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#include "brasLateraux.h"
#include <string.h>
#include <stdarg.h>
#include <stdio.h>
GenericBuffer Remote::bufferRecv = GenericBuffer();
GenericBuffer Remote::bufferSend = GenericBuffer();
Remote* Remote::singleton = 0;
Remote* Remote::getSingleton()
{
if (singleton==0)
singleton = new Remote();
return singleton;
}
Remote::Remote() : mRemoteMod(false), mRemoteControl(false)
{
#ifdef ROBOTHW
initClocksAndPortsGPIO();
initUART(USART_BAUDRATE);
#endif
isOpenLeftArm = false;
isOpenRightArm = false;
timerLances = -1;
brakInv = false;
for(int i(0); i < KrabiPacket::MAX_WATCHES; i++)
mWatchesEnabled[i] = false;
mWatchesEnabled[KrabiPacket::W_POSITION] = true;
//mWatchesEnabled[KrabiPacket::W_SPEED] = true;
//mWatchesEnabled[KrabiPacket::W_SPEED_TARGET] = true;
}
void Remote::initClocksAndPortsGPIO()
{
#ifdef ROBOTHW
#ifdef STM32F40_41xxx // Pin pour le stm32 h405
//CF tuto : http://eliaselectronics.com/stm32f4-discovery-usart-example/
/* enable peripheral clock for USART2 */
RCC_APB1PeriphClockCmd(RCC_APB1Periph_USART2, ENABLE);
/* GPIOA clock enable */
RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_GPIOA, ENABLE);
GPIO_InitTypeDef GPIO_InitStructure;
// port A pin 2 TX : du stm vers l'extérieur
#ifdef STM32F40_41xxx
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF;// the pins are configured as alternate function so the USART peripheral has access to them
GPIO_InitStructure.GPIO_OType = GPIO_OType_PP;// this defines the output type as push pull mode (as opposed to open drain)
GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_UP;// this activates the pullup resistors on the IO pins
#elif defined(STM32F10X_MD) || defined(STM32F10X_CL)
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF_PP;
#endif
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz; // La vitesse de rafraichissement du port (// this defines the IO speed and has nothing to do with the baudrate!)
GPIO_Init(GPIOA, &GPIO_InitStructure);
// port A pin 3 RX : vers le stm
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_3;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IN;
GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_NOPULL;
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz; // La vitesse de rafraichissement du port
GPIO_Init(GPIOA, &GPIO_InitStructure);
#ifdef STM32F40_41xxx
GPIO_PinAFConfig(GPIOA, GPIO_PinSource2, GPIO_AF_USART2);
GPIO_PinAFConfig(GPIOA, GPIO_PinSource3, GPIO_AF_USART2);
#endif
#endif
#ifdef STM32F10X_CL // Pin pour le stm32 h107
RCC_APB1PeriphClockCmd(RCC_APB1Periph_USART3, ENABLE);
//RCC_APB2PeriphClockCmd(RCC_APB2Periph_USART1, ENABLE);
GPIO_PinRemapConfig(GPIO_PartialRemap_USART3, ENABLE);
// port C pin 10 TX - ext2 15
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_10;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF_PP;
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz; // La vitesse de rafraichissement du port
// port C pin 11 RX - ext2 14
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_11;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IN_FLOATING;
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz; // La vitesse de rafraichissement du port
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// port D pin 10 : la direction (TX/RX)
