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[Krobot-commits] [SCM] krobot branch, master, updated. 5448c6c59e14ca827106721dd5da9bc189952a6a
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From: Jérémie D. <Ba...@us...> - 2011-06-06 17:16:06
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- Log -----------------------------------------------------------------
commit 5448c6c59e14ca827106721dd5da9bc189952a6a
Author: Nicolas Dandrimont <Nic...@cr...>
Date: Fri Jun 3 08:56:52 2011 +0200
[Sensor_Actuator] Fix AX-12 Torque Enable
commit 1f60ccac92bf4c5f4597967b7e9d773334a90f63
Author: chambart <cha...@cr...>
Date: Fri Jun 3 07:04:19 2011 +0200
[info] start of krobot_run
commit f380ee8973895face4d5b2295fb0a4e135eda780
Author: chambart <cha...@cr...>
Date: Thu Jun 2 22:34:29 2011 +0200
[control] correct some factors in beacon, hack to stop when seeing beacon
commit ea1a197d8eeec4d917b127bdba6742423df9cab7
Author: Nicolas Dandrimont <Nic...@cr...>
Date: Fri Jun 3 02:21:47 2011 +0200
[info/control2011] Disable AX-12 reset and enable AX-12 set torque enable
commit 9da6a855b7370e34be331b77e0d6760349b5e18a
Author: Nicolas Dandrimont <Nic...@cr...>
Date: Fri Jun 3 02:09:42 2011 +0200
[Sensor_Actuator] Add an AX-12 torque enable CAN message.
commit 9dbb59a3e7a35fe6c6f64ddf17916b6274ec2517
Author: Olivier BICHLER <oli...@gm...>
Date: Thu Jun 2 22:25:14 2011 +0200
[Sensor Actuator] New calibration data
commit 1a049cd04a302b1113d8f5adf4107a1547103a12
Author: chambart <cha...@cr...>
Date: Thu Jun 2 20:43:54 2011 +0200
[info] correct successive back curves
commit 58fb6c64e33a183f0b6028fbe244a0452e70458c
Author: Olivier BICHLER <oli...@gm...>
Date: Thu Jun 2 17:51:58 2011 +0200
[Sensor Actuator] Enable buzzer alarm in Battery Monitoring
commit 9ec7d0af2555087d2114180cdb3a3bc04266660d
Author: Nicolas Dandrimont <Nic...@cr...>
Date: Thu Jun 2 17:26:18 2011 +0200
[Sensor_Actuator] Add a firmware allowing AX12 resets on the STM32-P103 board
Plug the AX12 data wire on the 3rd pin of the UEXT1 port
commit 49f90e1ad727f5aa40a543f013b533f010e86c2b
Author: Nicolas Dandrimont <Nic...@cr...>
Date: Thu Jun 2 17:25:46 2011 +0200
[Sensor_Actuator] Working AX12 protocol
commit c500a6d35431f4d3eb8ae13350acb8840ffdcc62
Author: chambart <cha...@cr...>
Date: Thu Jun 2 17:32:21 2011 +0200
[vision] detect imbricated ellipses
commit 6a58ff4e127d43b98d4c1f234d85aeea2ba8bd76
Author: chambart <cha...@cr...>
Date: Thu Jun 2 14:55:33 2011 +0200
[vision] add camfilter_edge
commit 14b0879b2e34bfd343d1a069e680190bdae2953f
Author: Jérémie Dimino <je...@di...>
Date: Thu Jun 2 14:34:21 2011 +0200
[krobot_pathfinding] fix check_point
commit 293297b22b18781349744a0ac794ab8445a81779
Author: Jérémie Dimino <je...@di...>
Date: Thu Jun 2 12:29:05 2011 +0200
[krobot_homo] handle the jack
commit 8620279d6c6599c37ae0e51e9b85457495ea8dde
Author: Jérémie Dimino <je...@di...>
Date: Thu Jun 2 12:18:49 2011 +0200
[info] fix smart goto
commit 8b6cca05ed5c410de10241fb12bf87e73321f5b2
Author: chambart <cha...@cr...>
Date: Thu Jun 2 11:43:37 2011 +0200
[info] pathfinding don't give nan when it is in invalid situation
commit 51a2b998f311f37d80faa1a6e3154ec59fb78fd8
Author: Jérémie Dimino <je...@di...>
Date: Thu Jun 2 09:52:10 2011 +0200
[krobot_hub] better handling of errors
commit f996695c754fadf4a5ab183549f73e8d7adeaf1d
Author: Nicolas Dandrimont <Nic...@cr...>
Date: Thu Jun 2 09:48:48 2011 +0200
[control2011] Update the Sensor_Actuator board messages
commit a60c1722847b46333113b4824b7776aa87936a9a
Author: Jérémie Dimino <je...@di...>
Date: Thu Jun 2 08:31:36 2011 +0200
[info] add commands for the elevators
commit 06dc02a7d39cd1bbef4d6841097135f41a064971
Author: Jérémie Dimino <je...@di...>
Date: Thu Jun 2 08:02:07 2011 +0200
[info] start homologuation program
commit b95e2ac49537041b9fe76bf1db69a2c26ccc7cfe
Author: Nicolas Dandrimont <Nic...@cr...>
Date: Thu Jun 2 09:28:03 2011 +0200
[Sensor_Actuator] Add AX-12 processing
commit 2c975f20991be791d7e86dced5fc182c4287d7f0
Author: Nicolas Dandrimont <Nic...@cr...>
Date: Thu Jun 2 05:25:56 2011 +0200
[meca] Support de balise plus épais
commit c28241399972b072537bae9c73a19b999ace17be
Author: Xavier Lagorce <Xav...@cr...>
Date: Thu Jun 2 08:28:34 2011 +0200
[Controller_Motor_STM32/Effectors] Added can messages for lift command
commit 06392258468fa1238e3555db960cd75b09a28e81
Author: Xavier Lagorce <Xav...@cr...>
Date: Thu Jun 2 04:20:10 2011 +0200
[Controller_Motor_STM32/Effectors] Refactored lift_controller code. Now uses homing for bottom and up.
commit e349d8f7e8a74cb7436f9e292180c7b12c210f69
Merge: 6e293aee63a51caa184477fa263a876bafa1f71f 752ea3cb1fbadd518d490e725a127eff6ead49f2
Author: Stephane Glondu <st...@gl...>
Date: Thu Jun 2 03:43:20 2011 +0200
Merge remote-tracking branch 'eeepc/master'
commit 752ea3cb1fbadd518d490e725a127eff6ead49f2
Author: Olivier BICHLER <oli...@gm...>
Date: Thu Jun 2 03:24:22 2011 +0200
[Sensor_Actuator] Fixes and additions by bibiche.
