amiro-os / devices / DiWheelDrive / main.cpp @ beb4f137
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#define BL_CALLBACK_TABLE_ADDR (0x08000000 + 0x01C0) |
|---|---|
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#define BL_MAGIC_NUMBER ((uint32_t)0xFF669900u) |
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|
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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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|
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#include <ch.hpp> |
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|
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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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|
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#include <chprintf.h> |
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#include <shell.h> |
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|
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#include "linefollow2.hpp" |
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|
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using namespace chibios_rt; |
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|
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Global global; |
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|
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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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|
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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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|
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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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|
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k.x = 0x00u;
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k.w_z = 0x00u;
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|
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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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|
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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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|
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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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|
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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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|
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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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|
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global.lis331dlh.requestTerminate(); |
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global.lis331dlh.wait(); |
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|
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global.lis331dlh.configure(&global.accel_sleep_config); |
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// global.lis331dlh.start(NORMALPRIO +4);
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|
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// boardWriteIoPower(0);
|
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// boardStandby();
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|
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return;
|
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} |
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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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|
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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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|
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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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|
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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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{
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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 {
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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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|
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unsigned int num_elements = 1; |
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if (argc >= 3) |
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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) {
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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) |
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type_size = 2;
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uint32_t bytes_read = chSequentialStreamRead((BaseFileStream*)&global.at24c01, buffer, type_size*num_elements); |
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|
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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) { |
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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;
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case U32:
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chprintf(chp, "%010u ", ((uint32_t*)buffer)[i]);
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break;
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case S8:
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chprintf(chp, "%+03d ", ((int8_t*)buffer)[i]);
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break;
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case S16:
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chprintf(chp, "%+05d ", ((int16_t*)buffer)[i]);
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break;
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case S32:
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chprintf(chp, "%+010d ", ((int32_t*)buffer)[i]);
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break;
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default:
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break;
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} |
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} |
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chprintf(chp, "\n");
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return;
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} |
