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amiro-os / devices / DiWheelDrive / main.cpp @ af93a91c

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1 58fe0e0b Thomas Schöpping
#define BL_CALLBACK_TABLE_ADDR  (0x08000000 + 0x01C0)
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#define BL_MAGIC_NUMBER         ((uint32_t)0xFF669900u)
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#define SHUTDOWN_NONE             0
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#define SHUTDOWN_TRANSPORTATION   1
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#define SHUTDOWN_DEEPSLEEP        2
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#define SHUTDOWN_HIBERNATE        3
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#define SHUTDOWN_RESTART          4
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#define SHUTDOWN_HANDLE_REQUEST   5
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#include <ch.hpp>
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#include <amiro/util/util.h>
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#include <global.hpp>
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#include <exti.hpp>
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#include <chprintf.h>
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#include <shell.h>
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20 af93a91c galberding
#include "linefollow2.hpp" 
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22 58fe0e0b Thomas Schöpping
using namespace chibios_rt;
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Global global;
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26 10687985 Thomas Schöpping
struct blVersion_t {
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  const uint8_t identifier;
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  const uint8_t major;
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  const uint8_t minor;
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  const uint8_t patch;
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} __attribute__((packed));
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33 58fe0e0b Thomas Schöpping
void systemShutdown() {
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  types::kinematic k;
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  uint8_t i;
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//  // make sure we assert SYS_PD_N to delay shutdown until we're done.
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//  boardRequestShutdown();
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    // stop the user thread
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  global.userThread.requestTerminate();
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  global.userThread.wait();
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  k.x = 0x00u;
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  k.w_z = 0x00u;
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  // stop wheels
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  global.robot.setTargetSpeed(k);
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  global.robot.terminate();
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  for (i = 0x00; i < global.vcnl4020.size(); i++) {
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    global.vcnl4020[i].requestTerminate();
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    global.vcnl4020[i].wait();
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  }
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  global.ina219.requestTerminate();
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  global.ina219.wait();
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  global.hmc5883l.requestTerminate();
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  global.hmc5883l.wait();
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  global.l3g4200d.requestTerminate();
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  global.l3g4200d.wait();
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  global.motorcontrol.requestTerminate();
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  global.motorcontrol.wait();
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  global.odometry.requestTerminate();
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  global.odometry.wait();
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  // stop I²C
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  for (i = 0; i < global.V_I2C2.size(); ++i)
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    global.V_I2C2[i].stop();
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  global.HW_I2C2.stop();
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  global.lis331dlh.requestTerminate();
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  global.lis331dlh.wait();
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  global.lis331dlh.configure(&global.accel_sleep_config);
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//  global.lis331dlh.start(NORMALPRIO +4);
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//  boardWriteIoPower(0);
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//  boardStandby();
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  return;
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}
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//void (*shellcmd_t)(BaseSequentialStream *chp, int argc, char *argv[]);
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void shellRequestShutdown(BaseSequentialStream *chp, int argc, char *argv[]) {
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  chprintf(chp, "shellRequestShutdown\n");
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  /* if nor argument was given, print some help text */