commit fdf21325685b6d202aa167d559ae502d76bb65e1
Author: Nicolas Dandrimont <Nic...@cr...>
Date: Wed Jun 1 17:42:12 2011 +0200
[Sensor_Actuator] Update switch config
commit 59373c990c400c44f3214d1ff2e43b3a5b01a708
Author: Nicolas Dandrimont <Nic...@cr...>
Date: Wed Jun 1 17:41:34 2011 +0200
[Sensor_Actuator] CAN configuration
commit 1d95af89a718001da9a730643476e8215b2548c9
Author: Xavier Lagorce <Xav...@cr...>
Date: Thu Jun 2 03:06:48 2011 +0200
[Controller_Motor_STM32/Effectors] Initial import of working lift controller code
commit d7edbd72e9edfd86072f4ea657ed95cca0c816ee
Author: Xavier Lagorce <Xav...@cr...>
Date: Thu Jun 2 02:41:49 2011 +0200
[Controller_Motor_STM32/Propulsion_Drive] Prevent Bezier curve parameter to be bigger than 1
commit 6e293aee63a51caa184477fa263a876bafa1f71f
Author: chambart <cha...@cr...>
Date: Thu Jun 2 00:45:39 2011 +0200
[vision] beginning opencv ocaml binding
commit 5be42dcf5fd15446cbaea97c894117afe32d6f33
Author: Jérémie Dimino <je...@di...>
Date: Thu Jun 2 00:08:12 2011 +0200
[info] add Krobot_path
commit 276b192e754122dbc1b84c2b80ca0290b8901d84
Author: Jérémie Dimino <je...@di...>
Date: Wed Jun 1 22:56:13 2011 +0200
[krobot_webcam] add a fourth parameter to krobot-find-objects
commit 3d7abff0b47dfc753b022e807926319c234f60d2
Author: Jérémie Dimino <je...@di...>
Date: Wed Jun 1 22:55:04 2011 +0200
[vision] add parsing of the homography matrix
commit 2eba87a8645c11f9aad9c4605f7ebe63dfc3ad4d
Author: Jérémie Dimino <je...@di...>
Date: Wed Jun 1 22:37:04 2011 +0200
[info] add a service to convert raw sharps data
commit 62378cac5d536830654e5d132b0581ddf680de46
Author: Jérémie Dimino <je...@di...>
Date: Wed Jun 1 22:18:00 2011 +0200
[info] add a program to calibrate the sharps
commit b3f3a19d35c2e91ada6035f1cf7c77fa45948c6a
Author: Jérémie Dimino <je...@di...>
Date: Wed Jun 1 19:52:08 2011 +0200
[krobot_planner] fix smart goto
commit c19e9d21d23a0a7102db38745c8673a718a9a9bc
Author: Jérémie Dimino <je...@di...>
Date: Wed Jun 1 18:25:01 2011 +0200
[krobot_planner] handle the beacon in trajectory planning
-----------------------------------------------------------------------
Changes:
diff --git a/elec/boards/Controller_Motor_STM32/Firmwares/Effectors/controller_motor_stm32/can_messages.h b/elec/boards/Controller_Motor_STM32/Firmwares/Effectors/controller_motor_stm32/can_messages.h
index 81a44c2..3fe2b50 100644
--- a/elec/boards/Controller_Motor_STM32/Firmwares/Effectors/controller_motor_stm32/can_messages.h
+++ b/elec/boards/Controller_Motor_STM32/Firmwares/Effectors/controller_motor_stm32/can_messages.h
@@ -32,6 +32,7 @@
#define CAN_MSG_CONTROLLER_MODE 205 // controller_mode_can_msg_t
#define CAN_MSG_BEZIER_ADD 206 // bezier_can_msg_t
+#define CAN_MSG_LIFT_CMD 231 // lift_cmd_msg_t
/* +-----------------------------------------------------------------+
| CAN messages data structures |
+-----------------------------------------------------------------+ */
@@ -107,6 +108,11 @@ typedef struct {
uint8_t mode;
} controller_mode_msg_t;
+// Lift command position, a value is ignored if < 0
+typedef struct {
+ float front_lift __attribute__((__packed__));
+ float back_lift __attribute__((__packed__));
+} lift_cmd_msg_t;
/* +-----------------------------------------------------------------+
| CAN messages unions for data representation |
@@ -162,5 +168,9 @@ typedef union {
uint32_t data32[2];
} controller_mode_can_msg_t;
+typedef union {
+ lift_cmd_msg_t data;
+ uint32_t data32[2];
+} lift_cmd_can_msg_t;
#endif /* __CAN_MESSAGES_H */
diff --git a/elec/boards/Controller_Motor_STM32/Firmwares/Effectors/controller_motor_stm32/can_messages_sensors.h b/elec/boards/Controller_Motor_STM32/Firmwares/Effectors/controller_motor_stm32/can_messages_sensors.h
new file mode 100644
index 0000000..512077e
--- /dev/null
+++ b/elec/boards/Controller_Motor_STM32/Firmwares/Effectors/controller_motor_stm32/can_messages_sensors.h
@@ -0,0 +1,154 @@
+/**
+ * Sensor-Actuator board messages
+ *
+ * Header file for the Sensor and Actuator CAN messages
+ *
+ * Copyright © 2011 Nicolas Dandrimont <ol...@cr...>
+ * Authors: Nicolas Dandrimont <ol...@cr...>
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program. If not, see <http://www.gnu.org/licenses/>.
+ *
+ */
+
+#ifndef CAN_MESSAGES_H__
+#define CAN_MESSAGES_H__
+
+/**
+ * Message IDs
+ */
+
+// Beacon
+
+#define CAN_BEACON_POSITION 301 // beacon_position
+#define CAN_BEACON_LOWLEVEL_POSITION 302 // beacon_lowlevel_position
+#define CAN_BEACON_CALIBRATION 303 // beacon_calibration
+
+// Switches
+
+#define CAN_SWITCH_STATUS_1 311 // switch_status
+#define CAN_SWITCH_STATUS_2 312 // switch_status
+#define CAN_SWITCH_SET 313 // switch_request
+
+
+// ADC
+
+#define CAN_ADC_VALUES_1 321 // adc_values
+#define CAN_ADC_VALUES_2 322 // adc_values
+
+
+/****************************************************************************/
+
+/**
+ * Message Packets
+ */
+
+/**
+ * Beacon messages
+ */
+
+// Position of the opponent
+struct beacon_position_pkt {
+ uint16_t angle; // in 1/10000th of radians [0; 2*Pi[
+ uint16_t distance; // in mm [0; 65536[
+ uint16_t period; // in 1/10000th of seconds [0; 1[
+} __attribute__((packed));
+
+
+
+// Beacon low-level position
+struct beacon_lowlevel_position_pkt {
+ uint16_t angle; // in 1/10000th of radians [0; 2*Pi[
+ uint16_t width; // in 1/100000th of radians [0; Pi/5[
+ uint32_t period; // in timer ticks
+} __attribute__((packed));
+
+
+
+// Beacon calibration
+struct beacon_calibration_pkt {
+ uint16_t width; // in 1/100000th of radians [0; Pi/5[
+ uint16_t distance; // in mm [0; 65536[
+} __attribute__((packed));
+
+
+/**
+ * Switch messages
+ */
+
+// Switch status
+struct switch_status_pkt {
+ uint8_t sw1;
+ uint8_t sw2;
+ uint8_t sw3;
+ uint8_t sw4;
+ uint8_t sw5;
+ uint8_t sw6;
+ uint8_t sw7;
+ uint8_t sw8;
+};
+
+// Switch request
+struct switch_request_pkt {
+ uint8_t num;
+ uint8_t state;
+};
+
+/**
+ * ADC messages
+ */
+// ADC Values
+struct adc_values_pkt {
+ uint16_t val1;
+ uint16_t val2;
+ uint16_t val3;
+ uint16_t val4;
+} __attribute__((packed));
+
+/****************************************************************************/
+
+/**
+ * Typedefs
+ */
+
+typedef union {
+ struct beacon_position_pkt p;
+ uint32_t d[2];
+} beacon_position;
+
+typedef union {
+ struct beacon_lowlevel_position_pkt p;
+ uint32_t d[2];
+} beacon_lowlevel_position;
+
+typedef union {
+ struct beacon_calibration_pkt p;
+ uint32_t d[2];
+} beacon_calibration;
+
+typedef union {
+ struct switch_status_pkt p;
+ uint32_t d[2];
+} switch_status;
+
+typedef union {
+ struct switch_request_pkt p;
+ uint32_t d[2];
+} switch_request;
+
+typedef union {
+ struct adc_values_pkt p;
+ uint32_t d[2];
+} adc_values;
+
+#endif
diff --git a/elec/boards/Controller_Motor_STM32/Firmwares/Effectors/controller_motor_stm32/can_monitor.c b/elec/boards/Controller_Motor_STM32/Firmwares/Effectors/controller_motor_stm32/can_monitor.c
index c8bcb2b..43913c8 100644
--- a/elec/boards/Controller_Motor_STM32/Firmwares/Effectors/controller_motor_stm32/can_monitor.c
+++ b/elec/boards/Controller_Motor_STM32/Firmwares/Effectors/controller_motor_stm32/can_monitor.c
@@ -45,13 +45,7 @@ void canMonitorInit(void) {
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;
can_tx_frame txm;
- robot_state_t odometry;
- float u;
Timer timer_can;
// Initialize constant parameters of TX frame
@@ -77,63 +71,6 @@ static void NORETURN canMonitor_process(void) {
txm.eid = CAN_MSG_ENCODERS34;
can_transmit(CAND1, &txm, ms_to_ticks(10));
- // Sending odometry data if not in HIL mode or motor commands if in HIL mode
- /*if (mode != ROBOT_MODE_HIL) {
- odo_getState(&odometry);
- msg_odo.data.x = (int16_t)(odometry.x * 1000.0);
- msg_odo.data.y = (int16_t)(odometry.y * 1000.0);
- odometry.theta = fmodf(odometry.theta, 2*M_PI);
- if (odometry.theta > M_PI)
- odometry.theta -= 2*M_PI;
- if (odometry.theta < -M_PI)
- odometry.theta += 2*M_PI;
- msg_odo.data.theta = (int16_t)(odometry.theta * 10000.0);
-
- txm.data32[0] = msg_odo.data32[0];
- txm.data32[1] = msg_odo.data32[1];
- txm.eid = CAN_MSG_ODOMETRY;
- can_transmit(CAND1, &txm, ms_to_ticks(10));