/*GPIO_InitStructure.GPIO_Pin = GPIO_Pin_10;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_Out_PP;
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_2MHz; // La vitesse de rafraichissement du port
GPIO_Init(GPIOD, &GPIO_InitStructure);*/
/*GPIO_PinAFConfig(GPIOD, GPIO_PinSource8, GPIO_AF_USART3); // Tx
GPIO_PinAFConfig(GPIOD, GPIO_PinSource9, GPIO_AF_USART3);*/ // Rx
#endif
#endif
}
void Remote::initUART(int baudRate)
{
#ifdef ROBOTHW
USART_InitTypeDef USART_InitStructure;
USART_InitStructure.USART_BaudRate = baudRate;
USART_InitStructure.USART_WordLength = USART_WordLength_8b;
USART_InitStructure.USART_StopBits = USART_StopBits_1;
USART_InitStructure.USART_Parity = USART_Parity_No;
USART_InitStructure.USART_HardwareFlowControl = USART_HardwareFlowControl_None;
USART_InitStructure.USART_Mode = USART_Mode_Rx | USART_Mode_Tx;
USART_Init(REMOTE_USART_INDEX, &USART_InitStructure);
USART_Cmd(REMOTE_USART_INDEX, ENABLE);
USART_ITConfig(REMOTE_USART_INDEX, USART_IT_RXNE, ENABLE);
/**** IT ***/
NVIC_InitTypeDef NVIC_InitStructure;
/* Configure the NVIC Preemption Priority Bits */
NVIC_PriorityGroupConfig(NVIC_PriorityGroup_0);
/* Enable the USARTy Interrupt */
NVIC_InitStructure.NVIC_IRQChannel = REMOTE_USART_IRQn;
NVIC_InitStructure.NVIC_IRQChannelSubPriority = 0;
NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;
NVIC_Init(&NVIC_InitStructure);
extern "C" void REMOTE_USART_IRQ_HANDLER(void)
{
volatile unsigned int IIR;
IIR = REMOTE_USART_INDEX->SR;
if (IIR & USART_FLAG_RXNE)
{
if (Remote::bufferRecv.size < USART_BUFFER_SIZE)
Remote::bufferRecv.buf[Remote::bufferRecv.size++] = (REMOTE_USART_INDEX->DR & 0x1FF);
REMOTE_USART_INDEX->SR &= ~USART_FLAG_RXNE;
}
if (USART_GetFlagStatus(REMOTE_USART_INDEX, USART_FLAG_TC) != RESET)
volatile int test = Remote::bufferSend.buf[0];
USART_SendData(REMOTE_USART_INDEX, (u16) Remote::bufferSend.buf[0]);
Remote::bufferSend.size--;
memmove(Remote::bufferSend.buf, Remote::bufferSend.buf + 1, Remote::bufferSend.size);
}
if (Remote::bufferSend.size == 0)
USART_ITConfig(REMOTE_USART_INDEX, USART_IT_TXE, ENABLE);
USART_ITConfig(REMOTE_USART_INDEX, USART_IT_TXE, ENABLE);
if (Remote::bufferSend.size < USART_BUFFER_SIZE)
Remote::bufferSend.buf[Remote::bufferSend.size++] = data;
//if (Remote::bufferSend.size > 0)
/*{
if (Remote::bufferSend.size < USART_BUFFER_SIZE)
Remote::bufferSend.buf[Remote::bufferSend.size++] = data;
//Remote::bufferSend.buf[Remote::bufferSend.size++] = data;
USART_ITConfig(REMOTE_USART_INDEX, USART_IT_TXE, ENABLE);
USART_SendData(REMOTE_USART_INDEX, (u16) data);
// Wait until the send buffer is cleared finishes
USART_SendData(REMOTE_USART_INDEX, (u16) data);
while (USART_GetFlagStatus(REMOTE_USART_INDEX, USART_FLAG_TC) == RESET);
void Remote::send(KrabiPacket &packet)
{
uint8_t size = packet.length();
uint8_t* data = packet.data();
for(uint8_t i = 0; i<size; i++)
addData(0x0D);
addData(0x0A);
addData(0x0D);
addData(0x0A);
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}
void Remote::logDirect(char* text)
{
Remote::getSingleton()->send(text);
}
void Remote::log(const char* format, ...)
{
char text[32];
va_list argptr;
va_start(argptr, format);
vsprintf(text, format, argptr);
va_end(argptr);
KrabiPacket packet(KrabiPacket::LOG_NORMAL);
packet.addString(text);
send(packet);
}
void Remote::debug(const char* format, ...)