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  if (argc == 0 || strcmp(argv[0], "help") == 0) {
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    chprintf(chp, "\tUSAGE:\n");
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    chprintf(chp, "> shutdown <type>\n");
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    chprintf(chp, "\n");
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    chprintf(chp, "\ttype\n");
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    chprintf(chp, "The type of shutdown to perform.\n");
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    chprintf(chp, "Choose one of the following types:\n");
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    chprintf(chp, "  transportation - Ultra low-power mode with all wakeups disabled.\n");
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    chprintf(chp, "                   The robot can not be charged.\n");
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    chprintf(chp, "  deepsleep      - Ultra low-power mode with several wakeups enabled.\n");
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    chprintf(chp, "                   The robot can only be charged via the power plug.\n");
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    chprintf(chp, "  hibernate      - Medium low-power mode, but with full charging capabilities.\n");
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    chprintf(chp, "  restart        - Performs a system restart.\n");
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    chprintf(chp, "Alternatively, you can use the shortcuts 't', 'd', 'h', and 'r' respectively.");
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    chprintf(chp, "\n");
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    return;
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  }
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  if (strcmp(argv[0],"transportation") == 0 || strcmp(argv[0],"t") == 0) {
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    shutdown_now = SHUTDOWN_TRANSPORTATION;
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    chprintf(chp, "shutdown to transportation mode initialized\n");
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  } else if (strcmp(argv[0],"deepsleep") == 0 || strcmp(argv[0],"d") == 0) {
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    shutdown_now = SHUTDOWN_DEEPSLEEP;
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    chprintf(chp, "shutdown to deepsleep mode initialized\n");
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  } else if (strcmp(argv[0],"hibernate") == 0 || strcmp(argv[0],"h") == 0) {
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    shutdown_now = SHUTDOWN_HIBERNATE;
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    chprintf(chp, "shutdown to hibernate mode initialized\n");
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  } else if (strcmp(argv[0],"restart") == 0 || strcmp(argv[0],"r") == 0) {
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    chprintf(chp, "restart initialized\n");
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    shutdown_now = SHUTDOWN_RESTART;
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  } else {
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    chprintf(chp, "ERROR: unknown argument!\n");
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    shutdown_now = SHUTDOWN_NONE;
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  }
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  return;
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}
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void shellRequestWakeup(BaseSequentialStream *chp, int argc, char *argv[]) {
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  int i;
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  chprintf(chp, "shellRequestWakeup\n");
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  for (i = 0x00u; i < argc; i++)
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    chprintf(chp, "%s\n", argv[i]);
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  boardWakeup();
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}
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void shellRequestGetMemoryData(BaseSequentialStream *chp, int argc, char *argv[]) {
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  enum Type {HEX, U8, U16, U32, S8, S16, S32};
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  chprintf(chp, "shellRequestReadData\n");
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  if (argc < 2 || strcmp(argv[0],"help") == 0)
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  {
148
    chprintf(chp, "Usage: %s\n","get_memory_data <type> <start> [<count>]");
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    chprintf(chp, "\n");
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    chprintf(chp, "\ttype\n");
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    chprintf(chp, "The data type as which to interpret the data.\n");
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    chprintf(chp, "Choose one of the following types:\n");
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    chprintf(chp, "  hex - one byte as hexadecimal value\n");
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    chprintf(chp, "  u8  - unsigned integer (8 bit)\n");
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    chprintf(chp, "  u16 - unsigned integer (16 bit)\n");
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    chprintf(chp, "  u32 - unsigned integer (32 bit)\n");
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    chprintf(chp, "  s8  - signed integer (8 bit)\n");
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    chprintf(chp, "  s16 - signed integer (16 bit)\n");