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|
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void shellRequestSetLights(BaseSequentialStream *chp, int argc, char *argv[]) { |
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if (argc < 2 || argc == 3 ||strcmp(argv[0],"help") == 0) { |
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chprintf(chp, "\tUSAGE:\n");
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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");
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chprintf(chp, "\tExample:\n");
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chprintf(chp, "This line will set the two most left and two most right LEDs to bright cyan.\n");
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chprintf(chp, "> set_lights 0x66 0 255 255\n");
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chprintf(chp, "\n");
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return;
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} |
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int arg_mask = strtol(argv[0], NULL, 0); |
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int red = strtol(argv[1], NULL, 0); |
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int green = red;
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int blue = red;
|
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if (argc >= 4) { |
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green = strtol(argv[2], NULL, 0); |
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blue = strtol(argv[3], NULL, 0); |
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} |
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Color color(red, green, blue); |
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|
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if (arg_mask & 0x01) { |
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global.robot.setLightColor(constants::LightRing::LED_SSW, color); |
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} |
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if (arg_mask & 0x02) { |
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global.robot.setLightColor(constants::LightRing::LED_WSW, color); |
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} |
| 304 |
if (arg_mask & 0x04) { |
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global.robot.setLightColor(constants::LightRing::LED_WNW, color); |
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} |
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if (arg_mask & 0x08) { |
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global.robot.setLightColor(constants::LightRing::LED_NNW, color); |
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} |
| 310 |
if (arg_mask & 0x10) { |
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global.robot.setLightColor(constants::LightRing::LED_NNE, color); |
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} |
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if (arg_mask & 0x20) { |
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global.robot.setLightColor(constants::LightRing::LED_ENE, color); |
| 315 |
} |
| 316 |
if (arg_mask & 0x40) { |
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global.robot.setLightColor(constants::LightRing::LED_ESE, color); |
| 318 |
} |
| 319 |
if (arg_mask & 0x80) { |
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global.robot.setLightColor(constants::LightRing::LED_SSE, color); |
| 321 |
} |
| 322 |
|
| 323 |
return;
|
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} |
| 325 |
|
| 326 |
void boardPeripheryCheck(BaseSequentialStream *chp) {
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msg_t result; |
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chprintf(chp, "\nCHECK: START\n");
|
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// Check the accelerometer
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| 330 |
result = global.lis331dlh.getCheck(); |
| 331 |
if (result == global.lis331dlh.CHECK_OK)
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chprintf(chp, "LIS331DLH: OK\n");
|
| 333 |
else
|
| 334 |
chprintf(chp, "LIS331DLH: FAIL\n");
|
| 335 |
|
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// Self-test accelerometer
|
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// lis331dlh.printSelfTest(NULL);
|
| 338 |
|
| 339 |
// Check the eeprom
|
| 340 |
result = global.memory.getCheck(); |
| 341 |
if ( result != global.memory.OK)
|
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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
|
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result = global.hmc5883l.getCheck(); |
| 355 |
if (result == global.hmc5883l.CHECK_OK)
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chprintf(chp, "HMC5883L: OK\n");
|
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else
|
| 358 |
chprintf(chp, "HMC5883L: FAIL\n");
|
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|
| 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 |
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 |
} |
| 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 |
global.motorcontrol.resetGains(); |
| 676 |
chprintf((BaseSequentialStream*)&global.sercanmux1, "motor calibration starts in five seconds...\n");
|
| 677 |
BaseThread::sleep(MS2ST(5000));
|
| 678 |
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 |
void shellRequestMotorResetGains(BaseSequentialStream *chp, int argc, char *argv[]) { |
| 690 |
global.motorcontrol.resetGains();; |
| 691 |
|
| 692 |
return;
|
| 693 |
} |
| 694 |
|
| 695 |
|
| 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 |
int sensorL = 0; |
| 712 |
int sensorR = 0; |
| 713 |
|
| 714 |
if (argc == 1){ |
| 715 |
chprintf(chp, "Test %i rounds \n", atoi(argv[0])); |
| 716 |
rounds = atoi(argv[0]);
|
| 717 |
|
| 718 |
}else{
|
| 719 |
chprintf(chp, "Usage: calbrate_line_sensors [1,n]\nThis will calibrate the thresholds for the left and right sensor\naccording to the maximum delta value recorded.\n");
|
| 720 |
return;
|
| 721 |
} |
| 722 |
for (uint8_t led = 0; led < 8; ++led) { |
| 723 |
global.robot.setLightColor(led, Color(Color::BLACK)); |
| 724 |
} |
| 725 |
|
| 726 |
for (int j = 0; j < rounds; j++) { |
| 727 |
for (int i = 0; i < 4; i++) { |
| 728 |
// vcnl4020AmbientLight[i] = global.vcnl4020[i].getAmbientLight();
|
| 729 |
vcnl4020Proximity[i] = global.vcnl4020[i].getProximityScaledWoOffset(); |
| 730 |
} |
| 731 |
global.robot.setLightColor(j % 8, Color(Color::BLACK));
|
| 732 |
global.robot.setLightColor(j+1 % 8, Color(Color::WHITE)); |
| 733 |
int delta = abs(vcnl4020Proximity[constants::DiWheelDrive::PROX_FRONT_LEFT]
|
| 734 |
- vcnl4020Proximity[constants::DiWheelDrive::PROX_FRONT_RIGHT]); |
| 735 |
