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Merge branch 'feature/automatic_drive' into 'develop'

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Feature/automatic drive



See merge request !14
This commit is contained in:
tkl 2016-09-19 14:22:47 +00:00
commit c28d05e145
16 changed files with 512 additions and 229 deletions
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91
source/application/collision_ctrl.c Normal file
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@ -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;
}

227
source/application/drive_ctrl.c
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@ -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 "engines.h"
#include "engine_ctrl.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 */
drv_open(drive_ctrl.left_forward->enable);
drv_write(drive_ctrl.left_forward->enable, "0", 1);
drv_open(drive_ctrl.left_backward->enable);
drv_write(drive_ctrl.left_backward->enable, "0", 1);
drv_open(drive_ctrl.right_forward->enable);
drv_write(drive_ctrl.right_forward->enable, "0", 1);
drv_open(drive_ctrl.right_backward->enable);
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);
int drive_ctrl_turn_right(void)
{
drive_ctrl_halt();
int turn_speed = engine_ctrl_get_turn_speed_value();
for(int i = 0; i < turn_speed; i++) {
engine_ctrl_set_speed_left(i);
engine_ctrl_set_speed_right(-1 * i);
sleep_ms(10);
}
return 0;
}
static unsigned int calc_speed_front(int speed_percent)
int drive_ctrl_turn_left(void)
{
unsigned int speed_front = 0;
if(speed_percent > 0) {
if(speed_percent > 100)
speed_front = 100;
else
speed_front = (unsigned int) speed_percent;
drive_ctrl_halt();
int turn_speed = engine_ctrl_get_turn_speed_value();
for(int i = 0; i < turn_speed; i++) {
engine_ctrl_set_speed_right(i);
engine_ctrl_set_speed_left(-1 * i);
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 drive_ctrl_set_current_speed_value(int speed_percent)
{
drive_ctrl_object.current_speed = speed_percent;
int speed = engine_ctrl_get_target_speed_value();
speed += 10;
engine_ctrl_set_target_speed_value(speed);
engine_ctrl_set_speed_left(speed);
engine_ctrl_set_speed_right(speed);
return 0;
}
int drive_ctrl_get_current_speed_value(void)
int drive_ctrl_retard(void)
{
return drive_ctrl_object.current_speed;
}
int drive_ctrl_set_turn_speed_value(int speed_percent)
{
drive_ctrl_object.turn_speed = speed_percent;
int speed = engine_ctrl_get_target_speed_value();
speed -= 10;
engine_ctrl_set_target_speed_value(speed);
engine_ctrl_set_speed_left(speed);
engine_ctrl_set_speed_right(speed);
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;
}

134
source/application/engine_ctrl.c Normal file
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@ -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;
}

14
source/application/include/collision_ctrl.h Normal file
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@ -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_ */

16
source/application/include/drive_ctrl.h
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@ -10,14 +10,12 @@
int drive_ctrl_init(void);
int drive_ctrl_set_speed_left(int speed_percent);
int drive_ctrl_set_speed_right(int speed_percent);
int drive_ctrl_set_target_speed_value(int speed_percent);
int drive_ctrl_get_target_speed_value(void);
int drive_ctrl_set_current_speed_value(int speed_percent);
int drive_ctrl_get_current_speed_value(void);
int drive_ctrl_set_turn_speed_value(int speed_percent);
int drive_ctrl_get_turn_speed_value(void);
int drive_ctrl_turn_right(void);
int drive_ctrl_turn_left(void);
int drive_ctrl_boost(void);
int drive_ctrl_retard(void);
int drive_ctrl_halt(void);
int drive_ctrl_forward(void);
int drive_ctrl_backward(void);
#endif /* SOURCE_APPLICATION_INCLUDE_DRIVE_CTRL_H_ */

22
source/application/include/engine_ctrl.h Normal file
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@ -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_ */

5
source/application/include/engines.h
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@ -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_ */

14
source/application/include/sensor_data.h Normal file
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@ -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_ */

6
source/application/main.c
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@ -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);

65
source/application/sensor_data.c Normal file
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@ -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;
}

144
source/application/shell_commands.c
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@ -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);
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);
}
drive_ctrl_turn_right();
return NULL;
}
static void *drive_turn_left_cb(const char *param)
{
drive_halt_cb(NULL);
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);
}
drive_ctrl_turn_left();
return NULL;
}
static void *drive_boost_cb(const char *param)
{
int speed = drive_ctrl_get_target_speed_value();
speed += 10;
drive_ctrl_set_target_speed_value(speed);
drive_ctrl_set_speed_left(speed);
drive_ctrl_set_speed_right(speed);
drive_ctrl_boost();
return NULL;
}
static void *drive_retard_cb(const char *param)
{
int speed = drive_ctrl_get_target_speed_value();
speed -= 10;
drive_ctrl_set_target_speed_value(speed);
drive_ctrl_set_speed_left(speed);
drive_ctrl_set_speed_right(speed);
drive_ctrl_retard();
return NULL;
}
static void *drive_halt_cb(const char *param)
{
int current_speed = drive_ctrl_get_current_speed_value();
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);
}
}
drive_ctrl_halt();
return NULL;
}
static void *drive_forward_cb(const char *param)
{
int target_speed = drive_ctrl_get_target_speed_value();
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);
}
}
drive_ctrl_forward();
return NULL;
}
static void *drive_backward_cb(const char *param)
{
int target_speed = drive_ctrl_get_target_speed_value();
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);
}
}
drive_ctrl_backward();
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));
drv_write(shell_object.shell_device, MAJOR_VERSION, strlen(MAJOR_VERSION));
drv_write(shell_object.shell_device, ".", 1);
drv_write(shell_object.shell_device, MINOR_VERSION, strlen(MINOR_VERSION));
drv_write(shell_object.shell_device, ".", 1);
drv_write(shell_object.shell_device, BUILD_NUMBER, strlen(BUILD_NUMBER));
#endif
shell_write(greeter, strlen(greeter));
shell_write(MAJOR_VERSION, strlen(MAJOR_VERSION));
shell_write(".", 1);
shell_write(MINOR_VERSION, strlen(MINOR_VERSION));
shell_write(".", 1);
shell_write(BUILD_NUMBER, strlen(BUILD_NUMBER));
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;
}

1
source/os/release/include/board_devices.h
View File

@ -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;

1
source/os/release/include/driver.h
View File

@ -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

1
source/os/release/include/shell.h
View File

@ -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_ */

BIN
source/os/release/libkosmos-arm-stm32f4-discovery-0.1.5.250.a → source/os/release/libkosmos-arm-stm32f4-discovery-0.1.9.276.a
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2
source/os/release/libkosmos-arm-stm32f4-discovery.a
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@ -1 +1 @@
libkosmos-arm-stm32f4-discovery-0.1.5.250.a
libkosmos-arm-stm32f4-discovery-0.1.9.276.a