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    chprintf(chp, "  s32 - signed integer (32 bit)\n");
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    chprintf(chp, "\tstart\n");
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    chprintf(chp, "The first byte to read from the memory.\n");
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    chprintf(chp, "\tcount [default = 1]\n");
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    chprintf(chp, "The number of elements to read.\n");
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    chprintf(chp, "\n");
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    chprintf(chp, "\tNOTE\n");
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    chprintf(chp, "Type conversions of this function might fail.\n");
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    chprintf(chp, "If so, use type=hex and convert by hand.\n");
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    chprintf(chp, "\n");
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    return;
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  }
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  uint8_t type_size = 0;
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  Type type = HEX;
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  if (strcmp(argv[0],"hex") == 0) {
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    type_size = sizeof(unsigned char);
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    type = HEX;
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  } else if(strcmp(argv[0],"u8") == 0) {
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    type_size = sizeof(uint8_t);
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    type = U8;
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  } else if(strcmp(argv[0],"u16") == 0) {
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    type_size = sizeof(uint16_t);
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    type = U16;
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  } else if(strcmp(argv[0],"u32") == 0) {
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    type_size = sizeof(uint32_t);
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    type = U32;
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  } else if(strcmp(argv[0],"s8") == 0) {
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    type_size = sizeof(int8_t);
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    type = S8;
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  } else if(strcmp(argv[0],"s16") == 0) {
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    type_size = sizeof(int16_t);
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    type = S16;
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  } else if(strcmp(argv[0],"s32") == 0) {
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    type_size = sizeof(int32_t);
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    type = S32;
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  } else {
196
    chprintf(chp, "First argument invalid. Use 'get_memory_data help' for help.\n");
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    return;
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  }
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  unsigned int start_byte = atoi(argv[1]);
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  unsigned int num_elements = 1;
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  if (argc >= 3)
204
    num_elements = atoi(argv[2]);
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  const size_t eeprom_size = EEPROM::getsize(&global.at24c01);
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  uint8_t buffer[eeprom_size];
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  if (start_byte + (type_size * num_elements) > eeprom_size) {
209
    num_elements = (eeprom_size - start_byte) / type_size;
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    chprintf(chp, "Warning: request exceeds eeprom size -> limiting to %u values.\n", num_elements);
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  }
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  chFileStreamSeek((BaseFileStream*)&global.at24c01, start_byte);
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  // Work around, because stm32f1 cannot read a single byte
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  if (type_size*num_elements < 2)
217
    type_size = 2;
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219
  uint32_t bytes_read = chSequentialStreamRead((BaseFileStream*)&global.at24c01, buffer, type_size*num_elements);
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  if (bytes_read != type_size*num_elements)
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    chprintf(chp, "Warning: %u of %u requested bytes were read.\n", bytes_read, type_size*num_elements);
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  for (unsigned int i = 0; i < num_elements; ++i) {
225
    switch (type) {
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      case HEX:
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        chprintf(chp, "%02X ", buffer[i]);
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        break;
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      case U8:
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        chprintf(chp, "%03u ", ((uint8_t*)buffer)[i]);
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        break;
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      case U16:
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        chprintf(chp, "%05u ", ((uint16_t*)buffer)[i]);
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        break;
235
      case U32:
236
        chprintf(chp, "%010u ", ((uint32_t*)buffer)[i]);