- } else {
- // Sending MOTOR3 data
- msg_mot.data.position = mc_getPosition(MOTOR3);
- msg_mot.data.speed = mc_getSpeed(MOTOR3);
-
- txm.data32[0] = msg_mot.data32[0];
- txm.data32[1] = msg_mot.data32[1];
- txm.eid = CAN_MSG_MOTOR3;
- can_transmit(CAND1, &txm, ms_to_ticks(10));
-
- // Sending MOTOR4 data
- msg_mot.data.position = mc_getPosition(MOTOR4);
- msg_mot.data.speed = mc_getSpeed(MOTOR4);
-
- txm.data32[0] = msg_mot.data32[0];
- txm.data32[1] = msg_mot.data32[1];
- txm.eid = CAN_MSG_MOTOR4;
- can_transmit(CAND1, &txm, ms_to_ticks(10));
- }
-
- // Wait before sending the other packets
- timer_waitEvent(&timer_can);
- timer_add(&timer_can);*/
-
- // Sending ghost state
- /*msg_ghost.data.state = dd_get_ghost_state(&odometry, &u);
- msg_ghost.data.x = (int16_t)(odometry.x * 1000.0);
- msg_ghost.data.y = (int16_t)(odometry.y * 1000.0);
- msg_ghost.data.theta = (int16_t)(odometry.theta * 10000.0);
- msg_ghost.data.u = (uint8_t)(u * 255);
- txm.data32[0] = msg_ghost.data32[0];
- txm.data32[1] = msg_ghost.data32[1];
- txm.eid = CAN_MSG_GHOST;
- can_transmit(CAND1, &txm, ms_to_ticks(10));
-
- status_msg.data.is_moving = tc_is_working(MOTOR1 | MOTOR2 | MOTOR3 | MOTOR4);
- txm.data32[0] = status_msg.data32[0];
- txm.data32[1] = status_msg.data32[1];
- txm.eid = CAN_MSG_STATUS;
- can_transmit(CAND1, &txm, ms_to_ticks(10));*/
-
// Wait for the next transmission timer
timer_waitEvent(&timer_can);
}
@@ -144,14 +81,12 @@ static void NORETURN canMonitorListen_process(void) {
can_rx_frame frame;
bool received = false;
can_tx_frame txm;
- robot_state_t odometry;
+ uint8_t end_stops;
- move_can_msg_t move_msg;
- turn_can_msg_t turn_msg;
- odometry_can_msg_t odometry_msg;
- stop_can_msg_t stop_msg;
- controller_mode_can_msg_t controller_mode_msg;
- bezier_can_msg_t bezier_msg;
+ //controller_mode_can_msg_t controller_mode_msg;
+
+ switch_status end_courses_msg;
+ lift_cmd_can_msg_t lift_cmd_msg;
// Initialize constant parameters of TX frame
txm.dlc = 8;
@@ -171,50 +106,7 @@ static void NORETURN canMonitorListen_process(void) {
} else {
// Handle commands and other informations
switch (frame.eid) {
- case CAN_MSG_MOVE:
- move_msg.data32[0] = frame.data32[0];
- move_msg.data32[1] = frame.data32[1];
- if (!tc_is_working(TC_MASK(DD_LINEAR_SPEED_TC) | TC_MASK(DD_ROTATIONAL_SPEED_TC)))
- dd_move(move_msg.data.distance / 1000.0, move_msg.data.speed / 1000.0, move_msg.data.acceleration / 1000.0);
- break;
- case CAN_MSG_TURN:
- turn_msg.data32[0] = frame.data32[0];
- turn_msg.data32[1] = frame.data32[1];
- if (!tc_is_working(TC_MASK(DD_LINEAR_SPEED_TC) | TC_MASK(DD_ROTATIONAL_SPEED_TC)))
- dd_turn(turn_msg.data.angle / 10000.0, turn_msg.data.speed / 1000.0, turn_msg.data.acceleration / 1000.0);
- break;
- case CAN_MSG_BEZIER_ADD:
- bezier_msg.data32[0] = frame.data32[0];
- bezier_msg.data32[1] = frame.data32[1];
- dd_add_bezier(bezier_msg.data.x_end/1000.0, bezier_msg.data.y_end/1000.0,
- bezier_msg.data.d1/100.0, bezier_msg.data.d2/100.0,
- bezier_msg.data.theta_end/100.0, bezier_msg.data.v_end/1000.0);
- break;
- case CAN_MSG_STOP:
- stop_msg.data32[0] = frame.data32[0];
- stop_msg.data32[1] = frame.data32[1];
- dd_interrupt_trajectory(stop_msg.data.rot_acc, stop_msg.data.lin_acc);
- break;
- case CAN_MSG_ODOMETRY_SET:
- odometry_msg.data32[0] = frame.data32[0];
- odometry_msg.data32[1] = frame.data32[1];
- odometry.x = ((float)odometry_msg.data.x) / 1000.0;
- odometry.y = ((float)odometry_msg.data.y) / 1000.0;
- odometry.theta = ((float)odometry_msg.data.theta) / 10000.0;
- odo_setState(&odometry);
- break;
- case CAN_MSG_ODOMETRY:
- // We should only receive such message in HIL mode
- if (mode == ROBOT_MODE_HIL) {
- odometry_msg.data32[0] = frame.data32[0];
- odometry_msg.data32[1] = frame.data32[1];
- odometry.x = ((float)odometry_msg.data.x) / 1000.0;
- odometry.y = ((float)odometry_msg.data.y) / 1000.0;
- odometry.theta = ((float)odometry_msg.data.theta) / 10000.0;
- odo_setState(&odometry);
- }
- break;
- case CAN_MSG_CONTROLLER_MODE:
+ /*case CAN_MSG_CONTROLLER_MODE:
controller_mode_msg.data32[0] = frame.data32[0];
controller_mode_msg.data32[1] = frame.data32[0];
if (controller_mode_msg.data.mode == 1) {
@@ -228,6 +120,27 @@ static void NORETURN canMonitorListen_process(void) {
odo_restart();
mode = ROBOT_MODE_NORMAL;
}
+ break;*/
+ case CAN_SWITCH_STATUS_1:
+ end_courses_msg.d[0] = frame.data32[0];
+ end_courses_msg.d[1] = frame.data32[1];
+ end_stops = 0;
+ if (!end_courses_msg.p.sw3)
+ end_stops |= LC_BACK_BOTTOM;
+ if (!end_courses_msg.p.sw4)
+ end_stops |= LC_BACK_UP;
+ lc_end_stop_reached(end_stops);
+ //if (end_courses_msg.p.sw1) {
+ // lc_release();
+ // motorSetSpeed(MOTOR2,0);
+ break;
+ case CAN_MSG_LIFT_CMD:
+ lift_cmd_msg.data32[0] = frame.data32[0];
+ lift_cmd_msg.data32[1] = frame.data32[1];
+ if (lift_cmd_msg.data.front_lift >= 0)
+ lc_goto_position(LC_FRONT_LIFT, lift_cmd_msg.data.front_lift);
+ if (lift_cmd_msg.data.back_lift >= 0)
+ lc_goto_position(LC_BACK_LIFT, lift_cmd_msg.data.back_lift);
break;
}
}
diff --git a/elec/boards/Controller_Motor_STM32/Firmwares/Effectors/controller_motor_stm32/can_monitor.h b/elec/boards/Controller_Motor_STM32/Firmwares/Effectors/controller_motor_stm32/can_monitor.h
index da6ad7f..c55f124 100644
--- a/elec/boards/Controller_Motor_STM32/Firmwares/Effectors/controller_motor_stm32/can_monitor.h
+++ b/elec/boards/Controller_Motor_STM32/Firmwares/Effectors/controller_motor_stm32/can_monitor.h
@@ -19,6 +19,8 @@
#include "odometry.h"
#include "differential_drive.h"
#include "can_messages.h"
+#include "can_messages_sensors.h"
+#include "lift_controller.h"
void canMonitorInit(void);
diff --git a/elec/boards/Controller_Motor_STM32/Firmwares/Effectors/controller_motor_stm32/controller_motor_stm32_user.mk b/elec/boards/Controller_Motor_STM32/Firmwares/Effectors/controller_motor_stm32/controller_motor_stm32_user.mk
index bd55ecc..56ea826 100644
--- a/elec/boards/Controller_Motor_STM32/Firmwares/Effectors/controller_motor_stm32/controller_motor_stm32_user.mk
+++ b/elec/boards/Controller_Motor_STM32/Firmwares/Effectors/controller_motor_stm32/controller_motor_stm32_user.mk
@@ -20,6 +20,7 @@ controller_motor_stm32_USER_CSRC = \
$(controller_motor_stm32_SRC_PATH)/bezier_utils.c \
$(controller_motor_stm32_SRC_PATH)/differential_drive.c \
$(controller_motor_stm32_SRC_PATH)/can_monitor.c \
+ $(controller_motor_stm32_SRC_PATH)/lift_controller.c \
$(controller_motor_stm32_SRC_PATH)/main.c \
#
diff --git a/elec/boards/Controller_Motor_STM32/Firmwares/Effectors/controller_motor_stm32/differential_drive.c b/elec/boards/Controller_Motor_STM32/Firmwares/Effectors/controller_motor_stm32/differential_drive.c
index 179db7f..b566a84 100644
--- a/elec/boards/Controller_Motor_STM32/Firmwares/Effectors/controller_motor_stm32/differential_drive.c
+++ b/elec/boards/Controller_Motor_STM32/Firmwares/Effectors/controller_motor_stm32/differential_drive.c
@@ -252,14 +252,14 @@ command_generator_t* dd_get_right_wheel_generator(void) {
void dd_move(float distance, float speed, float acceleration) {
if (params.enabled) {
params.last_lin_acceleration = acceleration;
- tc_goto(DD_LINEAR_SPEED_TC, distance, speed, params.last_lin_acceleration);
+ tc_move(DD_LINEAR_SPEED_TC, distance, speed, params.last_lin_acceleration);
}
}
void dd_turn(float angle, float speed, float acceleration) {
if (params.enabled) {
params.last_rot_acceleration = acceleration;
- tc_goto(DD_ROTATIONAL_SPEED_TC, angle, speed, params.last_rot_acceleration);
+ tc_move(DD_ROTATIONAL_SPEED_TC, angle, speed, params.last_rot_acceleration);
}
}
diff --git a/elec/boards/Controller_Motor_STM32/Firmwares/Effectors/controller_motor_stm32/lift_controller.c b/elec/boards/Controller_Motor_STM32/Firmwares/Effectors/controller_motor_stm32/lift_controller.c
new file mode 100644
index 0000000..56cb686
--- /dev/null
+++ b/elec/boards/Controller_Motor_STM32/Firmwares/Effectors/controller_motor_stm32/lift_controller.c
@@ -0,0 +1,139 @@
+/*
+ * lift_controller.c
+ * -----------------
+ * Copyright : (c) 2011, Xavier Lagorce <Xav...@cr...>
+ * Licence : BSD3
+ *
+ * This file is a part of [kro]bot.
