Merge branch 'feature/automatic_drive' into 'develop'

Feature/automatic drive



See merge request !14

source/application/collision_ctrl.c

@@ -0,0 +1,91 @@
+/*
+ * collision_ctrl.c
+ *
+ *  Created on: Aug 30, 2016
+ *      Author: tkl
+ */
+
+#include <stddef.h>
+#include <stdlib.h>
+#include <string.h>
+#include <stdbool.h>
+#include <stdint.h>
+#include <stdio.h>
+
+#include "board_devices.h"
+#include "queue.h"
+#include "list.h"
+#include "stack.h"
+#include "kernel.h"
+#include "driver.h"
+#include "shell.h"
+#include "drive_ctrl.h"
+#include "engine_ctrl.h"
+
+#pragma pack(push)
+#pragma pack(1)
+struct collision_ctrl_object {
+	int distance_mm;
+};
+#pragma pack(pop)
+
+struct collision_ctrl_object collision_ctrl_object;
+struct thread_context collision_ctrl_ctx;
+stack_t collision_ctrl_stack[256];
+
+static void collision_ctrl_loop(void *arg)
+{
+	drv_open(&pwm5_c2);	/* trigger pwm */
+	drv_open(&pwm2_c4); /* read pwm */
+	drv_open(&rng);
+	while(1) {
+		int pulse_ns = drv_ioctl(&pwm2_c4, IOCTL_PWM_GET_PULSE_WIDTH_NS, NULL);
+		collision_ctrl_object.distance_mm = 343 * pulse_ns / 1000 / 2;
+		if(collision_ctrl_object.distance_mm < 300) {
+			char print_buffer[50];
+			if(engine_ctrl_get_current_speed_value() != 0) {
+				drive_ctrl_halt();
+				sprintf(print_buffer, "collision detected (%dmm)...\r\n", collision_ctrl_object.distance_mm);
+				shell_write(print_buffer, strlen(print_buffer));
+				sprintf(print_buffer, "going back...\r\n");
+				shell_write(print_buffer, strlen(print_buffer));
+				drive_ctrl_backward();
+				sleep_ms(500);
+				drive_ctrl_halt();
+
+				sprintf(print_buffer, "start turning...\r\n");
+				shell_write(print_buffer, strlen(print_buffer));
+				drive_ctrl_turn_left();
+				sleep_ms(drv_read(&rng, NULL, 0) % 3500 + 500); // rand between 500 and 4000
+				drive_ctrl_halt();
+
+				sprintf(print_buffer, "restart forward...\r\n");
+				shell_write(print_buffer, strlen(print_buffer));
+				drive_ctrl_forward();
+			}
+			else {
+				sprintf(print_buffer, "collision detected while not driving 8(\r\n");
+				shell_write(print_buffer, strlen(print_buffer));
+			}
+		}
+		sleep_ms(1);
+	}
+}
+
+int collision_ctrl_init(void)
+{
+	thread_create(
+			&collision_ctrl_ctx,
+			collision_ctrl_stack,
+			sizeof(collision_ctrl_stack) / sizeof(stack_t),
+			collision_ctrl_loop,
+			NULL,
+			THREAD_PRIO_LOW);
+
+	return 0;
+}
+
+int collision_ctrl_get_distance_mm(void)
+{
+	return collision_ctrl_object.distance_mm;
+}

source/application/drive_ctrl.c

@@ -5,149 +5,146 @@
  *      Author: tkl
  */
 
+#include <stddef.h>
 #include <stdlib.h>
+#include <string.h>
+#include <stdbool.h>
+#include <stdint.h>
 
+#include "queue.h"
+#include "stack.h"
+#include "kernel.h"
 #include "driver.h"
-#include "board_devices.h"
+#include "engine_ctrl.h"
-#include "engines.h"
 
 #include "drive_ctrl.h"
 