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        break;
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      case S8:
239
        chprintf(chp, "%+03d ", ((int8_t*)buffer)[i]);
240
        break;
241
      case S16:
242
        chprintf(chp, "%+05d ", ((int16_t*)buffer)[i]);
243
        break;
244
      case S32:
245
        chprintf(chp, "%+010d ", ((int32_t*)buffer)[i]);
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        break;
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      default:
248
        break;
249
    }
250
  }
251
  chprintf(chp, "\n");
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253
  return;
254
}
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256
void shellRequestSetLights(BaseSequentialStream *chp, int argc, char *argv[]) {
257
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  if (argc < 2 || argc == 3 ||strcmp(argv[0],"help") == 0) {
259
    chprintf(chp, "\tUSAGE:\n");
260
    chprintf(chp, "> set_lights <led mask> <white/red> [<green> <blue>]\n");
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    chprintf(chp, "\n");
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    chprintf(chp, "\tled mask\n");
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    chprintf(chp, "The LEDs to be set.\n");
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    chprintf(chp, "You can set multiple LEDs at once by adding the following values:\n");
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    chprintf(chp, "  0x01 - rear left LED (SSW)\n");
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    chprintf(chp, "  0x02 - left rear LED (WSW)\n");
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    chprintf(chp, "  0x04 - left front LED (WNW)\n");
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    chprintf(chp, "  0x08 - front left LED (NNW)\n");
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    chprintf(chp, "  0x10 - front right LED (NNE)\n");
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    chprintf(chp, "  0x20 - right front LED (ENE)\n");
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    chprintf(chp, "  0x40 - right rear LED (ESE)\n");
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    chprintf(chp, "  0x80 - rear right LED (SSE)\n");
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    chprintf(chp, "\twhite/red\n");
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    chprintf(chp, "If no optional argument is given, this arguments sets the white value of the selected LEDs.\n");
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    chprintf(chp, "Otherwise this arguments sets the red color channel value.\n");
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    chprintf(chp, "\tgreen\n");
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    chprintf(chp, "Sets the green color channel value.\n");
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    chprintf(chp, "\tblue\n");
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    chprintf(chp, "Sets the blue color channel value.\n");
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    chprintf(chp, "\n");
281
    chprintf(chp, "\tExample:\n");
282
    chprintf(chp, "This line will set the two most left and two most right LEDs to bright cyan.\n");
283
    chprintf(chp, "> set_lights 0x66 0 255 255\n");
284
    chprintf(chp, "\n");
285
    return;
286
  }
287
288
  int arg_mask = strtol(argv[0], NULL, 0);
289
  int red = strtol(argv[1], NULL, 0);
290
  int green = red;
291
  int blue = red;
292
  if (argc >= 4) {
293
    green = strtol(argv[2], NULL, 0);
294
    blue = strtol(argv[3], NULL, 0);
295
  }
296
  Color color(red, green, blue);
297
298
  if (arg_mask & 0x01) {
299
    global.robot.setLightColor(constants::LightRing::LED_SSW, color);
300
  }
301
  if (arg_mask & 0x02) {
302
    global.robot.setLightColor(constants::LightRing::LED_WSW, color);
303
  }
304
  if (arg_mask & 0x04) {
305
    global.robot.setLightColor(constants::LightRing::LED_WNW, color);
306
  }
307
  if (arg_mask & 0x08) {
308
    global.robot.setLightColor(constants::LightRing::LED_NNW, color);
309
  }
310
  if (arg_mask & 0x10) {
311
    global.robot.setLightColor(constants::LightRing::LED_NNE, color);
312
  }
313
  if (arg_mask & 0x20) {
314
    global.robot.setLightColor(constants::LightRing::LED_ENE, color);
315
  }
316
  if (arg_mask & 0x40) {
317
    global.robot.setLightColor(constants::LightRing::LED_ESE, color);
318
  }
319
  if (arg_mask & 0x80) {
320
    global.robot.setLightColor(constants::LightRing::LED_SSE, color);
321
  }
322
323
  return;
324
}
325
326
void boardPeripheryCheck(BaseSequentialStream *chp) {
327
  msg_t result;
328
  chprintf(chp, "\nCHECK: START\n");
329
  // Check the accelerometer
330
  result = global.lis331dlh.getCheck();
331
  if (result == global.lis331dlh.CHECK_OK)
332
    chprintf(chp, "LIS331DLH: OK\n");
333
  else
334
    chprintf(chp, "LIS331DLH: FAIL\n");
335
336
  // Self-test accelerometer
337
//  lis331dlh.printSelfTest(NULL);
338
339
  // Check the eeprom
340
  result = global.memory.getCheck();
341
  if ( result != global.memory.OK)
342
    chprintf(chp, "Memory Structure: FAIL\n");
343
  else
344
    chprintf(chp, "Memory Structure: OK\n");
345
346
  // Check the gyroscope
347
  result = global.l3g4200d.getCheck();
348
  if (result == global.l3g4200d.CHECK_OK)
349
    chprintf(chp, "L3G4200D: OK\n");
350
  else
351
    chprintf(chp, "L3G4200D: FAIL\n");
352
353
  // Check the magnetometer
354
  result = global.hmc5883l.getCheck();
355
  if (result == global.hmc5883l.CHECK_OK)
356
    chprintf(chp, "HMC5883L: OK\n");
357
  else
358
    chprintf(chp, "HMC5883L: FAIL\n");
359
360
  // Check the MUX
361
  result = global.HW_PCA9544.getCheck();
362
  if (result == global.HW_PCA9544.CHECK_OK)