+ */
+
+#include "lift_controller.h"
+
+#define DIR_UP 0
+#define DIR_DOWN 1
+
+typedef struct {
+ uint8_t enabled, tc_ind;
+ int8_t direction;
+ float bottom, extend;
+ uint8_t end_stop_ind;
+} lc_state_t;
+
+lc_state_t lc_state[2];
+
+float pos2angle(uint8_t lift, float position);
+
+float pos2angle(uint8_t lift, float position) {
+
+ //return lc_state[lift].offset - position / 23.474;
+ return lc_state[lift].bottom + lc_state[lift].extend*position;
+}
+
+void lc_init(void) {
+ motor_controller_params_t params;
+ int i;
+
+ // Init state
+ for (i=0; i<2; i++) {
+ lc_state[i].enabled = 1;
+ lc_state[i].direction = -1;
+ lc_state[i].bottom = 0;
+ lc_state[i].extend = 0;
+ lc_state[i].end_stop_ind = 0;
+ }
+ lc_state[LC_FRONT_LIFT].tc_ind = LC_TC_FRONT;
+ lc_state[LC_BACK_LIFT].tc_ind = LC_TC_BACK;
+
+ // Init Trajectory controllers
+ tc_new_controller(LC_TC_FRONT);
+ tc_new_controller(LC_TC_BACK);
+ // Limit PWM value
+ motorSetMaxPWM(MOTOR3, 1600);
+ motorSetMaxPWM(MOTOR4, 1600);
+ // Common parameters
+ params.encoder_gain = 2.0*M_PI/588.0;
+ params.G0 = 0.0035;
+ params.tau = 0.025;
+ params.k[0] = -10216;
+ params.k[1] = -255.39;
+ params.l = -params.k[0];
+ params.l0[0] = 0.0091;
+ params.l0[1] = 1.6361;
+ params.T = 0.005;
+ // Initialize front lift
+ params.motor = MOTOR4;
+ params.encoder = ENCODER4;
+ mc_new_controller(¶ms, tc_get_position_generator(LC_TC_FRONT), CONTROLLER_MODE_NORMAL);
+ // Initialize back lift
+ params.motor = MOTOR3;
+ params.encoder = ENCODER3;
+ mc_new_controller(¶ms, tc_get_position_generator(LC_TC_BACK), CONTROLLER_MODE_NORMAL);
+}
+
+void lc_end_stop_reached(uint8_t end_stops) {
+
+ // Set the end stop indicators and stop the lift if needed
+ if ((end_stops & LC_FRONT_UP) || (end_stops & LC_FRONT_BOTTOM)) {
+ if ((end_stops & LC_FRONT_UP) && (lc_state[LC_FRONT_LIFT].direction == 1))
+ tc_stop(LC_TC_FRONT);
+ if ((end_stops & LC_FRONT_BOTTOM) && (lc_state[LC_FRONT_LIFT].direction == -1))
+ tc_stop(LC_TC_FRONT);
+ lc_state[LC_FRONT_LIFT].end_stop_ind = end_stops & (LC_FRONT_UP|LC_FRONT_BOTTOM);
+ }
+ if ((end_stops & LC_BACK_UP) || (end_stops & LC_BACK_BOTTOM)) {
+ if ((end_stops & LC_BACK_UP) && (lc_state[LC_BACK_LIFT].direction == 1))
+ tc_stop(LC_TC_BACK);
+ if ((end_stops & LC_BACK_BOTTOM) && (lc_state[LC_BACK_LIFT].direction == -1))
+ tc_stop(LC_TC_BACK);
+ lc_state[LC_BACK_LIFT].end_stop_ind = (end_stops & (LC_BACK_UP|LC_BACK_BOTTOM)) >> 2;
+ }
+}
+
+void lc_homing(uint8_t lift) {
+ // Go down
+ lc_state[lift].direction = -1;
+ tc_goto_speed(lc_state[lift].tc_ind, M_PI/4, 1);
+ // Wait for the end stop to trigger
+ while (!(lc_state[lift].end_stop_ind & LC_BOTTOM))
+ cpu_relax();
+ // Stop the lift
+ tc_stop(lc_state[lift].tc_ind);
+ // Assert end stop
+ lc_state[lift].end_stop_ind &= ~LC_BOTTOM;
+ // Wait and get current generator position as offset
+ timer_delay(50);
+ lc_state[lift].bottom = get_output_value(tc_get_position_generator(lc_state[lift].tc_ind));
+
+ // Go up
+ lc_state[lift].direction = 1;
+ tc_goto_speed(lc_state[lift].tc_ind, -M_PI/4, 1);
+ // Wait for the end stop to trigger
+ while (!(lc_state[lift].end_stop_ind & LC_UP))
+ cpu_relax();
+ // Stop the lift
+ tc_stop(lc_state[lift].tc_ind);
+ // Assert end stop
+ lc_state[lift].end_stop_ind &= ~LC_UP;
+ // Wait and get current generator position as offset
+ timer_delay(50);
+ lc_state[lift].extend = get_output_value(tc_get_position_generator(lc_state[lift].tc_ind)) - lc_state[lift].bottom;
+}
+
+void lc_goto_position(uint8_t lift, float position) {
+ float goal = pos2angle(lift, position);
+
+ if (goal > get_output_value(tc_get_position_generator(lc_state[lift].tc_ind))) {
+ lc_state[lift].direction = -1;
+ } else {
+ lc_state[lift].direction = 1;
+ }
+ tc_goto(lift, goal, M_PI, 5);
+}
+
+void lc_release(void) {
+ mc_delete_controller(MOTOR3);
+ mc_delete_controller(MOTOR4);
+
+ lc_state[LC_FRONT_LIFT].enabled = 0;
+ lc_state[LC_BACK_LIFT].enabled = 0;
+}
diff --git a/elec/boards/Controller_Motor_STM32/Firmwares/Effectors/controller_motor_stm32/lift_controller.h b/elec/boards/Controller_Motor_STM32/Firmwares/Effectors/controller_motor_stm32/lift_controller.h
new file mode 100644
index 0000000..717c8cc
--- /dev/null
+++ b/elec/boards/Controller_Motor_STM32/Firmwares/Effectors/controller_motor_stm32/lift_controller.h
@@ -0,0 +1,41 @@
+/*
+ * lift_controller.h
+ * -----------------
+ * Copyright : (c) 2011, Xavier Lagorce <Xav...@cr...>
+ * Licence : BSD3
+ *
+ * This file is a part of [kro]bot.
