summaryrefslogtreecommitdiff
diff options
context:
space:
mode:
authorNicolas Schodet2013-03-21 00:35:55 +0100
committerNicolas Schodet2013-03-21 00:35:55 +0100
commitc9f14499885b3c087aa5b107156cc91b48917a7c (patch)
tree6748851c34f13f8c70a8edde481ab285f8b52fce
parent32c28a77698a34f7fb5f0499553db05321afa9b5 (diff)
digital/io-hub/src/apbirthday: add first I2C slave
-rw-r--r--digital/io-hub/src/apbirthday/Makefile7
-rw-r--r--digital/io-hub/src/apbirthday/hardware.hh3
-rw-r--r--digital/io-hub/src/apbirthday/hardware.host.cc1
-rw-r--r--digital/io-hub/src/apbirthday/hardware.stm32.cc9
-rw-r--r--digital/io-hub/src/apbirthday/robot.cc21
-rw-r--r--digital/io-hub/src/apbirthday/robot.hh10
-rw-r--r--digital/io-hub/src/common-cc/asserv.cc193
-rw-r--r--digital/io-hub/src/common-cc/asserv.hh124
-rw-r--r--digital/io-hub/src/common-cc/motor.hh40
9 files changed, 406 insertions, 2 deletions
diff --git a/digital/io-hub/src/apbirthday/Makefile b/digital/io-hub/src/apbirthday/Makefile
index 1e83e9a9..89458a08 100644
--- a/digital/io-hub/src/apbirthday/Makefile
+++ b/digital/io-hub/src/apbirthday/Makefile
@@ -3,11 +3,12 @@ BASE = ../../../ucoolib
TARGETS = host stm32f4
PROGS = apbirthday
apbirthday_SOURCES = main.cc robot.cc hardware.host.cc hardware.stm32.cc \
+ i2c_queue.cc asserv.cc \
top.cc \
angfsm.host.c angfsm_gen_arm_AI.arm.c \
$(AVR_SOURCES)
-MODULES = hal/gpio hal/uart hal/usb base/proto
+MODULES = utils hal/gpio hal/uart hal/usb hal/i2c base/proto
# Hack mode, include old code from AVR modules.
AVR_MODULES = math/geometry math/fixed
@@ -22,6 +23,10 @@ AVR_SOURCES = $(foreach module,$(AVR_MODULES),$($(subst /,_,$(module))_SOURCES))
INCLUDES += -I$(BASE)/../ai/src/fsm -I.
vpath %.c $(BASE)/../ai/src/fsm
+# Common files.
+INCLUDES += -I../common-cc
+vpath %.cc ../common-cc
+
include $(BASE)/build/top.mk
clean: clean.project
diff --git a/digital/io-hub/src/apbirthday/hardware.hh b/digital/io-hub/src/apbirthday/hardware.hh
index 148d0727..6660156e 100644
--- a/digital/io-hub/src/apbirthday/hardware.hh
+++ b/digital/io-hub/src/apbirthday/hardware.hh
@@ -26,6 +26,7 @@
#include "ucoolib/hal/uart/uart.hh"
#include "ucoolib/hal/gpio/gpio.hh"
+#include "ucoolib/hal/i2c/i2c.hh"
#ifdef TARGET_stm32
# include "ucoolib/hal/usb/usb.hh"
#else
@@ -53,8 +54,10 @@ struct Hardware
#ifdef TARGET_stm32
ucoo::UsbStreamControl usb_control;
ucoo::UsbStream usb;
+ ucoo::I2cHard main_i2c;
#else
ucoo::HostStream usb;
+ ucoo::I2cHost main_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 a4210480..d2deecad 100644
--- a/digital/io-hub/src/apbirthday/hardware.host.cc
+++ b/digital/io-hub/src/apbirthday/hardware.host.cc
@@ -31,6 +31,7 @@ HardwareHost::HardwareHost ()
Hardware::Hardware ()
: dev_uart (), zb_uart ("zb_uart"), usb ("usb"),
+ main_i2c (host, 0),
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 be83905c..53420a45 100644
--- a/digital/io-hub/src/apbirthday/hardware.stm32.cc
+++ b/digital/io-hub/src/apbirthday/hardware.stm32.cc
@@ -30,6 +30,7 @@
Hardware::Hardware ()
: dev_uart (4), zb_uart (2),
usb_control ("APBTeam", "APBirthday"), usb (usb_control, 0),
+ main_i2c (2),
raw_jack (GPIOD, 12),
ihm_color (GPIOD, 14),
ihm_strat (GPIOD, 13),
@@ -71,6 +72,14 @@ Hardware::Hardware ()
zb_uart.block (false);
// usb
usb.block (false);
+ // main_i2c
+ gpio_mode_setup (GPIOA, GPIO_MODE_AF, GPIO_PUPD_NONE, GPIO8);
+ gpio_mode_setup (GPIOC, GPIO_MODE_AF, GPIO_PUPD_NONE, GPIO9);
+ gpio_set_output_options (GPIOA, GPIO_OTYPE_OD, GPIO_OSPEED_2MHZ, GPIO8);
+ gpio_set_output_options (GPIOC, GPIO_OTYPE_OD, GPIO_OSPEED_2MHZ, GPIO9);
+ gpio_set_af (GPIOA, GPIO_AF4, GPIO8);
+ gpio_set_af (GPIOC, GPIO_AF4, GPIO9);
+ main_i2c.enable ();
// Cycle timer, 4 ms period.