363
    chprintf(chp, "PCA9544: OK\n");
364
  else
365
    chprintf(chp, "PCA9544: FAIL\n");
366
367
  // Check the power monitor
368
  chprintf(chp, "INA219:\tVDD (3.3V):\n");
369
  result = global.ina219.selftest();
370
  if (result == BaseSensor<>::NOT_IMPLEMENTED)
371
    chprintf(chp, "->\tnot implemented\n");
372
  else if (result != INA219::Driver::ST_OK)
373
    chprintf(chp, "->\tFAIL (error code 0x%02X)\n", result);
374
  else
375
    chprintf(chp, "->\tOK\n");
376
377
  // Check the proximitysensors
378
  for (uint8_t i = 0x00; i < global.vcnl4020.size(); i++) {
379
    result = global.vcnl4020[i].getCheck();
380
    if (result == global.vcnl4020[i].CHECK_OK)
381
      chprintf(chp, "VCNL4020: %d OK\n", i);
382
    else
383
      chprintf(chp, "VCNL4020: %d FAIL\n", i);
384
  }
385
  chprintf(chp, "CHECK: FINISH\n");
386
}
387
388
void shellRequestCheck(BaseSequentialStream *chp, int __unused argc, char __unused *argv[]) {
389
  chprintf(chp, "shellRequestCheck\n");
390
  boardPeripheryCheck(chp);
391
}
392
393
void shellRequestResetMemory(BaseSequentialStream *chp, int __unused argc, char __unused *argv[]) {
394
  chprintf(chp, "shellRequestInitMemory\n");
395
396
  msg_t res = global.memory.resetMemory();
397
  if ( res != global.memory.OK)
398
    chprintf(chp, "Memory Init: FAIL\n");
399
  else
400
    chprintf(chp, "Memory Init: OK\n");
401
}
402
403
void shellRequestGetBoardId(BaseSequentialStream *chp, int __unused argc, char __unused *argv[]) {
404
  chprintf(chp, "shellRequestGetBoardId\n");
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
    int vcnl4020AmbientLight[4];
706
    int vcnl4020Proximity[4];
707
    int rounds = 1;
708
    int proxyL = 0;
709
    int proxyR = 0;
710
    int maxDelta = 0;
711
 
712
  if (argc == 1){
713
    chprintf(chp, "Test %i rounds \n", atoi(argv[0]));
714
    rounds = atoi(argv[0]);
715
    
716
  }else{
717
    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");
718
    return;
719
  }
720 af93a91c galberding
  for (uint8_t led = 0; led < 8; ++led) {
721
    global.robot.setLightColor(led, Color(Color::BLACK));
722
  }
723 12463563 galberding
724
  for (int j = 0; j < rounds; j++) {
725
    for (int i = 0; i < 4; i++) {
726
        vcnl4020AmbientLight[i] = global.vcnl4020[i].getAmbientLight();
727
        vcnl4020Proximity[i] = global.vcnl4020[i].getProximityScaledWoOffset();
728
    }
729 af93a91c galberding
    global.robot.setLightColor(j % 8, Color(Color::BLACK));
730
    global.robot.setLightColor(j+1 % 8, Color(Color::WHITE));
731 12463563 galberding
    int delta = abs(vcnl4020Proximity[constants::DiWheelDrive::PROX_FRONT_LEFT]
732
                  - vcnl4020Proximity[constants::DiWheelDrive::PROX_FRONT_RIGHT]);
733
    // Update proximity thresh
734
    if (delta > maxDelta) {
735 af93a91c galberding
      for (uint8_t led = 0; led < 8; ++led) {
736
        global.robot.setLightColor(led, Color(Color::GREEN));
737
      }
738 12463563 galberding
      maxDelta = delta;
739
      proxyL = vcnl4020Proximity[constants::DiWheelDrive::PROX_FRONT_LEFT];
740
      proxyR = vcnl4020Proximity[constants::DiWheelDrive::PROX_FRONT_RIGHT];
741
    }
742
743
    // if (vcnl4020Proximity[constants::DiWheelDrive::PROX_FRONT_RIGHT] > proxyR && vcnl4020Proximity[constants::DiWheelDrive::PROX_FRONT_LEFT] > proxyL ){
744
    //   delta *= -1;
745
    // }
746
747
    chprintf(chp,"FL: 0x%x, FR: 0x%x, Delta: %d, ProxyL: %x, ProxyR: %x, MaxDelta: %d\n", 
748
                  vcnl4020Proximity[constants::DiWheelDrive::PROX_FRONT_LEFT],
749
                  vcnl4020Proximity[constants::DiWheelDrive::PROX_FRONT_RIGHT],
750
                  delta,
751
                  proxyL,
752
                  proxyR,
753
                  maxDelta);
754
    // sleep(CAN::UPDATE_PERIOD);
755
    BaseThread::sleep(CAN::UPDATE_PERIOD);
756
  }
757
  chprintf(chp,"Sensors Calibrated: MaxDelta: %d, FL: 0x%x, FR: 0x%d\n", maxDelta, proxyL, proxyR);
758
759
  global.threshProxyL = proxyL;
760
  global.threshProxyR = proxyR;
761
  return;
762
}
763
764
765
766
void proxySensorData(BaseSequentialStream *chp, int argc, char *argv[]) {
767 af93a91c galberding
  uint16_t vcnl4020AmbientLight[4];
768
  uint16_t vcnl4020Proximity[4];
769
  uint16_t rounds = 1;
770
  uint16_t proxyL = global.threshProxyL;
771
  uint16_t proxyR = global.threshProxyR;
772
  uint16_t maxDelta = 0;
773 12463563 galberding
 
774
  if (argc == 1){
775
    chprintf(chp, "Test %i rounds \n", atoi(argv[0]));
776
    rounds = atoi(argv[0]);
777
    
778
  }
779 af93a91c galberding
 
780 12463563 galberding
781
  for (int j = 0; j < rounds; j++) {
782
    for (int i = 0; i < 4; i++) {
783
        vcnl4020AmbientLight[i] = global.vcnl4020[i].getAmbientLight();
784
        vcnl4020Proximity[i] = global.vcnl4020[i].getProximityScaledWoOffset();
785
    }
786
787 af93a91c galberding
    uint16_t delta = (vcnl4020Proximity[constants::DiWheelDrive::PROX_FRONT_LEFT]
788 12463563 galberding
                  - vcnl4020Proximity[constants::DiWheelDrive::PROX_FRONT_RIGHT]);
789
    // // Update proximity thresh
790
    // if (delta > maxDelta) {
791
    //   maxDelta = delta;
792
    //   proxyL = vcnl4020Proximity[constants::DiWheelDrive::PROX_FRONT_LEFT];
793
    //   proxyR = vcnl4020Proximity[constants::DiWheelDrive::PROX_FRONT_RIGHT];
794
    // }
795
796 af93a91c galberding
    // if (vcnl4020Proximity[constants::DiWheelDrive::PROX_FRONT_RIGHT] > proxyR && vcnl4020Proximity[constants::DiWheelDrive::PROX_FRONT_LEFT] > proxyL ){
797
    //   delta *= -1;
798
    // }
799 12463563 galberding
800 af93a91c galberding
    chprintf(chp,"WL:%d,FL:%d,FR:%d,WR:%d,Delta:%d\n", 
801 12463563 galberding
                  vcnl4020Proximity[constants::DiWheelDrive::PROX_WHEEL_LEFT],
802
                  vcnl4020Proximity[constants::DiWheelDrive::PROX_FRONT_LEFT],