+ */
+
+#ifndef __LIFT_CONTROLLER_H
+#define __LIFT_CONTROLLER_H
+
+#include "motor_controller.h"
+#include "trajectory_controller.h"
+#include "command_generator.h"
+
+#define LC_FRONT_LIFT 0
+#define LC_BACK_LIFT 1
+
+#define LC_FRONT_UP 1
+#define LC_FRONT_BOTTOM 2
+#define LC_BACK_UP 4
+#define LC_BACK_BOTTOM 8
+
+#define LC_UP 1
+#define LC_BOTTOM 2
+
+#define LC_POSITION_BOTTOM 1
+#define LC_POSITION_MIDDLE 2
+#define LC_POSITION_UP 4
+
+#define LC_TC_FRONT 0
+#define LC_TC_BACK 1
+
+void lc_init(void);
+void lc_end_stop_reached(uint8_t end_stops);
+void lc_homing(uint8_t lift);
+void lc_goto_position(uint8_t lift, float position);
+void lc_release(void);
+
+#endif /* __LIFT_CONTROLLER_H */
diff --git a/elec/boards/Controller_Motor_STM32/Firmwares/Effectors/controller_motor_stm32/main.c b/elec/boards/Controller_Motor_STM32/Firmwares/Effectors/controller_motor_stm32/main.c
index b769991..f906450 100644
--- a/elec/boards/Controller_Motor_STM32/Firmwares/Effectors/controller_motor_stm32/main.c
+++ b/elec/boards/Controller_Motor_STM32/Firmwares/Effectors/controller_motor_stm32/main.c
@@ -21,8 +21,6 @@ PROC_DEFINE_STACK(stack_ind, KERN_MINSTACKSIZE * 2);
static void init(void)
{
- motor_controller_params_t params;
-
IRQ_ENABLE;
/* Initialize debugging module (allow kprintf(), etc.) */
@@ -36,38 +34,25 @@ static void init(void)
*/
proc_init();
- // Initialize CONTROL driver (will initialize MOTOR and ENCODER subsystems)
- motorControllerInit();
-
// Initialize CAN_MONITOR
canMonitorInit();
- // Start control of drive motors
+ // Initialize CONTROL driver (will initialize MOTOR and ENCODER subsystems)
+ motorControllerInit();
+ // Initialize Command generator
tc_init();
- tc_new_controller(0);
- tc_new_controller(1);
- motorSetMaxPWM(MOTOR4, 1600);
+ // Initialize Lift Controller
+ lc_init();
+
+ // Init lifts
+ lc_homing(LC_BACK_LIFT);
+ lc_goto_position(LC_BACK_LIFT, 0.5);
+ while(tc_is_working(TC_MASK(LC_TC_BACK)))
+ timer_delay(100);
+
// Setup Beacon's motor
motorSetMaxPWM(MOTOR2, 1080);
enableMotor(MOTOR2);
- // Common parameters
- params.encoder_gain = 2.0*M_PI/588.0;
- params.G0 = 0.0035;
- params.tau = 0.025;
- params.k[0] = -10216;
- params.k[1] = -255.39;
- params.l = -params.k[0];
- params.l0[0] = 0.0091;
- params.l0[1] = 1.6361;
- params.T = 0.005;
- // Initialize forward lift
- params.motor = MOTOR4;
- params.encoder = ENCODER4;
- //mc_new_controller(¶ms, tc_get_position_generator(0), CONTROLLER_MODE_NORMAL);
- // Initialize backward lift
- params.motor = MOTOR3;
- params.encoder = ENCODER3;
- //mc_new_controller(¶ms, tc_get_position_generator(1), CONTROLLER_MODE_NORMAL);
// Blink to say we are ready
for (uint8_t i=0; i < 5; i++) {
@@ -87,22 +72,16 @@ static void init(void)
static void NORETURN ind_process(void)
{
while(1) {
- LED4_ON();
- tc_goto(0, 50/23.475, M_PI, 5);
- while(tc_is_working(TC_MASK(0)))
+ LED1_ON();
+ lc_goto_position(LC_BACK_LIFT, 1.);
+ while(tc_is_working(TC_MASK(LC_TC_BACK)))
timer_delay(100);
- timer_delay(500);
- LED4_OFF();
- tc_goto(0, -50/23.475, M_PI, 5);
- while(tc_is_working(TC_MASK(0)))
+ timer_delay(1000);
+ LED1_OFF();
+ lc_goto_position(LC_BACK_LIFT, 0);
+ while(tc_is_working(TC_MASK(LC_TC_BACK)))
timer_delay(100);
- timer_delay(500);
-
- /*if (dd_get_ghost_state(NULL, NULL) == DD_GHOST_MOVING) {
- LED1_ON();
- } else {
- LED1_OFF();
- }*/
+ timer_delay(1000);
}
}
@@ -114,7 +93,6 @@ int main(void)
//proc_new(ind_process, NULL, sizeof(stack_ind), stack_ind);
// Tests
- //motorSetSpeed(MOTOR4, 400);
motorSetSpeed(MOTOR2, 1000);
/*
diff --git a/elec/boards/Controller_Motor_STM32/Firmwares/Effectors/controller_motor_stm32/trajectory_controller.c b/elec/boards/Controller_Motor_STM32/Firmwares/Effectors/controller_motor_stm32/trajectory_controller.c
index 2ae2d4f..ef59d93 100644
--- a/elec/boards/Controller_Motor_STM32/Firmwares/Effectors/controller_motor_stm32/trajectory_controller.c
+++ b/elec/boards/Controller_Motor_STM32/Firmwares/Effectors/controller_motor_stm32/trajectory_controller.c
@@ -214,6 +214,23 @@ command_generator_t* tc_get_speed_generator(uint8_t cntr_index) {
}
void tc_goto(uint8_t cntr_index, float angle, float speed, float acceleration) {
+ trajectory_controller_t *cont;
+
+ // Verify parameters
+ if (angle == 0 || speed <= 0 || acceleration <= 0)
+ return;
+
+ // Get the controller and verifies it is enabled
+ if (cntr_index >= NUM_TC_MAX)
+ return;
+ cont = &controllers[cntr_index];
+ if (!cont->enabled)
+ return;
+
+ tc_move(cntr_index, angle - get_output_value(&cont->position), speed, acceleration);
+}
+
+void tc_move(uint8_t cntr_index, float angle, float speed, float acceleration) {
float acc_dist, t_acc, t_end;
trajectory_controller_t *cont;
@@ -321,46 +338,26 @@ void tc_set_speed(uint8_t cntr_index, float speed) {
cont->working = 0;
}
+void tc_stop(uint8_t cntr_index) {
+ trajectory_controller_t *cont;
+ // Get the controller and verifies it is enabled
+ if (cntr_index >= NUM_TC_MAX)
+ return;
+ cont = &controllers[cntr_index];
+ if (!cont->enabled)
+ return;
-void tc_move(tc_robot_t *robot, float distance, float speed, float acceleration) {
- float dis_s, spe_s, acc_s;
-
- // Let's pause the wheel's speed generators to synchronize movement start
- pause_generator(&controllers[robot->left_wheel].speed);
- pause_generator(&controllers[robot->right_wheel].speed);
-
- // Compute parameters
- dis_s = distance / robot->wheel_radius;
- spe_s = speed / robot->wheel_radius;
- acc_s = acceleration / robot->wheel_radius;
+ // Disable a possibly running profile
+ cont->aut.state = TRAPEZOID_STATE_STOP;
+ remove_callback(&cont->position);
+ remove_callback(&cont->speed);
- // Planify movements
- tc_goto(robot->left_wheel, dis_s, spe_s, acc_s);
- tc_goto(robot->right_wheel, dis_s, spe_s, acc_s);
+ // Stop generator evolution
+ adjust_speed(&cont->speed, 0.);
+ adjust_value(&cont->speed, 0.);
- // Go
- start_generator(&controllers[robot->left_wheel].speed);
- start_generator(&controllers[robot->right_wheel].speed);
+ // Trajectory controller is not working anylonger
+ cont->working = 0;
}
-void tc_turn(tc_robot_t *robot, float angle, float speed, float acceleration) {
- float angle_s, spe_s, acc_s;
-
- // Let's pause the wheel's speed generators to synchronize movement start
- pause_generator(&controllers[robot->left_wheel].speed);
- pause_generator(&controllers[robot->right_wheel].speed);
-
- // Compute parameters
- angle_s = angle * robot->shaft_width / 2.0 / robot->wheel_radius;
- spe_s = speed * robot->shaft_width / 2.0 / robot->wheel_radius;
- acc_s = acceleration * robot->shaft_width / 2.0 / robot->wheel_radius;
-
- // Planify movements
- tc_goto(robot->left_wheel, -angle_s, spe_s, acc_s);
- tc_goto(robot->right_wheel, angle_s, spe_s, acc_s);
-
- // Go
- start_generator(&controllers[robot->left_wheel].speed);
- start_generator(&controllers[robot->right_wheel].speed);
-}
diff --git a/elec/boards/Controller_Motor_STM32/Firmwares/Effectors/controller_motor_stm32/trajectory_controller.h b/elec/boards/Controller_Motor_STM32/Firmwares/Effectors/controller_motor_stm32/trajectory_controller.h
index cf8452d..ba4df32 100644
--- a/elec/boards/Controller_Motor_STM32/Firmwares/Effectors/controller_motor_stm32/trajectory_controller.h
+++ b/elec/boards/Controller_Motor_STM32/Firmwares/Effectors/controller_motor_stm32/trajectory_controller.h
@@ -61,6 +61,13 @@ command_generator_t* tc_get_position_generator(uint8_t cntr_index);
*/
command_generator_t* tc_get_speed_generator(uint8_t cntr_index);
+/* Moves to a given angle
+ * - angle : angle to move to. The units corresponds to the given scaling factor
+ * during initialization.
