AMiRo-OS

#ifndef AMIRO_GLOBAL_HPP_

#define AMIRO_GLOBAL_HPP_

#include <hal.h>

#include <qei.h>

#include <stdlib.h>

#include <array>

#include <board.h>

#include <amiro/proximity/vcnl4020.hpp>

#include <amiro/bus/i2c/HWI2CDriver.hpp>

#include <amiro/bus/i2c/mux/pca9544.hpp>

#include <amiro/bus/i2c/VI2CDriver.hpp>

#include <amiro/magneto/hmc5883l.hpp>

#include <amiro/bus/spi/HWSPIDriver.hpp>

#include <amiro/accel/lis331dlh.hpp>

#include <amiro/gyro/l3g4200d.hpp>

#include <amiro/power/ina219.hpp>

#include <amiro/power/ltc4412.hpp>

#include <amiro/eeprom/at24.hpp>

#include <amiro/FileSystemInputOutput/FSIODiWheelDrive.hpp>

#include <amiro/serial_reset/serial_can_mux.hpp>

#include <amiro/MotorIncrements.h>

#include <amiro/MotorControl.h>

#include <amiro/DistControl.h>

#include <amiro/Odometry.h>

#include <DiWheelDrive.h>

#include <userthread.hpp>

using namespace amiro;

class Global final

{

public:

  SerialConfig sd1_config{

    /* speed        */ 115200,

    /* CR1 register */ 0,

    /* CR2 register */ 0,

    /* CR3 register */ 0

  };

  I2CConfig i2c1_config{

    /* I2C mode                 */ OPMODE_I2C,

    /* frequency                */ 400000,

    /* I2C fast mode duty cycle */ FAST_DUTY_CYCLE_2

  };

  I2CConfig i2c2_config{

    /* I2C mode                 */ OPMODE_I2C,

    /* frequency                */ 400000,

    /* I2C fast mode duty cycle */ FAST_DUTY_CYCLE_2

  };

  VCNL4020::VCNL4020Config vcnl4020_config{

    /* command             */ VCNL4020::ALS_EN | VCNL4020::PROX_EN | VCNL4020::SELFTIMED_EN,

    /* ambient parameter   */ VCNL4020::AMBIENT_RATE_2 | VCNL4020::AMBIENT_AUTO_OFFSET | VCNL4020::AMBIENT_AVG_32,

    /* IR LED current [mA] */ 200u,

    /* proximity rate      */ VCNL4020::PROX_RATE_125

  };

  /**

   * @brief I2C Bus 1

   * Conected devices:

   *   HMC5883L

   */

  HWI2CDriver HW_I2C1;

  /**

   * @brief I2C Bus 2

   * Connected devices:

   *   PCA9544

   *   VCNL4020

   *   INA219

   *   AT24Cxx

   */

  HWI2CDriver HW_I2C2;

  PCA9544<true> HW_PCA9544;

  std::array<VI2CDriver, 4> V_I2C2;

  std::array<VCNL4020, 4> vcnl4020;

  HMC5883L::HMC5883LConfig hmc5883l_config{

    /* ctrlA */ HMC5883L::DO_20_HZ | HMC5883L::MS_NORMAL | HMC5883L::MA_AVG8,

    /* ctrlB */ HMC5883L::GN_5_GA,

    /* mode  */ HMC5883L::MD_CONTCV | HMC5883L::HS_DISABLE

  };

  HMC5883L hmc5883l;

  SPIConfig accel_spi1_config{

    /* callback function pointer   */ NULL,

    /* chip select line port       */ GPIOC,

    /* chip select line pad number */ GPIOC_ACCEL_SS_N,

    /* initialzation data          */ SPI_CR1_BR_0

  };

  SPIConfig gyro_spi1_config{

    /* callback function pointer   */ NULL,

    /* chip select line port       */ GPIOC,

    /* chip select line pad number */ GPIOC_GYRO_SS_N,

    /* initialzation data          */ SPI_CR1_BR_0

  };

  HWSPIDriver HW_SPI1_ACCEL;

  HWSPIDriver HW_SPI1_GYRO;

  LIS331DLH::LIS331DLHConfig accel_run_config{

    /* ctrl1                     */ LIS331DLH::PM_ODR | LIS331DLH::DR_50HZ_37LP | LIS331DLH::ZEN | LIS331DLH::YEN | LIS331DLH::XEN,