803
                  vcnl4020Proximity[constants::DiWheelDrive::PROX_FRONT_RIGHT],
804
                  vcnl4020Proximity[constants::DiWheelDrive::PROX_WHEEL_RIGHT],
805
                  delta);
806
    // sleep(CAN::UPDATE_PERIOD);
807
    BaseThread::sleep(CAN::UPDATE_PERIOD);
808
  }
809 af93a91c galberding
  // chprintf(chp,"Summary: MaxDelta: %d, FL: %x, FR: %d\n", maxDelta, proxyL, proxyR);
810 12463563 galberding
  return;
811
}
812
813
814
815 af93a91c galberding
void zieglerMeth2(BaseSequentialStream *chp, int argc, char *argv[]) {
816
  int vcnl4020AmbientLight[4];
817
  int vcnl4020Proximity[4];
818
  int rpmSpeed[2] = {0};
819
  int steps = 0;
820
  int proxyL = global.threshProxyL;
821
  int proxyR = global.threshProxyR;
822
  int maxDelta = 0;
823
  float KCrit = 0.0f;
824
  LineFollow lf(&global);
825
 
826
  if (argc == 2){
827
    chprintf(chp, "KCrti %f\n", atof(argv[0]));
828
    chprintf(chp, "Steps %i\n", atoi(argv[1]));
829
    KCrit = atof(argv[0]);
830
    steps = atoi(argv[1]);
831
  } else{
832
    chprintf(chp, "Usage: dev_ziegler2 <K_crit> <steps>");
833
    return;
834
  }
835
  // global.motorcontrol.setTargetRPM(rpmSpeed[constants::DiWheelDrive::LEFT_WHEEL] * 1000000, rpmSpeed[constants::DiWheelDrive::RIGHT_WHEEL] * 1000000);
836
  
837
  for(int s=0; s < steps; s++){
838
    chprintf(chp,"S:%d,",s);
839
    lf.calibrateZiegler(KCrit, rpmSpeed);
840
841
    global.motorcontrol.setTargetRPM(rpmSpeed[constants::DiWheelDrive::LEFT_WHEEL] * 1000000, rpmSpeed[constants::DiWheelDrive::RIGHT_WHEEL] * 1000000);
842
    BaseThread::sleep(CAN::UPDATE_PERIOD);
843
  }
844
  global.motorcontrol.setTargetRPM(0,0);
845
}
846
847
848 58fe0e0b Thomas Schöpping
static const ShellCommand commands[] = {
849
  {"shutdown", shellRequestShutdown},
850
  {"wakeup", shellRequestWakeup},
851
  {"check", shellRequestCheck},
852
  {"reset_memory", shellRequestResetMemory},
853
  {"get_board_id", shellRequestGetBoardId},
854
  {"set_board_id", shellRequestSetBoardId},
855
  {"get_memory_data", shellRequestGetMemoryData},
856
  {"get_vcnl", shellRequestGetVcnl},
857
  {"calib_vcnl_offset", shellRequestCalib},
858
  {"set_vcnl_offset", shellRequestSetVcnlOffset},
859
  {"reset_vcnl_offset", shellRequestResetVcnlOffset},
860
  {"get_vcnl_offset", shellRequestGetVcnlOffset},
861
  {"reset_Ed_Eb", shellRequestResetCalibrationConstants},
862
  {"get_Ed_Eb", shellRequestGetCalibrationConstants},
863
  {"set_Ed_Eb", shellRequestSetCalibrationConstants},
864
  {"get_robot_id", shellRequestGetRobotId},
865
  {"get_system_load", shellRequestGetSystemLoad},
866
  {"set_lights", shellRequestSetLights},
867
  {"shell_board", shellSwitchBoardCmd},
868
  {"get_bootloader_info", shellRequestGetBootloaderInfo},
869
  {"motor_drive", shellRequestMotorDrive},
870
  {"motor_stop", shellRequestMotorStop},
871
  {"motor_calibrate", shellRequestMotorCalibrate},
872
  {"motor_getGains", shellRequestMotorGetGains},
873 ff7ad65b Thomas Schöpping
  {"motor_resetGains", shellRequestMotorResetGains},
874 12463563 galberding
  {"dev_proxi_sensor_data", proxySensorData},
875 af93a91c galberding
  {"dev_ziegler2", zieglerMeth2},
876
  // TODO: Stop user process from execution to finish/force calibration before anything starts
877
  {"calibrate_line", calibrateLineSensores}, 
878 58fe0e0b Thomas Schöpping
  {NULL, NULL}
879
};
880
881
static const ShellConfig shell_cfg1 = {
882
  (BaseSequentialStream *) &global.sercanmux1,
883
  commands
884
};
885
886
void initPowermonitor(INA219::Driver &ina219, const float shuntResistance_O, const float maxExpectedCurrent_A, const uint16_t currentLsb_uA)
887
{
888
  INA219::CalibData calibData;
889
  INA219::InitData initData;
890
891
  calibData.input.configuration.content.brng = INA219::Configuration::BRNG_16V;
892
  calibData.input.configuration.content.pg = INA219::Configuration::PGA_40mV;
893
  calibData.input.configuration.content.badc = INA219::Configuration::ADC_68100us;
894
  calibData.input.configuration.content.sadc = INA219::Configuration::ADC_68100us;
895
  calibData.input.configuration.content.mode = INA219::Configuration::MODE_ShuntBus_Continuous;
896
  calibData.input.shunt_resistance_O = shuntResistance_O;
897
  calibData.input.max_expected_current_A = maxExpectedCurrent_A;
898
  calibData.input.current_lsb_uA = currentLsb_uA;
899
  if (ina219.calibration(&calibData) != BaseSensor<>::SUCCESS)
900
  {
901
    chprintf((BaseSequentialStream*)&SD1, "WARNING: calibration of INA219 failed.\n");
902
  }
903
904
  initData.configuration.value = calibData.input.configuration.value;
905
  initData.calibration = calibData.output.calibration_value;
906
  initData.current_lsb_uA = calibData.output.current_lsb_uA;
907
  if (ina219.init(&initData) != BaseSensor<>::SUCCESS)
908
  {
909
    chprintf((BaseSequentialStream*)&SD1, "WARNING: initialization of INA219 failed.\n");
910
  }
911
912
  if (calibData.input.current_lsb_uA != initData.current_lsb_uA)
913
  {
914
    chprintf((BaseSequentialStream*)&SD1, "NOTE: LSB for current measurement was limited when initializing INA219 (%u -> %u)", calibData.input.current_lsb_uA, initData.current_lsb_uA);
915
  }
916
917
  return;
918
}
919
920
/*
921
 * Application entry point.
922
 */
923
int main(void) {
924
925
//  int16_t accel;
926
  Thread *shelltp = NULL;
927
928
  /*
929
   * System initializations.
930
   * - HAL initialization, this also initializes the configured device drivers
931
   *   and performs the board-specific initializations.
932
   * - Kernel initialization, the main() function becomes a thread and the
933
   *   RTOS is active.
934
   */
935
  halInit();
936
  qeiInit();
937
  System::init();
938
939
//  boardWakeup();
940
//  boardWriteIoPower(1);
941
942
  /*
943
   * Activates the serial driver 2 using the driver default configuration.
