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-rw-r--r--robot/errcatch.c3
-rw-r--r--robot/hypervisor.c25
-rw-r--r--robot/hypervisor.h15
-rw-r--r--robot/io.c51
-rw-r--r--robot/io.h6
-rw-r--r--robot/mode_dirc.c11
-rw-r--r--robot/sercomm.c16
7 files changed, 64 insertions, 63 deletions
diff --git a/robot/errcatch.c b/robot/errcatch.c
index 17c96fa..9aeae9e 100644
--- a/robot/errcatch.c
+++ b/robot/errcatch.c
@@ -16,6 +16,9 @@ void w2_errcatch_handle_error(w2_s_error *error) {
case W2_E_WARN_UNCAUGHT_ERROR: {
break;
}
+ case W2_E_WARN_OBSTACLE_DETECTED: break;
+ case W2_E_CRIT_OBSTACLE_STUCK: break;
+ case W2_E_WARN_MODE_HISTORY_BUFFER_IOB: break;
default: {
g_w2_error_uncaught = true;
#ifdef W2_SIM
diff --git a/robot/hypervisor.c b/robot/hypervisor.c
index 2a6120b..8b9d727 100644
--- a/robot/hypervisor.c
+++ b/robot/hypervisor.c
@@ -14,6 +14,9 @@ unsigned long g_w2_hypervisor_ema_io_ms = 0;
unsigned long g_w2_hypervisor_ema_mode_ms = 0;
uint64_t g_w2_hypervisor_timers[W2_HYPERVISOR_TIMER_COUNT] = {0};
+uint64_t g_w2_hypervisor_ms_timer_offset = 0;
+uint64_t g_w2_hypervisor_ms_timer_cpu_ticks = 0;
+
unsigned int g_w2_ping_ms = 0;
uint8_t g_w2_ping_id = 0;
bool g_w2_ping_received = true;
@@ -26,17 +29,17 @@ void w2_hypervisor_main() {
if (DBG_ENABLE_CYCLEINFO) siminfo("cycle start\n");
#endif
- g_w2_hypervisor_uptime_ms += get_ms();
- time_reset();
+ g_w2_hypervisor_uptime_ms += w2_get_ms();
+ w2_time_reset();
w2_sercomm_main();
- unsigned long sercomm_time = get_ms();
+ unsigned long sercomm_time = w2_get_ms();
w2_errcatch_main();
- unsigned long errcatch_time = get_ms() - sercomm_time;
- // w2_io_main();
- unsigned long io_time = get_ms() - errcatch_time;
+ unsigned long errcatch_time = w2_get_ms() - sercomm_time;
+ w2_io_main();
+ unsigned long io_time = w2_get_ms() - errcatch_time;
w2_modes_main();
- unsigned long mode_time = get_ms() - io_time;
+ unsigned long mode_time = w2_get_ms() - io_time;
// calculate exponential moving averages
g_w2_hypervisor_ema_sercomm_ms =
@@ -58,6 +61,14 @@ void w2_hypervisor_main() {
g_w2_hypervisor_cycles++;
}
+uint64_t w2_get_ms() {
+ return ticks_to_microseconds(get_ticks() - g_w2_hypervisor_ms_timer_offset) / 1e3;
+}
+
+void w2_time_reset() {
+ g_w2_hypervisor_ms_timer_offset = get_ticks();
+}
+
void w2_hypervisor_time_start(uint8_t label) {
g_w2_hypervisor_timers[label] = g_w2_hypervisor_uptime_ms;
}
diff --git a/robot/hypervisor.h b/robot/hypervisor.h
index 4b1ed9b..fe9dbea 100644
--- a/robot/hypervisor.h
+++ b/robot/hypervisor.h
@@ -7,9 +7,10 @@
#include "../shared/bool.h"
/** amount of parallel timers */
-#define W2_HYPERVISOR_TIMER_COUNT (1)
+#define W2_HYPERVISOR_TIMER_COUNT 2
-#define W2_TIMER_PING (0)
+#define W2_TIMER_PING 0
+#define W2_TIMER_OBJECT_DETECTION 1
extern uint64_t g_w2_hypervisor_cycles;
extern uint64_t g_w2_hypervisor_uptime_ms;
@@ -32,7 +33,17 @@ extern bool g_w2_connected;
*/
void w2_hypervisor_main();
+/**
+ * pololu's `get_ms()` estimates run time by only adding the CPU time taken up
+ * by pololu library functions. this function uses the `get_ticks()` function
+ * to calculate elapsed milliseconds, and should therefore be more accurate.
