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authorNicolas Schodet2013-04-03 22:13:23 +0200
committerNicolas Schodet2013-04-03 22:55:09 +0200
commit1b0e39a3eeab73de59e5b6fe982bff67021afc78 (patch)
treefc1f9158e7db7ae2a13e4d057f3fc5c279942653 /digital
parent94ad65245035203845f264f89a05d564b680869d (diff)
digital/io-hub/src/apbirthday: add communication with beacon board
Diffstat (limited to 'digital')
-rw-r--r--digital/io-hub/src/apbirthday/Makefile2
-rw-r--r--digital/io-hub/src/apbirthday/hardware.hh4
-rw-r--r--digital/io-hub/src/apbirthday/hardware.host.cc2
-rw-r--r--digital/io-hub/src/apbirthday/hardware.stm32.cc8
-rw-r--r--digital/io-hub/src/apbirthday/robot.cc31
-rw-r--r--digital/io-hub/src/apbirthday/robot.hh9
-rw-r--r--digital/io-hub/src/common-cc/beacon.cc64
-rw-r--r--digital/io-hub/src/common-cc/beacon.hh64
8 files changed, 175 insertions, 9 deletions
diff --git a/digital/io-hub/src/apbirthday/Makefile b/digital/io-hub/src/apbirthday/Makefile
index 5611319d..910f1af3 100644
--- a/digital/io-hub/src/apbirthday/Makefile
+++ b/digital/io-hub/src/apbirthday/Makefile
@@ -4,7 +4,7 @@ TARGETS = host stm32f4
PROGS = apbirthday
apbirthday_SOURCES = main.cc robot.cc hardware.host.cc hardware.stm32.cc \
simu_report.host.cc zb_avrisp.stm32.cc \
- i2c_queue.cc asserv.cc mimot.cc \
+ i2c_queue.cc asserv.cc mimot.cc beacon.cc \
pressure.cc chrono.host.cc chrono.stm32.cc \
radar.cc radar_2013.cc obstacles.cc \
outputs.cc \
diff --git a/digital/io-hub/src/apbirthday/hardware.hh b/digital/io-hub/src/apbirthday/hardware.hh
index dbf98e62..577d5c03 100644
--- a/digital/io-hub/src/apbirthday/hardware.hh
+++ b/digital/io-hub/src/apbirthday/hardware.hh
@@ -58,10 +58,10 @@ struct Hardware
#ifdef TARGET_stm32
ucoo::UsbStreamControl usb_control;
ucoo::UsbStream usb, zb_usb_avrisp;
- ucoo::I2cHard main_i2c;
+ ucoo::I2cHard main_i2c, zb_i2c;
#else
ucoo::HostStream usb;
- ucoo::I2cHost main_i2c;
+ ucoo::I2cHost main_i2c, zb_i2c;
#endif
ucoo::Gpio
raw_jack,
diff --git a/digital/io-hub/src/apbirthday/hardware.host.cc b/digital/io-hub/src/apbirthday/hardware.host.cc
index 2a906864..4a2afbb0 100644
--- a/digital/io-hub/src/apbirthday/hardware.host.cc
+++ b/digital/io-hub/src/apbirthday/hardware.host.cc
@@ -31,7 +31,7 @@ HardwareHost::HardwareHost ()
Hardware::Hardware ()
: dev_uart (), zb_uart ("zb_uart"), usb ("usb"),
- main_i2c (host, 0),
+ main_i2c (host, 0), zb_i2c (host, 1),
raw_jack (host, "raw_jack"),
ihm_color (host, "ihm_color"),
ihm_strat (host, "ihm_strat"),
diff --git a/digital/io-hub/src/apbirthday/hardware.stm32.cc b/digital/io-hub/src/apbirthday/hardware.stm32.cc
index be0c9729..abbfa477 100644
--- a/digital/io-hub/src/apbirthday/hardware.stm32.cc
+++ b/digital/io-hub/src/apbirthday/hardware.stm32.cc
@@ -33,7 +33,7 @@ Hardware::Hardware ()
: dev_uart (4), zb_uart (2),
usb_control ("APBTeam", "APBirthday"), usb (usb_control, 0),
zb_usb_avrisp (usb_control, 1),
- main_i2c (2),
+ main_i2c (2), zb_i2c (1),
raw_jack (GPIOD, 12),
ihm_color (GPIOD, 14),
ihm_strat (GPIOD, 13),
@@ -91,6 +91,12 @@ Hardware::Hardware ()
gpio_set_af (GPIOA, GPIO_AF4, GPIO8);
gpio_set_af (GPIOC, GPIO_AF4, GPIO9);
main_i2c.enable ();
+ // zb_i2c
+ gpio_mode_setup (GPIOB, GPIO_MODE_AF, GPIO_PUPD_NONE, GPIO10 | GPIO11);
+ gpio_set_output_options (GPIOB, GPIO_OTYPE_OD, GPIO_OSPEED_2MHZ,
+ GPIO10 | GPIO11);
+ gpio_set_af (GPIOB, GPIO_AF4, GPIO10 | GPIO11);
+ zb_i2c.enable ();
// ADC.
