Jetson communication

All functions, variables, threads and macros used to communicate with Jetson. More...

Macros
#define	JETSON_SERIAL   &SD6
#define	LOAD_JETSON_VALUES   1
#define	SAVE_JETSON_VALUES   2
#define	JETSON_MOVE_COMMAND   255
#define	KICK_COMMAND   254
#define	START_COMMAND   251
#define	LINE_CALIBRATION_COMMAND   250
#define	INIT_COMMAND   249
#define	RESET_COMMAND   248
#define	DRIBLER_COMMAND   247
#define	LINE_DETECTED_COMMAND   246
#define	STOP_COMMAND   245
#define	START_ULTRASONIC_COMMAND   244
#define	STOP_ULTRASONIC_COMMAND   243
#define	LEFT_TRUE   242
#define	LEFT_FALSE   241
#define	RIGHT_TRUE   240
#define	RIGHT_FALSE   239
#define	LEFT_CLOSE   238
#define	RIGHT_CLOSE   237
#define	START   3
#define	STOP   5
#define	START_STOP   6
#define	DRIBLER_ON_OFF   4
#define	KICK   2

Functions
msg_t	send_jetson (msg_t command)
	Send message to Jetson write thread. More...
static	THD_WORKING_AREA (waJetsonWriteThread, 128)
static	THD_FUNCTION (JetsonWriteThread, arg)
	Jetson write thread Waits for the command, which then correctly sends to Jetson. More...
static	THD_WORKING_AREA (waJetsonReadThread, 128)
static	THD_FUNCTION (JetsonReadThread, arg)
	Jetson read thread Receives all commands from Jetson and sends them for further processing. More...
msg_t	get_jetson_values (void)
	Send message to Jetson save thread which load movement values from jetson to main variables. More...
static	THD_WORKING_AREA (waJetsonSaveThread, 128)
static	THD_FUNCTION (JetsonSaveThread, arg)
	Jetson save thread Makes copies of movement values from Jetson read thread and makes them available from outside with function get_jetson_values. More...
static	THD_WORKING_AREA (waButtonGoThread, 128)
static	THD_FUNCTION (ButtonGoThread, arg)
	Button go thread check go button on top of robot More...
void	jetson_init (void)
	Init of all 3 Jetson processing threads: More...

Variables
thread_t *	jetson_write_thread
thread_t *	jetson_save_thread
uint16_t	ball_degree
int16_t	robot_speed
int16_t	robot_azimuth
uint8_t	received_command
uint16_t	jetson_degree
int16_t	jetson_speed
int16_t	jetson_azimuth
uint16_t	ball_degree
int16_t	robot_speed
int16_t	robot_azimuth

Detailed Description

All functions, variables, threads and macros used to communicate with Jetson.

3 threads communicating with Nvidia Jetson tx2 via serial communication (USART). Sends commands to other parts of program to next processing.

Macro Definition Documentation

#define DRIBLER_COMMAND   247

#define DRIBLER_ON_OFF   4

#define INIT_COMMAND   249

#define JETSON_MOVE_COMMAND   255

#define JETSON_SERIAL   &SD6

#define KICK   2

#define KICK_COMMAND   254

#define LEFT_CLOSE   238

#define LEFT_FALSE   241

#define LEFT_TRUE   242

#define LINE_CALIBRATION_COMMAND   250

#define LINE_DETECTED_COMMAND   246

#define LOAD_JETSON_VALUES   1

#define RESET_COMMAND   248

#define RIGHT_CLOSE   237

#define RIGHT_FALSE   239

#define RIGHT_TRUE   240

#define SAVE_JETSON_VALUES   2

#define START   3

#define START_COMMAND   251

#define START_STOP   6

#define START_ULTRASONIC_COMMAND   244

#define STOP   5

#define STOP_COMMAND   245

#define STOP_ULTRASONIC_COMMAND   243

Function Documentation

msg_t get_jetson_values

(

void

)

Send message to Jetson save thread which load movement values from jetson to main variables.

Returns

chMsgSend(jetson_save_thread, LOAD_JETSON_VALUES);

Warning

movement values load to main variables

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void jetson_init

(

void

)

Init of all 3 Jetson processing threads:

• Jetson write thread
• Jetson save thread
• Jetson read thread

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msg_t send_jetson

(

msg_t

command

)

Send message to Jetson write thread.

Parameters

command

Returns

chMsgSend(jetson_write_thread, command);

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static THD_FUNCTION ( JetsonWriteThread  , arg    )

static

Jetson write thread

Waits for the command, which then correctly sends to Jetson.

Parameters

JetsonWriteThread
arg

Returns

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static THD_FUNCTION ( JetsonReadThread  , arg    )

static

Jetson read thread

Receives all commands from Jetson and sends them for further processing.

Parameters

JetsonReadThread
arg

Returns

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static THD_FUNCTION ( JetsonSaveThread  , arg    )

static

Jetson save thread

Makes copies of movement values from Jetson read thread and makes them available from outside with function get_jetson_values.

Parameters

JetsonSaveThread
arg

Returns

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static THD_FUNCTION ( ButtonGoThread  , arg    )

static

Button go thread

check go button on top of robot

Parameters

ButtonGoThread
arg

Returns

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static THD_WORKING_AREA ( waJetsonWriteThread  , 128    )

static

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static THD_WORKING_AREA ( waJetsonReadThread  , 128    )

static

static THD_WORKING_AREA ( waJetsonSaveThread  , 128    )

static

static THD_WORKING_AREA ( waButtonGoThread  , 128    )

static

Variable Documentation

uint16_t ball_degree

uint16_t ball_degree

int16_t jetson_azimuth

uint16_t jetson_degree

thread_t* jetson_save_thread

int16_t jetson_speed

thread_t* jetson_write_thread

uint8_t received_command

command received from jetson

int16_t robot_azimuth

int16_t robot_azimuth

int16_t robot_speed

int16_t robot_speed