// Update proximity thresh
|
| 736 |
if (delta > maxDelta) {
|
| 737 |
for (uint8_t led = 0; led < 8; ++led) { |
| 738 |
global.robot.setLightColor(led, Color(Color::GREEN)); |
| 739 |
} |
| 740 |
maxDelta = delta; |
| 741 |
proxyL = vcnl4020Proximity[constants::DiWheelDrive::PROX_FRONT_LEFT]; |
| 742 |
proxyR = vcnl4020Proximity[constants::DiWheelDrive::PROX_FRONT_RIGHT]; |
| 743 |
} |
| 744 |
sensorL += global.vcnl4020[constants::DiWheelDrive::PROX_FRONT_LEFT].getProximityScaledWoOffset(); |
| 745 |
sensorR += global.vcnl4020[constants::DiWheelDrive::PROX_FRONT_RIGHT].getProximityScaledWoOffset(); |
| 746 |
|
| 747 |
// if (vcnl4020Proximity[constants::DiWheelDrive::PROX_FRONT_RIGHT] > proxyR && vcnl4020Proximity[constants::DiWheelDrive::PROX_FRONT_LEFT] > proxyL ){
|
| 748 |
// delta *= -1;
|
| 749 |
// }
|
| 750 |
|
| 751 |
chprintf(chp,"FL: 0x%x, FR: 0x%x, Delta: %d, ProxyL: %x, ProxyR: %x, MaxDelta: %d\n",
|
| 752 |
vcnl4020Proximity[constants::DiWheelDrive::PROX_FRONT_LEFT], |
| 753 |
vcnl4020Proximity[constants::DiWheelDrive::PROX_FRONT_RIGHT], |
| 754 |
delta, |
| 755 |
proxyL, |
| 756 |
proxyR, |
| 757 |
maxDelta); |
| 758 |
// sleep(CAN::UPDATE_PERIOD);
|
| 759 |
BaseThread::sleep(CAN::UPDATE_PERIOD); |
| 760 |
} |
| 761 |
|
| 762 |
|
| 763 |
global.threshProxyL = sensorL / rounds; |
| 764 |
global.threshProxyR = sensorR / rounds; |
| 765 |
chprintf(chp,"Thresh FL: %d, FR: %d\n", global.threshProxyL, global.threshProxyR);
|
| 766 |
return;
|
| 767 |
} |
| 768 |
|
| 769 |
|
| 770 |
|
| 771 |
void proxySensorData(BaseSequentialStream *chp, int argc, char *argv[]) { |
| 772 |
// uint16_t vcnl4020AmbientLight[4];
|
| 773 |
uint16_t vcnl4020Proximity[4];
|
| 774 |
uint16_t rounds = 1;
|
| 775 |
// uint16_t proxyL = global.threshProxyL;
|
| 776 |
// uint16_t proxyR = global.threshProxyR;
|
| 777 |
// uint16_t maxDelta = 0;
|
| 778 |
|
| 779 |
// int sensorL = 0;
|
| 780 |
// int sensorR = 0;
|
| 781 |
if (argc == 1){ |
| 782 |
chprintf(chp, "Test %i rounds \n", atoi(argv[0])); |
| 783 |
rounds = atoi(argv[0]);
|
| 784 |
|
| 785 |
} |
| 786 |
global.motorcontrol.getGains(&global.motorConfigGains); |
| 787 |
global.motorcontrol.setGains(&global.stopGains); |
| 788 |
|
| 789 |
for (int j = 0; j < rounds; j++) { |
| 790 |
for (int i = 0; i < 4; i++) { |
| 791 |
// vcnl4020AmbientLight[i] = global.vcnl4020[i].getAmbientLight();
|
| 792 |
vcnl4020Proximity[i] = global.vcnl4020[i].getProximityScaledWoOffset(); |
| 793 |
} |
| 794 |
|
| 795 |
uint16_t delta = (vcnl4020Proximity[constants::DiWheelDrive::PROX_FRONT_LEFT] |
| 796 |
- vcnl4020Proximity[constants::DiWheelDrive::PROX_FRONT_RIGHT]); |
| 797 |
// // Update proximity thresh
|
| 798 |
// if (delta > maxDelta) {
|
| 799 |
// maxDelta = delta;
|
| 800 |
// proxyL = vcnl4020Proximity[constants::DiWheelDrive::PROX_FRONT_LEFT];
|
| 801 |
// proxyR = vcnl4020Proximity[constants::DiWheelDrive::PROX_FRONT_RIGHT];
|
| 802 |
// }
|
| 803 |
|
| 804 |
// if (vcnl4020Proximity[constants::DiWheelDrive::PROX_FRONT_RIGHT] > proxyR && vcnl4020Proximity[constants::DiWheelDrive::PROX_FRONT_LEFT] > proxyL ){
|
| 805 |
// delta *= -1;
|
| 806 |
// }
|
| 807 |
|
| 808 |
chprintf(chp,"WL:%d,FL:%d,FR:%d,WR:%d,Delta:%d\n",
|
| 809 |
vcnl4020Proximity[constants::DiWheelDrive::PROX_WHEEL_LEFT], |
| 810 |
vcnl4020Proximity[constants::DiWheelDrive::PROX_FRONT_LEFT], |
| 811 |
vcnl4020Proximity[constants::DiWheelDrive::PROX_FRONT_RIGHT], |
| 812 |
vcnl4020Proximity[constants::DiWheelDrive::PROX_WHEEL_RIGHT], |
| 813 |
delta); |
| 814 |
// sleep(CAN::UPDATE_PERIOD);
|
| 815 |
BaseThread::sleep(CAN::UPDATE_PERIOD); |
| 816 |
} |
| 817 |
global.motorcontrol.setGains(&global.motorConfigGains); |
| 818 |
// chprintf(chp,"Summary: MaxDelta: %d, FL: %x, FR: %d\n", maxDelta, proxyL, proxyR);
|
| 819 |
return;
|
| 820 |
} |
| 821 |
|
| 822 |
// Either 0 to disable record or > 0 to enable it
|
| 823 |
void setRecord(BaseSequentialStream *chp, int argc, char *argv[]){ |
| 824 |
if (argc == 1){ |
| 825 |
chprintf(chp, "Set recording to %d\n", atoi(argv[0])); |
| 826 |
global.enableRecord = atoi(argv[0]);
|
| 827 |
} |
| 828 |
} |
| 829 |
|
| 830 |
|
| 831 |
void zieglerMeth2(BaseSequentialStream *chp, int argc, char *argv[]) { |
| 832 |
// int vcnl4020AmbientLight[4];
|
| 833 |
// int vcnl4020Proximity[4];
|
| 834 |
int rpmSpeed[2] = {0}; |
| 835 |
int steps = 0; |
| 836 |
// int proxyL = global.threshProxyL;
|
| 837 |
// int proxyR = global.threshProxyR;
|
| 838 |
int maxDelta = 0; |
| 839 |
float KCrit = 0.0f; |
| 840 |
global.sensSamples = 0;
|
| 841 |
global.maxDist.error = 0;
|
| 842 |
LineFollow lf(&global); |
| 843 |
int led = 0; |
| 844 |
|
| 845 |
if (argc == 2){ |
| 846 |
chprintf(chp, "KCrti %f\n", atof(argv[0])); |
| 847 |
chprintf(chp, "Steps %i\n", atoi(argv[1])); |
| 848 |
KCrit = atof(argv[0]);
|
| 849 |
steps = atoi(argv[1]);
|
| 850 |
} else if (argc == 3){ |
| 851 |
chprintf(chp, "KCrti %f\n", atof(argv[0])); |
| 852 |
chprintf(chp, "Steps %i\n", atoi(argv[1])); |
| 853 |
KCrit = atof(argv[0]);
|
| 854 |
steps = atoi(argv[1]);
|
| 855 |
global.forwardSpeed = atoi(argv[2]);
|
| 856 |
|
| 857 |
}else{
|
| 858 |
chprintf(chp, "Usage: dev_ziegler2 <K_crit> <steps> (<speed>)");
|
| 859 |
return;
|
| 860 |
} |
| 861 |
global.K_p = KCrit; |
| 862 |
for(led=0; led<8; led++){ |
| 863 |
global.robot.setLightColor(led, Color(Color::BLACK)); |
| 864 |
} |
| 865 |
chprintf((BaseSequentialStream*)&global.sercanmux1, "Recodring starts in five seconds...\n");
|
| 866 |
BaseThread::sleep(MS2ST(5000));
|
| 867 |
// global.motorcontrol.setTargetRPM(rpmSpeed[constants::DiWheelDrive::LEFT_WHEEL] * 1000000, rpmSpeed[constants::DiWheelDrive::RIGHT_WHEEL] * 1000000);
|
| 868 |
int checkWhite = 0; |
| 869 |
int it_switch = steps / 2; |
| 870 |
// lf.setStrategie(LineFollowStrategie::MIDDLE);
|
| 871 |
for(int s=0; s < steps; s++){ |
| 872 |
|
| 873 |
checkWhite = lf.followLine(rpmSpeed); |
| 874 |
// chprintf(chp,"S:%d,",s);
|
| 875 |
// if(global.threshWhite)
|
| 876 |
// if(s < it_switch){
|
| 877 |
// lf.setStrategie(LineFollowStrategie::EDGE_LEFT);
|
| 878 |
// checkWhite = lf.followLine(rpmSpeed);
|
| 879 |
// }else{
|
| 880 |
// lf.setStrategie(LineFollowStrategie::EDGE_RIGHT);
|
| 881 |
// checkWhite = lf.followLine(rpmSpeed);
|
| 882 |
// }
|
| 883 |
if(checkWhite){
|
| 884 |
global.motorcontrol.setTargetRPM(0,0); |
| 885 |
for(led=0; led<8; led++){ |
| 886 |
global.robot.setLightColor(led, Color(Color::RED)); |
| 887 |
} |
| 888 |
}else{
|
| 889 |
global.motorcontrol.setTargetRPM(rpmSpeed[constants::DiWheelDrive::LEFT_WHEEL] * 1000000, rpmSpeed[constants::DiWheelDrive::RIGHT_WHEEL] * 1000000); |
| 890 |
} |
| 891 |
|
| 892 |
|
| 893 |
BaseThread::sleep(CAN::UPDATE_PERIOD); |
| 894 |
} |
| 895 |
|
| 896 |
global.motorcontrol.setTargetRPM(0,0); |
| 897 |
} |
| 898 |
|
| 899 |
|
| 900 |