944
   */
945
  sdStart(&SD1, &global.sd1_config);
946
947
  chprintf((BaseSequentialStream*) &SD1, "\n");
948
  chprintf((BaseSequentialStream*) &SD1, BOARD_NAME " " BOARD_VERSION "\n");
949 10687985 Thomas Schöpping
  switch (*((uint32_t*)(BL_CALLBACK_TABLE_ADDR))) {
950
    case (('A'<<24) | ('-'<<16) | ('B'<<8) | ('L'<<0)):
951
      chprintf((BaseSequentialStream*) &SD1, "Bootloader %u.%u.%u\n",
952
               ((blVersion_t*)(BL_CALLBACK_TABLE_ADDR + (1*4)))->major,
953
               ((blVersion_t*)(BL_CALLBACK_TABLE_ADDR + (1*4)))->minor,
954
               ((blVersion_t*)(BL_CALLBACK_TABLE_ADDR + (1*4)))->patch);
955
      break;
956
957
    case BL_MAGIC_NUMBER:
958
      chprintf((BaseSequentialStream*) &SD1, "Bootloader %u.%u.%u\n",
959
               *((uint32_t*)(BL_CALLBACK_TABLE_ADDR + (1*4))),
960
               *((uint32_t*)(BL_CALLBACK_TABLE_ADDR + (1*4))),
961
               *((uint32_t*)(BL_CALLBACK_TABLE_ADDR + (1*4))));
962
      break;
963
964
    default:
965
      chprintf((BaseSequentialStream*) &SD1, "Bootloader incompatible\n");
966
      break;
967 58fe0e0b Thomas Schöpping
  }
968
  chprintf((BaseSequentialStream*) &SD1, "ChibiOS " CH_KERNEL_VERSION "\n");
969
  // make sure that the info text is completetly printed
970
  BaseThread::sleep(10);
971
972
  extStart(&EXTD1, &extcfg);
973
974
  /*
975
   * Wait for a certain amount of time, so that the PowerBoard can activate
976
   * the IO voltages for the I2C Bus
977
   */
978
  BaseThread::sleep(MS2ST(2000));
979
980 b4885314 Thomas Schöpping
  boardClearI2CBus(GPIOB_COMPASS_SCL, GPIOB_COMPASS_SDA);
981
  boardClearI2CBus(GPIOB_IR_SCL, GPIOB_IR_SDA);
982 58fe0e0b Thomas Schöpping
983
  global.HW_I2C1.start(&global.i2c1_config);
984
  global.HW_I2C2.start(&global.i2c2_config);
985
986
  global.memory.init();
987
988
  uint8_t i = 0;
989
  if (global.memory.getBoardId(&i) == fileSystemIo::FileSystemIoBase::OK) {
990
    chprintf((BaseSequentialStream*) &SD1, "Board ID: %u\n", i);
991
  } else {
992
    chprintf((BaseSequentialStream*) &SD1, "Error reading board ID\n");
993
  }
994
  chprintf((BaseSequentialStream*) &SD1, "\n");
995
996
  initPowermonitor(global.ina219, 0.1f, 0.075f, 10);
997
998
  for (i = 0x00u; i < global.vcnl4020.size(); i++) {
999
    uint16_t buffer;
1000
    global.memory.getVcnl4020Offset(&buffer,i);
1001
    global.vcnl4020[i].setProximityOffset(buffer);
1002
    global.vcnl4020[i].start(NORMALPRIO);
1003
  }
1004
1005
  global.ina219.start(NORMALPRIO);
1006
1007
  global.hmc5883l.start(NORMALPRIO + 8);
1008
1009
  global.increments.start();  // Start the qei driver
1010
1011 f336542d Timo Korthals
  // Start the three axes gyroscope
1012
  global.l3g4200d.configure(&global.gyro_run_config);
1013
  global.l3g4200d.start(NORMALPRIO+5);
1014
1015 58fe0e0b Thomas Schöpping
  global.odometry.start(NORMALPRIO + 20);
1016
1017
  global.robot.start(HIGHPRIO - 1);
1018
1019
  global.motorcontrol.start(NORMALPRIO + 7);
1020
1021
  global.distcontrol.start(NORMALPRIO + 9);
1022
1023
  // Set target velocity
1024
  types::kinematic velocity;
1025
  velocity.x = 0; // E.g.  "100*1e3" equals "10 cm/s"
1026
  velocity.w_z = 0; // E.g. "2*1e6" equals "2 rad/s"
1027
  global.motorcontrol.setTargetSpeed(velocity);
1028
1029
  // Start the three axes linear accelerometer
1030
  global.lis331dlh.configure(&global.accel_run_config);
1031
  global.lis331dlh.start(NORMALPRIO+4);
1032
1033
  // Start the user thread
1034
  global.userThread.start(NORMALPRIO);
1035
1036
  /* let the SYS_SYNC_N pin go, to signal that the initialization of the module is done */
1037
  palWritePad(GPIOC, GPIOC_SYS_INT_N, PAL_HIGH);
1038
1039
  /* wait until all modules are done */
1040
  while (palReadPad(GPIOC, GPIOC_SYS_INT_N) == PAL_LOW) {
1041
    continue;
1042
  }
1043
1044
  while (true) {
1045
1046
    if (!shelltp)
1047
      shelltp = shellCreate(&shell_cfg1, THD_WA_SIZE(1024), NORMALPRIO);
1048
    else if (chThdTerminated(shelltp)) {
1049
      chThdRelease(shelltp);    /* Recovers memory of the previous shell. */
1050
      shelltp = NULL;           /* Triggers spawning of a new shell.      */
1051
    }
1052
1053
    // Let the LED just blink as an alive signal
1054
    boardWriteLed(1);
1055
    BaseThread::sleep(MS2ST(250));
1056
    boardWriteLed(0);
1057
    BaseThread::sleep(MS2ST(250));
1058
1059
    if (shutdown_now != SHUTDOWN_NONE) {
1060 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)) {
1061 58fe0e0b Thomas Schöpping
        chprintf((BaseSequentialStream*) &SD1, "ERROR: unable to shut down (bootloader deprecated).\n");
1062
        shutdown_now = SHUTDOWN_NONE;
1063
      } else {
1064
        uint32_t blCallbackPtrAddr = BL_CALLBACK_TABLE_ADDR;
1065 10687985 Thomas Schöpping
