry.start(NORMALPRIO + 20);
|
| 1168 |
|
| 1169 |
global.robot.start(HIGHPRIO - 1);
|
| 1170 |
|
| 1171 |
global.motorcontrol.start(NORMALPRIO + 7);
|
| 1172 |
|
| 1173 |
global.distcontrol.start(NORMALPRIO + 9);
|
| 1174 |
|
| 1175 |
// Set target velocity
|
| 1176 |
types::kinematic velocity; |
| 1177 |
velocity.x = 0; // E.g. "100*1e3" equals "10 cm/s" |
| 1178 |
velocity.w_z = 0; // E.g. "2*1e6" equals "2 rad/s" |
| 1179 |
global.motorcontrol.setTargetSpeed(velocity); |
| 1180 |
|
| 1181 |
// Start the three axes linear accelerometer
|
| 1182 |
global.lis331dlh.configure(&global.accel_run_config); |
| 1183 |
global.lis331dlh.start(NORMALPRIO+4);
|
| 1184 |
|
| 1185 |
// Start the user thread
|
| 1186 |
global.userThread.start(NORMALPRIO); |
| 1187 |
|
| 1188 |
/* let the SYS_SYNC_N pin go, to signal that the initialization of the module is done */
|
| 1189 |
palWritePad(GPIOC, GPIOC_SYS_INT_N, PAL_HIGH); |
| 1190 |
|
| 1191 |
/* wait until all modules are done */
|
| 1192 |
while (palReadPad(GPIOC, GPIOC_SYS_INT_N) == PAL_LOW) {
|
| 1193 |
continue;
|
| 1194 |
} |
| 1195 |
|
| 1196 |
while (true) { |
| 1197 |
|
| 1198 |
if (!shelltp)
|
| 1199 |
shelltp = shellCreate(&shell_cfg1, THD_WA_SIZE(1024), NORMALPRIO);
|
| 1200 |
else if (chThdTerminated(shelltp)) { |
| 1201 |
chThdRelease(shelltp); /* Recovers memory of the previous shell. */
|
| 1202 |
shelltp = NULL; /* Triggers spawning of a new shell. */ |
| 1203 |
} |
| 1204 |
|
| 1205 |
// Let the LED just blink as an alive signal
|
| 1206 |
boardWriteLed(1);
|
| 1207 |
BaseThread::sleep(MS2ST(250));
|
| 1208 |
boardWriteLed(0);
|
| 1209 |
BaseThread::sleep(MS2ST(250));
|
| 1210 |
|
| 1211 |
if (shutdown_now != SHUTDOWN_NONE) {
|
| 1212 |
if ((*((uint32_t*)(BL_CALLBACK_TABLE_ADDR)) != (('A'<<24) | ('-'<<16) | ('B'<<8) | ('L'<<0))) && (*((uint32_t*)(BL_CALLBACK_TABLE_ADDR)) != BL_MAGIC_NUMBER)) { |
| 1213 |
chprintf((BaseSequentialStream*) &SD1, "ERROR: unable to shut down (bootloader deprecated).\n");
|
| 1214 |
shutdown_now = SHUTDOWN_NONE; |
| 1215 |
} else {
|
| 1216 |
uint32_t blCallbackPtrAddr = BL_CALLBACK_TABLE_ADDR; |
| 1217 |
// handle bootloader version 0.2.x
|
| 1218 |
if ((*((uint32_t*)(BL_CALLBACK_TABLE_ADDR)) == BL_MAGIC_NUMBER) &&
|
| 1219 |
(*((uint32_t*)(BL_CALLBACK_TABLE_ADDR + (1*4))) == 0 && *((uint32_t*)(BL_CALLBACK_TABLE_ADDR + (2*4))) == 2)) { |
| 1220 |
switch (shutdown_now) {
|
| 1221 |
case SHUTDOWN_TRANSPORTATION:
|
| 1222 |
blCallbackPtrAddr += 6 * 4; |
| 1223 |
break;
|
| 1224 |
case SHUTDOWN_DEEPSLEEP:
|
| 1225 |
blCallbackPtrAddr += 5 * 4; |
| 1226 |
break;
|
| 1227 |
case SHUTDOWN_HIBERNATE:
|
| 1228 |
blCallbackPtrAddr += 4 * 4; |
| 1229 |
break;
|
| 1230 |
case SHUTDOWN_HANDLE_REQUEST:
|
| 1231 |
case SHUTDOWN_RESTART:
|
| 1232 |
blCallbackPtrAddr += 10 * 4; |
| 1233 |
break;
|
| 1234 |
default:
|
| 1235 |
blCallbackPtrAddr = 0;
|
| 1236 |
break;
|
| 1237 |
} |
| 1238 |
} |
| 1239 |
// handle bootloader version 0.3.x
|
| 1240 |
else if ((*((uint32_t*)(BL_CALLBACK_TABLE_ADDR)) == BL_MAGIC_NUMBER) && |
| 1241 |
(*((uint32_t*)(BL_CALLBACK_TABLE_ADDR + (1*4))) == 0 && *((uint32_t*)(BL_CALLBACK_TABLE_ADDR + (2*4))) == 3)) { |