void followLine(BaseSequentialStream *chp, int argc, char *argv[]){ |
| 901 |
int steps = 1000; |
| 902 |
int speed = 0; |
| 903 |
int strategy = 0; |
| 904 |
int led = 0; |
| 905 |
int checkWhite = 0; |
| 906 |
int rpmSpeed[2] = {0}; |
| 907 |
LineFollow lf(&global); |
| 908 |
if (argc == 1){ |
| 909 |
chprintf(chp, "%i steps \n", atoi(argv[0])); |
| 910 |
steps = atoi(argv[0]);
|
| 911 |
}else if (argc == 2){ |
| 912 |
steps = atoi(argv[0]);
|
| 913 |
speed = atoi(argv[1]);
|
| 914 |
}else if (argc == 3){ |
| 915 |
steps = atoi(argv[0]);
|
| 916 |
speed = atoi(argv[1]);
|
| 917 |
strategy = atoi(argv[2]);
|
| 918 |
}else{
|
| 919 |
chprintf(chp, "Use: followLine <steps> <speed> <strategy>\n");
|
| 920 |
return;
|
| 921 |
} |
| 922 |
global.forwardSpeed = speed; |
| 923 |
switch (strategy)
|
| 924 |
{
|
| 925 |
case 0: |
| 926 |
lf.setStrategy(amiro::LineFollowStrategy::EDGE_RIGHT); |
| 927 |
break;
|
| 928 |
case 1: |
| 929 |
lf.setStrategy(amiro::LineFollowStrategy::EDGE_LEFT); |
| 930 |
break;
|
| 931 |
case 2: |
| 932 |
lf.setStrategy(amiro::LineFollowStrategy::FUZZY); |
| 933 |
break;
|
| 934 |
default:
|
| 935 |
break;
|
| 936 |
} |
| 937 |
|
| 938 |
|
| 939 |
for(int s=0; s < steps; s++){ |
| 940 |
|
| 941 |
checkWhite = lf.followLine(rpmSpeed); |
| 942 |
if(checkWhite){
|
| 943 |
global.motorcontrol.setTargetRPM(0,0); |
| 944 |
for(led=0; led<8; led++){ |
| 945 |
global.robot.setLightColor(led, Color(Color::RED)); |
| 946 |
} |
| 947 |
}else{
|
| 948 |
global.motorcontrol.setTargetRPM(rpmSpeed[constants::DiWheelDrive::LEFT_WHEEL] * 1000000, rpmSpeed[constants::DiWheelDrive::RIGHT_WHEEL] * 1000000); |
| 949 |
} |
| 950 |
|
| 951 |
BaseThread::sleep(CAN::UPDATE_PERIOD); |
| 952 |
} |
| 953 |
|
| 954 |
global.motorcontrol.setTargetRPM(0,0); |
| 955 |
} |
| 956 |
|
| 957 |
|
| 958 |
void printMove(BaseSequentialStream *chp, int argc, char *argv[]){ |
| 959 |
|
| 960 |
for (int j=0; j<global.sensSamples;j++){ |
| 961 |
chprintf(chp,"FL:%d,FR:%d,Delta:%d,Error:%d\n",global.senseRec[j].FL, global.senseRec[j].FR, global.senseRec[j].delta, global.senseRec[j].error);
|
| 962 |
} |
| 963 |
chprintf(chp,"MaxDist: FL:%d,FR:%d,Delta:%d,Error:%d\n",global.maxDist.FL, global.maxDist.FR, global.maxDist.delta, global.maxDist.error);
|
| 964 |
|
| 965 |
|
| 966 |
} |
| 967 |
void freeGains(BaseSequentialStream *chp, int argc, char *argv[]){ |
| 968 |
if (global.resetProtect){
|
| 969 |
global.motorcontrol.getGains(&global.motorConfigGains); |
| 970 |
global.resetProtect = 0;
|
| 971 |
} |
| 972 |
|
| 973 |
global.motorcontrol.setGains(&global.stopGains); |
| 974 |
} |
| 975 |
|
| 976 |
|
| 977 |
void setGains(BaseSequentialStream *chp, int argc, char *argv[]){ |
| 978 |
if(!global.resetProtect){
|
| 979 |
global.motorcontrol.setGains(&global.motorConfigGains); |
| 980 |
global.resetProtect = 1;
|
| 981 |
} |
| 982 |
} |
| 983 |
void motorToggle(BaseSequentialStream *chp, int argc, char *argv[]){ |
| 984 |
global.odometry.resetPosition(); |
| 985 |
global.motorcontrol.toggleMotorEnable(); |
| 986 |
} |
| 987 |
|
| 988 |
|
| 989 |
void rotate(BaseSequentialStream *chp, int argc, char *argv[]){ |
| 990 |
int steps = 1000; |
| 991 |
int speed = 0; |
| 992 |
int strategy = 0; |
| 993 |
int led = 0; |
| 994 |
int checkWhite = 0; |
| 995 |
int rpmSpeed[2] = {0}; |
| 996 |
LineFollow lf(&global); |
| 997 |
if (argc == 1){ |
| 998 |
chprintf(chp, "%i steps \n", atoi(argv[0])); |
| 999 |
speed = atoi(argv[0]);
|
| 1000 |
}else if (argc == 2){ |
| 1001 |
speed = atoi(argv[0]);
|
| 1002 |
steps = atoi(argv[1]);
|
| 1003 |
}else{
|
| 1004 |
chprintf(chp, "Use: rotate <speed> <steps>\n");
|
| 1005 |
return;
|
| 1006 |
} |
| 1007 |
chprintf((BaseSequentialStream*)&global.sercanmux1, "Recodring starts in five seconds...\n");
|
| 1008 |
BaseThread::sleep(MS2ST(5000));
|
| 1009 |
// global.forwardSpeed = speed;
|
| 1010 |
// rpmSpeed[0] = -speed;
|
| 1011 |
// rpmSpeed[1] = speed;
|
| 1012 |
// global.motorcontrol.setTargetRPM(rpmSpeed[constants::DiWheelDrive::LEFT_WHEEL] * 1000000, rpmSpeed[constants::DiWheelDrive::RIGHT_WHEEL] * 1000000);
|
| 1013 |
// for(int s=0; s < steps; s++){
|
| 1014 |
// BaseThread::sleep(CAN::UPDATE_PERIOD);
|
| 1015 |
// }
|
| 1016 |
global.odometry.resetPosition(); |
| 1017 |
global.startPos = global.odometry.getPosition(); |
| 1018 |
global.distcontrol.setTargetPosition(0, 3141592, 5000); |
| 1019 |
BaseThread::sleep(MS2ST(11000));
|
| 1020 |
global.endPos = global.odometry.getPosition(); |
| 1021 |
// global.motorcontrol.setTargetRPM(0,0);
|
| 1022 |
} |
| 1023 |
|
| 1024 |
void setSpeed(int (&rpmSpeed)[2]){ |
| 1025 |
global.motorcontrol.setTargetRPM(rpmSpeed[constants::DiWheelDrive::LEFT_WHEEL] * 1000000, rpmSpeed[constants::DiWheelDrive::RIGHT_WHEEL] * 1000000); |
| 1026 |
} |
| 1027 |
|
| 1028 |
/**
|
| 1029 |
* Blocks as long as the position changes.
|
| 1030 |
*/
|
| 1031 |
void checkForMotion(){
|
| 1032 |
int motion = 1; |
| 1033 |
int led = 0; |
| 1034 |
types::position oldPos = global.odometry.getPosition(); |
| 1035 |
while(motion){
|
| 1036 |
BaseThread::sleep(500);
|
| 1037 |
types::position tmp = global.odometry.getPosition(); |
| 1038 |
motion = abs(oldPos.x - tmp.x)+ abs(oldPos.y - tmp.y)+abs(oldPos.z - tmp.z); |
| 1039 |
oldPos = tmp; |
| 1040 |
global.robot.setLightColor((led + 1) % 8, Color(Color::YELLOW)); |
| 1041 |
global.robot.setLightColor(led % 8, Color(Color::BLACK));
|
| 1042 |
led++; |
| 1043 |
} |
| 1044 |
} |
| 1045 |
|
| 1046 |
/**
|
| 1047 |
* Turns MotorControl off and checks if position remains stable.
|
| 1048 |
*/
|
| 1049 |
int checkDockingSuccess(){
|
| 1050 |
// global.motorcontrol.setTargetRPM(0,0);
|
| 1051 |
checkForMotion(); |
| 1052 |
int led = 0; |
| 1053 |
int success = 0; |
| 1054 |
global.odometry.resetPosition(); |
| 1055 |
types::position start = global.startPos = global.odometry.getPosition(); |
| 1056 |
global.motorcontrol.toggleMotorEnable(); |
| 1057 |
BaseThread::sleep(1000);
|
| 1058 |
types::position stop = global.endPos = global.odometry.getPosition(); |
| 1059 |
global.motorcontrol.toggleMotorEnable(); |
| 1060 |
// Amiro moved, docking was not successful
|
| 1061 |
if ((start.x + stop.x) || (start.y + stop.y)){
|
| 1062 |
for(led=0; led<8; led++){ |
| 1063 |
global.robot.setLightColor(led, Color(Color::RED)); |
| 1064 |
} |
| 1065 |
success = 0;
|
| 1066 |
}else{
|
| 1067 |
for(led=0; led<8; led++){ |
| 1068 |
global.robot.setLightColor(led, Color(Color::GREEN)); |
| 1069 |
} |
| 1070 |
success = 1;
|
| 1071 |
} |
| 1072 |
|
| 1073 |
BaseThread::sleep(500);
|
| 1074 |
for(led=0; led<8; led++){ |
| 1075 |
global.robot.setLightColor(led, Color(Color::BLACK)); |
| 1076 |
} |
| 1077 |
return success;
|
| 1078 |
} |
| 1079 |
|
| 1080 |
/**
|
| 1081 |
* Switch to EDGE_LEFT line following and orientate for n steps along the line.
