/home/krtko/robocup_2018/robocup_2018/lines.c File Reference

#include "lines.h"

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Macros
#define	PI   3.14159
#define	SQRT3   1.7321

Functions
int32_t	abs_int (int32_t x)
int32_t	max (int32_t x, int32_t y)
void	calculation_of_motor_speeds (void)
void	determine_avoiding_direction (void)
void	calibrate_lines (void)
void	end_line_calibration (void)
msg_t	check_line_mailbox (void)
void	send_to_line_mailbox (msg_t sending_command)
	THD_WORKING_AREA (waLineThread, 128)
	THD_FUNCTION (LineThread, arg)
msg_t	check_line (void)
msg_t	calibration_memory (msg_t command)
	THD_WORKING_AREA (waLineSaveThread, 128)
	THD_FUNCTION (LineSaveThread, arg)
	THD_WORKING_AREA (waLineCalibrationSaveThread, 128)
	THD_FUNCTION (LineCalibrationSaveThread, arg)
void	line_init (void)

Variables
thread_t *	line_save_thread
thread_t *	line_calibration_save_thread
msg_t	msg
static msg_t	line_commands_queue [LINE_QUEUE]
static mailbox_t	line_commands
adcsample_t	line_sensors_values [NUMBER_OF_SENSORS]
uint16_t	min_line_sensors_values [NUMBER_OF_SENSORS]
uint16_t	max_line_sensors_values [NUMBER_OF_SENSORS]
uint16_t	average_line_sensors_values [NUMBER_OF_SENSORS]
uint8_t	line_calibration_values_out [NUMBER_OF_SENSORS]
uint8_t	line_calibration_values_in [NUMBER_OF_SENSORS]
int32_t	line_motor_speeds [NUMBER_OF_MOTORS]
static int16_t	dx [16] = {83, 56, 20, -20, -56, -83, -98, -98, -83, -56, -20, 20, 56, 83, 98, 98}
static int16_t	dy [16] = {56, 83, 98, 98, 83, 56, 20, -20, -56, -83, -98, -98, -83, -56, -20, 20}
static int16_t	line_result
static int16_t	old_line_result = NO_LINE_DETECTED
static int32_t	res_x
static int32_t	res_y
static int32_t	res_max
static int32_t	old_x
static int32_t	old_y
static int32_t	old_max
uint32_t	line_timer = LINE_REACTION_TIME
uint32_t	line_calibration_timer = LINE_CALIBRATION_TIME
int8_t	line_calibration_state = 0
static const ADCConversionGroup	line_sensors_cfg1
static const ADCConversionGroup	line_sensors_cfg2
static const ADCConversionGroup	line_sensors_cfg3
static const ADCConversionGroup	line_sensors_cfg

Macro Definition Documentation

#define PI   3.14159

#define SQRT3   1.7321

Function Documentation

int32_t abs_int

(

int32_t

x

)

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void calculation_of_motor_speeds

(

void

)

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void calibrate_lines

(

void

)

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msg_t calibration_memory

(

msg_t

command

)

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msg_t check_line

(

void

)

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msg_t check_line_mailbox

(

void

)

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void determine_avoiding_direction

(

void

)

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void end_line_calibration

(

void

)

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void line_init

(

void

)

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int32_t max	(	int32_t	x,
		int32_t	y
	)

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void send_to_line_mailbox

(

msg_t

sending_command

)

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THD_FUNCTION	(	LineThread	,
		arg
	)

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THD_FUNCTION	(	LineSaveThread	,
		arg
	)

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THD_FUNCTION	(	LineCalibrationSaveThread	,
		arg
	)

THD_WORKING_AREA	(	waLineThread	,
		128
	)

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THD_WORKING_AREA	(	waLineSaveThread	,
		128
	)

THD_WORKING_AREA	(	waLineCalibrationSaveThread	,
		128
	)

Variable Documentation

uint16_t average_line_sensors_values[NUMBER_OF_SENSORS]

int16_t dx[16] = {83, 56, 20, -20, -56, -83, -98, -98, -83, -56, -20, 20, 56, 83, 98, 98}

static

int16_t dy[16] = {56, 83, 98, 98, 83, 56, 20, -20, -56, -83, -98, -98, -83, -56, -20, 20}

static

thread_t* line_calibration_save_thread

int8_t line_calibration_state = 0

uint32_t line_calibration_timer = LINE_CALIBRATION_TIME

uint8_t line_calibration_values_in[NUMBER_OF_SENSORS]

uint8_t line_calibration_values_out[NUMBER_OF_SENSORS]

mailbox_t line_commands

static

msg_t line_commands_queue[LINE_QUEUE]

static

int32_t line_motor_speeds[NUMBER_OF_MOTORS]

int16_t line_result

static

thread_t* line_save_thread

const ADCConversionGroup line_sensors_cfg

static

Initial value:

= {
    FALSE,
    NUMBER_OF_SENSORS,
    NULL,
    NULL,
    0,
    ADC_CR2_SWSTART,
    ADC_SMPR1_SMP_AN10(ADC_SAMPLE_3) | ADC_SMPR1_SMP_AN11(ADC_SAMPLE_3) |
    ADC_SMPR1_SMP_AN12(ADC_SAMPLE_3) | ADC_SMPR1_SMP_AN13(ADC_SAMPLE_3) |
    ADC_SMPR1_SMP_AN14(ADC_SAMPLE_3) | ADC_SMPR1_SMP_AN15(ADC_SAMPLE_3),
    ADC_SMPR2_SMP_AN0(ADC_SAMPLE_3) | ADC_SMPR2_SMP_AN1(ADC_SAMPLE_3) |
    ADC_SMPR2_SMP_AN2(ADC_SAMPLE_3) | ADC_SMPR2_SMP_AN3(ADC_SAMPLE_3) |
    ADC_SMPR2_SMP_AN4(ADC_SAMPLE_3) | ADC_SMPR2_SMP_AN5(ADC_SAMPLE_3) |
    ADC_SMPR2_SMP_AN6(ADC_SAMPLE_3) | ADC_SMPR2_SMP_AN7(ADC_SAMPLE_3) |
    ADC_SMPR2_SMP_AN8(ADC_SAMPLE_3) | ADC_SMPR2_SMP_AN9(ADC_SAMPLE_3),
    ADC_SQR1_SQ13_N(ADC_CHANNEL_IN11) | ADC_SQR1_SQ14_N(ADC_CHANNEL_IN12) |
    ADC_SQR1_SQ15_N(ADC_CHANNEL_IN13) | ADC_SQR1_SQ16_N(ADC_CHANNEL_IN0) |
    ADC_SQR1_NUM_CH(NUMBER_OF_SENSORS),
    ADC_SQR2_SQ7_N(ADC_CHANNEL_IN7) | ADC_SQR2_SQ8_N(ADC_CHANNEL_IN14) |
    ADC_SQR2_SQ9_N(ADC_CHANNEL_IN15) | ADC_SQR2_SQ10_N(ADC_CHANNEL_IN8) |
    ADC_SQR2_SQ11_N(ADC_CHANNEL_IN9) | ADC_SQR2_SQ12_N(ADC_CHANNEL_IN10),
    ADC_SQR3_SQ1_N(ADC_CHANNEL_IN1) | ADC_SQR3_SQ2_N(ADC_CHANNEL_IN2) |
    ADC_SQR3_SQ3_N(ADC_CHANNEL_IN3) | ADC_SQR3_SQ4_N(ADC_CHANNEL_IN4) |
    ADC_SQR3_SQ5_N(ADC_CHANNEL_IN5) | ADC_SQR3_SQ6_N(ADC_CHANNEL_IN6)
}

const ADCConversionGroup line_sensors_cfg1

static

Initial value:

= {
    TRUE,
    6,
    NULL,
    NULL,
    0,
    ADC_CR2_SWSTART,
    0,
    ADC_SMPR2_SMP_AN1(ADC_SAMPLE_3) | ADC_SMPR2_SMP_AN2(ADC_SAMPLE_3) |
    ADC_SMPR2_SMP_AN3(ADC_SAMPLE_3) | ADC_SMPR2_SMP_AN4(ADC_SAMPLE_3) |
    ADC_SMPR2_SMP_AN5(ADC_SAMPLE_3) | ADC_SMPR2_SMP_AN6(ADC_SAMPLE_3),
    ADC_SQR1_NUM_CH(6),
    0,
    ADC_SQR3_SQ1_N(ADC_CHANNEL_IN1) | ADC_SQR3_SQ2_N(ADC_CHANNEL_IN2) |
    ADC_SQR3_SQ3_N(ADC_CHANNEL_IN3) | ADC_SQR3_SQ4_N(ADC_CHANNEL_IN4) |
    ADC_SQR3_SQ5_N(ADC_CHANNEL_IN5) | ADC_SQR3_SQ6_N(ADC_CHANNEL_IN6)
}

const ADCConversionGroup line_sensors_cfg2

static

Initial value:

= {
    TRUE,
    5,
    NULL,
    NULL,
    0,
    ADC_CR2_SWSTART,
    ADC_SMPR1_SMP_AN14(ADC_SAMPLE_3) | ADC_SMPR1_SMP_AN15(ADC_SAMPLE_3),
    ADC_SMPR2_SMP_AN7(ADC_SAMPLE_3) | ADC_SMPR2_SMP_AN8(ADC_SAMPLE_3) |
    ADC_SMPR2_SMP_AN9(ADC_SAMPLE_3),
    ADC_SQR1_NUM_CH(5),
    0,
    ADC_SQR3_SQ1_N(ADC_CHANNEL_IN7) | ADC_SQR3_SQ2_N(ADC_CHANNEL_IN14) |
    ADC_SQR3_SQ3_N(ADC_CHANNEL_IN15) | ADC_SQR3_SQ4_N(ADC_CHANNEL_IN8) |

}

const ADCConversionGroup line_sensors_cfg3

static

Initial value:

= {
    TRUE,
    5,
    NULL,
    NULL,
    0,
    ADC_CR2_SWSTART,
    ADC_SMPR1_SMP_AN10(ADC_SAMPLE_3) | ADC_SMPR1_SMP_AN11(ADC_SAMPLE_3) |
    ADC_SMPR1_SMP_AN12(ADC_SAMPLE_3) | ADC_SMPR1_SMP_AN13(ADC_SAMPLE_3),
    ADC_SMPR2_SMP_AN0(ADC_SAMPLE_3),
    ADC_SQR1_NUM_CH(5),
    0,
    ADC_SQR3_SQ1_N(ADC_CHANNEL_IN10) | ADC_SQR3_SQ2_N(ADC_CHANNEL_IN11) |
    ADC_SQR3_SQ3_N(ADC_CHANNEL_IN12) | ADC_SQR3_SQ4_N(ADC_CHANNEL_IN13) |

}

adcsample_t line_sensors_values[NUMBER_OF_SENSORS]

uint32_t line_timer = LINE_REACTION_TIME

uint16_t max_line_sensors_values[NUMBER_OF_SENSORS]

uint16_t min_line_sensors_values[NUMBER_OF_SENSORS]

msg_t msg

int16_t old_line_result = NO_LINE_DETECTED

static

int32_t old_max

static

int32_t old_x

static

int32_t old_y

static

int32_t res_max

static

int32_t res_x

static

int32_t res_y

static