rcc_peripheral_enable_clock (&RCC_APB1ENR, RCC_APB1ENR_TIM3EN);
TIM3_CR1 = TIM_CR1_CEN;
diff --git a/digital/io-hub/src/apbirthday/robot.cc b/digital/io-hub/src/apbirthday/robot.cc
index a2fcfb89..4464013e 100644
--- a/digital/io-hub/src/apbirthday/robot.cc
+++ b/digital/io-hub/src/apbirthday/robot.cc
@@ -24,11 +24,14 @@
#include "robot.hh"
#include "ucoolib/arch/arch.hh"
+#include "ucoolib/utils/bytes.hh"
Robot *robot;
Robot::Robot ()
- : dev_proto (*this, hardware.dev_uart),
+ : main_i2c_queue_ (hardware.main_i2c),
+ asserv (main_i2c_queue_, scale),
+ dev_proto (*this, hardware.dev_uart),
zb_proto (*this, hardware.zb_uart),
usb_proto (*this, hardware.usb)
{
@@ -42,6 +45,8 @@ Robot::main_loop ()
{
// Wait until next cycle.
hardware.wait ();
+ // Handle communications.
+ main_i2c_queue_.sync ();
// Handle commands.
dev_proto.accept ();
zb_proto.accept ();
@@ -66,6 +71,20 @@ Robot::proto_handle (ucoo::Proto &proto, char cmd, const uint8_t *args, int size
// Reset.
ucoo::arch_reset ();
break;
+ case c ('m', 5):
+ // Go to position.
+ // 2H: x, y.
+ // 1B: direction_consign.
+ {
+ vect_t pos = {
+ (int16_t) ucoo::bytes_pack (args[0], args[1]),
+ (int16_t) ucoo::bytes_pack (args[2], args[3]),
+ };
+ asserv.stop ();
+ // TODO: use move FSM.
+ asserv.goto_xy (pos, Asserv::DirectionConsign (args[4]));
+ }
+ break;
default:
proto.send ('?');
return;
diff --git a/digital/io-hub/src/apbirthday/robot.hh b/digital/io-hub/src/apbirthday/robot.hh
index d65b2a3a..e0b50f41 100644
--- a/digital/io-hub/src/apbirthday/robot.hh
+++ b/digital/io-hub/src/apbirthday/robot.hh
@@ -24,6 +24,7 @@
//
// }}}
#include "hardware.hh"
+#include "asserv.hh"
#include "ucoolib/base/proto/proto.hh"
@@ -31,6 +32,9 @@
class Robot : public ucoo::Proto::Handler
{
public:
+ /// Scaling factor, millimeter per step.
+ static const float scale = 0.0395840674352314;
+ public:
/// Initialise robot singleton.
Robot ();
/// Main program loop.
@@ -43,6 +47,12 @@ class Robot : public ucoo::Proto::Handler
/// Public access to hardware class.
Hardware hardware;
private:
+ /// Main I2C queue.
+ I2cQueue main_i2c_queue_;
+ public:
+ /// Public access to asserv class.
+ Asserv asserv;
+ private:
/// Proto associated to each serial interface.