| 1242 |
switch (shutdown_now) {
|
| 1243 |
case SHUTDOWN_TRANSPORTATION:
|
| 1244 |
blCallbackPtrAddr += 6 * 4; |
| 1245 |
break;
|
| 1246 |
case SHUTDOWN_DEEPSLEEP:
|
| 1247 |
blCallbackPtrAddr += 5 * 4; |
| 1248 |
break;
|
| 1249 |
case SHUTDOWN_HIBERNATE:
|
| 1250 |
blCallbackPtrAddr += 4 * 4; |
| 1251 |
break;
|
| 1252 |
case SHUTDOWN_RESTART:
|
| 1253 |
blCallbackPtrAddr += 7 * 4; |
| 1254 |
break;
|
| 1255 |
case SHUTDOWN_HANDLE_REQUEST:
|
| 1256 |
blCallbackPtrAddr += 8 * 4; |
| 1257 |
break;
|
| 1258 |
default:
|
| 1259 |
blCallbackPtrAddr = 0;
|
| 1260 |
break;
|
| 1261 |
} |
| 1262 |
} |
| 1263 |
// handle bootloader version 1.0.x and 1.1.x
|
| 1264 |
else if ((*((uint32_t*)(BL_CALLBACK_TABLE_ADDR)) == (('A'<<24) | ('-'<<16) | ('B'<<8) | ('L'<<0))) && |
| 1265 |
((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)) { |
| 1266 |
switch (shutdown_now) {
|
| 1267 |
case SHUTDOWN_TRANSPORTATION:
|
| 1268 |
blCallbackPtrAddr += 6 * 4; |
| 1269 |
break;
|
| 1270 |
case SHUTDOWN_DEEPSLEEP:
|
| 1271 |
blCallbackPtrAddr += 5 * 4; |
| 1272 |
break;
|
| 1273 |
case SHUTDOWN_HIBERNATE:
|
| 1274 |
blCallbackPtrAddr += 4 * 4; |
| 1275 |
break;
|
| 1276 |
case SHUTDOWN_RESTART:
|
| 1277 |
blCallbackPtrAddr += 7 * 4; |
| 1278 |
break;
|
| 1279 |
case SHUTDOWN_HANDLE_REQUEST:
|
| 1280 |
blCallbackPtrAddr += 8 * 4; |
| 1281 |
break;
|
| 1282 |
default:
|
| 1283 |
blCallbackPtrAddr = 0;
|
| 1284 |
break;
|
| 1285 |
} |
| 1286 |
} |
| 1287 |
|
| 1288 |
void (*blCallback)(void) = NULL; |
| 1289 |
if (blCallbackPtrAddr > BL_CALLBACK_TABLE_ADDR) {
|
| 1290 |
blCallback = (void (*)(void))(*((uint32_t*)blCallbackPtrAddr)); |
| 1291 |
|
| 1292 |
if (!blCallback) {
|
| 1293 |
chprintf((BaseSequentialStream*) &SD1, "ERROR: Requested shutdown not supported.\n");
|
| 1294 |
shutdown_now = SHUTDOWN_NONE; |
| 1295 |
} else {
|
| 1296 |
chprintf((BaseSequentialStream*)&SD1, "initiating shutdown sequence...\n");
|
| 1297 |
palWritePad(GPIOC, GPIOC_SYS_INT_N, PAL_LOW); |
| 1298 |
palWritePad(GPIOC, GPIOC_SYS_PD_N, PAL_LOW); |
| 1299 |
|
| 1300 |
chprintf((BaseSequentialStream*)&SD1, "stopping all threads and periphery...");
|
| 1301 |
systemShutdown(); |
| 1302 |
chprintf((BaseSequentialStream*)&SD1, "\tdone\n");
|
| 1303 |
BaseThread::sleep(MS2ST(10)); // sleep to print everything |
| 1304 |
|
| 1305 |
blCallback(); |
| 1306 |
} |
| 1307 |
|
| 1308 |
} else {
|
| 1309 |
chprintf((BaseSequentialStream*) &SD1, "ERROR: invalid shutdown requested (%u).\n", shutdown_now);
|
| 1310 |
shutdown_now = SHUTDOWN_NONE; |
| 1311 |
} |
| 1312 |
} |
| 1313 |
|
| 1314 |
// for (uint8_t i = LIS331DLH::AXIS_X; i <= LIS331DLH::AXIS_Z; i++) {
|
| 1315 |
// accel = lis331dlh.getAcceleration(i);
|
| 1316 |
// chprintf((BaseSequentialStream*) &SD1, "%c%04X ", accel < 0 ? '-' : '+', accel < 0 ? -accel : accel);
|
| 1317 |
// }
|
| 1318 |
//
|
| 1319 |
// chprintf((BaseSequentialStream*) &SD1, "\n");
|
| 1320 |
//
|
| 1321 |
// // Print out an alive signal
|
| 1322 |
// chprintf((BaseSequentialStream*) &SD1, ".");
|
| 1323 |
} |
| 1324 |
} |
| 1325 |
|
| 1326 |
return 0; |
| 1327 |
} |