    /* ctrl2                     */ 0x00u,

    /* ctrl3                     */ LIS331DLH::INT_LOW | LIS331DLH::I1_CFG_DRY,

    /* ctrl4                     */ LIS331DLH::BDU_CONT | LIS331DLH::BLE_LE | LIS331DLH::FS_4G | LIS331DLH::SIM_4WI,

    /* ctrl5                     */ LIS331DLH::SLEEP_TO_WAKE_OFF,

    /* interrupt 1 configuration */ {/* configuration */ LIS331DLH::AOI_OR_INT,

                                     /* ths           */ 0x00u,

                                     /* duration      */ 0x00u},

    /* interrupt 2 configuration */ {/* configuration */ LIS331DLH::AOI_OR_INT,

                                     /* ths           */ 0x00u,

                                     /* duration      */ 0x00u}

  };

  LIS331DLH::LIS331DLHConfig accel_sleep_config{

    /* ctrl1                     */ LIS331DLH::PM_0_5_HZ | LIS331DLH::DR_50HZ_37LP | LIS331DLH::XEN,

    /* ctrl2                     */ 0x00u,

    /* ctrl3                     */ LIS331DLH::INT_LOW | LIS331DLH::I1_CFG_I1,

    /* ctrl4                     */ LIS331DLH::BDU_CONT | LIS331DLH::BLE_LE | LIS331DLH::FS_4G | LIS331DLH::SIM_4WI,

    /* ctrl5                     */ LIS331DLH::SLEEP_TO_WAKE_ON,

    /* interrupt 1 configuration */ {/* configuration */ LIS331DLH::AOI_OR_INT | LIS331DLH::XHIE,

                                     /* ths           */ 0x10u,

                                     /* duration      */ 0x02u},

    /* interrupt 2 configuration */ {/* configuration */ LIS331DLH::AOI_OR_INT,

                                     /* ths           */ 0x00u,

                                     /* duration      */ 0x00u}

  };

  LIS331DLH lis331dlh;

  L3G4200D::L3G4200DConfig gyro_run_config{

    /* ctrl reg 1 */ L3G4200D::DR_100_HZ | L3G4200D::BW_25 | L3G4200D::PD | L3G4200D::ZEN | L3G4200D::YEN | L3G4200D::XEN,

    /* ctrl reg 2 */ 0,

    /* ctrl reg 3 */ L3G4200D::I2_DRDY,

    /* ctrl reg 4 */ L3G4200D::FS_500_DPS | L3G4200D::SIM_4W,

    /* ctrl reg 5 */ 0

  };

  L3G4200D::L3G4200DConfig gyro_sleep_config{

    /* ctrl reg 1 */ L3G4200D::DR_100_HZ | L3G4200D::BW_25 | L3G4200D::PD,

    /* ctrl reg 2 */ gyro_run_config.ctrl2,

    /* ctrl reg 3 */ gyro_run_config.ctrl3,

    /* ctrl reg 4 */ gyro_run_config.ctrl4,

    /* ctrl reg 5 */ gyro_run_config.ctrl5

  };

  L3G4200D l3g4200d;

  INA219::Driver ina219;

  LTC4412wEN<(uintptr_t)GPIOC, GPIOC_PATH_DCSTAT, (uintptr_t)GPIOC, GPIOC_PATH_DCEN> ltc4412;

  AT24 at24c01;

  fileSystemIo::FSIODiWheelDrive memory;

  MotorIncrements increments;

  MotorControl motorcontrol;

  DistControl distcontrol;

  Odometry odometry;

  SerialCanMux sercanmux1;

  DiWheelDrive robot;

  UserThread userThread;

  int rpmForward[2] = {30,30};

  int rpmSoftLeft[2] = {10,20};

  int rpmHardLeft[2] = {5,20};

  int rpmSoftRight[2] = {rpmSoftLeft[1],rpmSoftLeft[0]};

  int rpmHardRight[2] = {rpmHardLeft[1],rpmHardLeft[0]};

  uint32_t stateTracker[24] = { 0 };

  uint32_t stateTransitionCounter = 0;

