amiro-os / devices / DiWheelDrive / main.cpp @ b8b3a9c9
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| 1 | b8b3a9c9 | galberding | #include <cstdint> |
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| 2 | 58fe0e0b | Thomas Schöpping | #define BL_CALLBACK_TABLE_ADDR (0x08000000 + 0x01C0) |
| 3 | #define BL_MAGIC_NUMBER ((uint32_t)0xFF669900u) |
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| 4 | |||
| 5 | #define SHUTDOWN_NONE 0 |
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| 6 | #define SHUTDOWN_TRANSPORTATION 1 |
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| 7 | #define SHUTDOWN_DEEPSLEEP 2 |
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| 8 | #define SHUTDOWN_HIBERNATE 3 |
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| 9 | #define SHUTDOWN_RESTART 4 |
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| 10 | #define SHUTDOWN_HANDLE_REQUEST 5 |
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| 11 | |||
| 12 | #include <ch.hpp> |
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| 13 | |||
| 14 | #include <amiro/util/util.h> |
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| 15 | #include <global.hpp> |
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| 16 | #include <exti.hpp> |
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| 17 | |||
| 18 | #include <chprintf.h> |
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| 19 | #include <shell.h> |
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| 20 | |||
| 21 | b8b3a9c9 | galberding | #include "linefollow.hpp" |
| 22 | #include "amiro_map.hpp" |
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| 23 | 58fe0e0b | Thomas Schöpping | using namespace chibios_rt; |
| 24 | |||
| 25 | Global global; |
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| 26 | |||
| 27 | 10687985 | Thomas Schöpping | struct blVersion_t {
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| 28 | const uint8_t identifier;
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| 29 | const uint8_t major;
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| 30 | const uint8_t minor;
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| 31 | const uint8_t patch;
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| 32 | } __attribute__((packed)); |
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| 33 | |||
| 34 | 58fe0e0b | Thomas Schöpping | void systemShutdown() {
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| 35 | types::kinematic k; |
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| 36 | uint8_t i; |
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| 37 | |||
| 38 | // // make sure we assert SYS_PD_N to delay shutdown until we're done.
|
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| 39 | // boardRequestShutdown();
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| 40 | |||
| 41 | // stop the user thread
|
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| 42 | global.userThread.requestTerminate(); |
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| 43 | global.userThread.wait(); |
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| 44 | |||
| 45 | k.x = 0x00u;
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| 46 | k.w_z = 0x00u;
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| 47 | |||
| 48 | // stop wheels
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| 49 | global.robot.setTargetSpeed(k); |
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| 50 | global.robot.terminate(); |
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| 51 | |||
| 52 | for (i = 0x00; i < global.vcnl4020.size(); i++) { |
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| 53 | global.vcnl4020[i].requestTerminate(); |
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| 54 | global.vcnl4020[i].wait(); |
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| 55 | } |
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| 56 | |||
| 57 | global.ina219.requestTerminate(); |
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| 58 | global.ina219.wait(); |
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| 59 | global.hmc5883l.requestTerminate(); |
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| 60 | global.hmc5883l.wait(); |
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| 61 | global.l3g4200d.requestTerminate(); |
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| 62 | global.l3g4200d.wait(); |
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| 63 | |||
| 64 | global.motorcontrol.requestTerminate(); |
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| 65 | global.motorcontrol.wait(); |
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| 66 | global.odometry.requestTerminate(); |
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| 67 | global.odometry.wait(); |
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| 68 | |||
| 69 | // stop I²C
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| 70 | for (i = 0; i < global.V_I2C2.size(); ++i) |
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| 71 | global.V_I2C2[i].stop(); |
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| 72 | global.HW_I2C2.stop(); |
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| 73 | |||
| 74 | global.lis331dlh.requestTerminate(); |
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| 75 | global.lis331dlh.wait(); |
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| 76 | |||
| 77 | global.lis331dlh.configure(&global.accel_sleep_config); |
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| 78 | // global.lis331dlh.start(NORMALPRIO +4);
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| 79 | |||
| 80 | // boardWriteIoPower(0);
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| 81 | // boardStandby();
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| 82 | |||
| 83 | return;
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| 84 | } |
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| 85 | |||
| 86 | |||
| 87 | //void (*shellcmd_t)(BaseSequentialStream *chp, int argc, char *argv[]);
|
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| 88 | |||
| 89 | void shellRequestShutdown(BaseSequentialStream *chp, int argc, char *argv[]) { |
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| 90 | |||
| 91 | chprintf(chp, "shellRequestShutdown\n");
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| 92 | |||
| 93 | /* if nor argument was given, print some help text */
|
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| 94 | if (argc == 0 || strcmp(argv[0], "help") == 0) { |
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| 95 | chprintf(chp, "\tUSAGE:\n");
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| 96 | chprintf(chp, "> shutdown <type>\n");
|
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| 97 | chprintf(chp, "\n");
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| 98 | chprintf(chp, "\ttype\n");
|
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| 99 | chprintf(chp, "The type of shutdown to perform.\n");
|
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| 100 | chprintf(chp, "Choose one of the following types:\n");
|
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| 101 | chprintf(chp, " transportation - Ultra low-power mode with all wakeups disabled.\n");
|
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| 102 | chprintf(chp, " The robot can not be charged.\n");
|
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| 103 | chprintf(chp, " deepsleep - Ultra low-power mode with several wakeups enabled.\n");
|
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| 104 | chprintf(chp, " The robot can only be charged via the power plug.\n");
|
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| 105 | chprintf(chp, " hibernate - Medium low-power mode, but with full charging capabilities.\n");
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| 106 | chprintf(chp, " restart - Performs a system restart.\n");
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| 107 | chprintf(chp, "Alternatively, you can use the shortcuts 't', 'd', 'h', and 'r' respectively.");
|
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| 108 | chprintf(chp, "\n");
|
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| 109 | return;
|
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| 110 | } |
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| 111 | |||
| 112 | if (strcmp(argv[0],"transportation") == 0 || strcmp(argv[0],"t") == 0) { |
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| 113 | shutdown_now = SHUTDOWN_TRANSPORTATION; |
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| 114 | chprintf(chp, "shutdown to transportation mode initialized\n");
|
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| 115 | } else if (strcmp(argv[0],"deepsleep") == 0 || strcmp(argv[0],"d") == 0) { |
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| 116 | shutdown_now = SHUTDOWN_DEEPSLEEP; |
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| 117 | chprintf(chp, "shutdown to deepsleep mode initialized\n");
|
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| 118 | } else if (strcmp(argv[0],"hibernate") == 0 || strcmp(argv[0],"h") == 0) { |
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| 119 | shutdown_now = SHUTDOWN_HIBERNATE; |
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| 120 | chprintf(chp, "shutdown to hibernate mode initialized\n");
|
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| 121 | } else if (strcmp(argv[0],"restart") == 0 || strcmp(argv[0],"r") == 0) { |
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| 122 | chprintf(chp, "restart initialized\n");
|
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| 123 | shutdown_now = SHUTDOWN_RESTART; |
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| 124 | } else {
|
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| 125 | chprintf(chp, "ERROR: unknown argument!\n");
|
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| 126 | shutdown_now = SHUTDOWN_NONE; |
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| 127 | } |
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| 128 | |||
| 129 | return;
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| 130 | } |
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| 131 | |||
| 132 | void shellRequestWakeup(BaseSequentialStream *chp, int argc, char *argv[]) { |
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| 133 | int i;
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| 134 | chprintf(chp, "shellRequestWakeup\n");
|
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| 135 | |||
| 136 | for (i = 0x00u; i < argc; i++) |
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| 137 | chprintf(chp, "%s\n", argv[i]);
|
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| 138 | |||
| 139 | boardWakeup(); |
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| 140 | } |
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| 141 | |||
| 142 | void shellRequestGetMemoryData(BaseSequentialStream *chp, int argc, char *argv[]) { |
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| 143 | enum Type {HEX, U8, U16, U32, S8, S16, S32};
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| 144 | |||
| 145 | chprintf(chp, "shellRequestReadData\n");
|
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| 146 | |||
| 147 | if (argc < 2 || strcmp(argv[0],"help") == 0) |
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| 148 | {
|
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| 149 | chprintf(chp, "Usage: %s\n","get_memory_data <type> <start> [<count>]"); |