{
char text[32];
va_list argptr;
va_start(argptr, format);
vsprintf(text, format, argptr);
va_end(argptr);
KrabiPacket packet(KrabiPacket::LOG_DEBUG);
packet.addString(text);
send(packet);
}
bool Remote::dataAvailable()
{
#ifdef ROBOTHW
return REMOTE_USART_INDEX->SR & USART_FLAG_RXNE;
#else
return false;
#endif
}
int Remote::receiveData()
{
#ifdef ROBOTHW
while (!(REMOTE_USART_INDEX->SR & USART_FLAG_RXNE));
return ((int)(REMOTE_USART_INDEX->DR & 0x1FF));
#else
return 0;
#endif
}
void Remote::waitForConnection()
{
while(!dataAvailable());
update();
for(int i(0); i<20; ++i)
debug(".");
}
static long tick = 0;
tick++;
for(int i(0); i < KrabiPacket::MAX_WATCHES; i++)
if (mWatchesEnabled[i])
{
if ((KrabiPacket::W_TABLE)i == KrabiPacket::W_POSITION)
{
if (tick % 20 == i)
sendWatch((KrabiPacket::W_TABLE)i);
}
else if (tick % 10 == i)
sendWatch((KrabiPacket::W_TABLE)i);
}
/*static int test = 0;
test++;
if (test % 20 == 0)
log("test pika");*/
{
mRemoteMod = true;
static int aa = 0;
/*aa++;
if (aa % 100 == 0)*/
//log("R %d %d %d", buffer.size, buffer.buf[buffer.size - 2], buffer.buf[buffer.size - 1]);
for(int i(0); i < bufferRecv.size - 1; ++i)
if (bufferRecv.buf[i] == 0x0D && bufferRecv.buf[i + 1]== 0x0A)
//log("R %d %d %d", buffer.size, buffer.buf[buffer.size - 2], buffer.buf[buffer.size - 1]);
KrabiPacket p(bufferRecv.buf, i);
if (i < bufferRecv.size - 2)
memmove(bufferRecv.buf, bufferRecv.buf + i + 2, bufferRecv.size - (i + 2));
bufferRecv.size -= i + 2;
i = 0;
if (p.isValid())
treat(p);
}
/*static int test = 0;
test++;
if (test % 100 == 0)
{
test = 0;
Remote::getSingleton()->watch(KrabiPacket::W_POSITION, 10.f, 20.f, (float)ang);
}*/
/*if (systick_count%10 == 0)
{
PositionPlusAngle p = Odometrie::odometrie->getPos();
Remote::getSingleton()->sendWatch(KrabiPacket::W_POSITION, p.position.x, p.position.y, p.angle);
}
if (systick_count%10 == 2)
{
Remote::getSingleton()->sendWatch(KrabiPacket::W_SPEED, Odometrie::odometrie->getVitesseLineaire(), Odometrie::odometrie->getVitesseAngulaire());
}
if (systick_count%10 == 4)
{
Remote::getSingleton()->sendWatch(KrabiPacket::W_SPEED_TARGET, Asservissement::asservissement->getLinearSpeed(), Asservissement::asservissement->getAngularSpeed());
}*/
{
KrabiPacket p(KrabiPacket::TIME_SYNC);
p.add((uint16_t)StrategieV2::getTimeSpent());
Remote::getSingleton()->send(p);
}
/*if (!allowChangeMode && remoteMode && dataAvailable())
{
int order = receiveData();
Remote::log("Got:");
Remote::getSingleton()->sendData(order);
// Linear Speed
if (order>=0 and order<=50)
linSpeed = ((float)(order-25)) / 25. * LINEAR_REMOTE_SPEED_LIMIT;
// Angular Speed
if (order>=51 and order<=101)
angSpeed = -((float)(order-75)) / 25. * ANGULAR_REMOTE_SPEED_LIMIT;
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}*/
}
void Remote::treat(KrabiPacket &packet)
{
switch(packet.id())
{
case KrabiPacket::REMOTE_MOD_SET:
mRemoteMod = true;
break;
case KrabiPacket::REMOTE_MOD_RESET:
mRemoteMod = false;
break;
case KrabiPacket::REMOTE_CONTROL_SET:
mRemoteMod = true;
mRemoteControl = true;
break;
case KrabiPacket::REMOTE_CONTROL_RESET:
mRemoteControl = false;
break;
case KrabiPacket::SET_ODOMETRIE:
{
float wheelsize = packet.get<float>();
float interaxis = packet.get<float>();
Odometrie::odometrie->setSettings(interaxis, wheelsize);
break;
}
case KrabiPacket::SET_PID_LIN:
{
float p = packet.get<float>();
float i = packet.get<float>();
float d = packet.get<float>();
bool enabled = packet.get<bool>();
Asservissement::asservissement->getPIDDistance().setSettings(p, i, d);
Asservissement::asservissement->setEnabledPIDDistance(enabled);