  // Line Following thresholds set due to calibration

  // MaxDelta: 18676, FL: 4289, FR: 22965

  // Thresh FL: 5241, FR: 25528

  // Good for amiro 25

  struct line_pid {

    int K_p = 0.0f;

    float K_i = 0.0f;

    float K_d = 0.0f;

    int threshProxyL = 5241;

    int threshProxyR = 25528;

    int BThresh = 5;

    int WThresh = 25528;

  };

  line_pid linePID;

  int threshWhite = 40000;

  // PID for line following:

  // Integral part

  int accumHist = 0;

  int oldError = 0;

// Struct for saving motor gains

  int resetProtect = 1;

  motorGains motorConfigGains;

  motorGains stopGains;

  types::position startPos;

  types::position endPos;

  // Line Following strategy

  // 0 EDGE_RIGHT

  // 1 EDGE_LEFT

  // 2 FUZZY

  // 3 DOCKING

  int lfStrategy = 3;

  // CAN communication line:

  // Will be set to true when message was received

  bool msgReceived = false;

  // bool chargingRequest = false;

  // uint8_t charge = 0;

  // uint8_t actualCharge = 0;

// Debugging stuff --------------

  int forwardSpeed = 5;

  int enableRecord = 0;

  bool triggerCan = false;

  uint8_t strategyTest = 0;

  // CANTxFrame powerFrame;

  // Buffer for sensor values

  struct sensorRecord

  {

    int FL = 0;

    int FR = 0;

    int delta = 0;

    int error = 0;

  };

  int sensSamples = 0;

  sensorRecord senseRec[1];

  sensorRecord maxDist;

  // TODO: Move defines to a more suiting place

  // Test cases

#define TEST_CASES 10

  /* Test Results */

  bool testres[TEST_CASES];

  // Max amount of nodes in a map

#define MAX_NODES 10

  // Amount of attributes that can be passed to each node

#define NODE_ATTRIBUTES 3

  /* TODO gloal test map could be also used for later map implementation */

  /* AmiroMap already knows about the global object such that the map does not need */

  /* to be passed explicitly */

  // Global test map

  uint8_t testmap[MAX_NODES][NODE_ATTRIBUTES];

  uint8_t tcase = 0;

  // -----------------------------

public:

  Global() :

    HW_I2C1(&I2CD1), HW_I2C2(&I2CD2),

    HW_PCA9544(&HW_I2C2, 0x07u),

    V_I2C2{{VI2CDriver(&HW_PCA9544, 0),

            VI2CDriver(&HW_PCA9544, 1),

            VI2CDriver(&HW_PCA9544, 2),

            VI2CDriver(&HW_PCA9544, 3)}

          },

    vcnl4020{{/* front left  */ VCNL4020(&V_I2C2[0], &vcnl4020_config),

              /* left wheel  */ VCNL4020(&V_I2C2[1], &vcnl4020_config),

              /* right wheel */ VCNL4020(&V_I2C2[2], &vcnl4020_config),

              /* front right */ VCNL4020(&V_I2C2[3], &vcnl4020_config)}

            },

    hmc5883l(&HW_I2C1, &hmc5883l_config),

    HW_SPI1_ACCEL(&SPID1, &accel_spi1_config), HW_SPI1_GYRO(&SPID1, &gyro_spi1_config),

    lis331dlh(&HW_SPI1_ACCEL),

    l3g4200d(&HW_SPI1_GYRO),

    ina219(HW_I2C2, 0x40u),

    ltc4412(),

    at24c01(0x400u / 0x08u, 0x08u, 500u, &HW_I2C2),

    memory(at24c01, /*BMSV*/ 1, /*bmsv*/ 3, /*HMV*/ 1, /*hmv*/ 0), // bmsv changed von 2 auf 3

    increments(&QEID3, &QEID4),

    motorcontrol(&PWMD2, &increments, GPIOB, GPIOB_POWER_EN, &memory),

    distcontrol(&motorcontrol, &increments),

    odometry(&increments, &l3g4200d),

    sercanmux1(&SD1, &CAND1, CAN::DI_WHEEL_DRIVE_ID),

    robot(&CAND1),

    userThread()

  {

    return;

  }

  ~Global()

  {

    return;

  }

};

#endif /* AMIRO_GLOBAL_HPP_ */