gpio_mode_setup (GPIOA, GPIO_MODE_ANALOG, GPIO_PUPD_NONE,
GPIO0 | GPIO1 | GPIO2 | GPIO3 | GPIO6 | GPIO7);
diff --git a/digital/io-hub/src/apbirthday/robot.cc b/digital/io-hub/src/apbirthday/robot.cc
index f76903f9..ced1b0c8 100644
--- a/digital/io-hub/src/apbirthday/robot.cc
+++ b/digital/io-hub/src/apbirthday/robot.cc
@@ -31,9 +31,10 @@
Robot *robot;
Robot::Robot ()
- : main_i2c_queue_ (hardware.main_i2c),
+ : main_i2c_queue_ (hardware.main_i2c), zb_i2c_queue_ (hardware.zb_i2c),
asserv (main_i2c_queue_, BOT_SCALE),
mimot (main_i2c_queue_),
+ beacon (zb_i2c_queue_),
dev_proto (*this, hardware.dev_uart),
zb_proto (*this, hardware.zb_uart),
usb_proto (*this, hardware.usb),
@@ -49,7 +50,8 @@ Robot::Robot ()
fsm_debug_state_ (FSM_DEBUG_RUN),
outputs_set_ (outputs_, lengthof (outputs_)),
stats_proto_ (0),
- stats_asserv_ (0), stats_chrono_ (false), stats_chrono_last_s_ (-1),
+ stats_asserv_ (0), stats_beacon_ (0),
+ stats_chrono_ (false), stats_chrono_last_s_ (-1),
stats_inputs_ (0), stats_usdist_ (0), stats_cake_ (0), stats_pressure_ (0)
{
robot = this;
@@ -109,6 +111,12 @@ Robot::main_loop ()
// Wait until next cycle.
hardware.wait ();
// Update IO modules.
+ if (zb_i2c_queue_.sync ())
+ {
+ Position robot_pos;
+ asserv.get_position (robot_pos);
+ beacon.send_position (robot_pos.v);
+ }
if (usdist_control_.update ())
{
Position robot_pos;
@@ -239,6 +247,14 @@ Robot::proto_handle (ucoo::Proto &proto, char cmd, const uint8_t *args, int size
stats_asserv_cpt_ = stats_asserv_ = args[0];
stats_proto_ = &proto;
break;
+ case c ('B', 1):
+ // Beacon stats.
+ // 1B: stat interval.
+ stats_beacon_cpt_ = stats_beacon_ = args[0];
+ // TODO: remove this test hack:
+ beacon.on (args[0] & 1);
+ stats_proto_ = &proto;
+ break;
case c ('C', 1):
// Chrono stats.
// 1B: start chrono if non-zero.
@@ -305,6 +321,17 @@ Robot::proto_stats ()
stats_proto_->send ('A', "hhH", pos.v.x, pos.v.y, pos.a);
stats_asserv_cpt_ = stats_asserv_;
}
+ if (stats_beacon_ && !--stats_beacon_cpt_)
+ {
+ for (int i = 0; i < beacon.pos_nb; i++)
+ {
+ vect_t pos;
+ int trust;
+ trust = beacon.get_position (i, pos);
+ stats_proto_->send ('B', "BhhB", i, pos.x, pos.y, trust);
+ }
+ stats_beacon_cpt_ = stats_beacon_;
+ }
if (stats_chrono_)
{
int s = chrono.remaining_time_ms () / 1000;
diff --git a/digital/io-hub/src/apbirthday/robot.hh b/digital/io-hub/src/apbirthday/robot.hh
index fa2a2185..b9a6d8a6 100644
--- a/digital/io-hub/src/apbirthday/robot.hh
+++ b/digital/io-hub/src/apbirthday/robot.hh
@@ -25,6 +25,7 @@
// }}}
#include "hardware.hh"
#include "asserv.hh"
+#include "beacon.hh"
#include "fsm_queue.hh"
#include "chrono.hh"
#include "pressure.hh"
@@ -56,13 +57,15 @@ class Robot : public ucoo::Proto::Handler
/// Public access to hardware class.
Hardware hardware;
private:
- /// Main I2C queue.
