Michael Hope
0a335c01ae
Check if the IMU is 'good' and periodically re-initialise if not.
2014-02-22 19:14:47 +01:00
Michael Hope
e1e56169b8
Bound the IMU into the rest of the interface and made it send.
2014-02-21 22:46:56 +01:00
Michael Hope
bd796af05b
Added more checks around the tick resolution.
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Changed to match the new crystal.
Upped the baud rate to 57600. 12 MHz divides well to most rates...
2014-02-02 15:04:14 +01:00
Michael Hope
0b4e52e848
Pushed the reference into the demands struct.
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Added counters.
Hooked the link statistics into the counters.
2014-01-14 19:57:54 +01:00
Michael Hope
b07a2f29a7
Enable interrupts before running.
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Add an encoded version of the CPU frequency as a reference.
Set the centre to 150 now that the CPU frequency is correct.
2014-01-07 22:34:54 +01:00
Michael Hope
c24ca4ea19
Added the missing main().
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Fixed a overflow error due to the higher clock.
2014-01-05 19:31:36 +01:00
Michael Hope
93f6b12759
Set the servos based on what is in control.
2014-01-05 16:21:28 +01:00
Michael Hope
2e91637dec
Did the bandwidth calculations, which look fine.
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Only send the PWM inputs if they're being received.
Send PWM inputs at up to a 50 ms rate.
2013-12-30 19:40:11 +01:00
Michael Hope
493dd1efb0
Changed all timer ticks to milliseconds to make it more readable.
2013-12-30 19:20:56 +01:00
Michael Hope
ad1b6fdd54
Watch the PWMIn and process when the input changes, instead of on a
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timer.
Split the different poll()s out into their own functions.
Add a prescaler on the tick timer to reduce the CPU load.
2013-12-30 19:03:04 +01:00
Michael Hope
8dd0762b75
Made the input positions a bit less magic numberie.
2013-12-29 21:20:57 +01:00
Michael Hope
10ed26fa7b
A round of linting.
2013-12-29 21:14:19 +01:00
Michael Hope
81394d340d
Added many more fields to the state message.
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Poll PWMIn and update supervisor.
Send state when it changes.
Update the flash patterns based on shutdown.
2013-12-29 21:08:31 +01:00
Michael Hope
866a73227e
Drop the state from heartbeat and move to a new State message.
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Add a Demand message and basic handling.
Add a helper to properly round tick counts.
2013-12-29 18:50:44 +01:00
Michael Hope
577c332af1
Add a helper to accuratly round a timer interval.
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Switch to a request model for unusual messages.
Add reporting of the long version.
2013-12-28 21:19:24 +01:00
Michael Hope
94424fd1a4
Added an 'Initial' state to tell rebooted versus shutdown.
2013-12-28 18:35:25 +01:00
Michael Hope
241770ced5
Fixed the breakage after linting.
2013-12-27 21:38:31 +01:00
Michael Hope
adb805860e
Updated everything to the Google style (yay cpplint!).
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Deleted the unused code.
2013-12-27 21:35:37 +01:00
Michael Hope
2ad3d8da98
Changed Servos from static to an instance to match the other classes.
2013-12-27 20:16:04 +01:00
Michael Hope
cbb20793c4
Switched to a 'fill' model. Pulled the send up to common code.
2013-12-18 23:58:39 +00:00
Michael Hope
cff60a194e
Add a minimal bit array just for pending events.
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Switch message sending to setting deferred events that are checked
when the TX buffer is empty.
2013-12-18 23:52:02 +00:00
Michael Hope
6786609570
Add the PWM input system.
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Switch to zero based to make the ranges easier.
Switch to a lower prescaler to give better fidelity. Servo output is
now broken.
Send the input message on a timer.
2013-12-21 21:48:45 +01:00
Michael Hope
4d2c2acf80
Fix how escaped characters are modified.
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Turn on receive interrupts. Receive works!
Add a Python hack to test two way comms on the link.
Fix the red and green pin definitions.
2013-12-20 21:46:38 +01:00
Michael Hope
4ec2551835
Changed the XOR value so a escape doesn't become a null.
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Added (untested) receive support to Link.
Added simple message dispatch.
Added a ping/pong handler for testing.
2013-12-20 21:16:01 +01:00
Michael Hope
34928e2772
Add the transmit part of the serial link.
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Expand the heartbeat to include time and state.
2013-12-17 21:47:44 +01:00
Michael Hope
ff22d9982b
Reworking the roverif to be more suited to the ATMEGA.
2013-12-17 20:48:07 +01:00
Michael Hope
02a22b48bf
Hack around so the roverif builds on the ATMEGA.
2013-12-16 21:20:15 +01:00
Michael Hope
b0368f7af0
Added debug routines.
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Split the board specific code into a HAL API.
Added a POSIX HAL and hacked everything over to it.
2013-07-04 20:56:38 +02:00
Michael Hope
9c58df87ed
Added the supervisor that monitors the inputs and arming state.
2012-07-28 22:14:02 +12:00
Michael Hope
9cf69f7866
Split the rover out into multiple less embarrising files.
2012-07-27 21:49:05 +12:00
Michael Hope
c5de2a1945
Renamed src to the rover interface. Switched to autotools for the makefile.
2012-07-27 20:45:45 +12:00