ucoo::Proto dev_proto, zb_proto, usb_proto;
};
diff --git a/digital/io-hub/src/common-cc/asserv.cc b/digital/io-hub/src/common-cc/asserv.cc
new file mode 100644
index 00000000..c216678f
--- /dev/null
+++ b/digital/io-hub/src/common-cc/asserv.cc
@@ -0,0 +1,193 @@
+// 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 "asserv.hh"
+
+#include "ucoolib/utils/bytes.hh"
+
+Asserv::Asserv (I2cQueue &queue, float scale)
+ : I2cQueue::Slave (queue, 0x04, 10 + aux_nb * 2),
+ status_flag_ (0),
+ input_port_ (0),
+ position_x_ (0), position_y_ (0), position_a_ (0),
+ last_moving_direction_ (DIRECTION_NONE),
+ scale_ (scale), scale_inv_ (1 / scale)
+{
+}
+
+void
+Asserv::recv_status (const uint8_t *status)
+{
+ status_flag_ = status[0];
+ input_port_ = status[1];
+ position_x_ = ucoo::bytes_pack (0, status[2], status[3], status[4]);
+ position_y_ = ucoo::bytes_pack (0, status[5], status[6], status[7]);
+ position_a_ = ucoo::bytes_pack (status[8], status[9]);
+ Direction d = get_moving_direction ();
+ if (d != DIRECTION_NONE)
+ last_moving_direction_ = d;
+}
+
+void
+Asserv::get_position (Position &position) const
+{
+ position.v.x = position_x_ * scale_;
+ position.v.y = position_y_ * scale_;
+ position.a = position_a_;
+}
+
+void
+Asserv::free ()
+{
+ uint8_t buf[] = { 'w' };
+ send (buf, sizeof (buf));
+}
+
+void
+Asserv::stop ()
+{
+ uint8_t buf[] = { 's' };
+ send (buf, sizeof (buf));
+}
+
+void
+Asserv::move_distance (int distance)
+{
+ distance *= scale_inv_;
+ uint8_t buf[] = { 'l',
+ ucoo::bytes_unpack (distance, 2),
+ ucoo::bytes_unpack (distance, 1),
+ ucoo::bytes_unpack (distance, 0),
+ };
+ send (buf, sizeof (buf));
+}
+
+void
+Asserv::move_angle (int16_t angle)
+{
+ uint8_t buf[] = { 'a',
+ ucoo::bytes_unpack (angle, 1),
+ ucoo::bytes_unpack (angle, 0),
+ };
+ send (buf, sizeof (buf));
+}
+
+void
+Asserv::goto_angle (uint16_t angle)
+{
+ uint8_t buf[] = { 'y',
+ ucoo::bytes_unpack (angle, 1),
+ ucoo::bytes_unpack (angle, 0),
+ };
+ send (buf, sizeof (buf));
+}
+
+void
+Asserv::goto_xya (const Position &pos,
+ DirectionConsign direction_consign)
+{
+ int x = pos.v.x * scale_inv_;
+ int y = pos.v.y * scale_inv_;
+ uint8_t buf[] = { 'X',
+ ucoo::bytes_unpack (x, 2),
+ ucoo::bytes_unpack (x, 1),
+ ucoo::bytes_unpack (x, 0),
+ ucoo::bytes_unpack (y, 2),
+ ucoo::bytes_unpack (y, 1),
+ ucoo::bytes_unpack (y, 0),
+ ucoo::bytes_unpack (pos.a, 1),
+ ucoo::bytes_unpack (pos.a, 0),
+ direction_consign,
+ };
+ send (buf, sizeof (buf));
+}
+
+void
+Asserv::goto_xy (const vect_t &vect,
+ DirectionConsign direction_consign)
+{
+ int x = vect.x * scale_inv_;
+ int y = vect.y * scale_inv_;
+ uint8_t buf[] = { 'x',
+ ucoo::bytes_unpack (x, 2),
+ ucoo::bytes_unpack (x, 1),
+ ucoo::bytes_unpack (x, 0),
+ ucoo::bytes_unpack (y, 2),
+ ucoo::bytes_unpack (y, 1),
+ ucoo::bytes_unpack (y, 0),
+ direction_consign,
+ };
+ send (buf, sizeof (buf));
+}
+
+void
+Asserv::push_wall (DirectionConsign direction_consign, int init_x, int init_y,
+ int16_t init_a)
+{
+ if (init_x != -1)
+ init_x *= scale_inv_;
+ if (init_y != -1)
+ init_y *= scale_inv_;
+ uint8_t buf[] = { 'G',
+ direction_consign,
+ ucoo::bytes_unpack (init_x, 2),
+ ucoo::bytes_unpack (init_x, 1),
+ ucoo::bytes_unpack (init_x, 0),
+ ucoo::bytes_unpack (init_y, 2),
+ ucoo::bytes_unpack (init_y, 1),
+ ucoo::bytes_unpack (init_y, 0),
+ ucoo::bytes_unpack (init_a, 1),
+ ucoo::bytes_unpack (init_a, 0),
+ };
+ send (buf, sizeof (buf));
+}
+
+void
+Asserv::set_speed (uint16_t linear_hi, uint16_t angular_hi, uint16_t
+ linear_lo, uint16_t angular_lo)
+{
+ uint8_t buf[] = { 'p', 's',
+ ucoo::bytes_unpack (linear_hi, 1),
+ ucoo::bytes_unpack (linear_hi, 0),
+ ucoo::bytes_unpack (angular_hi, 1),
+ ucoo::bytes_unpack (angular_hi, 0),
+ ucoo::bytes_unpack (linear_lo, 1),
+ ucoo::bytes_unpack (linear_lo, 0),
+ ucoo::bytes_unpack (angular_lo, 1),
+ ucoo::bytes_unpack (angular_lo, 0),
+ };
+ send (buf, sizeof (buf));
+}
+
+void
+Asserv::set_acceleration (uint16_t linear, uint16_t angular)
+{
+ uint8_t buf[] = { 'p', 'a',
+ ucoo::bytes_unpack (linear, 1),
+ ucoo::bytes_unpack (linear, 0),
+ ucoo::bytes_unpack (angular, 1),
+ ucoo::bytes_unpack (angular, 0),
+ };
+ send (buf, sizeof (buf));
+}
+
diff --git a/digital/io-hub/src/common-cc/asserv.hh b/digital/io-hub/src/common-cc/asserv.hh
new file mode 100644
index 00000000..09f364f4
--- /dev/null
+++ b/digital/io-hub/src/common-cc/asserv.hh
@@ -0,0 +1,124 @@
+#ifndef asserv_hh
+#define asserv_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"
+#include "motor.hh"
+
+/// Interface to asserv board.
