Add docking correction procedure
BI-Vital: mostly empty module.h/.c files added
minor fix in the BI-Vital configuration
Initialized BI-Vital (BG v5.1) module
AMiRo-BLT and AMiRo-LLD submodules updated
README updated and converted to Markdown
FIX: _numActiveThreads counted finalized threads
Add DEVIATION_CORRECTION state for a more precise docking maneuver
Introducing error states (negative lable): DOCKING_ERROR, REVERSE_TIMEOUT_ERROR, CALIBRATION_ERROR, WHITE_DETECTION_ERROR, PROXY_DETECTION_ERROR, NO_CHARGING_POWER_ERROR (not in use), UNKNOWN_STATE_ERROR.Bootom sensors can be calibrated for specific colors with MSG_CALIBRATE_BLACK/WHITE,...
Add overflow protection for accumHist, linit correction speed to MAX_CORRECTION_SPEED
Add struct for CAN messages
Add struct for line follow PID
Change unsigned to signed int in order to display negative delta value
timer and periodic timer have been unified in a single functional unit: timer.
The resulting timer object is slightly larger than one-shot timers have been, but much smaller than periodic timers.Size of resulting binary has been slightly decreased as well.
Calculation of stack utilization revised
bash library: minor fix/enhancement to the exit quitScript() function
Bash scripts: centralized all 'library' functions in a single file
Shell: fixed a bug where autocompletion behaved incorrectly
AMiRo Modules: real-time capabilities analysed and timings set accordingly tight
Slight enhancements to cpu load measurement
dramatically lowered worst critical zone in AMiRo-OS
Introduced a new system shell command 'module:spuload' to read out CPU load
enhanced some output alignment
shell: fixed a minor issue about recalling the previous entry
Restricted visibility of several local functions
shell: fixed minor issues with auto completion and suggest functionality
ChibiOS updated and patches adopted accordingly
All copyright forms updated to 2020.
Major overhaul of the shell.A new configuration option allows to set the shell history length.
Add shell request to print the battery state
Add check for frontal object, rotate if frontal object is detected
Deactivate userthread in powermanagement
Refactor
Refactor can msg for line follow speed
Shell: fixed recently broken stuff
README.txt now also describes the gtkterm configuration for the NUCLEO boards.
shell: logic and performance optimized
shell: argument buffer is now a stack variable of the thread.
ChibiOS patch for thread hierarchy fixed.kernelsetup script slightly optimizedChibiOS updated
Remove whitespace
Add CAN message for transmitting the userthread state
Add ERROR state to FSM
minor fixes to QtCreatroSetup.sh
AMiRo-BLT submodule updated
Reastructure the PID conbtroller to use more accurate values, add the i and d proprotion to the controller
Bugfix: white and protection will not be active, for some time, after RELEASE state
Add new correction behaviour when amiro drives to the loading station and fails to dock, change undock behaviour (AMiRo rotates clockwise 20 degrees to free from station magnet, drives 0.5 cm, rotates back and drives again
Add voltage check for docking: activate pin gets requested, if voltage is detected the state is changed to CHARGING otherwise the docking will repeate
Add debugging methods
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