-struct drive_ctrl {
-	struct engine_ctrl *left_forward;
-	struct engine_ctrl *left_backward;
-	struct engine_ctrl *right_forward;
-	struct engine_ctrl *right_backward;
-};
-
-struct drive_ctrl_object {
-	unsigned int target_speed;
-	unsigned int turn_speed;
-	unsigned int current_speed;
-};
-
-static struct drive_ctrl drive_ctrl = {
-		.left_forward = &left_forward,
-		.left_backward = &left_backward,
-		.right_forward = &right_forward,
-		.right_backward = &right_backward,
-};
-
-static struct drive_ctrl_object drive_ctrl_object = {
-		.target_speed = 80,	/* % */
-		.turn_speed = 40,
-		.current_speed = 0,	/* % */
-};
-
 int drive_ctrl_init(void)
 {
-	unsigned int duty = 0;
+	return engine_ctrl_init();
+}
 
-	/* open enable pins */
+int drive_ctrl_turn_right(void)
-	drv_open(drive_ctrl.left_forward->enable);
+{
-	drv_write(drive_ctrl.left_forward->enable, "0", 1);
+	drive_ctrl_halt();
-	drv_open(drive_ctrl.left_backward->enable);
+	int turn_speed = engine_ctrl_get_turn_speed_value();
-	drv_write(drive_ctrl.left_backward->enable, "0", 1);
+	for(int i = 0; i < turn_speed; i++) {
-	drv_open(drive_ctrl.right_forward->enable);
+		engine_ctrl_set_speed_left(i);
-	drv_write(drive_ctrl.right_forward->enable, "0", 1);
+		engine_ctrl_set_speed_right(-1 * i);
-	drv_open(drive_ctrl.right_backward->enable);
+		sleep_ms(10);
-	drv_write(drive_ctrl.right_backward->enable, "0", 1);
+	}
-
-	/* open pwm's */
-	drv_open(drive_ctrl.left_backward->pwm);
-	drv_ioctl(drive_ctrl.left_backward->pwm, IOCTL_PWM_SET_DUTY_CYCLE, (const void *)&duty);
-	drv_open(drive_ctrl.left_forward->pwm);
-	drv_ioctl(drive_ctrl.left_forward->pwm, IOCTL_PWM_SET_DUTY_CYCLE, (const void *)&duty);
-	drv_open(drive_ctrl.right_backward->pwm);
-	drv_ioctl(drive_ctrl.right_backward->pwm, IOCTL_PWM_SET_DUTY_CYCLE, (const void *)&duty);
-	drv_open(drive_ctrl.right_forward->pwm);
-	drv_ioctl(drive_ctrl.right_forward->pwm, IOCTL_PWM_SET_DUTY_CYCLE, (const void *)&duty);
-
-	/* enable enable pins */
-	drv_write(drive_ctrl.left_forward->enable, "1", 1);
-	drv_write(drive_ctrl.left_backward->enable, "1", 1);
-	drv_write(drive_ctrl.right_forward->enable, "1", 1);
-	drv_write(drive_ctrl.right_backward->enable, "1", 1);
 
 	return 0;
 }
 
-static unsigned int calc_speed_front(int speed_percent)
+int drive_ctrl_turn_left(void)
 {
-	unsigned int speed_front = 0;
+	drive_ctrl_halt();
-	if(speed_percent > 0) {
+	int turn_speed = engine_ctrl_get_turn_speed_value();
-		if(speed_percent > 100)
+	for(int i = 0; i < turn_speed; i++) {
-			speed_front = 100;
+		engine_ctrl_set_speed_right(i);
-		else
+		engine_ctrl_set_speed_left(-1 * i);
-			speed_front = (unsigned int) speed_percent;
+		sleep_ms(10);
 	}
-	return speed_front;
-}
-
-static unsigned int calc_speed_back(int speed_percent)
-{
-	unsigned int speed_back = 0;
-	if(speed_percent < 0) {
-		if(speed_percent < -100)
-			speed_back = 100;
-		else
-			speed_back = (unsigned int) abs(speed_percent);
-	}
-	return speed_back;
-}
-
-int drive_ctrl_set_speed_left(int speed_percent)
-{
-	unsigned int front_speed = calc_speed_front(speed_percent);
-	unsigned int back_speed = calc_speed_back(speed_percent);
-	int ret = drv_ioctl(drive_ctrl.right_forward->pwm, IOCTL_PWM_SET_DUTY_CYCLE, (const void *)&front_speed);
-	ret |= drv_ioctl(drive_ctrl.left_backward->pwm, IOCTL_PWM_SET_DUTY_CYCLE, (const void *)&back_speed);
-
-	return ret;
-}
-
-int drive_ctrl_set_speed_right(int speed_percent)
-{
-	unsigned int front_speed = calc_speed_front(speed_percent);
-	unsigned int back_speed = calc_speed_back(speed_percent);
-	int ret = drv_ioctl(drive_ctrl.left_forward->pwm, IOCTL_PWM_SET_DUTY_CYCLE, (const void *)&front_speed);
-	ret |= drv_ioctl(drive_ctrl.right_backward->pwm, IOCTL_PWM_SET_DUTY_CYCLE, (const void *)&back_speed);
-
-	return ret;
-}
-
-int drive_ctrl_set_target_speed_value(int speed_percent)
-{
-	drive_ctrl_object.target_speed = speed_percent;
 