+ * - speed : moving speed (in units per second) should be positive.
+ * - acceleration : in units per second per second, should be positive.
+ */
+void tc_goto(uint8_t cntr_index, float angle, float speed, float acceleration);
/* Moves of a given angle
* - angle : angle to move of, can be positive (forward) or negative
@@ -69,7 +76,7 @@ command_generator_t* tc_get_speed_generator(uint8_t cntr_index);
* - speed : moving speed (in units per second) should be positive.
* - acceleration : in units per second per second, should be positive.
*/
-void tc_goto(uint8_t cntr_index, float angle, float speed, float acceleration);
+void tc_move(uint8_t cntr_index, float angle, float speed, float acceleration);
/* Accelerates or brakes the robot to the given speed
*
@@ -81,22 +88,9 @@ void tc_goto_speed(uint8_t cntr_index, float speed, float acceleration);
*/
void tc_set_speed(uint8_t cntr_index, float speed);
-/* Moves along a line
- * - robot : pointer to a structure describing the robot configuration
- * - distance : distance to move of (in meters), can be positive (forward)
- * or negative (backward).
- * - speed : moving speed (in meters per second) should be positive.
- * - acceleration : in meters per second per second, should be positive.
- */
-void tc_move(tc_robot_t *robot, float distance, float speed, float acceleration);
-
-/* Turns around the propulsion shaft center
- * - robot : pointer to a structure describing the robot configuration
- * - angle : angle to turn of (in degrees), can be positive (CCW)
- * or negative (CW).
- * - speed : turning speed (in degrees per second) should be positive.
- * - acceleration : in degrees per second per second, should be positive.
+/*
+ * Stops the current movement by keeping the current value
*/
-void tc_turn(tc_robot_t *robot, float angle, float speed, float acceleration);
+void tc_stop(uint8_t cntr_index);
#endif /* __TRAJECTORY_CONTROLLER_H */
diff --git a/elec/boards/Controller_Motor_STM32/Firmwares/Propulsion_Drive/controller_motor_stm32/differential_drive.c b/elec/boards/Controller_Motor_STM32/Firmwares/Propulsion_Drive/controller_motor_stm32/differential_drive.c
index 179db7f..ea27a98 100644
--- a/elec/boards/Controller_Motor_STM32/Firmwares/Propulsion_Drive/controller_motor_stm32/differential_drive.c
+++ b/elec/boards/Controller_Motor_STM32/Firmwares/Propulsion_Drive/controller_motor_stm32/differential_drive.c
@@ -87,6 +87,8 @@ static void NORETURN traj_following_process(void) {
params.working = 0;
traj->initialized = 0;
traj->enabled = 0;
+ if (params.u > 1.0)
+ params.u = 1.0;
if (!params.trajs[next_traj].initialized) {
// We have no other trajectory to follow, let's brake
dd_set_rotational_speed(0., params.at_max);
diff --git a/elec/boards/Sensor_Actuator/Firmware/reset_ax12/Makefile b/elec/boards/Sensor_Actuator/Firmware/reset_ax12/Makefile
new file mode 100644
index 0000000..174ec1b
--- /dev/null
+++ b/elec/boards/Sensor_Actuator/Firmware/reset_ax12/Makefile
@@ -0,0 +1,17 @@
+#
+# Copyright 2009 Develer S.r.l. (http://www.develer.com/)
+# All rights reserved.
+#
+# Author: Lorenzo Berni <du...@de...>
+#
+
+# Set to 1 for verbose build output, 0 for terse output
+V := 0
+
+default: all
+
+include bertos/config.mk
+
+include test_ax12/test_ax12.mk
+
+include bertos/rules.mk
diff --git a/elec/boards/Sensor_Actuator/Firmware/reset_ax12/VERSION b/elec/boards/Sensor_Actuator/Firmware/reset_ax12/VERSION
new file mode 100644
index 0000000..e520145
--- /dev/null
+++ b/elec/boards/Sensor_Actuator/Firmware/reset_ax12/VERSION
@@ -0,0 +1 @@
+BeRTOS 2.6.99 [local copy]
diff --git a/elec/boards/Sensor_Actuator/Firmware/reset_ax12/bertos/algo/crc.c b/elec/boards/Sensor_Actuator/Firmware/reset_ax12/bertos/algo/crc.c
new file mode 100644
index 0000000..d4293f9
--- /dev/null
+++ b/elec/boards/Sensor_Actuator/Firmware/reset_ax12/bertos/algo/crc.c
@@ -0,0 +1,102 @@
+/**
+ * \file
+ * <!--
+ * This file is part of BeRTOS.
+ *
+ * Bertos is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 2 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program; if not, write to the Free Software
+ * Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
+ *
+ * As a special exception, you may use this file as part of a free software
+ * library without restriction. Specifically, if other files instantiate
+ * templates or use macros or inline functions from this file, or you compile
+ * this file and link it with other files to produce an executable, this
+ * file does not by itself cause the resulting executable to be covered by
+ * the GNU General Public License. This exception does not however
+ * invalidate any other reasons why the executable file might be covered by
+ * the GNU General Public License.
+ *
+ * Copyright 2003,2004 Develer S.r.l. (http://www.develer.com/)
+ * Copyright 1999 Bernie Innocenti <be...@co...>
+ *
+ * -->
+ *
+ * \brief CRC table and support routines
+ *
+ * \author Bernie Innocenti <be...@co...>
+ */
+
+#include "crc.h"
+
+/*
+ * The boot on AVR cpu is placed at the end of flash memory, but the avr
+ * address memory by byte and the pointers are 16bits long, so we are able
+ * to address 64Kbyte memory max. For this reason we can't read the crctab
+ * from flash, because it is placed at the end of memory. This is true every
+ * time we have an AVR cpu with more that 64Kbyte of flash. To fix this problem
+ * we let the compiler copy the table in RAM at startup. Obviously this solution
+ * is not efficent, but for now this is the only way.