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| 150 | chprintf(chp, "\n");
|
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| 151 | chprintf(chp, "\ttype\n");
|
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| 152 | chprintf(chp, "The data type as which to interpret the data.\n");
|
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| 153 | chprintf(chp, "Choose one of the following types:\n");
|
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| 154 | chprintf(chp, " hex - one byte as hexadecimal value\n");
|
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| 155 | chprintf(chp, " u8 - unsigned integer (8 bit)\n");
|
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| 156 | chprintf(chp, " u16 - unsigned integer (16 bit)\n");
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| 157 | chprintf(chp, " u32 - unsigned integer (32 bit)\n");
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| 158 | chprintf(chp, " s8 - signed integer (8 bit)\n");
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| 159 | chprintf(chp, " s16 - signed integer (16 bit)\n");
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| 160 | chprintf(chp, " s32 - signed integer (32 bit)\n");
|
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| 161 | chprintf(chp, "\tstart\n");
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| 162 | chprintf(chp, "The first byte to read from the memory.\n");
|
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| 163 | chprintf(chp, "\tcount [default = 1]\n");
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| 164 | chprintf(chp, "The number of elements to read.\n");
|
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| 165 | chprintf(chp, "\n");
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| 166 | chprintf(chp, "\tNOTE\n");
|
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| 167 | chprintf(chp, "Type conversions of this function might fail.\n");
|
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| 168 | chprintf(chp, "If so, use type=hex and convert by hand.\n");
|
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| 169 | chprintf(chp, "\n");
|
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| 170 | return;
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| 171 | } |
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| 172 | |||
| 173 | uint8_t type_size = 0;
|
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| 174 | Type type = HEX; |
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| 175 | if (strcmp(argv[0],"hex") == 0) { |
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| 176 | type_size = sizeof(unsigned char); |
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| 177 | type = HEX; |
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| 178 | } else if(strcmp(argv[0],"u8") == 0) { |
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| 179 | type_size = sizeof(uint8_t);
|
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| 180 | type = U8; |
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| 181 | } else if(strcmp(argv[0],"u16") == 0) { |
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| 182 | type_size = sizeof(uint16_t);
|
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| 183 | type = U16; |
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| 184 | } else if(strcmp(argv[0],"u32") == 0) { |
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| 185 | type_size = sizeof(uint32_t);
|
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| 186 | type = U32; |
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| 187 | } else if(strcmp(argv[0],"s8") == 0) { |
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| 188 | type_size = sizeof(int8_t);
|
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| 189 | type = S8; |
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| 190 | } else if(strcmp(argv[0],"s16") == 0) { |
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| 191 | type_size = sizeof(int16_t);
|
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| 192 | type = S16; |
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| 193 | } else if(strcmp(argv[0],"s32") == 0) { |
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| 194 | type_size = sizeof(int32_t);
|
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| 195 | type = S32; |
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| 196 | } else {
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| 197 | chprintf(chp, "First argument invalid. Use 'get_memory_data help' for help.\n");
|
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| 198 | return;
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| 199 | } |
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| 200 | |||
| 201 | unsigned int start_byte = atoi(argv[1]); |
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| 202 | |||
| 203 | unsigned int num_elements = 1; |
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| 204 | if (argc >= 3) |
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| 205 | num_elements = atoi(argv[2]);
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| 206 | |||
| 207 | const size_t eeprom_size = EEPROM::getsize(&global.at24c01);
|
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| 208 | uint8_t buffer[eeprom_size]; |
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| 209 | if (start_byte + (type_size * num_elements) > eeprom_size) {
|
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| 210 | num_elements = (eeprom_size - start_byte) / type_size; |
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| 211 | chprintf(chp, "Warning: request exceeds eeprom size -> limiting to %u values.\n", num_elements);
|
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| 212 | } |
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| 213 | |||
| 214 | chFileStreamSeek((BaseFileStream*)&global.at24c01, start_byte); |
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| 215 | |||
| 216 | // Work around, because stm32f1 cannot read a single byte
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| 217 | if (type_size*num_elements < 2) |
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| 218 | type_size = 2;
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| 219 | |||
| 220 | uint32_t bytes_read = chSequentialStreamRead((BaseFileStream*)&global.at24c01, buffer, type_size*num_elements); |
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| 221 | |||
| 222 | if (bytes_read != type_size*num_elements)
|
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| 223 | chprintf(chp, "Warning: %u of %u requested bytes were read.\n", bytes_read, type_size*num_elements);
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| 224 | |||
| 225 | for (unsigned int i = 0; i < num_elements; ++i) { |
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| 226 | switch (type) {
|
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| 227 | case HEX:
|
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| 228 | chprintf(chp, "%02X ", buffer[i]);
|
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| 229 | break;
|
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| 230 | case U8:
|
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| 231 | chprintf(chp, "%03u ", ((uint8_t*)buffer)[i]);
|
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| 232 | break;
|
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| 233 | case U16:
|
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| 234 | chprintf(chp, "%05u ", ((uint16_t*)buffer)[i]);
|
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| 235 | break;
|
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| 236 | case U32:
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| 237 | chprintf(chp, "%010u ", ((uint32_t*)buffer)[i]);
|
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| 238 | break;
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| 239 | case S8:
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| 240 | chprintf(chp, "%+03d ", ((int8_t*)buffer)[i]);
|
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| 241 | break;
|
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| 242 | case S16:
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| 243 | chprintf(chp, "%+05d ", ((int16_t*)buffer)[i]);
|
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| 244 | break;
|
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| 245 | case S32:
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| 246 | chprintf(chp, "%+010d ", ((int32_t*)buffer)[i]);
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| 247 | break;
|
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| 248 | default:
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| 249 | break;
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| 250 | } |
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| 251 | } |
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| 252 | chprintf(chp, "\n");
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| 253 | |||
| 254 | return;
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| 255 | } |
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| 256 | |||
| 257 | void shellRequestSetLights(BaseSequentialStream *chp, int argc, char *argv[]) { |
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| 258 | |||
| 259 | if (argc < 2 || argc == 3 ||strcmp(argv[0],"help") == 0) { |
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| 260 | chprintf(chp, "\tUSAGE:\n");
|
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| 261 | chprintf(chp, "> set_lights <led mask> <white/red> [<green> <blue>]\n");
|
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| 262 | chprintf(chp, "\n");
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| 263 | chprintf(chp, "\tled mask\n");
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| 264 | chprintf(chp, "The LEDs to be set.\n");
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| 265 | chprintf(chp, "You can set multiple LEDs at once by adding the following values:\n");
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| 266 | chprintf(chp, " 0x01 - rear left LED (SSW)\n");
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| 267 | chprintf(chp, " 0x02 - left rear LED (WSW)\n");
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| 268 | chprintf(chp, " 0x04 - left front LED (WNW)\n");
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| 269 | chprintf(chp, " 0x08 - front left LED (NNW)\n");
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| 270 | chprintf(chp, " 0x10 - front right LED (NNE)\n");
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| 271 | chprintf(chp, " 0x20 - right front LED (ENE)\n");
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| 272 | chprintf(chp, " 0x40 - right rear LED (ESE)\n");
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| 273 | chprintf(chp, " 0x80 - rear right LED (SSE)\n");
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| 274 | chprintf(chp, "\twhite/red\n");
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| 275 | chprintf(chp, "If no optional argument is given, this arguments sets the white value of the selected LEDs.\n");
|
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| 276 | chprintf(chp, "Otherwise this arguments sets the red color channel value.\n");
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| 277 | chprintf(chp, "\tgreen\n");
|
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| 278 | chprintf(chp, "Sets the green color channel value.\n");
|