 	return 0;
 }
 
-int drive_ctrl_get_target_speed_value(void)
+int drive_ctrl_boost(void)
 {
-	return drive_ctrl_object.target_speed;
+	int speed = engine_ctrl_get_target_speed_value();
-}
+	speed += 10;
-
+	engine_ctrl_set_target_speed_value(speed);
-int drive_ctrl_set_current_speed_value(int speed_percent)
+	engine_ctrl_set_speed_left(speed);
-{
+	engine_ctrl_set_speed_right(speed);
-	drive_ctrl_object.current_speed = speed_percent;
 
 	return 0;
 }
 
-int drive_ctrl_get_current_speed_value(void)
+int drive_ctrl_retard(void)
 {
-	return drive_ctrl_object.current_speed;
+	int speed = engine_ctrl_get_target_speed_value();
-}
+	speed -= 10;
-
+	engine_ctrl_set_target_speed_value(speed);
-int drive_ctrl_set_turn_speed_value(int speed_percent)
+	engine_ctrl_set_speed_left(speed);
-{
+	engine_ctrl_set_speed_right(speed);
-	drive_ctrl_object.turn_speed = speed_percent;
 
 	return 0;
 }
 
-int drive_ctrl_get_turn_speed_value(void)
+int drive_ctrl_halt(void)
 {
-	return drive_ctrl_object.turn_speed;
+	int current_speed = engine_ctrl_get_current_speed_value();
+	if(current_speed > 0) {
+		for(int i = current_speed; i > 0; i--) {
+			engine_ctrl_set_current_speed_value(i);
+			engine_ctrl_set_speed_left(i);
+			engine_ctrl_set_speed_right(i);
+			sleep_ms(10);
+		}
+	}
+	else {
+		for(int i = current_speed; i < 0; i++) {
+			engine_ctrl_set_current_speed_value(i);
+			engine_ctrl_set_speed_left(i);
+			engine_ctrl_set_speed_right(i);
+			sleep_ms(10);
+		}
+	}
+
+	return 0;
+}
+
+int drive_ctrl_forward(void)
+{
+	int target_speed = engine_ctrl_get_target_speed_value();
+	int current_speed = engine_ctrl_get_current_speed_value();
+	if(target_speed < 0)
+		target_speed = abs(target_speed);
+	engine_ctrl_set_target_speed_value(target_speed);
+	if(current_speed < target_speed) {
+		for(int i = current_speed; i < target_speed; i++) {
+			engine_ctrl_set_current_speed_value(i);
+			engine_ctrl_set_speed_left(i);
+			engine_ctrl_set_speed_right(i);
+			sleep_ms(10);
+		}
+	}
+	else {
+		for(int i = current_speed; i > target_speed; i--) {
+			engine_ctrl_set_current_speed_value(i);
+			engine_ctrl_set_speed_left(i);
+			engine_ctrl_set_speed_right(i);
+			sleep_ms(10);
+		}
+	}
+
+	return 0;
+}
+
+int drive_ctrl_backward(void)
+{
+	int target_speed = engine_ctrl_get_target_speed_value();
+	int current_speed = engine_ctrl_get_current_speed_value();
+	if(target_speed > 0)
+		target_speed *= -1;
+	engine_ctrl_set_target_speed_value(target_speed);
+	if(current_speed > target_speed) {
+		for(int i = current_speed; i > target_speed; i--) {
+			engine_ctrl_set_current_speed_value(i);
+			engine_ctrl_set_speed_left(i);
+			engine_ctrl_set_speed_right(i);
+			sleep_ms(10);
+		}
+	}
+	else {
+		for(int i = current_speed; i < target_speed; i++) {
+			engine_ctrl_set_current_speed_value(i);
+			engine_ctrl_set_speed_left(i);
+			engine_ctrl_set_speed_right(i);
+			sleep_ms(10);
+		}
+	}
+
+	return 0;
 }