+ */
+uint64_t w2_get_ms();
+/** reset time returned by `w2_get_ms()` */
+void w2_time_reset();
+
/** start timer with label `label` */
void w2_hypervisor_time_start(uint8_t label);
/** stop timer with label `label` */
uint64_t w2_hypervisor_time_end(uint8_t label);
+
diff --git a/robot/io.c b/robot/io.c
index 8b34aba..9e0eae1 100644
--- a/robot/io.c
+++ b/robot/io.c
@@ -1,35 +1,36 @@
-#include <string.h>
-
-#include "../shared/consts.h"
#include "io.h"
+#include "../shared/consts.h"
+#include "../shared/errcatch.h"
#include "modes.h"
#include "orangutan_shim.h"
+#include "hypervisor.h"
+
+#include <stdio.h>
-w2_s_io_all g_w2_io;
+bool g_w2_io_object_detected = false;
void w2_io_main() {
- g_w2_io.button[0].pressed = get_single_debounced_button_press(BUTTON_A);
- g_w2_io.button[1].pressed = get_single_debounced_button_press(BUTTON_B);
- g_w2_io.button[2].pressed = get_single_debounced_button_press(BUTTON_C);
- g_w2_io.button[3].pressed = get_single_debounced_button_press(TOP_BUTTON);
- g_w2_io.button[4].pressed = get_single_debounced_button_press(BOTTOM_BUTTON);
+ unsigned int front_distance = analog_read(W2_FRONT_SENSOR_PIN);
- unsigned int sensor_values[5];
- qtr_read(sensor_values, QTR_EMITTERS_ON);
- for (int i = 0; i < 5; i++) g_w2_io.qtr[i].range = sensor_values[i];
+ if (g_w2_mode_history[g_w2_mode_history_index] == W2_M_HALT) return;
- // TODO average voltage over mutiple samples sensor
- g_w2_io.battery.charge_level = analog_read(W2_BATTERY_PIN);
- g_w2_io.front_distance.detection = analog_read(W2_FRONT_SENSOR_PIN);
- g_w2_io.side_distance.detection = analog_read(W2_SIDE_SENSOR_PIN);
+ if (!g_w2_io_object_detected && front_distance >= W2_IO_DISTANCE_CLOSE_THRESHOLD) {
+ g_w2_io_object_detected = true;
+ w2_hypervisor_time_start(W2_TIMER_OBJECT_DETECTION);
+ w2_errcatch_throw(W2_E_WARN_OBSTACLE_DETECTED);
+ }
- set_motors(g_w2_io.motor_left.speed, g_w2_io.motor_right.speed);
- red_led(g_w2_io.led_red.on);
- green_led(g_w2_io.led_green.on);
+ if (g_w2_io_object_detected) {
+ if (front_distance <= W2_IO_DISTANCE_FAR_THRESHOLD) {
+ w2_errcatch_throw(0x55);
+ g_w2_io_object_detected = false;
+ }
+ if (w2_hypervisor_time_end(W2_TIMER_OBJECT_DETECTION) >= W2_IO_DISTANCE_TOO_CLOSE_TIMEOUT) {
+ w2_errcatch_throw(0x56);
+ w2_errcatch_throw(W2_E_CRIT_OBSTACLE_STUCK);
+ }
+ set_motors(0, 0);
+ }
- // TODO don't do this every cycle
- char text_copy[17];
- memcpy((char *)text_copy, g_w2_io.lcd.text, 16);
- text_copy[16] = 0x00;
- print(text_copy);
-};
+ return;
+}
diff --git a/robot/io.h b/robot/io.h
index 64ce293..14ffb38 100644
--- a/robot/io.h
+++ b/robot/io.h
@@ -1,11 +1,11 @@
#pragma once
+#include "../shared/bool.h"
+
/** @file io.h */
-#include "../shared/io.h"
+extern bool g_w2_io_object_detected;
/** @brief i/o module main */
void w2_io_main();
-/** @brief global struct containing all i/o */
-extern w2_s_io_all g_w2_io;
diff --git a/robot/mode_dirc.c b/robot/mode_dirc.c
index 7021721..429d1e1 100644
--- a/robot/mode_dirc.c
+++ b/robot/mode_dirc.c
@@ -10,16 +10,7 @@
int16_t g_w2_mode_dirc_motor_l = 0;
int16_t g_w2_mode_dirc_motor_r = 0;
-uint8_t g_w2_mode_dirc_power = 100;
void w2_mode_dirc() {
- if (g_w2_connected == 1)
- g_w2_mode_dirc_power = 100;
- else
- g_w2_mode_dirc_power = W2_MAX(0, g_w2_mode_dirc_power - 1);
-
- if (g_w2_mode_dirc_power == 0) w2_modes_call(W2_M_HALT);
-
- set_motors(g_w2_mode_dirc_motor_l * g_w2_mode_dirc_power / 100,
- g_w2_mode_dirc_motor_r * g_w2_mode_dirc_power / 100);
+ set_motors(g_w2_mode_dirc_motor_l, g_w2_mode_dirc_motor_r);
}
diff --git a/robot/sercomm.c b/robot/sercomm.c
index f52eb7e..efad449 100644
--- a/robot/sercomm.c
+++ b/robot/sercomm.c
@@ -139,22 +139,6 @@ void w2_cmd_sres_rx(w2_s_bin *data) {
void w2_cmd_mcfg_rx(w2_s_bin *data) { return; }
-void w2_cmd_sens_rx(w2_s_bin *data) {
- W2_CREATE_MSG_BIN(w2_s_cmd_sens_tx, res_msg, res_bin);
- res_msg->opcode = W2_CMD_SENS | W2_CMDDIR_TX;
- memcpy((uint8_t *)&res_msg->io, (uint8_t *)&g_w2_io, sizeof(w2_s_io_all));
-
- for (int i = 0; i < 5; i++) w2_bin_repl_hton16(&res_msg->io.qtr[i].range);
- w2_bin_repl_hton16(&res_msg->io.front_distance.detection);
- w2_bin_repl_hton16(&res_msg->io.side_distance.detection);
- w2_bin_repl_hton16(&res_msg->io.battery.charge_level);
- w2_bin_repl_hton16((uint16_t *)&res_msg->io.motor_left.speed);
- w2_bin_repl_hton16((uint16_t *)&res_msg->io.motor_right.speed);
-
- w2_sercomm_append_msg(res_bin);
- free(res_bin);
-}
-
void w2_cmd_info_rx(w2_s_bin *data) {
W2_CREATE_MSG_BIN(w2_s_cmd_info_tx, res_msg, res_bin);
res_msg->opcode = W2_CMD_INFO | W2_CMDDIR_TX;