break;
}
case KrabiPacket::SET_PID_ANG:
{
float p = packet.get<float>();
float i = packet.get<float>();
float d = packet.get<float>();
bool enabled = packet.get<bool>();
Asservissement::asservissement->getPIDAngle().setSettings(p, i, d);
Asservissement::asservissement->setEnabledPIDAngle(enabled);
break;
}
case KrabiPacket::RUN_PID_TEST:
{
float lin = packet.get<float>();
float ang = packet.get<float>();
float limit = packet.get<float>();
uint16_t duration = packet.get<uint16_t>();
Asservissement::asservissement->runTest(duration, lin, ang, limit);
break;
}
case KrabiPacket::RUN_GOTO:
{
float x = packet.get<float>();
float y = packet.get<float>();
float speed = packet.get<float>();
StrategieV2::setCurrentGoal(Position(x, y));
else
Asservissement::asservissement->resume();
StrategieV2::addTemporaryAction(new ActionGoTo(Position(x, y)), true);
break;
}
case KrabiPacket::STOP:
{
Asservissement::asservissement->stop();
break;
}
case KrabiPacket::WATCH_REQUIRE_ONCE:
{
uint16_t w = packet.get<uint16_t>();
sendWatch((KrabiPacket::W_TABLE)w);
}
case KrabiPacket::WATCH_SET:
{
uint16_t w = packet.get<uint16_t>();
mWatchesEnabled[w] = true;
break;
}
case KrabiPacket::WATCH_RESET:
{
uint16_t w = packet.get<uint16_t>();
mWatchesEnabled[w] = false;
break;
}
case KrabiPacket::WATCH_DESELECT_ALL:
{
for(int i(0); i < KrabiPacket::MAX_WATCHES; i++)
mWatchesEnabled[i] = false;
break;
}
case KrabiPacket::TIME_RESET:
StrategieV2::resetTime();
break;
void Remote::sendWatch(KrabiPacket::W_TABLE w, int time)
KrabiPacket p(time == -1 ? KrabiPacket::WATCH_VARIABLE : KrabiPacket::WATCH_VARIABLE_TIMED, w);
if (time >= 0)
p.add((uint32_t) time);
case KrabiPacket::W_WATCHES:
{
for(int i(1); i < KrabiPacket::MAX_WATCHES; i++)
{
p.add((uint8_t) i);
p.add(mWatchesEnabled[i]);
}
break;
}
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case KrabiPacket::W_POSITION:
{
PositionPlusAngle pos = Odometrie::odometrie->getPos();
p.add(pos.position.x);
p.add(pos.position.y);
p.add(pos.angle);
break;
}
case KrabiPacket::W_SPEED:
{
p.add(Odometrie::odometrie->getVitesseLineaire());
p.add(Odometrie::odometrie->getVitesseAngulaire());
break;
}
case KrabiPacket::W_SPEED_TARGET:
{
p.add(Asservissement::asservissement->getLinearSpeed());
p.add(Asservissement::asservissement->getAngularSpeed());
break;
}
case KrabiPacket::W_ODOMETRIE:
{
p.add(Odometrie::odometrie->getWheelSize());
p.add(Odometrie::odometrie->getInterAxisDistance());
break;
}
case KrabiPacket::W_PID_LIN:
{
p.add(Asservissement::asservissement->getPIDDistance().getKp());
p.add(Asservissement::asservissement->getPIDDistance().getKi());
p.add(Asservissement::asservissement->getPIDDistance().getKd());
break;
}
case KrabiPacket::W_PID_ANG:
{
p.add(Asservissement::asservissement->getPIDAngle().getKp());
p.add(Asservissement::asservissement->getPIDAngle().getKi());
p.add(Asservissement::asservissement->getPIDAngle().getKd());
break;
}
case KrabiPacket::W_SHARPS:
{
for(int i(0); i < SharpSensor::END_SHARP_NAME; i++)
{
Sensor::OutputSensor out = StrategieV2::getSensors()[i]->getValue();
p.add((uint16_t) out.f);
p.add(out.b);
}
break;
}
default:
return;
}
bool Remote::isInRemoteMod()
{
return mRemoteMod;
}
bool Remote::isInRemoteControl()
}
float Remote::getLeftPWM()
{
return linSpeed;
#if defined(STM32F40_41xxx) || defined(STM32F10X_MD)
return linSpeed + angSpeed;
#else
return linSpeed - angSpeed;
#endif
}
float Remote::getRightPWM()
{
return angSpeed;
#if defined(STM32F40_41xxx) || defined(STM32F10X_MD)
return linSpeed - angSpeed;
#else
return linSpeed + angSpeed;
#endif
}