+ */
+#if CPU_HARVARD && !(defined(ARCH_BOOT) && (ARCH & ARCH_BOOT))
+ #define CRC_TABLE const uint16_t PROGMEM crc16tab[256]
+#else
+ #define CRC_TABLE const uint16_t crc16tab[256]
+#endif
+
+/**
+ * crctab calculated by Mark G. Mendel, Network Systems Corporation
+ */
+CRC_TABLE = {
+ 0x0000, 0x1021, 0x2042, 0x3063, 0x4084, 0x50a5, 0x60c6, 0x70e7,
+ 0x8108, 0x9129, 0xa14a, 0xb16b, 0xc18c, 0xd1ad, 0xe1ce, 0xf1ef,
+ 0x1231, 0x0210, 0x3273, 0x2252, 0x52b5, 0x4294, 0x72f7, 0x62d6,
+ 0x9339, 0x8318, 0xb37b, 0xa35a, 0xd3bd, 0xc39c, 0xf3ff, 0xe3de,
+ 0x2462, 0x3443, 0x0420, 0x1401, 0x64e6, 0x74c7, 0x44a4, 0x5485,
+ 0xa56a, 0xb54b, 0x8528, 0x9509, 0xe5ee, 0xf5cf, 0xc5ac, 0xd58d,
+ 0x3653, 0x2672, 0x1611, 0x0630, 0x76d7, 0x66f6, 0x5695, 0x46b4,
+ 0xb75b, 0xa77a, 0x9719, 0x8738, 0xf7df, 0xe7fe, 0xd79d, 0xc7bc,
+ 0x48c4, 0x58e5, 0x6886, 0x78a7, 0x0840, 0x1861, 0x2802, 0x3823,
+ 0xc9cc, 0xd9ed, 0xe98e, 0xf9af, 0x8948, 0x9969, 0xa90a, 0xb92b,
+ 0x5af5, 0x4ad4, 0x7ab7, 0x6a96, 0x1a71, 0x0a50, 0x3a33, 0x2a12,
+ 0xdbfd, 0xcbdc, 0xfbbf, 0xeb9e, 0x9b79, 0x8b58, 0xbb3b, 0xab1a,
+ 0x6ca6, 0x7c87, 0x4ce4, 0x5cc5, 0x2c22, 0x3c03, 0x0c60, 0x1c41,
+ 0xedae, 0xfd8f, 0xcdec, 0xddcd, 0xad2a, 0xbd0b, 0x8d68, 0x9d49,
+ 0x7e97, 0x6eb6, 0x5ed5, 0x4ef4, 0x3e13, 0x2e32, 0x1e51, 0x0e70,
+ 0xff9f, 0xefbe, 0xdfdd, 0xcffc, 0xbf1b, 0xaf3a, 0x9f59, 0x8f78,
+ 0x9188, 0x81a9, 0xb1ca, 0xa1eb, 0xd10c, 0xc12d, 0xf14e, 0xe16f,
+ 0x1080, 0x00a1, 0x30c2, 0x20e3, 0x5004, 0x4025, 0x7046, 0x6067,
+ 0x83b9, 0x9398, 0xa3fb, 0xb3da, 0xc33d, 0xd31c, 0xe37f, 0xf35e,
+ 0x02b1, 0x1290, 0x22f3, 0x32d2, 0x4235, 0x5214, 0x6277, 0x7256,
+ 0xb5ea, 0xa5cb, 0x95a8, 0x8589, 0xf56e, 0xe54f, 0xd52c, 0xc50d,
+ 0x34e2, 0x24c3, 0x14a0, 0x0481, 0x7466, 0x6447, 0x5424, 0x4405,
+ 0xa7db, 0xb7fa, 0x8799, 0x97b8, 0xe75f, 0xf77e, 0xc71d, 0xd73c,
+ 0x26d3, 0x36f2, 0x0691, 0x16b0, 0x6657, 0x7676, 0x4615, 0x5634,
+ 0xd94c, 0xc96d, 0xf90e, 0xe92f, 0x99c8, 0x89e9, 0xb98a, 0xa9ab,
+ 0x5844, 0x4865, 0x7806, 0x6827, 0x18c0, 0x08e1, 0x3882, 0x28a3,
+ 0xcb7d, 0xdb5c, 0xeb3f, 0xfb1e, 0x8bf9, 0x9bd8, 0xabbb, 0xbb9a,
+ 0x4a75, 0x5a54, 0x6a37, 0x7a16, 0x0af1, 0x1ad0, 0x2ab3, 0x3a92,
+ 0xfd2e, 0xed0f, 0xdd6c, 0xcd4d, 0xbdaa, 0xad8b, 0x9de8, 0x8dc9,
+ 0x7c26, 0x6c07, 0x5c64, 0x4c45, 0x3ca2, 0x2c83, 0x1ce0, 0x0cc1,
+ 0xef1f, 0xff3e, 0xcf5d, 0xdf7c, 0xaf9b, 0xbfba, 0x8fd9, 0x9ff8,
+ 0x6e17, 0x7e36, 0x4e55, 0x5e74, 0x2e93, 0x3eb2, 0x0ed1, 0x1ef0
+};
+
+uint16_t crc16(uint16_t crc, const void *buffer, size_t len)
+{
+ const unsigned char *buf = (const unsigned char *)buffer;
+ while(len--)
+ crc = UPDCRC16(*buf++, crc);
+
+ return crc;
+}
+
diff --git a/elec/boards/Sensor_Actuator/Firmware/reset_ax12/bertos/algo/crc.h b/elec/boards/Sensor_Actuator/Firmware/reset_ax12/bertos/algo/crc.h
new file mode 100644
index 0000000..c5c1eef
--- /dev/null
+++ b/elec/boards/Sensor_Actuator/Firmware/reset_ax12/bertos/algo/crc.h
@@ -0,0 +1,115 @@
+/**
+ * \file
+ * <!--
+ * This file is part of BeRTOS.
+ *
+ * Bertos is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 2 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program; if not, write to the Free Software
+ * Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
+ *
+ * As a special exception, you may use this file as part of a free software
+ * library without restriction. Specifically, if other files instantiate
+ * templates or use macros or inline functions from this file, or you compile
+ * this file and link it with other files to produce an executable, this
+ * file does not by itself cause the resulting executable to be covered by
+ * the GNU General Public License. This exception does not however
+ * invalidate any other reasons why the executable file might be covered by
+ * the GNU General Public License.
+ *
+ * Copyright 2003, 2004 Develer S.r.l. (http://www.develer.com/)
+ * Copyright 1999 Bernie Innocenti <be...@co...>
+ *
+ * -->
+ *
+ * \brief Cyclic Redundancy Check 16 (CRC). This algorithm is the one used by the XMODEM protocol.
+ *
+ * \note This algorithm is incompatible with the CCITT-CRC16.
+ *
+ * This code is based on the article Copyright 1986 Stephen Satchell.
+ *
+ * Programmers may incorporate any or all code into their programs,
+ * giving proper credit within the source. Publication of the
+ * source routines is permitted so long as proper credit is given
+ * to Stephen Satchell, Satchell Evaluations and Chuck Forsberg,
+ * Omen Technology.
+ *
+ * \author Bernie Innocenti <be...@co...>
+ *
+ * $WIZ$ module_name = "crc16"
+ */
+
+#ifndef ALGO_CRC_H
+#define ALGO_CRC_H
+
+#include "cfg/cfg_arch.h"
+
+#include <cfg/compiler.h>
+#include <cpu/pgm.h>
+
+EXTERN_C_BEGIN
+
+/* CRC table */
+extern const uint16_t crc16tab[256];
+
+
+/**
+ * \brief Compute the updated CRC16 value for one octet (macro version)
+ *
+ * \note This version is only intended for old/broken compilers.
+ * Use the inline function in new code.
+ *
+ * \param c New octet (range 0-255)
+ * \param oldcrc Previous CRC16 value (referenced twice, beware of side effects)
+ */
+#if CPU_HARVARD && !(defined(ARCH_BOOT) && (ARCH & ARCH_BOOT))
+ #define UPDCRC16(c, oldcrc) (pgm_read_uint16_t(&crc16tab[((oldcrc) >> 8) ^ ((unsigned char)(c))]) ^ ((oldcrc) << 8))
+#else
+ #define UPDCRC16(c, oldcrc) ((crc16tab[((oldcrc) >> 8) ^ ((unsigned char)(c))]) ^ ((oldcrc) << 8))
+#endif
+
+/** CRC-16 init value */
+#define CRC16_INIT_VAL ((uint16_t)0)
+
+#ifdef INLINE
+/**
+ * \brief Compute the updated CRC16 value for one octet (inline version)
+ */
+INLINE uint16_t updcrc16(uint8_t c, uint16_t oldcrc)
+{
+#if CPU_HARVARD && !(defined(ARCH_BOOT) && (ARCH & ARCH_BOOT))
+ return pgm_read_uint16_t(&crc16tab[(oldcrc >> 8) ^ c]) ^ (oldcrc << 8);
+#else
+ return crc16tab[(oldcrc >> 8) ^ c] ^ (oldcrc << 8);
+#endif
+}
+#endif // INLINE
+
+
+/**
+ * This function implements the CRC 16 calculation on a buffer.
+ *
+ * \param crc Current CRC16 value.
+ * \param buf The buffer to perform CRC calculation on.
+ * \param len The length of the Buffer.
+ *
+ * \return The updated CRC16 value.
+ */
+extern uint16_t crc16(uint16_t crc, const void *buf, size_t len);
+
+int crc_testSetup(void);
+int crc_testRun(void);
+int crc_testTearDown(void);
+
+EXTERN_C_END
+
+#endif /* ALGO_CRC_H */
diff --git a/elec/boards/Sensor_Actuator/Firmware/reset_ax12/bertos/algo/crc_ccitt.c b/elec/boards/Sensor_Actuator/Firmware/reset_ax12/bertos/algo/crc_ccitt.c
new file mode 100644
index 0000000..feaf624
--- /dev/null
+++ b/elec/boards/Sensor_Actuator/Firmware/reset_ax12/bertos/algo/crc_ccitt.c
@@ -0,0 +1,83 @@
+/**
+ * \file
+ * <!--
+ * This file is part of BeRTOS.
+ *
+ * Bertos is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 2 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program; if not, write to the Free Software
+ * Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
+ *
+ * As a special exception, you may use this file as part of a free software
+ * library without restriction. Specifically, if other files instantiate
+ * templates or use macros or inline functions from this file, or you compile
+ * this file and link it with other files to produce an executable, this
+ * file does not by itself cause the resulting executable to be covered by
+ * the GNU General Public License. This exception does not however
+ * invalidate any other reasons why the executable file might be covered by
+ * the GNU General Public License.