source/application/engine_ctrl.c

@@ -0,0 +1,134 @@
+/*
+ * engine_ctrl.c
+ *
+ *  Created on: Aug 30, 2016
+ *      Author: tkl
+ */
+#include <stdlib.h>
+
+#include "board_devices.h"
+#include "driver.h"
+#include "engines.h"
+
+struct drive_ctrl {
+	struct engine_ctrl *left_forward;
+	struct engine_ctrl *left_backward;
+	struct engine_ctrl *right_forward;
+	struct engine_ctrl *right_backward;
+};
+
+struct drive_ctrl_object {
+	unsigned int target_speed;
+	unsigned int turn_speed;
+	unsigned int current_speed;
+};
+
+static struct drive_ctrl drive_ctrl = {
+		.left_forward = &left_forward,
+		.left_backward = &left_backward,
+		.right_forward = &right_forward,
+		.right_backward = &right_backward,
+};
+
+static struct drive_ctrl_object drive_ctrl_object = {
+		.target_speed = 100,/* % */
+		.turn_speed = 40,	/* % */
+		.current_speed = 0,	/* % */
+};
+
+int engine_ctrl_init(void)
+{
+	unsigned int duty = 0;
+
+	/* open pwm's */
+	drv_open(drive_ctrl.left_backward->pwm);
+	drv_ioctl(drive_ctrl.left_backward->pwm, IOCTL_PWM_SET_DUTY_CYCLE, (const void *)&duty);
+	drv_open(drive_ctrl.left_forward->pwm);
+	drv_ioctl(drive_ctrl.left_forward->pwm, IOCTL_PWM_SET_DUTY_CYCLE, (const void *)&duty);
+	drv_open(drive_ctrl.right_backward->pwm);
+	drv_ioctl(drive_ctrl.right_backward->pwm, IOCTL_PWM_SET_DUTY_CYCLE, (const void *)&duty);
+	drv_open(drive_ctrl.right_forward->pwm);
+	drv_ioctl(drive_ctrl.right_forward->pwm, IOCTL_PWM_SET_DUTY_CYCLE, (const void *)&duty);
+
+	return 0;
+}
+
+static unsigned int calc_speed_front(int speed_percent)
+{
+	unsigned int speed_front = 0;
+	if(speed_percent > 0) {
+		if(speed_percent > 100)
+			speed_front = 100;
+		else
+			speed_front = (unsigned int) speed_percent;
+	}
+	return speed_front;
+}
+
+static unsigned int calc_speed_back(int speed_percent)
+{
+	unsigned int speed_back = 0;
+	if(speed_percent < 0) {
+		if(speed_percent < -100)
+			speed_back = 100;
+		else
+			speed_back = (unsigned int) abs(speed_percent);
+	}
+	return speed_back;
+}
+
+int engine_ctrl_set_speed_left(int speed_percent)
+{
+	unsigned int front_speed = calc_speed_front(speed_percent);
+	unsigned int back_speed = calc_speed_back(speed_percent);
+	int ret = drv_ioctl(drive_ctrl.right_forward->pwm, IOCTL_PWM_SET_DUTY_CYCLE, (const void *)&front_speed);
+	ret |= drv_ioctl(drive_ctrl.left_backward->pwm, IOCTL_PWM_SET_DUTY_CYCLE, (const void *)&back_speed);
+
+	return ret;
+}
+
+int engine_ctrl_set_speed_right(int speed_percent)
+{
+	unsigned int front_speed = calc_speed_front(speed_percent);
+	unsigned int back_speed = calc_speed_back(speed_percent);
+	int ret = drv_ioctl(drive_ctrl.left_forward->pwm, IOCTL_PWM_SET_DUTY_CYCLE, (const void *)&front_speed);
+	ret |= drv_ioctl(drive_ctrl.right_backward->pwm, IOCTL_PWM_SET_DUTY_CYCLE, (const void *)&back_speed);
+
+	return ret;
+}
+
+int engine_ctrl_set_target_speed_value(int speed_percent)
+{
+	drive_ctrl_object.target_speed = speed_percent;
+
+	return 0;
+}
+
+int engine_ctrl_get_target_speed_value(void)
+{
+	return drive_ctrl_object.target_speed;
+}
+
+int engine_ctrl_set_current_speed_value(int speed_percent)
+{
+	drive_ctrl_object.current_speed = speed_percent;
+
+	return 0;
+}
+
+int engine_ctrl_get_current_speed_value(void)
+{
+	return drive_ctrl_object.current_speed;
+}
+
+int drive_ctrl_set_turn_speed_value(int speed_percent)
+{
+	drive_ctrl_object.turn_speed = speed_percent;
+
+	return 0;
+}
+
+int engine_ctrl_get_turn_speed_value(void)
+{
+	return drive_ctrl_object.turn_speed;
+}