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| 279 | chprintf(chp, "\tblue\n");
|
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| 280 | chprintf(chp, "Sets the blue color channel value.\n");
|
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| 281 | chprintf(chp, "\n");
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| 282 | chprintf(chp, "\tExample:\n");
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| 283 | chprintf(chp, "This line will set the two most left and two most right LEDs to bright cyan.\n");
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| 284 | chprintf(chp, "> set_lights 0x66 0 255 255\n");
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| 285 | chprintf(chp, "\n");
|
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| 286 | return;
|
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| 287 | } |
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| 288 | |||
| 289 | int arg_mask = strtol(argv[0], NULL, 0); |
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| 290 | int red = strtol(argv[1], NULL, 0); |
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| 291 | int green = red;
|
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| 292 | int blue = red;
|
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| 293 | if (argc >= 4) { |
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| 294 | green = strtol(argv[2], NULL, 0); |
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| 295 | blue = strtol(argv[3], NULL, 0); |
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| 296 | } |
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| 297 | Color color(red, green, blue); |
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| 298 | |||
| 299 | if (arg_mask & 0x01) { |
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| 300 | global.robot.setLightColor(constants::LightRing::LED_SSW, color); |
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| 301 | } |
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| 302 | if (arg_mask & 0x02) { |
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| 303 | global.robot.setLightColor(constants::LightRing::LED_WSW, color); |
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| 304 | } |
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| 305 | if (arg_mask & 0x04) { |
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| 306 | global.robot.setLightColor(constants::LightRing::LED_WNW, color); |
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| 307 | } |
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| 308 | if (arg_mask & 0x08) { |
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| 309 | global.robot.setLightColor(constants::LightRing::LED_NNW, color); |
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| 310 | } |
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| 311 | if (arg_mask & 0x10) { |
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| 312 | global.robot.setLightColor(constants::LightRing::LED_NNE, color); |
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| 313 | } |
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| 314 | if (arg_mask & 0x20) { |
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| 315 | global.robot.setLightColor(constants::LightRing::LED_ENE, color); |
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| 316 | } |
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| 317 | if (arg_mask & 0x40) { |
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| 318 | global.robot.setLightColor(constants::LightRing::LED_ESE, color); |
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| 319 | } |
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| 320 | if (arg_mask & 0x80) { |
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| 321 | global.robot.setLightColor(constants::LightRing::LED_SSE, color); |
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| 322 | } |
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| 323 | |||
| 324 | return;
|
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| 325 | } |
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| 326 | |||
| 327 | void boardPeripheryCheck(BaseSequentialStream *chp) {
|
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| 328 | msg_t result; |
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| 329 | chprintf(chp, "\nCHECK: START\n");
|
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| 330 | // Check the accelerometer
|
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| 331 | result = global.lis331dlh.getCheck(); |
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| 332 | if (result == global.lis331dlh.CHECK_OK)
|
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| 333 | chprintf(chp, "LIS331DLH: OK\n");
|
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| 334 | else
|
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| 335 | chprintf(chp, "LIS331DLH: FAIL\n");
|
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| 336 | |||
| 337 | // Self-test accelerometer
|
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| 338 | // lis331dlh.printSelfTest(NULL);
|
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| 339 | |||
| 340 | // Check the eeprom
|
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| 341 | result = global.memory.getCheck(); |
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| 342 | if ( result != global.memory.OK)
|
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| 343 | chprintf(chp, "Memory Structure: FAIL\n");
|
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| 344 | else
|
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| 345 | chprintf(chp, "Memory Structure: OK\n");
|
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| 346 | |||
| 347 | // Check the gyroscope
|
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| 348 | result = global.l3g4200d.getCheck(); |
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| 349 | if (result == global.l3g4200d.CHECK_OK)
|
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| 350 | chprintf(chp, "L3G4200D: OK\n");
|
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| 351 | else
|
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| 352 | chprintf(chp, "L3G4200D: FAIL\n");
|
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| 353 | |||
| 354 | // Check the magnetometer
|
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| 355 | result = global.hmc5883l.getCheck(); |
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| 356 | if (result == global.hmc5883l.CHECK_OK)
|
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| 357 | chprintf(chp, "HMC5883L: OK\n");
|
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| 358 | else
|
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| 359 | chprintf(chp, "HMC5883L: FAIL\n");
|
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| 360 | |||
| 361 | // Check the MUX
|
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| 362 | result = global.HW_PCA9544.getCheck(); |
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| 363 | if (result == global.HW_PCA9544.CHECK_OK)
|
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| 364 | chprintf(chp, "PCA9544: OK\n");
|
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| 365 | else
|
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| 366 | chprintf(chp, "PCA9544: FAIL\n");
|
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| 367 | |||
| 368 | // Check the power monitor
|
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| 369 | chprintf(chp, "INA219:\tVDD (3.3V):\n");
|
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| 370 | result = global.ina219.selftest(); |
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| 371 | if (result == BaseSensor<>::NOT_IMPLEMENTED)
|
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| 372 | chprintf(chp, "->\tnot implemented\n");
|
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| 373 | else if (result != INA219::Driver::ST_OK) |
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| 374 | chprintf(chp, "->\tFAIL (error code 0x%02X)\n", result);
|
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| 375 | else
|
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| 376 | chprintf(chp, "->\tOK\n");
|
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| 377 | |||
| 378 | // Check the proximitysensors
|
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| 379 | for (uint8_t i = 0x00; i < global.vcnl4020.size(); i++) { |
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| 380 | result = global.vcnl4020[i].getCheck(); |
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| 381 | if (result == global.vcnl4020[i].CHECK_OK)
|
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| 382 | chprintf(chp, "VCNL4020: %d OK\n", i);
|
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| 383 | else
|
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| 384 | chprintf(chp, "VCNL4020: %d FAIL\n", i);
|
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| 385 | } |
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| 386 | chprintf(chp, "CHECK: FINISH\n");
|
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| 387 | } |
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| 388 | |||
| 389 | void shellRequestCheck(BaseSequentialStream *chp, int __unused argc, char __unused *argv[]) { |
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| 390 | chprintf(chp, "shellRequestCheck\n");
|
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| 391 | boardPeripheryCheck(chp); |
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| 392 | } |
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| 393 | |||
| 394 | void shellRequestResetMemory(BaseSequentialStream *chp, int __unused argc, char __unused *argv[]) { |
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| 395 | chprintf(chp, "shellRequestInitMemory\n");
|
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| 396 | |||
| 397 | msg_t res = global.memory.resetMemory(); |
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| 398 | if ( res != global.memory.OK)
|
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| 399 | chprintf(chp, "Memory Init: FAIL\n");
|
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| 400 | else
|
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| 401 | chprintf(chp, "Memory Init: OK\n");
|
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| 402 | } |
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| 403 | |||
| 404 | void shellRequestGetBoardId(BaseSequentialStream *chp, int __unused argc, char __unused *argv[]) { |
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| 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 | 10687985 | Thomas Schöpping | 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 | 58fe0e0b | Thomas Schöpping | } |
| 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 | ff7ad65b | Thomas Schöpping | global.motorcontrol.resetGains(); |
| 677 | chprintf((BaseSequentialStream*)&global.sercanmux1, "motor calibration starts in five seconds...\n");
|
||
| 678 | BaseThread::sleep(MS2ST(5000));
|
||
| 679 | 58fe0e0b | Thomas Schöpping | 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 | ff7ad65b | Thomas Schöpping | void shellRequestMotorResetGains(BaseSequentialStream *chp, int argc, char *argv[]) { |
| 691 | global.motorcontrol.resetGains();; |
||
| 692 | |||
| 693 | return;
|
||
| 694 | } |
||
| 695 | |||
| 696 | 12463563 | galberding | |
| 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 | b8b3a9c9 | galberding | *
|
| 702 | 12463563 | galberding | * Note: invert the threshs to drive on the other edge.
