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authorNicolas Schodet2013-03-23 12:27:37 +0100
committerNicolas Schodet2013-03-23 13:03:02 +0100
commit06baa6c156dba0be37a21bddee96994a2c44f5bd (patch)
treeeea392b574befab65951e528a7fe6928485f629d
parent64c1debd706b42091533a8766a2affaad25b31cf (diff)
digital/io-hub/src/apbirthday: add chrono
-rw-r--r--digital/io-hub/src/apbirthday/Makefile2
-rw-r--r--digital/io-hub/src/apbirthday/robot.cc31
-rw-r--r--digital/io-hub/src/apbirthday/robot.hh12
-rw-r--r--digital/io-hub/src/common-cc/chrono.hh48
-rw-r--r--digital/io-hub/src/common-cc/chrono.host.cc48
-rw-r--r--digital/io-hub/src/common-cc/chrono.stm32.cc52
-rw-r--r--digital/io-hub/src/common-cc/init.cc2
7 files changed, 192 insertions, 3 deletions
diff --git a/digital/io-hub/src/apbirthday/Makefile b/digital/io-hub/src/apbirthday/Makefile
index d0567efd..96766788 100644
--- a/digital/io-hub/src/apbirthday/Makefile
+++ b/digital/io-hub/src/apbirthday/Makefile
@@ -3,7 +3,7 @@ BASE = ../../../ucoolib
TARGETS = host stm32f4
PROGS = apbirthday
apbirthday_SOURCES = main.cc robot.cc hardware.host.cc hardware.stm32.cc \
- i2c_queue.cc asserv.cc \
+ i2c_queue.cc asserv.cc chrono.host.cc chrono.stm32.cc \
top.cc init.cc move.cc \
angfsm.host.c angfsm_gen_arm_AI.arm.c fsm_queue.cc \
$(AVR_SOURCES)
diff --git a/digital/io-hub/src/apbirthday/robot.cc b/digital/io-hub/src/apbirthday/robot.cc
index cfdc0c19..1873c7f2 100644
--- a/digital/io-hub/src/apbirthday/robot.cc
+++ b/digital/io-hub/src/apbirthday/robot.cc
@@ -35,7 +35,10 @@ Robot::Robot ()
asserv (main_i2c_queue_, BOT_SCALE),
dev_proto (*this, hardware.dev_uart),
zb_proto (*this, hardware.zb_uart),
- usb_proto (*this, hardware.usb)
+ usb_proto (*this, hardware.usb),
+ chrono (90000 - 1000),
+ stats_proto_ (0),
+ stats_chrono_ (false), stats_chrono_last_s_ (-1)
{
robot = this;
}
@@ -56,6 +59,8 @@ Robot::main_loop ()
dev_proto.accept ();
zb_proto.accept ();
usb_proto.accept ();
+ // Send stats.
+ proto_stats ();
}
}
@@ -115,6 +120,14 @@ Robot::proto_handle (ucoo::Proto &proto, char cmd, const uint8_t *args, int size
asserv.goto_xy (pos, Asserv::DirectionConsign (args[4]));
}
break;
+ case c ('C', 1):
+ // Chrono stats.
+ // 1B: start chrono if non-zero.
+ stats_chrono_ = true;
+ if (args[0])
+ chrono.start ();
+ stats_proto_ = &proto;
+ break;
default:
proto.send ('?');
return;
@@ -123,3 +136,19 @@ Robot::proto_handle (ucoo::Proto &proto, char cmd, const uint8_t *args, int size
proto.send_buf (cmd, args, size);
}
+void
+Robot::proto_stats ()
+{
+ if (!stats_proto_)
+ return;
+ if (stats_chrono_)
+ {
+ int s = chrono.remaining_time_ms () / 1000;
+ if (s != stats_chrono_last_s_)
+ {
+ stats_proto_->send ('C', "b", s);
+ stats_chrono_last_s_ = s;
+ }
+ }
+}
+
diff --git a/digital/io-hub/src/apbirthday/robot.hh b/digital/io-hub/src/apbirthday/robot.hh
index 1c6af976..08cb9cf6 100644
--- a/digital/io-hub/src/apbirthday/robot.hh
+++ b/digital/io-hub/src/apbirthday/robot.hh
@@ -26,6 +26,7 @@
#include "hardware.hh"
#include "asserv.hh"
#include "fsm_queue.hh"
+#include "chrono.hh"
#include "ucoolib/base/proto/proto.hh"
@@ -41,6 +42,8 @@ class Robot : public ucoo::Proto::Handler
bool fsm_gen_event ();
/// Receive proto messages.
void proto_handle (ucoo::Proto &proto, char cmd, const uint8_t *args, int size);
+ /// Send stats.