source/application/include/collision_ctrl.h

@@ -0,0 +1,14 @@
+/*
+ * collision_ctrl.h
+ *
+ *  Created on: Aug 30, 2016
+ *      Author: tkl
+ */
+
+#ifndef SOURCE_APPLICATION_INCLUDE_COLLISION_CTRL_H_
+#define SOURCE_APPLICATION_INCLUDE_COLLISION_CTRL_H_
+
+int collision_ctrl_init(void);
+int collision_ctrl_get_distance_mm(void);
+
+#endif /* SOURCE_APPLICATION_INCLUDE_COLLISION_CTRL_H_ */

source/application/include/drive_ctrl.h

@@ -10,14 +10,12 @@
 
 int drive_ctrl_init(void);
 
-int drive_ctrl_set_speed_left(int speed_percent);
+int drive_ctrl_turn_right(void);
-int drive_ctrl_set_speed_right(int speed_percent);
+int drive_ctrl_turn_left(void);
-int drive_ctrl_set_target_speed_value(int speed_percent);
+int drive_ctrl_boost(void);
-int drive_ctrl_get_target_speed_value(void);
+int drive_ctrl_retard(void);
-int drive_ctrl_set_current_speed_value(int speed_percent);
+int drive_ctrl_halt(void);
-int drive_ctrl_get_current_speed_value(void);
+int drive_ctrl_forward(void);
-int drive_ctrl_set_turn_speed_value(int speed_percent);
+int drive_ctrl_backward(void);
-int drive_ctrl_get_turn_speed_value(void);
-
 
 #endif /* SOURCE_APPLICATION_INCLUDE_DRIVE_CTRL_H_ */

source/application/include/engine_ctrl.h

@@ -0,0 +1,22 @@
+/*
+ * engine_ctrl.h
+ *
+ *  Created on: Aug 30, 2016
+ *      Author: tkl
+ */
+
+#ifndef SOURCE_APPLICATION_INCLUDE_ENGINE_CTRL_H_
+#define SOURCE_APPLICATION_INCLUDE_ENGINE_CTRL_H_
+
+int engine_ctrl_init(void);
+
+int engine_ctrl_set_speed_left(int speed_percent);
+int engine_ctrl_set_speed_right(int speed_percent);
+int engine_ctrl_set_target_speed_value(int speed_percent);
+int engine_ctrl_get_target_speed_value(void);
+int engine_ctrl_set_current_speed_value(int speed_percent);
+int engine_ctrl_get_current_speed_value(void);
+int engine_ctrl_set_turn_speed_value(int speed_percent);
+int engine_ctrl_get_turn_speed_value(void);
+
+#endif /* SOURCE_APPLICATION_INCLUDE_ENGINE_CTRL_H_ */

source/application/include/engines.h

@@ -10,27 +10,22 @@
 
 struct engine_ctrl {
 	const struct driver *pwm;
-	const struct driver *enable;
 };
 
 static struct engine_ctrl left_forward = {
 		.pwm = &pwm_4,
-		.enable = &gpio_c2,
 };
 
 static struct engine_ctrl right_backward = {
 		.pwm = &pwm_3,
-		.enable = &gpio_c3,
 };
 
 static struct engine_ctrl right_forward = {
 		.pwm = &pwm_2,
-		.enable = &gpio_c0,
 };
 
 static struct engine_ctrl left_backward = {
 		.pwm = &pwm_1,
-		.enable = &gpio_c1,
 };
 