|
| 703 | b8b3a9c9 | galberding | *
|
| 704 | 12463563 | galberding | * */
|
| 705 | 98e7c69b | galberding | void shellRequestCalibrateLineSensores(BaseSequentialStream *chp, int argc, char *argv[]) { |
| 706 | 1b3adcdd | galberding | // int vcnl4020AmbientLight[4];
|
| 707 | 12463563 | galberding | int vcnl4020Proximity[4]; |
| 708 | int rounds = 1; |
||
| 709 | int proxyL = 0; |
||
| 710 | int proxyR = 0; |
||
| 711 | int maxDelta = 0; |
||
| 712 | 22b85da1 | galberding | int sensorL = 0; |
| 713 | int sensorR = 0; |
||
| 714 | b8b3a9c9 | galberding | |
| 715 | 12463563 | galberding | if (argc == 1){ |
| 716 | chprintf(chp, "Test %i rounds \n", atoi(argv[0])); |
||
| 717 | rounds = atoi(argv[0]);
|
||
| 718 | b8b3a9c9 | galberding | |
| 719 | 12463563 | galberding | }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 | af93a91c | galberding | for (uint8_t led = 0; led < 8; ++led) { |
| 724 | global.robot.setLightColor(led, Color(Color::BLACK)); |
||
| 725 | } |
||
| 726 | 12463563 | galberding | |
| 727 | for (int j = 0; j < rounds; j++) { |
||
| 728 | for (int i = 0; i < 4; i++) { |
||
| 729 | 1b3adcdd | galberding | // vcnl4020AmbientLight[i] = global.vcnl4020[i].getAmbientLight();
|
| 730 | 12463563 | galberding | vcnl4020Proximity[i] = global.vcnl4020[i].getProximityScaledWoOffset(); |
| 731 | } |
||
| 732 | af93a91c | galberding | global.robot.setLightColor(j % 8, Color(Color::BLACK));
|
| 733 | global.robot.setLightColor(j+1 % 8, Color(Color::WHITE)); |
||
| 734 | 12463563 | galberding | 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 | af93a91c | galberding | for (uint8_t led = 0; led < 8; ++led) { |
| 739 | global.robot.setLightColor(led, Color(Color::GREEN)); |
||
| 740 | } |
||
| 741 | 12463563 | galberding | maxDelta = delta; |
| 742 | proxyL = vcnl4020Proximity[constants::DiWheelDrive::PROX_FRONT_LEFT]; |
||
| 743 | proxyR = vcnl4020Proximity[constants::DiWheelDrive::PROX_FRONT_RIGHT]; |
||
| 744 | } |
||
| 745 | 22b85da1 | galberding | sensorL += global.vcnl4020[constants::DiWheelDrive::PROX_FRONT_LEFT].getProximityScaledWoOffset(); |
| 746 | sensorR += global.vcnl4020[constants::DiWheelDrive::PROX_FRONT_RIGHT].getProximityScaledWoOffset(); |
||
| 747 | 12463563 | galberding | |
| 748 | // if (vcnl4020Proximity[constants::DiWheelDrive::PROX_FRONT_RIGHT] > proxyR && vcnl4020Proximity[constants::DiWheelDrive::PROX_FRONT_LEFT] > proxyL ){
|
||
| 749 | // delta *= -1;
|
||
| 750 | // }
|
||
| 751 | |||
| 752 | b8b3a9c9 | galberding | chprintf(chp,"FL: 0x%x, FR: 0x%x, Delta: %d, ProxyL: %x, ProxyR: %x, MaxDelta: %d\n",
|
| 753 | 12463563 | galberding | 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 | b8b3a9c9 | galberding | |
| 763 | 12463563 | galberding | |
| 764 | 06c41883 | galberding | 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 | 12463563 | galberding | return;
|
| 768 | } |
||
| 769 | |||
| 770 | |||
| 771 | |||
| 772 | 98e7c69b | galberding | void sellRequestgetBottomSensorData(BaseSequentialStream *chp, int argc, char *argv[]) { |
| 773 | 1b3adcdd | galberding | // uint16_t vcnl4020AmbientLight[4];
|
| 774 | af93a91c | galberding | uint16_t vcnl4020Proximity[4];
|
| 775 | uint16_t rounds = 1;
|
||
| 776 | 1b3adcdd | galberding | // int sensorR = 0;
|
| 777 | 12463563 | galberding | if (argc == 1){ |
| 778 | chprintf(chp, "Test %i rounds \n", atoi(argv[0])); |
||
| 779 | rounds = atoi(argv[0]);
|
||
| 780 | b8b3a9c9 | galberding | |
| 781 | 7f4e10f7 | galberding | } else {
|
| 782 | chprintf(chp, "Usage: dev_proxi_sensor_data <rounds> \n");
|
||
| 783 | 12463563 | galberding | } |
| 784 | 98e7c69b | galberding | global.motorcontrol.setMotorEnable(false);
|
| 785 | 12463563 | galberding | |
| 786 | for (int j = 0; j < rounds; j++) { |
||
| 787 | for (int i = 0; i < 4; i++) { |
||
| 788 | 1b3adcdd | galberding | // vcnl4020AmbientLight[i] = global.vcnl4020[i].getAmbientLight();
|
| 789 | 12463563 | galberding | vcnl4020Proximity[i] = global.vcnl4020[i].getProximityScaledWoOffset(); |
| 790 | } |
||
| 791 | b8b3a9c9 | galberding | |
| 792 | 06c41883 | galberding | int32_t delta = (vcnl4020Proximity[constants::DiWheelDrive::PROX_FRONT_LEFT] |
| 793 | 12463563 | galberding | - vcnl4020Proximity[constants::DiWheelDrive::PROX_FRONT_RIGHT]); |
| 794 | |||
| 795 | b8b3a9c9 | galberding | chprintf(chp,"WL:%d,FL:%d,FR:%d,WR:%d,Delta:%d\n",
|
| 796 | 12463563 | galberding | 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 | 98e7c69b | galberding | global.motorcontrol.setMotorEnable(true);
|
| 805 | af93a91c | galberding | // chprintf(chp,"Summary: MaxDelta: %d, FL: %x, FR: %d\n", maxDelta, proxyL, proxyR);
|
| 806 | 12463563 | galberding | return;
|
| 807 | } |
||
| 808 | |||
| 809 | 98e7c69b | galberding | void shellRequestCheckPower(BaseSequentialStream *chp, int argc, char *argv[]){ |
| 810 | 9c46b728 | galberding | int steps = 2000; |
| 811 | int led = 0; |
||
| 812 | 98e7c69b | galberding | |
| 813 | 7f4e10f7 | galberding | 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 | 84b4c632 | galberding | #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 | b8b3a9c9 | galberding | int32_t res = 0;
|
| 822 | 84b4c632 | galberding | 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 | 7f4e10f7 | galberding | |
| 832 | 98e7c69b | galberding | void shellRequestProxyRingValues(BaseSequentialStream *chp, int argc, char *argv[]){ |
| 833 | 06c41883 | galberding | int steps = 100; |
| 834 | 7f4e10f7 | galberding | int i;