+ void proto_stats ();
public:
/// Public access to hardware class.
Hardware hardware;
@@ -56,6 +59,15 @@ class Robot : public ucoo::Proto::Handler
public:
/// Public access to deferred events FSM queue.
FsmQueue fsm_queue;
+ /// Public access to chrono.
+ Chrono chrono;
+ private:
+ /// Proto used for stats.
+ ucoo::Proto *stats_proto_;
+ /// Enable chrono stats.
+ bool stats_chrono_;
+ /// Last stated second.
+ int stats_chrono_last_s_;
};
/// Global instance pointer.
diff --git a/digital/io-hub/src/common-cc/chrono.hh b/digital/io-hub/src/common-cc/chrono.hh
new file mode 100644
index 00000000..11c35984
--- /dev/null
+++ b/digital/io-hub/src/common-cc/chrono.hh
@@ -0,0 +1,48 @@
+#ifndef chrono_hh
+#define chrono_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 "ucoolib/common.hh"
+
+/// Match chrono.
+class Chrono
+{
+ public:
+ /// Constructor, with the match duration.
+ Chrono (int duration_ms);
+ /// Start match.
+ void start ();
+ /// Get remaining time until end of match, negative if match is over.
+ int remaining_time_ms () const;
+ private:
+ /// Match duration.
+ int duration_ms_;
+ /// True if match started yet.
+ bool started_;
+#ifdef TARGET_host
+ uint32_t start_date_;
+#endif
+};
+
+#endif // chrono_hh
diff --git a/digital/io-hub/src/common-cc/chrono.host.cc b/digital/io-hub/src/common-cc/chrono.host.cc
new file mode 100644
index 00000000..7d17c576
--- /dev/null
+++ b/digital/io-hub/src/common-cc/chrono.host.cc
@@ -0,0 +1,48 @@
+// 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 "chrono.hh"
+
+#include "robot.hh"
+
+Chrono::Chrono (int duration_ms)
+ : duration_ms_ (duration_ms), started_ (false)
+{
+}
+
+void
+Chrono::start ()
+{
+ started_ = true;
+ start_date_ = robot->hardware.host.get_node ().date ();
+}
+
+int
+Chrono::remaining_time_ms () const
+{
+ int now = 0;
+ if (started_)
+ now = robot->hardware.host.get_node ().date () - start_date_;
+ return duration_ms_ - now;
+}
+
diff --git a/digital/io-hub/src/common-cc/chrono.stm32.cc b/digital/io-hub/src/common-cc/chrono.stm32.cc
new file mode 100644
index 00000000..19839503
--- /dev/null
+++ b/digital/io-hub/src/common-cc/chrono.stm32.cc
@@ -0,0 +1,52 @@
+// 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 "chrono.hh"
+
+#include <libopencm3/stm32/f4/rcc.h>
+#include <libopencm3/stm32/f4/timer.h>
+
+Chrono::Chrono (int duration_ms)
+ : duration_ms_ (duration_ms), started_ (false)
+{
+}
+
+void
+Chrono::start ()
+{
+ started_ = true;
+ rcc_peripheral_enable_clock (&RCC_APB1ENR, RCC_APB1ENR_TIM2EN);
+ TIM2_PSC = 2 * rcc_ppre1_frequency / 1000 - 1; // 1 ms prescaler
+ TIM2_ARR = 3600 * 1000;
+ TIM2_EGR = TIM_EGR_UG;
+ TIM2_CR1 = TIM_CR1_OPM | TIM_CR1_CEN;
+}
+
+int
+Chrono::remaining_time_ms () const
+{
+ int now = 0;
+ if (started_)
+ now = TIM2_CNT;
+ return duration_ms_ - now;
+}
diff --git a/digital/io-hub/src/common-cc/init.cc b/digital/io-hub/src/common-cc/init.cc
index 6d8b9255..761e4485 100644
--- a/digital/io-hub/src/common-cc/init.cc
+++ b/digital/io-hub/src/common-cc/init.cc
@@ -158,7 +158,7 @@ FSM_TRANS (INIT_GOING_TO_START_POSITION, robot_move_success,
FSM_TRANS (INIT_WAITING_SECOND_JACK_OUT, jack_removed, INIT_FINISHED)
{
- // TODO: robot->chrono.start ();
+ robot->chrono.start ();
robot->fsm_queue.post (FSM_EVENT (init_start_round));
}