 #endif /* SOURCE_APPLICATION_INCLUDE_ENGINES_H_ */

source/application/include/sensor_data.h

@@ -0,0 +1,14 @@
+/*
+ * sensor_data.h
+ *
+ *  Created on: Aug 30, 2016
+ *      Author: tkl
+ */
+
+#ifndef SOURCE_APPLICATION_INCLUDE_SENSOR_DATA_H_
+#define SOURCE_APPLICATION_INCLUDE_SENSOR_DATA_H_
+
+int sensor_data_init(void);
+int sensor_data_sys_msg(bool state);
+
+#endif /* SOURCE_APPLICATION_INCLUDE_SENSOR_DATA_H_ */

source/application/main.c

@@ -10,12 +10,16 @@
 #include "shell.h"
 #include "shell_commands.h"
 #include "drive_ctrl.h"
+#include "collision_ctrl.h"
+#include "sensor_data.h"
 
 int main(void)
 {
-	drive_ctrl_init();
 	shell_init(&uart_1);
 	shell_commands_init();
+	drive_ctrl_init();
+	collision_ctrl_init();
+	sensor_data_init();
 
 	while(1) {
 		sleep_ms(1000);

source/application/sensor_data.c

@@ -0,0 +1,65 @@
+/*
+ * sensor_data.c
+ *
+ *  Created on: Aug 30, 2016
+ *      Author: tkl
+ */
+
+#include <stddef.h>
+#include <stdlib.h>
+#include <string.h>
+#include <stdbool.h>
+#include <stdint.h>
+#include <stdio.h>
+
+#include "driver.h"
+#include "queue.h"
+#include "list.h"
+#include "stack.h"
+#include "kernel.h"
+#include "shell.h"
+#include "collision_ctrl.h"
+
+struct sensor_data_object {
+	bool sys_msg_on;
+};
+
+struct sensor_data_object sensor_data_object = {
+		.sys_msg_on = false,
+};
+
+struct thread_context sensor_data_ctx;
+stack_t sensor_data_stack[256];
+
+static void sensor_data_loop(void *arg)
+{
+	char print_buffer[50];
+	while(1) {
+		int collision_distance = collision_ctrl_get_distance_mm();
+		if(sensor_data_object.sys_msg_on) {
+			sprintf(print_buffer, "#SYS:%d\r\n", collision_distance);
+			shell_write(print_buffer, strlen(print_buffer));
+		}
+		sleep_ms(1000);
+	}
+}
+
+int sensor_data_init(void)
+{
+	thread_create(
+			&sensor_data_ctx,
+			sensor_data_stack,
+			sizeof(sensor_data_stack) / sizeof(stack_t),
+			sensor_data_loop,
+			NULL,
+			THREAD_PRIO_LOW);
+
+	return 0;
+}
+
+int sensor_data_sys_msg(bool state)
+{
+	sensor_data_object.sys_msg_on = state;
+
+	return 0;
+}

source/application/shell_commands.c

@@ -6,6 +6,7 @@
  */
 #include <stddef.h>
 #include <stdlib.h>
+#include <string.h>
 #include <stdbool.h>
 #include <stdint.h>
 