|
| 1082 |
*
|
| 1083 |
* @param lf current line following
|
| 1084 |
* @param steps steps to take for the correction (measured in CAN-update durations)
|
| 1085 |
*/
|
| 1086 |
void correctPosition(LineFollow &lf, int steps){ |
| 1087 |
int checkWhite = 0; |
| 1088 |
int rpmSpeed[2] = {0}; |
| 1089 |
lf.setStrategy(LineFollowStrategy::EDGE_LEFT); |
| 1090 |
for (int correction=0; correction<steps; correction++){ |
| 1091 |
checkWhite = lf.followLine(rpmSpeed); |
| 1092 |
setSpeed(rpmSpeed); |
| 1093 |
BaseThread::sleep(CAN::UPDATE_PERIOD); |
| 1094 |
} |
| 1095 |
} |
| 1096 |
|
| 1097 |
|
| 1098 |
|
| 1099 |
void followAndRotate(BaseSequentialStream *chp, int argc, char *argv[]){ |
| 1100 |
int steps = 10000; |
| 1101 |
int speed = 0; |
| 1102 |
int strategy = 0; |
| 1103 |
int led = 0; |
| 1104 |
int checkWhite = 0; |
| 1105 |
int rpmSpeed[2] = {0}; |
| 1106 |
int proxyWheelThresh = 20000; |
| 1107 |
LineFollow lf(&global); |
| 1108 |
if (argc == 1){ |
| 1109 |
chprintf(chp, "%i steps \n", atoi(argv[0])); |
| 1110 |
speed = atoi(argv[0]);
|
| 1111 |
}else if (argc == 2){ |
| 1112 |
speed = atoi(argv[0]);
|
| 1113 |
steps = atoi(argv[1]);
|
| 1114 |
}else{
|
| 1115 |
chprintf(chp, "Use: rotate <speed> <steps>\n");
|
| 1116 |
return;
|
| 1117 |
} |
| 1118 |
chprintf((BaseSequentialStream*)&global.sercanmux1, "Recodring starts in five seconds...\n");
|
| 1119 |
BaseThread::sleep(MS2ST(5000));
|
| 1120 |
global.forwardSpeed = speed; |
| 1121 |
|
| 1122 |
setSpeed(rpmSpeed); |
| 1123 |
|
| 1124 |
|
| 1125 |
for(int s=0; s < steps; s++){ |
| 1126 |
|
| 1127 |
int WL = global.vcnl4020[constants::DiWheelDrive::PROX_WHEEL_LEFT].getProximityScaledWoOffset();
|
| 1128 |
int WR = global.vcnl4020[constants::DiWheelDrive::PROX_WHEEL_LEFT].getProximityScaledWoOffset();
|
| 1129 |
if ((WL+WR) < proxyWheelThresh){
|
| 1130 |
global.motorcontrol.setTargetRPM(0,0); |
| 1131 |
chprintf((BaseSequentialStream*)&global.sercanmux1, "Hit Break!\n");
|
| 1132 |
if(lf.getStrategy() == LineFollowStrategy::DOCKING){
|
| 1133 |
// Check if Docking was successful
|
| 1134 |
if(checkDockingSuccess()){
|
| 1135 |
break;
|
| 1136 |
}else{
|
| 1137 |
correctPosition(lf, 250);
|
| 1138 |
lf.setStrategy(LineFollowStrategy::DOCKING); |
| 1139 |
// break;
|
| 1140 |
} |
| 1141 |
|
| 1142 |
}else{
|
| 1143 |
// global.motorcontrol.setTargetRPM(0,0);
|
| 1144 |
BaseThread::sleep(1000);
|
| 1145 |
// 180° Rotation
|
| 1146 |
global.distcontrol.setTargetPosition(0, 3141592, 10000); |
| 1147 |
// BaseThread::sleep(8000);
|
| 1148 |
checkForMotion(); |
| 1149 |
correctPosition(lf, 250);
|
| 1150 |
// break;
|
| 1151 |
lf.setStrategy(LineFollowStrategy::DOCKING); |
| 1152 |
|
| 1153 |
} |
| 1154 |
} |
| 1155 |
checkWhite = lf.followLine(rpmSpeed); |
| 1156 |
setSpeed(rpmSpeed); |
| 1157 |
BaseThread::sleep(CAN::UPDATE_PERIOD); |
| 1158 |
} |
| 1159 |
|
| 1160 |
|
| 1161 |
} |
| 1162 |
|
| 1163 |
void enableCharging(){
|
| 1164 |
global.ltc4412.enable(true);
|
| 1165 |
} |
| 1166 |
|
| 1167 |
void disableCharging(){
|
| 1168 |
global.ltc4412.enable(false);
|
| 1169 |
} |
| 1170 |
|
| 1171 |
|
| 1172 |
void setGlobalStrategy(BaseSequentialStream *chp, int argc, char *argv[]){ |
| 1173 |
uint8_t strategy = 0;
|
| 1174 |
if(argc == 1){ |
| 1175 |
strategy = atoi(argv[0]);
|
| 1176 |
} |
| 1177 |
// send over can
|
| 1178 |
global.strategyTest = strategy; |
| 1179 |
global.triggerCan = true;
|
| 1180 |
} |
| 1181 |
|
| 1182 |
|
| 1183 |
|
| 1184 |
void getPosition(BaseSequentialStream *chp, int argc, char *argv[]){ |
| 1185 |
types::position pos = global.odometry.getPosition(); |
| 1186 |
chprintf(chp, "Start: Position X: %d, Y: %d, Rotation X: %d, Y: %d, Z: %d\n", global.startPos.x, global.startPos.y, global.startPos.f_x, global.startPos.f_y, global.startPos.f_z);
|
| 1187 |
chprintf(chp, "End: Position X: %d, Y: %d, Rotation X: %d, Y: %d, Z: %d\n", global.endPos.x, global.endPos.y, global.endPos.f_x, global.endPos.f_y, global.endPos.f_z);
|
| 1188 |
|
| 1189 |
if(argc == 1){ |
| 1190 |
for (int i=0; i<atoi(argv[0]);i++){ |
| 1191 |
types::position pos = global.odometry.getPosition(); |
| 1192 |
chprintf(chp, "End: Position X: %d, Y: %d, Rotation X: %d, Y: %d, Z: %d\n", pos.x, pos.y, pos.f_x, pos.f_y, pos.f_z);
|
| 1193 |
BaseThread::sleep(CAN::UPDATE_PERIOD); |
| 1194 |
} |
| 1195 |
} |
| 1196 |
} |
| 1197 |
|
| 1198 |
// TODO: Not wokring, either loading station has no power or logic not working
|
| 1199 |
void checkPower(BaseSequentialStream *chp, int argc, char *argv[]){ |
| 1200 |
int steps = 2000; |
| 1201 |
int led = 0; |
| 1202 |
enableCharging(); |
| 1203 |
for (int i=0; i<steps;i++){ |
| 1204 |
chprintf(chp, "%s Enable: %s\n", global.ltc4412.isPluggedIn() ? "y" : "n", global.ltc4412.isEnabled() ? "y2" : "n2"); |
| 1205 |
if(global.ltc4412.isPluggedIn()){
|
| 1206 |
// enableCharging();
|
| 1207 |
for(led=0; led<8; led++){ |
| 1208 |
global.robot.setLightColor(led, Color(Color::GREEN)); |
| 1209 |
} |
| 1210 |
}else{
|
| 1211 |
// disableCharging();
|
| 1212 |
for(led=0; led<8; led++){ |
| 1213 |
global.robot.setLightColor(led, Color(Color::RED)); |
| 1214 |
} |
| 1215 |
} |
| 1216 |
BaseThread::sleep(CAN::UPDATE_PERIOD); |
| 1217 |
} |
