krobot-commits

[Xavier L. <Ba...@us...>]

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- Log -----------------------------------------------------------------
commit ff93134afe82b8e1bc1ea72a8d8af8a2b6c756e6
Author: Xavier Lagorce <Xav...@cr...>
Date:   Tue May 15 22:13:33 2012 +0200

    [control2011] More CAN packets (bugged ?...)

commit 7f4506759a33ee70857837cccfc047a1ef6f03f5
Author: Xavier Lagorce <Xav...@cr...>
Date:   Tue May 15 18:39:56 2012 +0200

    [Controller_Motor_STM32] Added a mechanism to send CAN frames indicating software errors

-----------------------------------------------------------------------

Changes:
diff --git a/elec/boards/Controller_Motor_STM32/Firmwares/Propulsion_Drive/controller_motor_stm32/can_messages.h b/elec/boards/Controller_Motor_STM32/Firmwares/Propulsion_Drive/controller_motor_stm32/can_messages.h
index aa5c8b1..94ebea0 100644
--- a/elec/boards/Controller_Motor_STM32/Firmwares/Propulsion_Drive/controller_motor_stm32/can_messages.h
+++ b/elec/boards/Controller_Motor_STM32/Firmwares/Propulsion_Drive/controller_motor_stm32/can_messages.h
@@ -23,6 +23,7 @@
 #define CAN_MSG_STATUS 103 // status_can_msg_t
 #define CAN_MSG_ODOMETRY 104 // odometry_can_msg_t
 #define CAN_MSG_GHOST 105 // ghost_can_msg_t
+#define CAN_MSG_CONTROL_ERROR 106 // error_can_msg_t
 
 // Received commands
 #define CAN_MSG_MOVE 201 // move_can_msg_t
@@ -58,6 +59,12 @@ typedef struct {
   uint8_t is_moving;
 } status_msg_t;
 
+// Error packet
+typedef struct {
+  uint8_t err1;
+  uint8_t err2;
+} error_msg_t;
+
 // Robot state
 typedef struct {
   int16_t x __attribute__((__packed__));     // X position in mm (fixed point representation...)
@@ -142,6 +149,11 @@ typedef union {
 } status_can_msg_t;
 
 typedef union {
+  error_msg_t data;
+  uint32_t data32[2];
+} error_can_msg_t;
+
+typedef union {
   odometry_msg_t data;
   uint32_t data32[2];
 } odometry_can_msg_t;
diff --git a/elec/boards/Controller_Motor_STM32/Firmwares/Propulsion_Drive/controller_motor_stm32/can_monitor.c b/elec/boards/Controller_Motor_STM32/Firmwares/Propulsion_Drive/controller_motor_stm32/can_monitor.c
index bae2706..5ed50a6 100644
--- a/elec/boards/Controller_Motor_STM32/Firmwares/Propulsion_Drive/controller_motor_stm32/can_monitor.c
+++ b/elec/boards/Controller_Motor_STM32/Firmwares/Propulsion_Drive/controller_motor_stm32/can_monitor.c
@@ -20,6 +20,7 @@ PROC_DEFINE_STACK(stack_can_send, KERN_MINSTACKSIZE * 8);
 PROC_DEFINE_STACK(stack_can_receive, KERN_MINSTACKSIZE * 8);
 // globals
 volatile uint8_t mode;
+volatile uint8_t err1, err2, send_err;
 
 // Process for communication
 static void NORETURN canMonitor_process(void);
@@ -45,12 +46,19 @@ void canMonitorInit(void) {
   proc_new(canMonitorListen_process, NULL, sizeof(stack_can_receive), stack_can_receive);
 }
 
+void can_send_error(uint8_t e1, uint8_t e2) {
+  err1 |= e1;
+  err2 |= e2;
+  send_err = 1;
+}
+
 static void NORETURN canMonitor_process(void) {
   //encoder_can_msg_t msg_enc;
   motor_can_msg_t msg_mot;
   odometry_can_msg_t msg_odo;
   ghost_can_msg_t msg_ghost;
   status_can_msg_t status_msg;
+  error_can_msg_t error_msg;
   can_tx_frame txm;
   robot_state_t odometry;
   float u;
@@ -136,6 +144,17 @@ static void NORETURN canMonitor_process(void) {
     txm.eid = CAN_MSG_STATUS;
     can_transmit(CAND1, &txm, ms_to_ticks(10));
 
+    // Send error packet if requested
+    if (send_err) {
+      error_msg.data.err1 = err1; err1 = 0;
+      error_msg.data.err2 = err2; err2 = 0;
+      send_err = 0;
+      txm.data32[0] = error_msg.data32[0];
+      txm.data32[1] = error_msg.data32[1];
+      txm.eid = CAN_MSG_CONTROL_ERROR;
+      can_transmit(CAND1, &txm, ms_to_ticks(10));
+    }
+
     // Wait for the next transmission timer
     timer_waitEvent(&timer_can);
   }
diff --git a/elec/boards/Controller_Motor_STM32/Firmwares/Propulsion_Drive/controller_motor_stm32/can_monitor.h b/elec/boards/Controller_Motor_STM32/Firmwares/Propulsion_Drive/controller_motor_stm32/can_monitor.h
index da6ad7f..c157f58 100644
--- a/elec/boards/Controller_Motor_STM32/Firmwares/Propulsion_Drive/controller_motor_stm32/can_monitor.h
+++ b/elec/boards/Controller_Motor_STM32/Firmwares/Propulsion_Drive/controller_motor_stm32/can_monitor.h
@@ -21,5 +21,6 @@
 #include "can_messages.h"
 
 void canMonitorInit(void);
+void can_send_error(uint8_t err1, uint8_t err2);
 