@@ -17,6 +18,7 @@
 #include "kernel.h"
 #include "drive_ctrl.h"
 #include "version.h"
+#include "sensor_data.h"
 
 static void *drive_turn_right_cb(const char *param);
 static void *drive_turn_left_cb(const char *param);
@@ -26,6 +28,20 @@ static void *drive_halt_cb(const char *param);
 static void *drive_forward_cb(const char *param);
 static void *drive_backward_cb(const char *param);
 static void *app_version(const char *param);
+static void *sys_msg_on_cb(const char *param);
+static void *sys_msg_off_cb(const char *param);
+
+static struct command cmd_sys_msg_on = {
+		.command = "sys on",
+		.description = "Switch system message on.",
+		.command_callback = sys_msg_on_cb,
+};
+
+static struct command cmd_sys_msg_off = {
+		.command = "sys off",
+		.description = "Switch system message off.",
+		.command_callback = sys_msg_off_cb,
+};
 
 static struct command cmd_app_version = {
 		.command = "version",
@@ -77,6 +93,7 @@ static struct command drive_turn_right = {
 
 int shell_commands_init(void)
 {
+	shell_add_command(&cmd_app_version);
 	shell_add_command(&drive_forward);
 	shell_add_command(&drive_backward);
 	shell_add_command(&drive_boost);
@@ -84,147 +101,76 @@ int shell_commands_init(void)
 	shell_add_command(&drive_halt);
 	shell_add_command(&drive_turn_left);
 	shell_add_command(&drive_turn_right);
-	shell_add_command(&cmd_app_version);
+	shell_add_command(&cmd_sys_msg_off);
+	shell_add_command(&cmd_sys_msg_on);
 
 	return 0;
 }
 
 static void *drive_turn_right_cb(const char *param)
 {
-	drive_halt_cb(NULL);
+	drive_ctrl_turn_right();
-	int turn_speed = drive_ctrl_get_turn_speed_value();
-	for(int i = 0; i < turn_speed; i++) {
-		drive_ctrl_set_speed_left(i);
-		drive_ctrl_set_speed_right(-1 * i);
-		sleep_ms(10);
-	}
-
 	return NULL;
 }
 
 static void *drive_turn_left_cb(const char *param)
 {
-	drive_halt_cb(NULL);
+	drive_ctrl_turn_left();
-	int turn_speed = drive_ctrl_get_turn_speed_value();
-	for(int i = 0; i < turn_speed; i++) {
-		drive_ctrl_set_speed_right(i);
-		drive_ctrl_set_speed_left(-1 * i);
-		sleep_ms(10);
-	}
-
 	return NULL;
 }
 
 static void *drive_boost_cb(const char *param)
 {
-	int speed = drive_ctrl_get_target_speed_value();
+	drive_ctrl_boost();
-	speed += 10;
-	drive_ctrl_set_target_speed_value(speed);
-	drive_ctrl_set_speed_left(speed);
-	drive_ctrl_set_speed_right(speed);
-
 	return NULL;
 }
 
 static void *drive_retard_cb(const char *param)
 {
-	int speed = drive_ctrl_get_target_speed_value();
+	drive_ctrl_retard();
-	speed -= 10;
-	drive_ctrl_set_target_speed_value(speed);
-	drive_ctrl_set_speed_left(speed);
-	drive_ctrl_set_speed_right(speed);
-
 	return NULL;
 }
 
 static void *drive_halt_cb(const char *param)
 {
-	int current_speed = drive_ctrl_get_current_speed_value();
+	drive_ctrl_halt();
-	if(current_speed > 0) {
-		for(int i = current_speed; i > 0; i--) {
-			drive_ctrl_set_current_speed_value(i);
-			drive_ctrl_set_speed_left(i);
-			drive_ctrl_set_speed_right(i);
-			sleep_ms(10);
-		}
-	}
-	else {
-		for(int i = current_speed; i < 0; i++) {
-			drive_ctrl_set_current_speed_value(i);
-			drive_ctrl_set_speed_left(i);
-			drive_ctrl_set_speed_right(i);
-			sleep_ms(10);
-		}
-	}
-
 	return NULL;
 }
 