|
| 835 | 84b4c632 | galberding | int16_t old3 = 0;
|
| 836 | int16_t old4 = 0;
|
||
| 837 | 7f4e10f7 | galberding | 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 | 9c46b728 | galberding | }else{
|
| 844 | 7f4e10f7 | galberding | chprintf(chp, "Usage: proxyRing <steps> \n");
|
| 845 | } |
||
| 846 | for (int j=0; j<steps; j++){ |
||
| 847 | prox_sum = 0;
|
||
| 848 | 84b4c632 | galberding | old3 = prox[3];
|
| 849 | old4 = prox[4];
|
||
| 850 | 7f4e10f7 | galberding | for(i=0; i<8;i++){ |
| 851 | prox[i] = global.robot.getProximityRingValue(i); |
||
| 852 | prox_sum += prox[i]; |
||
| 853 | 9c46b728 | galberding | } |
| 854 | 84b4c632 | galberding | int32_t deviation = meanDeviation(prox[3] & 0xFFF0 , prox[4] & 0xFFF0); |
| 855 | // int32_t deviation = meanDeviation((prox[3]+old3) / 2 , (prox[4]+old4) / 2);
|
||
| 856 | 7f4e10f7 | galberding | // uint16_t notouch = 100;
|
| 857 | // uint16_t toucht = 20031;
|
||
| 858 | b8b3a9c9 | galberding | // sign =
|
| 859 | 7f4e10f7 | galberding | // i = 0;
|
| 860 | 84b4c632 | galberding | 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 | 9c46b728 | galberding | BaseThread::sleep(CAN::UPDATE_PERIOD); |
| 862 | } |
||
| 863 | } |
||
| 864 | 84b4c632 | galberding | 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 | b8b3a9c9 | galberding | // sign =
|
| 889 | 84b4c632 | galberding | // 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 | 9c46b728 | galberding | |
| 912 | d4c6efa9 | galberding | |
| 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 | int IDLE = 0; |
||
| 918 | int FOLLOW_LINE = 1; |
||
| 919 | int DETECT_STATION = 2; |
||
| 920 | int REVERSE = 3; |
||
| 921 | int PUSH_BACK = 4; |
||
| 922 | int CHECK_POSITIONING = 5; |
||
| 923 | int CHECK_VOLTAGE = 6; |
||
| 924 | int CHARGING = 7; |
||
| 925 | int RELEASE = 8; |
||
| 926 | int RELEASE_TO_CORRECT = 9; |
||
| 927 | int CORRECT_POSITIONING = 10; |
||
| 928 | int TURN = 12; |
||
| 929 | int INACTIVE = 13; |
||
| 930 | int CALIBRATION = 14; |
||
| 931 | int CALIBRATION_CHECK = 15; |
||
| 932 | int DEVIATION_CORRECTION = 16; |
||
| 933 | int DOCKING_ERROR = 16+1; |
||
| 934 | int REVERSE_TIMEOUT_ERROR = 16+2; |
||
| 935 | int CALIBRATION_ERROR = 16+3; |
||
| 936 | int WHITE_DETECTION_ERROR = 16+4; |
||
| 937 | int PROXY_DETECTION_ERROR = 16+5; |
||
| 938 | int NO_CHARGING_POWER_ERROR = 16+6; |
||
| 939 | int 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 | b8b3a9c9 | galberding | } |
| 969 | d4c6efa9 | galberding | |
| 970 | b8b3a9c9 | galberding | inline void setAttributes(uint8_t (&map)[MAX_NODES][NODE_ATTRIBUTES], uint8_t id, |
| 971 | uint8_t l, uint8_t r, uint8_t att) {
|
||
| 972 | map[id][0] = l;
|
||
| 973 | map[id][1] = r;
|
||
| 974 | map[id][2] = att;
|
||
| 975 | } |
||
| 976 | |||
| 977 | #define TEST_CASES 10 |
||
| 978 | void shellRequestTestSuite(BaseSequentialStream *chp, int argc, char *argv[]){ |
||
| 979 | uint8_t testmap[MAX_NODES][NODE_ATTRIBUTES] = {0};
|
||
| 980 | bool testres[TEST_CASES];
|
||
| 981 | setAttributes(testmap, 0, 1, 2, 1); |
||
| 982 | setAttributes(testmap, 1, 2, 2, 0); |
||
| 983 | setAttributes(testmap, 2, 1, 0, 0); |
||
| 984 | setAttributes(testmap, 3, 0, 0, 0xff); |
||
| 985 | AmiroMap map = AmiroMap(&global); |
||
| 986 | |||
| 987 | // --------------------------------------------------
|
||
| 988 | |||
| 989 | int tcase = 0; |
||
| 990 | map.initialize(testmap); |
||
| 991 | testres[tcase] = map.get_valid(); |
||
| 992 | |||
| 993 | tcase++; // 1
|
||
| 994 | setAttributes(testmap, 0, 1, 2, 0xff); |
||
| 995 | map.initialize(testmap); |
||
| 996 | testres[tcase] = !map.get_valid(); |
||
| 997 | |||
| 998 | tcase++; // 2
|
||
| 999 | setAttributes(testmap, 0, 1, 2, 0); |
||
| 1000 | setAttributes(testmap, 2, 1, 0, 1); |
||
| 1001 | map.initialize(testmap); |
||
| 1002 | testres[tcase] = map.get_current() == 2;
|
||
| 1003 | |||
| 1004 | // --------------------------------------------------
|
||
| 1005 | |||
| 1006 | int failed = 0; |
||
| 1007 | int passed = 0; |
||
| 1008 | for (int i=0; i<=tcase; i++) { |
||
| 1009 | if (testres[i]){
|
||
| 1010 | passed++; |
||
| 1011 | }else{
|
||
| 1012 | failed++; |
||
| 1013 | chprintf(chp, "Test %d Failed\n", i);
|
||
| 1014 | } |
||
| 1015 | } |
||
| 1016 | chprintf(chp, "Total: %d, Passed: %d, Failed: %d\n", tcase + 1, passed, failed); |
||
| 1017 | } |
||
| 1018 | |||
| 1019 | void shellRequestMapTest(BaseSequentialStream *chp, int argc, char *argv[]) { |
||
| 1020 | |||
| 1021 | // TODO:
|
||
| 1022 | // For now see everything fixed. Create array with pointer to all node structs. Determine
|
||
| 1023 | |||
| 1024 | // chprintf(chp, " +-------------------+\n");
|
||
| 1025 | // chprintf(chp, " | |\n");
|
||
| 1026 | // chprintf(chp, " | |\n");
|
||
| 1027 | // chprintf(chp, "+-v--+ |\n");
|
||
| 1028 | // chprintf(chp, "| 0 | +-++\n");
|
||
| 1029 | // chprintf(chp, "+-+--+ +--------+2 | <-------+\n");
|
||
| 1030 | // chprintf(chp, " | | +--+ |\n");
|
||
| 1031 | // chprintf(chp, " | | ^ |\n");
|
||
| 1032 | // chprintf(chp, " | | | |\n");
|
||
| 1033 | // chprintf(chp, " | v | |\n");
|
||
| 1034 | // chprintf(chp, " | +-+-+------+ |\n");
|
||
| 1035 | // chprintf(chp, " +------> 1 | |\n");
|
||
| 1036 | // chprintf(chp, " +---+-------------------+\n");
|
||
| 1037 | |||
| 1038 | uint8_t testmap[MAX_NODES][NODE_ATTRIBUTES] = {0};
|
||
| 1039 | setAttributes(testmap, 0, 1, 2, 1); |
||
| 1040 | setAttributes(testmap, 1, 2, 2, 0); |