| 1218 |
disableCharging(); |
| 1219 |
for(led=0; led<8; led++){ |
| 1220 |
global.robot.setLightColor(led, Color(Color::BLACK)); |
| 1221 |
} |
| 1222 |
} |
| 1223 |
|
| 1224 |
|
| 1225 |
static const ShellCommand commands[] = { |
| 1226 |
{"shutdown", shellRequestShutdown},
|
| 1227 |
{"wakeup", shellRequestWakeup},
|
| 1228 |
{"check", shellRequestCheck},
|
| 1229 |
{"reset_memory", shellRequestResetMemory},
|
| 1230 |
{"get_board_id", shellRequestGetBoardId},
|
| 1231 |
{"set_board_id", shellRequestSetBoardId},
|
| 1232 |
{"get_memory_data", shellRequestGetMemoryData},
|
| 1233 |
{"get_vcnl", shellRequestGetVcnl},
|
| 1234 |
{"calib_vcnl_offset", shellRequestCalib},
|
| 1235 |
{"set_vcnl_offset", shellRequestSetVcnlOffset},
|
| 1236 |
{"reset_vcnl_offset", shellRequestResetVcnlOffset},
|
| 1237 |
{"get_vcnl_offset", shellRequestGetVcnlOffset},
|
| 1238 |
{"reset_Ed_Eb", shellRequestResetCalibrationConstants},
|
| 1239 |
{"get_Ed_Eb", shellRequestGetCalibrationConstants},
|
| 1240 |
{"set_Ed_Eb", shellRequestSetCalibrationConstants},
|
| 1241 |
{"get_robot_id", shellRequestGetRobotId},
|
| 1242 |
{"get_system_load", shellRequestGetSystemLoad},
|
| 1243 |
{"set_lights", shellRequestSetLights},
|
| 1244 |
{"shell_board", shellSwitchBoardCmd},
|
| 1245 |
{"get_bootloader_info", shellRequestGetBootloaderInfo},
|
| 1246 |
{"motor_drive", shellRequestMotorDrive},
|
| 1247 |
{"motor_stop", shellRequestMotorStop},
|
| 1248 |
{"motor_calibrate", shellRequestMotorCalibrate},
|
| 1249 |
{"motor_getGains", shellRequestMotorGetGains},
|
| 1250 |
{"motor_deactivate", freeGains},
|
| 1251 |
{"motor_activate", setGains},
|
| 1252 |
{"motor_resetGains", shellRequestMotorResetGains},
|
| 1253 |
{"motorToggle", motorToggle},
|
| 1254 |
{"dev_proxi_sensor_data", proxySensorData},
|
| 1255 |
{"dev_ziegler2", zieglerMeth2},
|
| 1256 |
// TODO: Stop user process from execution to finish/force calibration before anything starts
|
| 1257 |
{"calibrate_line", calibrateLineSensores},
|
| 1258 |
// {"record_move", recordMove},
|
| 1259 |
{"print_record", printMove},
|
| 1260 |
{"setRecord", setRecord},
|
| 1261 |
{"followLine", followLine},
|
| 1262 |
{"rotate", rotate},
|
| 1263 |
{"followRotate", followAndRotate},
|
| 1264 |
{"getPos", getPosition},
|
| 1265 |
{"checkPower", checkPower},
|
| 1266 |
{"setStrategy", setGlobalStrategy},
|
| 1267 |
{NULL, NULL}
|
| 1268 |
}; |
| 1269 |
|
| 1270 |
static const ShellConfig shell_cfg1 = { |
| 1271 |
(BaseSequentialStream *) &global.sercanmux1, |
| 1272 |
commands |
| 1273 |
}; |
| 1274 |
|
| 1275 |
void initPowermonitor(INA219::Driver &ina219, const float shuntResistance_O, const float maxExpectedCurrent_A, const uint16_t currentLsb_uA) |
| 1276 |
{
|
| 1277 |
INA219::CalibData calibData; |
| 1278 |
INA219::InitData initData; |
| 1279 |
|
| 1280 |
calibData.input.configuration.content.brng = INA219::Configuration::BRNG_16V; |
| 1281 |
calibData.input.configuration.content.pg = INA219::Configuration::PGA_40mV; |
| 1282 |
calibData.input.configuration.content.badc = INA219::Configuration::ADC_68100us; |
| 1283 |
calibData.input.configuration.content.sadc = INA219::Configuration::ADC_68100us; |
| 1284 |
calibData.input.configuration.content.mode = INA219::Configuration::MODE_ShuntBus_Continuous; |
| 1285 |
calibData.input.shunt_resistance_O = shuntResistance_O; |
| 1286 |
calibData.input.max_expected_current_A = maxExpectedCurrent_A; |
| 1287 |
calibData.input.current_lsb_uA = currentLsb_uA; |
| 1288 |
if (ina219.calibration(&calibData) != BaseSensor<>::SUCCESS)
|
| 1289 |
{
|
| 1290 |
chprintf((BaseSequentialStream*)&SD1, "WARNING: calibration of INA219 failed.\n");
|
| 1291 |
} |
| 1292 |
|
| 1293 |
initData.configuration.value = calibData.input.configuration.value; |
| 1294 |
initData.calibration = calibData.output.calibration_value; |
| 1295 |
initData.current_lsb_uA = calibData.output.current_lsb_uA; |
| 1296 |
if (ina219.init(&initData) != BaseSensor<>::SUCCESS)
|
| 1297 |
{
|
| 1298 |
chprintf((BaseSequentialStream*)&SD1, "WARNING: initialization of INA219 failed.\n");
|
| 1299 |
} |
| 1300 |
|
| 1301 |
if (calibData.input.current_lsb_uA != initData.current_lsb_uA)
|
| 1302 |
{
|
| 1303 |
chprintf((BaseSequentialStream*)&SD1, "NOTE: LSB for current measurement was limited when initializing INA219 (%u -> %u)", calibData.input.current_lsb_uA, initData.current_lsb_uA);
|
| 1304 |
} |
| 1305 |
|
| 1306 |
return;
|
| 1307 |
} |
| 1308 |
|
| 1309 |
/*
|
| 1310 |
* Application entry point.
|
| 1311 |
*/
|
| 1312 |
int main(void) { |
| 1313 |
|
| 1314 |
// int16_t accel;
|
| 1315 |
Thread *shelltp = NULL;
|
| 1316 |
|
| 1317 |
/*
|
| 1318 |
* System initializations.
|
| 1319 |
* - HAL initialization, this also initializes the configured device drivers
|
| 1320 |
* and performs the board-specific initializations.
|
| 1321 |
* - Kernel initialization, the main() function becomes a thread and the
|
| 1322 |
* RTOS is active.
|
| 1323 |
*/
|
| 1324 |
halInit(); |
| 1325 |
qeiInit(); |
| 1326 |
System::init(); |
| 1327 |
|
| 1328 |
// boardWakeup();
|
| 1329 |
// boardWriteIoPower(1);
|
| 1330 |
|
| 1331 |
/*
|
| 1332 |
* Activates the serial driver 2 using the driver default configuration.