        // handle bootloader version 0.2.x
1066
        if ((*((uint32_t*)(BL_CALLBACK_TABLE_ADDR)) == BL_MAGIC_NUMBER) &&
1067
            (*((uint32_t*)(BL_CALLBACK_TABLE_ADDR + (1*4))) == 0 && *((uint32_t*)(BL_CALLBACK_TABLE_ADDR + (2*4))) == 2)) {
1068 58fe0e0b Thomas Schöpping
          switch (shutdown_now) {
1069
            case SHUTDOWN_TRANSPORTATION:
1070
              blCallbackPtrAddr += 6 * 4;
1071
              break;
1072
            case SHUTDOWN_DEEPSLEEP:
1073
              blCallbackPtrAddr += 5 * 4;
1074
              break;
1075
            case SHUTDOWN_HIBERNATE:
1076
              blCallbackPtrAddr += 4 * 4;
1077
              break;
1078
            case SHUTDOWN_HANDLE_REQUEST:
1079
            case SHUTDOWN_RESTART:
1080
              blCallbackPtrAddr += 10 * 4;
1081
              break;
1082
            default:
1083
              blCallbackPtrAddr = 0;
1084
              break;
1085
          }
1086 10687985 Thomas Schöpping
        }
1087
        // handle bootloader version 0.3.x
1088
        else if ((*((uint32_t*)(BL_CALLBACK_TABLE_ADDR)) == BL_MAGIC_NUMBER) &&
1089
                 (*((uint32_t*)(BL_CALLBACK_TABLE_ADDR + (1*4))) == 0 && *((uint32_t*)(BL_CALLBACK_TABLE_ADDR + (2*4))) == 3)) {
1090
          switch (shutdown_now) {
1091
            case SHUTDOWN_TRANSPORTATION:
1092
              blCallbackPtrAddr += 6 * 4;
1093
              break;
1094
            case SHUTDOWN_DEEPSLEEP:
1095
              blCallbackPtrAddr += 5 * 4;
1096
              break;
1097
            case SHUTDOWN_HIBERNATE:
1098
              blCallbackPtrAddr += 4 * 4;
1099
              break;
1100
            case SHUTDOWN_RESTART:
1101
              blCallbackPtrAddr += 7 * 4;
1102
              break;
1103
            case SHUTDOWN_HANDLE_REQUEST:
1104
              blCallbackPtrAddr += 8 * 4;
1105
              break;
1106
            default:
1107
              blCallbackPtrAddr = 0;
1108
              break;
1109
          }
1110
        }
1111 5b1b6715 Thomas Schöpping
        // handle bootloader version 1.0.x and 1.1.x
1112 10687985 Thomas Schöpping
        else if ((*((uint32_t*)(BL_CALLBACK_TABLE_ADDR)) == (('A'<<24) | ('-'<<16) | ('B'<<8) | ('L'<<0))) &&
1113 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)) {
1114 58fe0e0b Thomas Schöpping
          switch (shutdown_now) {
1115
            case SHUTDOWN_TRANSPORTATION:
1116
              blCallbackPtrAddr += 6 * 4;
1117
              break;
1118
            case SHUTDOWN_DEEPSLEEP:
1119
              blCallbackPtrAddr += 5 * 4;
1120
              break;
1121
            case SHUTDOWN_HIBERNATE:
1122
              blCallbackPtrAddr += 4 * 4;
1123
              break;
1124
            case SHUTDOWN_RESTART:
1125
              blCallbackPtrAddr += 7 * 4;
1126
              break;
1127
            case SHUTDOWN_HANDLE_REQUEST:
1128
              blCallbackPtrAddr += 8 * 4;
1129
              break;
1130
            default:
1131
              blCallbackPtrAddr = 0;
1132
              break;
1133
          }
1134
        }
1135
1136
        void (*blCallback)(void) = NULL;
1137 10687985 Thomas Schöpping
        if (blCallbackPtrAddr > BL_CALLBACK_TABLE_ADDR) {
1138 58fe0e0b Thomas Schöpping
          blCallback = (void (*)(void))(*((uint32_t*)blCallbackPtrAddr));
1139
1140
          if (!blCallback) {
1141
            chprintf((BaseSequentialStream*) &SD1, "ERROR: Requested shutdown not supported.\n");
1142
            shutdown_now = SHUTDOWN_NONE;
1143
          } else {
1144
            chprintf((BaseSequentialStream*)&SD1, "initiating shutdown sequence...\n");
1145
            palWritePad(GPIOC, GPIOC_SYS_INT_N, PAL_LOW);
1146
            palWritePad(GPIOC, GPIOC_SYS_PD_N, PAL_LOW);
1147
1148
            chprintf((BaseSequentialStream*)&SD1, "stopping all threads and periphery...");
1149
            systemShutdown();
1150
            chprintf((BaseSequentialStream*)&SD1, "\tdone\n");
1151
            BaseThread::sleep(MS2ST(10)); // sleep to print everything
1152
1153
            blCallback();
1154
          }
1155
1156
        } else {
1157
          chprintf((BaseSequentialStream*) &SD1, "ERROR: invalid shutdown requested (%u).\n", shutdown_now);
1158
          shutdown_now = SHUTDOWN_NONE;
1159
        }
1160
      }
1161
1162
//    for (uint8_t i = LIS331DLH::AXIS_X; i <= LIS331DLH::AXIS_Z; i++) {
1163
//        accel = lis331dlh.getAcceleration(i);
1164
//        chprintf((BaseSequentialStream*) &SD1, "%c%04X ", accel < 0 ? '-' : '+', accel < 0 ? -accel : accel);
1165
//    }
1166
//
1167
//    chprintf((BaseSequentialStream*) &SD1, "\n");
1168
//
1169
//    // Print out an alive signal
1170
//    chprintf((BaseSequentialStream*) &SD1, ".");
1171
    }
1172
  }
1173
1174
  return 0;
1175
}