||
| 1041 | setAttributes(testmap, 2, 1, 0, 0); |
||
| 1042 | setAttributes(testmap, 3, 0, 0, 0xff); |
||
| 1043 | AmiroMap map = AmiroMap(&global); |
||
| 1044 | map.initialize(testmap); |
||
| 1045 | d4c6efa9 | galberding | } |
| 1046 | |||
| 1047 | 58fe0e0b | Thomas Schöpping | static const ShellCommand commands[] = { |
| 1048 | b8b3a9c9 | galberding | {"shutdown", shellRequestShutdown},
|
| 1049 | {"wakeup", shellRequestWakeup},
|
||
| 1050 | {"check", shellRequestCheck},
|
||
| 1051 | {"reset_memory", shellRequestResetMemory},
|
||
| 1052 | {"get_board_id", shellRequestGetBoardId},
|
||
| 1053 | {"set_board_id", shellRequestSetBoardId},
|
||
| 1054 | {"get_memory_data", shellRequestGetMemoryData},
|
||
| 1055 | {"get_vcnl", shellRequestGetVcnl},
|
||
| 1056 | {"calib_vcnl_offset", shellRequestCalib},
|
||
| 1057 | {"set_vcnl_offset", shellRequestSetVcnlOffset},
|
||
| 1058 | {"reset_vcnl_offset", shellRequestResetVcnlOffset},
|
||
| 1059 | {"get_vcnl_offset", shellRequestGetVcnlOffset},
|
||
| 1060 | {"reset_Ed_Eb", shellRequestResetCalibrationConstants},
|
||
| 1061 | {"get_Ed_Eb", shellRequestGetCalibrationConstants},
|
||
| 1062 | {"set_Ed_Eb", shellRequestSetCalibrationConstants},
|
||
| 1063 | {"get_robot_id", shellRequestGetRobotId},
|
||
| 1064 | {"get_system_load", shellRequestGetSystemLoad},
|
||
| 1065 | {"set_lights", shellRequestSetLights},
|
||
| 1066 | {"shell_board", shellSwitchBoardCmd},
|
||
| 1067 | {"get_bootloader_info", shellRequestGetBootloaderInfo},
|
||
| 1068 | {"motor_drive", shellRequestMotorDrive},
|
||
| 1069 | {"motor_stop", shellRequestMotorStop},
|
||
| 1070 | {"motor_calibrate", shellRequestMotorCalibrate},
|
||
| 1071 | {"motor_getGains", shellRequestMotorGetGains},
|
||
| 1072 | {"motor_resetGains", shellRequestMotorResetGains},
|
||
| 1073 | {"calibrate_line_sensors", shellRequestCalibrateLineSensores},
|
||
| 1074 | {"printProxyBottom", sellRequestgetBottomSensorData},
|
||
| 1075 | {"printProxyRing", shellRequestProxyRingValues},
|
||
| 1076 | {"printMagnetometer", shellRequestMagnetoMeter},
|
||
| 1077 | {"printMagnetometerRes", shellRequestMagnetoMeterPrint},
|
||
| 1078 | {"printLocation", shellRequestPrintCoordinate},
|
||
| 1079 | {"checkPowerPins", shellRequestCheckPower},
|
||
| 1080 | {"stateInfos", shellRequestErrorInfo},
|
||
| 1081 | {"testMap", shellRequestMapTest},
|
||
| 1082 | {"test", shellRequestTestSuite },
|
||
| 1083 | {NULL, NULL}};
|
||
| 1084 | 58fe0e0b | Thomas Schöpping | |
| 1085 | static const ShellConfig shell_cfg1 = { |
||
| 1086 | (BaseSequentialStream *) &global.sercanmux1, |
||
| 1087 | commands |
||
| 1088 | }; |
||
| 1089 | |||
| 1090 | void initPowermonitor(INA219::Driver &ina219, const float shuntResistance_O, const float maxExpectedCurrent_A, const uint16_t currentLsb_uA) |
||
| 1091 | {
|
||
| 1092 | INA219::CalibData calibData; |
||
| 1093 | INA219::InitData initData; |
||
| 1094 | |||
| 1095 | calibData.input.configuration.content.brng = INA219::Configuration::BRNG_16V; |
||
| 1096 | calibData.input.configuration.content.pg = INA219::Configuration::PGA_40mV; |
||
| 1097 | calibData.input.configuration.content.badc = INA219::Configuration::ADC_68100us; |
||
| 1098 | calibData.input.configuration.content.sadc = INA219::Configuration::ADC_68100us; |
||
| 1099 | calibData.input.configuration.content.mode = INA219::Configuration::MODE_ShuntBus_Continuous; |
||
| 1100 | calibData.input.shunt_resistance_O = shuntResistance_O; |
||
| 1101 | calibData.input.max_expected_current_A = maxExpectedCurrent_A; |
||
| 1102 | calibData.input.current_lsb_uA = currentLsb_uA; |
||
| 1103 | if (ina219.calibration(&calibData) != BaseSensor<>::SUCCESS)
|
||
| 1104 | {
|
||
| 1105 | chprintf((BaseSequentialStream*)&SD1, "WARNING: calibration of INA219 failed.\n");
|
||
| 1106 | } |
||
| 1107 | |||
| 1108 | initData.configuration.value = calibData.input.configuration.value; |
||
| 1109 | initData.calibration = calibData.output.calibration_value; |
||
| 1110 | initData.current_lsb_uA = calibData.output.current_lsb_uA; |
||
| 1111 | if (ina219.init(&initData) != BaseSensor<>::SUCCESS)
|
||
| 1112 | {
|
||
| 1113 | chprintf((BaseSequentialStream*)&SD1, "WARNING: initialization of INA219 failed.\n");
|
||
| 1114 | } |
||
| 1115 | |||
| 1116 | if (calibData.input.current_lsb_uA != initData.current_lsb_uA)
|
||
| 1117 | {
|
||
| 1118 | chprintf((BaseSequentialStream*)&SD1, "NOTE: LSB for current measurement was limited when initializing INA219 (%u -> %u)", calibData.input.current_lsb_uA, initData.current_lsb_uA);
|
||
| 1119 | } |
||
| 1120 | |||
| 1121 | return;
|
||
| 1122 | } |
||
| 1123 | |||
| 1124 | /*
|
||
| 1125 | * Application entry point.
|
||
| 1126 | */
|
||
| 1127 | int main(void) { |
||
| 1128 | |||
| 1129 | // int16_t accel;
|
||
| 1130 | Thread *shelltp = NULL;
|
||
| 1131 | |||
| 1132 | /*
|
||
| 1133 | * System initializations.
|
||
| 1134 | * - HAL initialization, this also initializes the configured device drivers
|
||
| 1135 | * and performs the board-specific initializations.
|
||
| 1136 | * - Kernel initialization, the main() function becomes a thread and the
|
||
| 1137 | * RTOS is active.
|
||
| 1138 | */
|
||
| 1139 | halInit(); |
||
| 1140 | qeiInit(); |
||
| 1141 | System::init(); |
||
| 1142 | |||
| 1143 | // boardWakeup();
|
||
| 1144 | // boardWriteIoPower(1);
|
||
| 1145 | |||
| 1146 | /*
|
||
| 1147 | * Activates the serial driver 2 using the driver default configuration.