|
| 1333 |
*/
|
| 1334 |
sdStart(&SD1, &global.sd1_config); |
| 1335 |
|
| 1336 |
chprintf((BaseSequentialStream*) &SD1, "\n");
|
| 1337 |
chprintf((BaseSequentialStream*) &SD1, BOARD_NAME " " BOARD_VERSION "\n"); |
| 1338 |
switch (*((uint32_t*)(BL_CALLBACK_TABLE_ADDR))) {
|
| 1339 |
case (('A'<<24) | ('-'<<16) | ('B'<<8) | ('L'<<0)): |
| 1340 |
chprintf((BaseSequentialStream*) &SD1, "Bootloader %u.%u.%u\n",
|
| 1341 |
((blVersion_t*)(BL_CALLBACK_TABLE_ADDR + (1*4)))->major, |
| 1342 |
((blVersion_t*)(BL_CALLBACK_TABLE_ADDR + (1*4)))->minor, |
| 1343 |
((blVersion_t*)(BL_CALLBACK_TABLE_ADDR + (1*4)))->patch); |
| 1344 |
break;
|
| 1345 |
|
| 1346 |
case BL_MAGIC_NUMBER:
|
| 1347 |
chprintf((BaseSequentialStream*) &SD1, "Bootloader %u.%u.%u\n",
|
| 1348 |
*((uint32_t*)(BL_CALLBACK_TABLE_ADDR + (1*4))), |
| 1349 |
*((uint32_t*)(BL_CALLBACK_TABLE_ADDR + (1*4))), |
| 1350 |
*((uint32_t*)(BL_CALLBACK_TABLE_ADDR + (1*4)))); |
| 1351 |
break;
|
| 1352 |
|
| 1353 |
default:
|
| 1354 |
chprintf((BaseSequentialStream*) &SD1, "Bootloader incompatible\n");
|
| 1355 |
break;
|
| 1356 |
} |
| 1357 |
chprintf((BaseSequentialStream*) &SD1, "ChibiOS " CH_KERNEL_VERSION "\n"); |
| 1358 |
// make sure that the info text is completetly printed
|
| 1359 |
BaseThread::sleep(10);
|
| 1360 |
|
| 1361 |
extStart(&EXTD1, &extcfg); |
| 1362 |
|
| 1363 |
/*
|
| 1364 |
* Wait for a certain amount of time, so that the PowerBoard can activate
|
| 1365 |
* the IO voltages for the I2C Bus
|
| 1366 |
*/
|
| 1367 |
BaseThread::sleep(MS2ST(2000));
|
| 1368 |
|
| 1369 |
boardClearI2CBus(GPIOB_COMPASS_SCL, GPIOB_COMPASS_SDA); |
| 1370 |
boardClearI2CBus(GPIOB_IR_SCL, GPIOB_IR_SDA); |
| 1371 |
|
| 1372 |
global.HW_I2C1.start(&global.i2c1_config); |
| 1373 |
global.HW_I2C2.start(&global.i2c2_config); |
| 1374 |
|
| 1375 |
global.memory.init(); |
| 1376 |
|
| 1377 |
uint8_t i = 0;
|
| 1378 |
if (global.memory.getBoardId(&i) == fileSystemIo::FileSystemIoBase::OK) {
|
| 1379 |
chprintf((BaseSequentialStream*) &SD1, "Board ID: %u\n", i);
|
| 1380 |
} else {
|
| 1381 |
chprintf((BaseSequentialStream*) &SD1, "Error reading board ID\n");
|
| 1382 |
} |
| 1383 |
chprintf((BaseSequentialStream*) &SD1, "\n");
|
| 1384 |
|
| 1385 |
initPowermonitor(global.ina219, 0.1f, 0.075f, 10); |
| 1386 |
|
| 1387 |
for (i = 0x00u; i < global.vcnl4020.size(); i++) { |
| 1388 |
uint16_t buffer; |
| 1389 |
global.memory.getVcnl4020Offset(&buffer,i); |
| 1390 |
global.vcnl4020[i].setProximityOffset(buffer); |
| 1391 |
global.vcnl4020[i].start(NORMALPRIO); |
| 1392 |
} |
| 1393 |
|
| 1394 |
global.ina219.start(NORMALPRIO); |
| 1395 |
|
| 1396 |
global.hmc5883l.start(NORMALPRIO + 8);
|
| 1397 |
|
| 1398 |
global.increments.start(); // Start the qei driver
|
| 1399 |
|
| 1400 |
// Start the three axes gyroscope
|
| 1401 |
global.l3g4200d.configure(&global.gyro_run_config); |
| 1402 |
global.l3g4200d.start(NORMALPRIO+5);
|
| 1403 |
|
| 1404 |
global.odometry.start(NORMALPRIO + 20);
|
| 1405 |
|
| 1406 |
global.robot.start(HIGHPRIO - 1);
|
| 1407 |
|
| 1408 |
global.motorcontrol.start(NORMALPRIO + 7);
|
| 1409 |
|
| 1410 |
global.distcontrol.start(NORMALPRIO + 9);
|
| 1411 |
|
| 1412 |
// Set target velocity
|
| 1413 |
types::kinematic velocity; |
| 1414 |
velocity.x = 0; // E.g. "100*1e3" equals "10 cm/s" |
| 1415 |
velocity.w_z = 0; // E.g. "2*1e6" equals "2 rad/s" |
| 1416 |
global.motorcontrol.setTargetSpeed(velocity); |
| 1417 |
|
| 1418 |
// Start the three axes linear accelerometer
|
| 1419 |
global.lis331dlh.configure(&global.accel_run_config); |
| 1420 |
global.lis331dlh.start(NORMALPRIO+4);
|
| 1421 |
|
| 1422 |
// Start the user thread
|
| 1423 |
global.userThread.start(NORMALPRIO); |
| 1424 |
|
| 1425 |
/* let the SYS_SYNC_N pin go, to signal that the initialization of the module is done */
|
| 1426 |
palWritePad(GPIOC, GPIOC_SYS_INT_N, PAL_HIGH); |
| 1427 |
|
| 1428 |
/* wait until all modules are done */
|
| 1429 |
while (palReadPad(GPIOC, GPIOC_SYS_INT_N) == PAL_LOW) {
|
| 1430 |
continue;
|
| 1431 |
} |
| 1432 |
|
| 1433 |
while (true) { |
| 1434 |
|
| 1435 |
if (!shelltp)
|
| 1436 |
shelltp = shellCreate(&shell_cfg1, THD_WA_SIZE(1024), NORMALPRIO);
|
| 1437 |
else if (chThdTerminated(shelltp)) { |
| 1438 |
chThdRelease(shelltp); /* Recovers memory of the previous shell. */
|
| 1439 |
shelltp = NULL; /* Triggers spawning of a new shell. */ |
| 1440 |
} |
| 1441 |
|
| 1442 |
// Let the LED just blink as an alive signal
|
| 1443 |
boardWriteLed(1);
|
| 1444 |
BaseThread::sleep(MS2ST(250));
|
| 1445 |
boardWriteLed(0);
|
| 1446 |
BaseThread::sleep(MS2ST(250));
|
| 1447 |