 #endif /* __CAN_MONITOR_H */
diff --git a/info/control2011/src/lib/krobot_message.ml b/info/control2011/src/lib/krobot_message.ml
index 4addf15..285dfdc 100644
--- a/info/control2011/src/lib/krobot_message.ml
+++ b/info/control2011/src/lib/krobot_message.ml
@@ -36,10 +36,12 @@ type t =
   | Encoder_position_direction_3_4 of int * direction * int * direction
   | Encoder_position_speed_3 of float * float
   | Encoder_position_speed_4 of float * float
+  | Control_error of int * int
   | Motor_status of bool * bool * bool * bool
   | Motor_move of float * float * float
   | Motor_turn of float * float * float
   | Motor_bezier of float * float * float * float * float * float
+  | Motor_command of int * int
   | Motor_stop of float * float
   | Motor_bezier_limits of float * float * float
   | Odometry of float * float * float
@@ -144,6 +146,10 @@ let to_string = function
       sprintf
         "Motor_status(%B, %B, %B, %B)"
         m1 m2 m3 m4
+  | Control_error(e1, e2) ->
+      sprintf
+        "Control_error(%d, %d)"
+        e1 e2
   | Motor_move(dist, speed, acc) ->
       sprintf
         "Motor_move(%f, %f, %f)"
@@ -164,6 +170,10 @@ let to_string = function
       sprintf
         "Motor_bezier_limits(%f, %f, %f)"
         v_max a_tan_max a_rad_max
+  | Motor_command(motor_id, speed) ->
+      sprintf
+        "Motor_command(%d, %d)"
+        motor_id speed
   | Odometry(x, y, theta) ->
       sprintf
         "Odometry(%f, %f, %f)"
@@ -256,6 +266,16 @@ let encode = function
         ~remote:false
         ~format:F29bits
         ~data
+  | Control_error(e1, e2) ->
+      let data = String.create 2 in
+      put_uint8 data 0 e1;
+      put_uint8 data 1 e2;
+      frame
+        ~identifier:106
+        ~kind:Data
+        ~remote:false
+        ~format:F29bits
+        ~data
   | Odometry(x, y, theta) ->
       let data = String.create 6 in
       put_sint16 data 0 (truncate (x *. 1000.));
@@ -315,6 +335,16 @@ let encode = function
         ~remote:false
         ~format:F29bits
         ~data:(encode_bezier (x, y, d1, d2, theta, v))
+  | Motor_command(motor_id, speed) ->
+      let data = String.create 5 in
+      put_uint8 data 0 motor_id;
+      put_sint32 data 1 speed;
+      frame
+        ~identifier:208
+        ~kind:Data
+        ~remote:false
+        ~format:F29bits
+        ~data
   | Set_odometry(x, y, theta) ->
       let data = String.create 6 in
       put_sint16 data 0 (truncate (x *. 1000.));
@@ -595,6 +625,10 @@ let decode frame =
                float (get_sint16 frame.data 4) /. 10000.,
                get_uint8 frame.data 6,
                get_uint8 frame.data 7 <> 0)
+        | 106 ->
+            Control_error
+              (get_uint8 frame.data 0,
+               get_uint8 frame.data 1)
         | 201 ->
             Motor_move
               (float (get_sint32 frame.data 0) /. 1000.,
@@ -630,6 +664,10 @@ let decode frame =
               (float (get_uint16 frame.data 0) /. 1000.,
                float (get_uint16 frame.data 2) /. 1000.,
                float (get_uint16 frame.data 4) /. 1000.)
+        | 208 ->
+            Motor_command
+              (get_uint8 frame.data 0,
+               get_sint32 frame.data 1)
         | 231 ->
             Elevator(get_float32 frame.data 0,
                      get_float32 frame.data 4)
@@ -641,7 +679,7 @@ let decode frame =
         | 302 ->
             Beacon_lowlevel_position
               (float (get_uint16 frame.data 0),
-               float (get_uint16 frame.data 2) /. 10000.,
+               float (get_uint16 frame.data 2) (*/. 10000*),
                get_uint32 frame.data 4)
         | 311 ->
             Switch1_status
diff --git a/info/control2011/src/lib/krobot_message.mli b/info/control2011/src/lib/krobot_message.mli
index 752e937..4d79d4d 100644
--- a/info/control2011/src/lib/krobot_message.mli
+++ b/info/control2011/src/lib/krobot_message.mli
@@ -55,6 +55,8 @@ type t =
       (** The position and speed of encoder 3. *)
   | Encoder_position_speed_4 of float * float
       (** The position and speed of encoder 4. *)
+  | Control_error of int * int
+      (** Errors generated by a motor controller card. *)
   | Motor_status of bool * bool * bool * bool
       (** Status of the 4 motors. *)
   | Motor_move of float * float * float
@@ -73,6 +75,8 @@ type t =
       *)
   | Motor_bezier of float * float * float * float * float * float
       (** [Motor_bezier(x_end, y_end, d1, d2, theta_end, v_end)] *)
+  | Motor_command of int * int
+      (** [Motor_command(motor_id, PWM_value)] *)
   | Motor_stop of float * float
       (** [Motor_stop(lin_acc, rot_acc)] command to stop following the
           current Bezier Spline and the queued ones.


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