|
||
| 1148 | */
|
||
| 1149 | sdStart(&SD1, &global.sd1_config); |
||
| 1150 | |||
| 1151 | chprintf((BaseSequentialStream*) &SD1, "\n");
|
||
| 1152 | chprintf((BaseSequentialStream*) &SD1, BOARD_NAME " " BOARD_VERSION "\n"); |
||
| 1153 | 10687985 | Thomas Schöpping | switch (*((uint32_t*)(BL_CALLBACK_TABLE_ADDR))) {
|
| 1154 | case (('A'<<24) | ('-'<<16) | ('B'<<8) | ('L'<<0)): |
||
| 1155 | chprintf((BaseSequentialStream*) &SD1, "Bootloader %u.%u.%u\n",
|
||
| 1156 | ((blVersion_t*)(BL_CALLBACK_TABLE_ADDR + (1*4)))->major, |
||
| 1157 | ((blVersion_t*)(BL_CALLBACK_TABLE_ADDR + (1*4)))->minor, |
||
| 1158 | ((blVersion_t*)(BL_CALLBACK_TABLE_ADDR + (1*4)))->patch); |
||
| 1159 | break;
|
||
| 1160 | |||
| 1161 | case BL_MAGIC_NUMBER:
|
||
| 1162 | chprintf((BaseSequentialStream*) &SD1, "Bootloader %u.%u.%u\n",
|
||
| 1163 | *((uint32_t*)(BL_CALLBACK_TABLE_ADDR + (1*4))), |
||
| 1164 | *((uint32_t*)(BL_CALLBACK_TABLE_ADDR + (1*4))), |
||
| 1165 | *((uint32_t*)(BL_CALLBACK_TABLE_ADDR + (1*4)))); |
||
| 1166 | break;
|
||
| 1167 | |||
| 1168 | default:
|
||
| 1169 | chprintf((BaseSequentialStream*) &SD1, "Bootloader incompatible\n");
|
||
| 1170 | break;
|
||
| 1171 | 58fe0e0b | Thomas Schöpping | } |
| 1172 | chprintf((BaseSequentialStream*) &SD1, "ChibiOS " CH_KERNEL_VERSION "\n"); |
||
| 1173 | // make sure that the info text is completetly printed
|
||
| 1174 | BaseThread::sleep(10);
|
||
| 1175 | |||
| 1176 | extStart(&EXTD1, &extcfg); |
||
| 1177 | |||
| 1178 | /*
|
||
| 1179 | * Wait for a certain amount of time, so that the PowerBoard can activate
|
||
| 1180 | * the IO voltages for the I2C Bus
|
||
| 1181 | */
|
||
| 1182 | BaseThread::sleep(MS2ST(2000));
|
||
| 1183 | |||
| 1184 | b4885314 | Thomas Schöpping | boardClearI2CBus(GPIOB_COMPASS_SCL, GPIOB_COMPASS_SDA); |
| 1185 | boardClearI2CBus(GPIOB_IR_SCL, GPIOB_IR_SDA); |
||
| 1186 | 58fe0e0b | Thomas Schöpping | |
| 1187 | global.HW_I2C1.start(&global.i2c1_config); |
||
| 1188 | global.HW_I2C2.start(&global.i2c2_config); |
||
| 1189 | |||
| 1190 | global.memory.init(); |
||
| 1191 | |||
| 1192 | uint8_t i = 0;
|
||
| 1193 | if (global.memory.getBoardId(&i) == fileSystemIo::FileSystemIoBase::OK) {
|
||
| 1194 | chprintf((BaseSequentialStream*) &SD1, "Board ID: %u\n", i);
|
||
| 1195 | } else {
|
||
| 1196 | chprintf((BaseSequentialStream*) &SD1, "Error reading board ID\n");
|
||
| 1197 | } |
||
| 1198 | chprintf((BaseSequentialStream*) &SD1, "\n");
|
||
| 1199 | |||
| 1200 | initPowermonitor(global.ina219, 0.1f, 0.075f, 10); |
||
| 1201 | |||
| 1202 | for (i = 0x00u; i < global.vcnl4020.size(); i++) { |
||
| 1203 | uint16_t buffer; |
||
| 1204 | global.memory.getVcnl4020Offset(&buffer,i); |
||
| 1205 | global.vcnl4020[i].setProximityOffset(buffer); |
||
| 1206 | global.vcnl4020[i].start(NORMALPRIO); |
||
| 1207 | } |
||
| 1208 | |||
| 1209 | global.ina219.start(NORMALPRIO); |
||
| 1210 | |||
| 1211 | global.hmc5883l.start(NORMALPRIO + 8);
|
||
| 1212 | |||
| 1213 | global.increments.start(); // Start the qei driver
|
||
| 1214 | |||
| 1215 | f336542d | Timo Korthals | // Start the three axes gyroscope
|
| 1216 | global.l3g4200d.configure(&global.gyro_run_config); |
||
| 1217 | global.l3g4200d.start(NORMALPRIO+5);
|
||
| 1218 | |||
| 1219 | 58fe0e0b | Thomas Schöpping | global.odometry.start(NORMALPRIO + 20);
|
| 1220 | |||
| 1221 | global.robot.start(HIGHPRIO - 1);
|
||
| 1222 | |||
| 1223 | global.motorcontrol.start(NORMALPRIO + 7);
|
||
| 1224 | |||
| 1225 | global.distcontrol.start(NORMALPRIO + 9);
|
||
| 1226 | |||
| 1227 | // Set target velocity
|
||
| 1228 | types::kinematic velocity; |
||
| 1229 | velocity.x = 0; // E.g. "100*1e3" equals "10 cm/s" |
||
| 1230 | velocity.w_z = 0; // E.g. "2*1e6" equals "2 rad/s" |
||
| 1231 | global.motorcontrol.setTargetSpeed(velocity); |
||
| 1232 | |||
| 1233 | // Start the three axes linear accelerometer
|
||
| 1234 | global.lis331dlh.configure(&global.accel_run_config); |
||
| 1235 | global.lis331dlh.start(NORMALPRIO+4);
|
||
| 1236 | |||
| 1237 | // Start the user thread
|
||
| 1238 | global.userThread.start(NORMALPRIO); |
||
| 1239 | |||
| 1240 | /* let the SYS_SYNC_N pin go, to signal that the initialization of the module is done */
|
||
| 1241 | palWritePad(GPIOC, GPIOC_SYS_INT_N, PAL_HIGH); |
||
| 1242 | |||
| 1243 | /* wait until all modules are done */
|
||
| 1244 | while (palReadPad(GPIOC, GPIOC_SYS_INT_N) == PAL_LOW) {
|
||
| 1245 | continue;
|
||
| 1246 | } |
||
| 1247 | |||
| 1248 | while (true) { |
||
| 1249 | |||
| 1250 | if (!shelltp)
|
||
| 1251 | shelltp = shellCreate(&shell_cfg1, THD_WA_SIZE(1024), NORMALPRIO);
|
||
| 1252 | else if (chThdTerminated(shelltp)) { |
||
| 1253 | chThdRelease(shelltp); /* Recovers memory of the previous shell. */
|
||
| 1254 | shelltp = NULL; /* Triggers spawning of a new shell. */ |
||
| 1255 | } |
||
| 1256 | |||
| 1257 | // Let the LED just blink as an alive signal
|
||
| 1258 | boardWriteLed(1);
|
||
| 1259 | BaseThread::sleep(MS2ST(250));
|
||
| 1260 | boardWriteLed(0);
|
||
| 1261 | BaseThread::sleep(MS2ST(250));
|
||
| 1262 | |||