|
| 1448 |
if (shutdown_now != SHUTDOWN_NONE) {
|
| 1449 |
if ((*((uint32_t*)(BL_CALLBACK_TABLE_ADDR)) != (('A'<<24) | ('-'<<16) | ('B'<<8) | ('L'<<0))) && (*((uint32_t*)(BL_CALLBACK_TABLE_ADDR)) != BL_MAGIC_NUMBER)) { |
| 1450 |
chprintf((BaseSequentialStream*) &SD1, "ERROR: unable to shut down (bootloader deprecated).\n");
|
| 1451 |
shutdown_now = SHUTDOWN_NONE; |
| 1452 |
} else {
|
| 1453 |
uint32_t blCallbackPtrAddr = BL_CALLBACK_TABLE_ADDR; |
| 1454 |
// handle bootloader version 0.2.x
|
| 1455 |
if ((*((uint32_t*)(BL_CALLBACK_TABLE_ADDR)) == BL_MAGIC_NUMBER) &&
|
| 1456 |
(*((uint32_t*)(BL_CALLBACK_TABLE_ADDR + (1*4))) == 0 && *((uint32_t*)(BL_CALLBACK_TABLE_ADDR + (2*4))) == 2)) { |
| 1457 |
switch (shutdown_now) {
|
| 1458 |
case SHUTDOWN_TRANSPORTATION:
|
| 1459 |
blCallbackPtrAddr += 6 * 4; |
| 1460 |
break;
|
| 1461 |
case SHUTDOWN_DEEPSLEEP:
|
| 1462 |
blCallbackPtrAddr += 5 * 4; |
| 1463 |
break;
|
| 1464 |
case SHUTDOWN_HIBERNATE:
|
| 1465 |
blCallbackPtrAddr += 4 * 4; |
| 1466 |
break;
|
| 1467 |
case SHUTDOWN_HANDLE_REQUEST:
|
| 1468 |
case SHUTDOWN_RESTART:
|
| 1469 |
blCallbackPtrAddr += 10 * 4; |
| 1470 |
break;
|
| 1471 |
default:
|
| 1472 |
blCallbackPtrAddr = 0;
|
| 1473 |
break;
|
| 1474 |
} |
| 1475 |
} |
| 1476 |
// handle bootloader version 0.3.x
|
| 1477 |
else if ((*((uint32_t*)(BL_CALLBACK_TABLE_ADDR)) == BL_MAGIC_NUMBER) && |
| 1478 |
(*((uint32_t*)(BL_CALLBACK_TABLE_ADDR + (1*4))) == 0 && *((uint32_t*)(BL_CALLBACK_TABLE_ADDR + (2*4))) == 3)) { |
| 1479 |
switch (shutdown_now) {
|
| 1480 |
case SHUTDOWN_TRANSPORTATION:
|
| 1481 |
blCallbackPtrAddr += 6 * 4; |
| 1482 |
break;
|
| 1483 |
case SHUTDOWN_DEEPSLEEP:
|
| 1484 |
blCallbackPtrAddr += 5 * 4; |
| 1485 |
break;
|
| 1486 |
case SHUTDOWN_HIBERNATE:
|
| 1487 |
blCallbackPtrAddr += 4 * 4; |
| 1488 |
break;
|
| 1489 |
case SHUTDOWN_RESTART:
|
| 1490 |
blCallbackPtrAddr += 7 * 4; |
| 1491 |
break;
|
| 1492 |
case SHUTDOWN_HANDLE_REQUEST:
|
| 1493 |
blCallbackPtrAddr += 8 * 4; |
| 1494 |
break;
|
| 1495 |
default:
|
| 1496 |
blCallbackPtrAddr = 0;
|
| 1497 |
break;
|
| 1498 |
} |
| 1499 |
} |
| 1500 |
// handle bootloader version 1.0.x and 1.1.x
|
| 1501 |
else if ((*((uint32_t*)(BL_CALLBACK_TABLE_ADDR)) == (('A'<<24) | ('-'<<16) | ('B'<<8) | ('L'<<0))) && |
| 1502 |
((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)) { |
| 1503 |
switch (shutdown_now) {
|
| 1504 |
case SHUTDOWN_TRANSPORTATION:
|
| 1505 |
blCallbackPtrAddr += 6 * 4; |
| 1506 |
break;
|
| 1507 |
case SHUTDOWN_DEEPSLEEP:
|
| 1508 |
blCallbackPtrAddr += 5 * 4; |
| 1509 |
break;
|
| 1510 |
case SHUTDOWN_HIBERNATE:
|
| 1511 |
blCallbackPtrAddr += 4 * 4; |
| 1512 |
break;
|
| 1513 |
case SHUTDOWN_RESTART:
|
| 1514 |
blCallbackPtrAddr += 7 * 4; |
| 1515 |
break;
|
| 1516 |
case SHUTDOWN_HANDLE_REQUEST:
|
| 1517 |
blCallbackPtrAddr += 8 * 4; |
| 1518 |
break;
|
| 1519 |
default:
|
| 1520 |
blCallbackPtrAddr = 0;
|
| 1521 |
break;
|
| 1522 |
} |
| 1523 |
} |
| 1524 |
|
| 1525 |
void (*blCallback)(void) = NULL; |
| 1526 |
if (blCallbackPtrAddr > BL_CALLBACK_TABLE_ADDR) {
|
| 1527 |
blCallback = (void (*)(void))(*((uint32_t*)blCallbackPtrAddr)); |
| 1528 |
|
| 1529 |
if (!blCallback) {
|
| 1530 |
chprintf((BaseSequentialStream*) &SD1, "ERROR: Requested shutdown not supported.\n");
|
| 1531 |
shutdown_now = SHUTDOWN_NONE; |
| 1532 |
} else {
|
| 1533 |
chprintf((BaseSequentialStream*)&SD1, "initiating shutdown sequence...\n");
|
| 1534 |
palWritePad(GPIOC, GPIOC_SYS_INT_N, PAL_LOW); |
| 1535 |
palWritePad(GPIOC, GPIOC_SYS_PD_N, PAL_LOW); |
| 1536 |
|
| 1537 |
chprintf((BaseSequentialStream*)&SD1, "stopping all threads and periphery...");
|
| 1538 |
systemShutdown(); |
| 1539 |
chprintf((BaseSequentialStream*)&SD1, "\tdone\n");
|
| 1540 |
BaseThread::sleep(MS2ST(10)); // sleep to print everything |
| 1541 |
|
| 1542 |
blCallback(); |
| 1543 |
} |
| 1544 |
|
| 1545 |
} else {
|
| 1546 |
chprintf((BaseSequentialStream*) &SD1, "ERROR: invalid shutdown requested (%u).\n", shutdown_now);
|
| 1547 |
shutdown_now = SHUTDOWN_NONE; |
| 1548 |
} |
| 1549 |
} |
| 1550 |
|
| 1551 |
// for (uint8_t i = LIS331DLH::AXIS_X; i <= LIS331DLH::AXIS_Z; i++) {
|
| 1552 |
// accel = lis331dlh.getAcceleration(i);
|
| 1553 |
// chprintf((BaseSequentialStream*) &SD1, "%c%04X ", accel < 0 ? '-' : '+', accel < 0 ? -accel : accel);
|
| 1554 |
// }
|
| 1555 |
//
|
| 1556 |
// chprintf((BaseSequentialStream*) &SD1, "\n");
|
| 1557 |
//
|
| 1558 |
// // Print out an alive signal
|
| 1559 |
// chprintf((BaseSequentialStream*) &SD1, ".");
|
| 1560 |
} |
| 1561 |
} |
| 1562 |
|
| 1563 |
return 0; |
| 1564 |
} |