 static void *drive_forward_cb(const char *param)
 {
-	int target_speed = drive_ctrl_get_target_speed_value();
+	drive_ctrl_forward();
-	int current_speed = drive_ctrl_get_current_speed_value();
-	if(target_speed < 0)
-		target_speed = abs(target_speed);
-	drive_ctrl_set_target_speed_value(target_speed);
-	if(current_speed < target_speed) {
-		for(int i = current_speed; i < target_speed; i++) {
-			drive_ctrl_set_current_speed_value(i);
-			drive_ctrl_set_speed_left(i);
-			drive_ctrl_set_speed_right(i);
-			sleep_ms(10);
-		}
-	}
-	else {
-		for(int i = current_speed; i > target_speed; i--) {
-			drive_ctrl_set_current_speed_value(i);
-			drive_ctrl_set_speed_left(i);
-			drive_ctrl_set_speed_right(i);
-			sleep_ms(10);
-		}
-	}
-
 	return NULL;
 }
 
 static void *drive_backward_cb(const char *param)
 {
-	int target_speed = drive_ctrl_get_target_speed_value();
+	drive_ctrl_backward();
-	int current_speed = drive_ctrl_get_current_speed_value();
-	if(target_speed > 0)
-		target_speed *= -1;
-	drive_ctrl_set_target_speed_value(target_speed);
-	if(current_speed > target_speed) {
-		for(int i = current_speed; i > target_speed; i--) {
-			drive_ctrl_set_current_speed_value(i);
-			drive_ctrl_set_speed_left(i);
-			drive_ctrl_set_speed_right(i);
-			sleep_ms(10);
-		}
-	}
-	else {
-		for(int i = current_speed; i < target_speed; i++) {
-			drive_ctrl_set_current_speed_value(i);
-			drive_ctrl_set_speed_left(i);
-			drive_ctrl_set_speed_right(i);
-			sleep_ms(10);
-		}
-	}
-
 	return NULL;
 }
 
 static void *app_version(const char *param)
 {
-#if 0
 	char *greeter = "engine_control version: ";
 
-	drv_write(shell_object.shell_device, greeter, strlen(greeter));
+	shell_write(greeter, strlen(greeter));
-	drv_write(shell_object.shell_device, MAJOR_VERSION, strlen(MAJOR_VERSION));
+	shell_write(MAJOR_VERSION, strlen(MAJOR_VERSION));
-	drv_write(shell_object.shell_device, ".", 1);
+	shell_write(".", 1);
-	drv_write(shell_object.shell_device, MINOR_VERSION, strlen(MINOR_VERSION));
+	shell_write(MINOR_VERSION, strlen(MINOR_VERSION));
-	drv_write(shell_object.shell_device, ".", 1);
+	shell_write(".", 1);
-	drv_write(shell_object.shell_device, BUILD_NUMBER, strlen(BUILD_NUMBER));
+	shell_write(BUILD_NUMBER, strlen(BUILD_NUMBER));
-#endif
+	shell_write("\r\n", 2);
+
+	return NULL;
+}
+
+static void *sys_msg_on_cb(const char *param)
+{
+	sensor_data_sys_msg(true);
+	return NULL;
+}
+static void *sys_msg_off_cb(const char *param)
+{
+	sensor_data_sys_msg(false);
 	return NULL;
 }

source/os/release/include/board_devices.h

@@ -3,6 +3,7 @@
 #ifndef BOARD_DEVICES_H
 #define BOARD_DEVICES_H
 
+extern const struct driver rng;
 extern const struct driver gpio_c0;
 extern const struct driver gpio_c1;
 extern const struct driver gpio_c2;

source/os/release/include/driver.h

@@ -17,6 +17,7 @@ enum driver_type {
 	DRIVER_TYPE_GPIO,
 	DRIVER_TYPE_I2C,
 	DRIVER_TYPE_PWM,
+	DRIVER_TYPE_RNG,
 	DRIVER_TYPE_RTC,
 	DRIVER_TYPE_SPI,
 	DRIVER_TYPE_UART

source/os/release/include/shell.h

@@ -19,5 +19,6 @@ struct command {
 
 int shell_init(const struct driver *shell_device);
 int shell_add_command(struct command *command);
+int shell_write(const char *buffer, unsigned int len);
 
 #endif /* SOURCE_FIRMWARE_KERNEL_INTERFACE_SHELL_H_ */

source/os/release/libkosmos-arm-stm32f4-discovery.a

@@ -1 +1 @@
-libkosmos-arm-stm32f4-discovery-0.1.5.250.a
+libkosmos-arm-stm32f4-discovery-0.1.9.276.a