| 1263 | if (shutdown_now != SHUTDOWN_NONE) {
|
||
| 1264 | 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)) { |
| 1265 | 58fe0e0b | Thomas Schöpping | chprintf((BaseSequentialStream*) &SD1, "ERROR: unable to shut down (bootloader deprecated).\n");
|
| 1266 | shutdown_now = SHUTDOWN_NONE; |
||
| 1267 | } else {
|
||
| 1268 | uint32_t blCallbackPtrAddr = BL_CALLBACK_TABLE_ADDR; |
||
| 1269 | 10687985 | Thomas Schöpping | // handle bootloader version 0.2.x
|
| 1270 | if ((*((uint32_t*)(BL_CALLBACK_TABLE_ADDR)) == BL_MAGIC_NUMBER) &&
|
||
| 1271 | (*((uint32_t*)(BL_CALLBACK_TABLE_ADDR + (1*4))) == 0 && *((uint32_t*)(BL_CALLBACK_TABLE_ADDR + (2*4))) == 2)) { |
||
| 1272 | 58fe0e0b | Thomas Schöpping | switch (shutdown_now) {
|
| 1273 | case SHUTDOWN_TRANSPORTATION:
|
||
| 1274 | blCallbackPtrAddr += 6 * 4; |
||
| 1275 | break;
|
||
| 1276 | case SHUTDOWN_DEEPSLEEP:
|
||
| 1277 | blCallbackPtrAddr += 5 * 4; |
||
| 1278 | break;
|
||
| 1279 | case SHUTDOWN_HIBERNATE:
|
||
| 1280 | blCallbackPtrAddr += 4 * 4; |
||
| 1281 | break;
|
||
| 1282 | case SHUTDOWN_HANDLE_REQUEST:
|
||
| 1283 | case SHUTDOWN_RESTART:
|
||
| 1284 | blCallbackPtrAddr += 10 * 4; |
||
| 1285 | break;
|
||
| 1286 | default:
|
||
| 1287 | blCallbackPtrAddr = 0;
|
||
| 1288 | break;
|
||
| 1289 | } |
||
| 1290 | 10687985 | Thomas Schöpping | } |
| 1291 | // handle bootloader version 0.3.x
|
||
| 1292 | else if ((*((uint32_t*)(BL_CALLBACK_TABLE_ADDR)) == BL_MAGIC_NUMBER) && |
||
| 1293 | (*((uint32_t*)(BL_CALLBACK_TABLE_ADDR + (1*4))) == 0 && *((uint32_t*)(BL_CALLBACK_TABLE_ADDR + (2*4))) == 3)) { |
||
| 1294 | switch (shutdown_now) {
|
||
| 1295 | case SHUTDOWN_TRANSPORTATION:
|
||
| 1296 | blCallbackPtrAddr += 6 * 4; |
||
| 1297 | break;
|
||
| 1298 | case SHUTDOWN_DEEPSLEEP:
|
||
| 1299 | blCallbackPtrAddr += 5 * 4; |
||
| 1300 | break;
|
||
| 1301 | case SHUTDOWN_HIBERNATE:
|
||
| 1302 | blCallbackPtrAddr += 4 * 4; |
||
| 1303 | break;
|
||
| 1304 | case SHUTDOWN_RESTART:
|
||
| 1305 | blCallbackPtrAddr += 7 * 4; |
||
| 1306 | break;
|
||
| 1307 | case SHUTDOWN_HANDLE_REQUEST:
|
||
| 1308 | blCallbackPtrAddr += 8 * 4; |
||
| 1309 | break;
|
||
| 1310 | default:
|
||
| 1311 | blCallbackPtrAddr = 0;
|
||
| 1312 | break;
|
||
| 1313 | } |
||
| 1314 | } |
||
| 1315 | 5b1b6715 | Thomas Schöpping | // handle bootloader version 1.0.x and 1.1.x
|
| 1316 | 10687985 | Thomas Schöpping | else if ((*((uint32_t*)(BL_CALLBACK_TABLE_ADDR)) == (('A'<<24) | ('-'<<16) | ('B'<<8) | ('L'<<0))) && |
| 1317 | 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)) { |
| 1318 | 58fe0e0b | Thomas Schöpping | switch (shutdown_now) {
|
| 1319 | case SHUTDOWN_TRANSPORTATION:
|
||
| 1320 | blCallbackPtrAddr += 6 * 4; |
||
| 1321 | break;
|
||
| 1322 | case SHUTDOWN_DEEPSLEEP:
|
||
| 1323 | blCallbackPtrAddr += 5 * 4; |
||
| 1324 | break;
|
||
| 1325 | case SHUTDOWN_HIBERNATE:
|
||
| 1326 | blCallbackPtrAddr += 4 * 4; |
||
| 1327 | break;
|
||
| 1328 | case SHUTDOWN_RESTART:
|
||
| 1329 | blCallbackPtrAddr += 7 * 4; |
||
| 1330 | break;
|
||
| 1331 | case SHUTDOWN_HANDLE_REQUEST:
|
||
| 1332 | blCallbackPtrAddr += 8 * 4; |
||
| 1333 | break;
|
||
| 1334 | default:
|
||
| 1335 | blCallbackPtrAddr = 0;
|
||
| 1336 | break;
|
||
| 1337 | } |
||
| 1338 | } |
||
| 1339 | |||
| 1340 | void (*blCallback)(void) = NULL; |
||
| 1341 | 10687985 | Thomas Schöpping | if (blCallbackPtrAddr > BL_CALLBACK_TABLE_ADDR) {
|
| 1342 | 58fe0e0b | Thomas Schöpping | blCallback = (void (*)(void))(*((uint32_t*)blCallbackPtrAddr)); |
| 1343 | |||
| 1344 | if (!blCallback) {
|
||
| 1345 | chprintf((BaseSequentialStream*) &SD1, "ERROR: Requested shutdown not supported.\n");
|
||
| 1346 | shutdown_now = SHUTDOWN_NONE; |
||
| 1347 | } else {
|
||
| 1348 | chprintf((BaseSequentialStream*)&SD1, "initiating shutdown sequence...\n");
|
||
| 1349 | palWritePad(GPIOC, GPIOC_SYS_INT_N, PAL_LOW); |
||
| 1350 | palWritePad(GPIOC, GPIOC_SYS_PD_N, PAL_LOW); |
||
| 1351 | |||
| 1352 | chprintf((BaseSequentialStream*)&SD1, "stopping all threads and periphery...");
|
||
| 1353 | systemShutdown(); |
||
| 1354 | chprintf((BaseSequentialStream*)&SD1, "\tdone\n");
|
||
| 1355 | BaseThread::sleep(MS2ST(10)); // sleep to print everything |
||
| 1356 | |||
| 1357 | blCallback(); |
||
| 1358 | } |
||
| 1359 | |||
| 1360 | } else {
|
||
| 1361 | chprintf((BaseSequentialStream*) &SD1, "ERROR: invalid shutdown requested (%u).\n", shutdown_now);
|
||
| 1362 | shutdown_now = SHUTDOWN_NONE; |
||
| 1363 | } |
||
| 1364 | } |
||
| 1365 | |||
| 1366 | // for (uint8_t i = LIS331DLH::AXIS_X; i <= LIS331DLH::AXIS_Z; i++) {
|
||
| 1367 | // accel = lis331dlh.getAcceleration(i);
|
||
| 1368 | // chprintf((BaseSequentialStream*) &SD1, "%c%04X ", accel < 0 ? '-' : '+', accel < 0 ? -accel : accel);
|
||
| 1369 | // }
|
||
| 1370 | //
|
||
| 1371 | // chprintf((BaseSequentialStream*) &SD1, "\n");
|
||
| 1372 | //
|
||
| 1373 | // // Print out an alive signal
|
||
| 1374 | // chprintf((BaseSequentialStream*) &SD1, ".");
|
||
| 1375 | } |
||
| 1376 | } |
||
| 1377 | |||
| 1378 | return 0; |
||
| 1379 | } |