+ *
+ * Copyright 2009 Develer S.r.l. (http://www.develer.com/)
+ *
+ * -->
+ *
+ * \brief CRC-CCITT table and support routines
+ *
+ * \author Francesco Sacchi <ba...@de...>
+ */
+
+#include "crc_ccitt.h"
+
+const uint16_t PROGMEM crc_ccitt_tab[256] = {
+ 0x0000, 0x1189, 0x2312, 0x329b, 0x4624, 0x57ad, 0x6536, 0x74bf,
+ 0x8c48, 0x9dc1, 0xaf5a, 0xbed3, 0xca6c, 0xdbe5, 0xe97e, 0xf8f7,
+ 0x1081, 0x0108, 0x3393, 0x221a, 0x56a5, 0x472c, 0x75b7, 0x643e,
+ 0x9cc9, 0x8d40, 0xbfdb, 0xae52, 0xdaed, 0xcb64, 0xf9ff, 0xe876,
+ 0x2102, 0x308b, 0x0210, 0x1399, 0x6726, 0x76af, 0x4434, 0x55bd,
+ 0xad4a, 0xbcc3, 0x8e58, 0x9fd1, 0xeb6e, 0xfae7, 0xc87c, 0xd9f5,
+ 0x3183, 0x200a, 0x1291, 0x0318, 0x77a7, 0x662e, 0x54b5, 0x453c,
+ 0xbdcb, 0xac42, 0x9ed9, 0x8f50, 0xfbef, 0xea66, 0xd8fd, 0xc974,
+ 0x4204, 0x538d, 0x6116, 0x709f, 0x0420, 0x15a9, 0x2732, 0x36bb,
+ 0xce4c, 0xdfc5, 0xed5e, 0xfcd7, 0x8868, 0x99e1, 0xab7a, 0xbaf3,
+ 0x5285, 0x430c, 0x7197, 0x601e, 0x14a1, 0x0528, 0x37b3, 0x263a,
+ 0xdecd, 0xcf44, 0xfddf, 0xec56, 0x98e9, 0x8960, 0xbbfb, 0xaa72,
+ 0x6306, 0x728f, 0x4014, 0x519d, 0x2522, 0x34ab, 0x0630, 0x17b9,
+ 0xef4e, 0xfec7, 0xcc5c, 0xddd5, 0xa96a, 0xb8e3, 0x8a78, 0x9bf1,
+ 0x7387, 0x620e, 0x5095, 0x411c, 0x35a3, 0x242a, 0x16b1, 0x0738,
+ 0xffcf, 0xee46, 0xdcdd, 0xcd54, 0xb9eb, 0xa862, 0x9af9, 0x8b70,
+ 0x8408, 0x9581, 0xa71a, 0xb693, 0xc22c, 0xd3a5, 0xe13e, 0xf0b7,
+ 0x0840, 0x19c9, 0x2b52, 0x3adb, 0x4e64, 0x5fed, 0x6d76, 0x7cff,
+ 0x9489, 0x8500, 0xb79b, 0xa612, 0xd2ad, 0xc324, 0xf1bf, 0xe036,
+ 0x18c1, 0x0948, 0x3bd3, 0x2a5a, 0x5ee5, 0x4f6c, 0x7df7, 0x6c7e,
+ 0xa50a, 0xb483, 0x8618, 0x9791, 0xe32e, 0xf2a7, 0xc03c, 0xd1b5,
+ 0x2942, 0x38cb, 0x0a50, 0x1bd9, 0x6f66, 0x7eef, 0x4c74, 0x5dfd,
+ 0xb58b, 0xa402, 0x9699, 0x8710, 0xf3af, 0xe226, 0xd0bd, 0xc134,
+ 0x39c3, 0x284a, 0x1ad1, 0x0b58, 0x7fe7, 0x6e6e, 0x5cf5, 0x4d7c,
+ 0xc60c, 0xd785, 0xe51e, 0xf497, 0x8028, 0x91a1, 0xa33a, 0xb2b3,
+ 0x4a44, 0x5bcd, 0x6956, 0x78df, 0x0c60, 0x1de9, 0x2f72, 0x3efb,
+ 0xd68d, 0xc704, 0xf59f, 0xe416, 0x90a9, 0x8120, 0xb3bb, 0xa232,
+ 0x5ac5, 0x4b4c, 0x79d7, 0x685e, 0x1ce1, 0x0d68, 0x3ff3, 0x2e7a,
+ 0xe70e, 0xf687, 0xc41c, 0xd595, 0xa12a, 0xb0a3, 0x8238, 0x93b1,
+ 0x6b46, 0x7acf, 0x4854, 0x59dd, 0x2d62, 0x3ceb, 0x0e70, 0x1ff9,
+ 0xf78f, 0xe606, 0xd49d, 0xc514, 0xb1ab, 0xa022, 0x92b9, 0x8330,
+ 0x7bc7, 0x6a4e, 0x58d5, 0x495c, 0x3de3, 0x2c6a, 0x1ef1, 0x0f78,
+};
+
+uint16_t crc_ccitt(uint16_t crc, const void *buffer, size_t len)
+{
+ const unsigned char *buf = (const unsigned char *)buffer;
+ while (len--)
+ crc = updcrc_ccitt(*buf++, crc);
+
+ return crc;
+}
+
diff --git a/elec/boards/Sensor_Actuator/Firmware/reset_ax12/bertos/algo/crc_ccitt.h b/elec/boards/Sensor_Actuator/Firmware/reset_ax12/bertos/algo/crc_ccitt.h
new file mode 100644
index 0000000..240e6e1
--- /dev/null
+++ b/elec/boards/Sensor_Actuator/Firmware/reset_ax12/bertos/algo/crc_ccitt.h
@@ -0,0 +1,78 @@
+/**
+ * \file
+ * <!--
+ * This file is part of BeRTOS.
+ *
+ * Bertos is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 2 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program; if not, write to the Free Software
+ * Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
+ *
+ * As a special exception, you may use this file as part of a free software
+ * library without restriction. Specifically, if other files instantiate
+ * templates or use macros or inline functions from this file, or you compile
+ * this file and link it with other files to produce an executable, this
+ * file does not by itself cause the resulting executable to be covered by
+ * the GNU General Public License. This exception does not however
+ * invalidate any other reasons why the executable file might be covered by
+ * the GNU General Public License.
+ *
+ * Copyright 2009 Develer S.r.l. (http://www.develer.com/)
+ *
+ * -->
+ *
+ * \brief CCITT Cyclic Redundancy Check (CRC-CCITT).
+ *
+ * \note This algorithm is incompatible with the CRC16.
+ *
+ * \author Francesco Sacchi <ba...@de...>
+ *
+ * $WIZ$ module_name = "crc-ccitt"
+ */
+
+#ifndef ALGO_CRC_CCITT_H
+#define ALGO_CRC_CCITT_H
+
+#include <cfg/compiler.h>
+#include <cpu/pgm.h>
+
+EXTERN_C_BEGIN
+
+/* CRC table */
+extern const uint16_t crc_ccitt_tab[256];
+
+/**
+ * \brief Compute the updated CRC-CCITT value for one octet (inline version)
+ */
+INLINE uint16_t updcrc_ccitt(uint8_t c, uint16_t oldcrc)
+{
+ return (oldcrc >> 8) ^ pgm_read16(&crc_ccitt_tab[(oldcrc ^ c) & 0xff]);
+}
+
+/** CRC-CCITT init value */
+#define CRC_CCITT_INIT_VAL ((uint16_t)0xFFFF)
+
+
+/**
+ * This function implements the CRC-CCITT calculation on a buffer.
+ *
+ * \param crc Current CRC-CCITT value.
+ * \param buf The buffer to perform CRC calculation on.
+ * \param len The length of the Buffer.
+ *
+ * \return The updated CRC-CCITT value.
+ */
+extern uint16_t crc_ccitt(uint16_t crc, const void *buf, size_t len);
+
+EXTERN_C_END
+
+#endif /* ALGO_CRC_CCITT_H */
diff --git a/elec/boards/Sensor_Actuator/Firmware/reset_ax12/bertos/algo/crc_test.c b/elec/boards/Sensor_Actuator/Firmware/reset_ax12/bertos/algo/crc_test.c
new file mode 100644
index 0000000..1a93e3b
--- /dev/null
+++ b/elec/boards/Sensor_Actuator/Firmware/reset_ax12/bertos/algo/crc_test.c
@@ -0,0 +1,75 @@
+/**
+ * \file
+ * <!--
+ * This file is part of BeRTOS.
+ *
+ * Bertos is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 2 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program; if not, write to the Free Software
+ * Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
+ *
+ * As a special exception, you may use this file as part of a free software
+ * library without restriction. Specifically, if other files instantiate
+ * temp...
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