+class Asserv : public I2cQueue::Slave
+{
+ public:
+ /// No support for auxiliary motors for the moment.
+ static const int aux_nb = 0;
+ public:
+ /// Direction consigns, can be or'ed together.
+ enum DirectionConsign
+ {
+ /// Use forward movements.
+ FORWARD = 0,
+ /// Use backward movements.
+ BACKWARD = 1,
+ /// Authorise to reverse the direction consign
+ REVERT_OK = 2,
+ /// Combination.
+ BACKWARD_REVERT_OK = BACKWARD | REVERT_OK,
+ };
+ public:
+ /// Constructor.
+ Asserv (I2cQueue &queue, float scale);
+ /// See I2cQueue::Slave::recv_status.
+ void recv_status (const uint8_t *status);
+ /// Get status of last command.
+ Motor::Status get_status () const;
+ /// Get current moving direction (or NONE).
+ Direction get_moving_direction () const;
+ /// Get last moving direction.
+ Direction get_last_moving_direction () const;
+ /// Get current position.
+ void get_position (Position &position) const;
+ /// Release motors (zero torque).
+ void free ();
+ /// Stop moving, applying acceleration constraints.
+ void stop ();
+ /// Move linearly on a given distance (mm).
+ void move_distance (int distance);
+ /// Move angularly by a given angle.
+ void move_angle (int16_t angle);
+ /// Face an absolute angle.
+ void goto_angle (uint16_t angle);
+ /// Go to an absolute position and angle.
+ void goto_xya (const Position &pos,
+ DirectionConsign direction_consign = FORWARD);
+ /// Go to an absolute position, any angle.
+ void goto_xy (const vect_t &vect,
+ DirectionConsign direction_consign = FORWARD);
+ /// Push the wall and initialise position. Use -1 for coordinates to keep
+ /// unchanged.
+ void push_wall (DirectionConsign direction_consign,
+ int init_x, int init_y, int16_t init_a);
+ /// Set movement speeds.
+ void set_speed (uint16_t linear_hi, uint16_t angular_hi,
+ uint16_t linear_lo, uint16_t angular_lo);
+ /// Set acceleration.
+ void set_acceleration (uint16_t linear, uint16_t angular);
+ private:
+ uint8_t status_flag_;
+ uint8_t input_port_;
+ int position_x_, position_y_;
+ uint16_t position_a_;
+ Direction last_moving_direction_;
+ float scale_, scale_inv_;
+};
+
+inline Motor::Status
+Asserv::get_status () const
+{
+ if (status_flag_ & 1)
+ return Motor::SUCCESS;
+ else if (status_flag_ & 2)
+ return Motor::FAILURE;
+ else
+ return Motor::RUNNING;
+}
+
+inline Direction
+Asserv::get_moving_direction () const
+{
+ if (status_flag_ & 4)
+ return DIRECTION_FORWARD;
+ else if (status_flag_ & 8)
+ return DIRECTION_BACKWARD;
+ else
+ return DIRECTION_NONE;
+}
+
+inline Direction
+Asserv::get_last_moving_direction () const
+{
+ return last_moving_direction_;
+}
+
+#endif // asserv_hh
diff --git a/digital/io-hub/src/common-cc/motor.hh b/digital/io-hub/src/common-cc/motor.hh
new file mode 100644
index 00000000..c9896057
--- /dev/null
+++ b/digital/io-hub/src/common-cc/motor.hh
@@ -0,0 +1,40 @@
+#ifndef motor_hh
+#define motor_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.
+//
+// }}}
+
+namespace Motor
+{
+ enum Status
+ {
+ /// Running, last command is not finished yet.
+ RUNNING,
+ /// Last command succeed.
+ SUCCESS,
+ /// Last command failed, motor is blocked.
+ FAILURE,
+ };
+}
+
+#endif // motor_hh