- I2cQueue main_i2c_queue_;
+ /// I2C queues.
+ I2cQueue main_i2c_queue_, zb_i2c_queue_;
public:
/// Public access to asserv class.
Asserv asserv;
/// Public access to mimot class.
Mimot mimot;
+ /// Public access to beacon class.
+ Beacon beacon;
private:
/// Proto associated to each serial interface.
ucoo::Proto dev_proto, zb_proto, usb_proto;
@@ -111,6 +114,8 @@ class Robot : public ucoo::Proto::Handler
ucoo::Proto *stats_proto_;
/// Asserv stats interval and counter.
int stats_asserv_, stats_asserv_cpt_;
+ /// Beacon stats interval and counter.
+ int stats_beacon_, stats_beacon_cpt_;
/// Enable chrono stats.
bool stats_chrono_;
/// Last stated second.
diff --git a/digital/io-hub/src/common-cc/beacon.cc b/digital/io-hub/src/common-cc/beacon.cc
new file mode 100644
index 00000000..4a1b0f02
--- /dev/null
+++ b/digital/io-hub/src/common-cc/beacon.cc
@@ -0,0 +1,64 @@
+// io-hub - Modular Input/Output. {{{
+//
+// Copyright (C) 2013 Nicolas Schodet
+//
+// APBTeam:
+// Web: http://apbteam.org/
+// Email: team AT apbteam DOT org
+//
+// 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 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., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA.
+//
+// }}}
+#include "beacon.hh"
+
+#include "ucoolib/utils/bytes.hh"
+
+Beacon::Beacon (I2cQueue &queue)
+ : I2cQueue::Slave (queue, 0x0a, 5 * pos_nb), on_ (false), robots_nb_ (0)
+{
+ for (int i = 0; i < pos_nb; i++)
+ trust_[i] = 0;
+}
+
+void
+Beacon::recv_status (const uint8_t *status)
+{
+ int index = 0;
+ for (int i = 0; i < pos_nb; i++)
+ {
+ pos_[i].x = ucoo::bytes_pack (status[index], status[index + 1]);
+ index += 2;
+ pos_[i].y = ucoo::bytes_pack (status[index], status[index + 1]);
+ index += 2;
+ trust_[i] = status[index];
+ index++;
+ }
+}
+
+void
+Beacon::send_position (const vect_t &pos)
+{
+ uint8_t buf[] = {
+ on_,
+ team_color,
+ (uint8_t) robots_nb_,
+ ucoo::bytes_unpack (pos.x, 1),
+ ucoo::bytes_unpack (pos.x, 0),
+ ucoo::bytes_unpack (pos.y, 1),
+ ucoo::bytes_unpack (pos.y, 0),
+ };
+ send (buf, sizeof (buf));
+}
+
diff --git a/digital/io-hub/src/common-cc/beacon.hh b/digital/io-hub/src/common-cc/beacon.hh
new file mode 100644
index 00000000..c84e9c8c
--- /dev/null
+++ b/digital/io-hub/src/common-cc/beacon.hh
@@ -0,0 +1,64 @@
+#ifndef beacon_hh
+#define beacon_hh
+// io-hub - Modular Input/Output. {{{
+//
+// Copyright (C) 2013 Nicolas Schodet
+//
+// APBTeam:
+// Web: http://apbteam.org/
+// Email: team AT apbteam DOT org
+//
+// 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 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., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA.
+//
+// }}}
+#include "i2c_queue.hh"
+#include "defs.hh"
+
+/// Interface to beacon board.
+class Beacon : public I2cQueue::Slave
+{
+ public:
+ /// Number of reported positions.
+ static const int pos_nb = 2;
+ public:
+ /// Constructor.
+ Beacon (I2cQueue &queue);
+ /// See I2cQueue::Slave::recv_status.
+ void recv_status (const uint8_t *status);
+ /// Turn on (true) or off (false).
+ void on (bool state = true) { on_ = state; }
+ /// Give number of opponents robots.
+ void set_robots_nb (int robots_nb) { robots_nb_ = robots_nb; }
+ /// Send my position along with other informations.
+ void send_position (const vect_t &pos);
+ /// Get a detected position, return trust (0 for invalid, 100 for full
+ /// trust).
+ int get_position (int index, vect_t &pos)
+ {
+ pos = pos_[index];
+ return trust_[index];
+ }
+ private:
+ /// To send: beacon system powered.
+ bool on_;
+ /// To send: number of opponents.
+ int robots_nb_;
+ /// Received obstacles position.
+ vect_t pos_[pos_nb];
+ /// Received trust.
+ int trust_[pos_nb];
+};
+
+#endif // beacon_hh