152 first run of 2024 robot #159
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The malloc monitor monitor traces malloc calls (thus new calls too), so new_guardian is not needed anymore. Signed-off-by: Gilles DOFFE <[email protected]>
Signed-off-by: Gilles DOFFE <[email protected]>
New GPIO mock framework in RIOT prevents spidev from working as gpio_t
is not an integer leading to such kind of errors:
RIOT/cpu/native/periph/spidev_linux.c: In function ‘spi_acquire’:
RIOT/cpu/native/periph/spidev_linux.c:48:24: error: comparison between
pointer and integer [-Werror]
48 | #define IS_HW_CS(x) (x < UINT_MAX && x >= UINT_MAX - SPI_MAXCS )
| ^
RIOT/cpu/native/periph/spidev_linux.c:162:9: note: in expansion of macro
‘IS_HW_CS’
162 | if (IS_HW_CS(cs)) {
| ^~~~~~~~
RIOT/cpu/native/periph/spidev_linux.c:48:40: error: comparison between
pointer and integer [-Werror]
48 | #define IS_HW_CS(x) (x < UINT_MAX && x >= UINT_MAX - SPI_MAXCS )
| ^~
Signed-off-by: Gilles DOFFE <[email protected]>
All these files are drivers C++ API and should be moved beside their corresponding low level drivers. Remove them for now, they will be reactivated at their right place according to future COGIP needs. Signed-off-by: Gilles DOFFE <[email protected]>
Since commit 0c2cfe99e69, RIOT-OS now needs to specify native 32 or 64 bits architecture. Signed-off-by: Gilles DOFFE <[email protected]>
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ecourtois
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Apr 15, 2024
motion_control/filters/pose_straight_filter/PoseStraightFilter.cpp
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motion_control/filters/pose_straight_filter/PoseStraightFilter.cpp
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ecourtois
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Apr 17, 2024
Support I2C2 on PA9 and PA8 pins. Also setup LX servo dedicated UART. Signed-off-by: Gilles DOFFE <[email protected]>
The GPIO expander is not used anymore, remove it. Signed-off-by: Gilles DOFFE <[email protected]>
Presence of __dso_handle signal has been solved in RIOT by PR 20348. Thus removal of -nostartfiles option is no more necessary. Also CXXEXFLAGS setup can be done before include of RIOT Makefile.include [1] RIOT-OS/RIOT#20348 Signed-off-by: Gilles DOFFE <[email protected]>
Remote flashing needs a remote user to copy file through ssh. As COGIP linux board is a Raspberry Pi4, the user is root. Signed-off-by: Gilles DOFFE <[email protected]>
As controllers were pushed back, accessing them through an iterator or by wrong index mix controllers. Fix this by calling front() and back() to get each controller. Signed-off-by: Gilles DOFFE <[email protected]>
Add a flag to disable speed filtering, for example for calibration purposes. Signed-off-by: Gilles DOFFE <[email protected]>
Signed-off-by: Gilles DOFFE <[email protected]>
Use pointer on speed order and check if speed order is upper than minimal speed. Signed-off-by: Gilles DOFFE <[email protected]>
Signed-off-by: Gilles DOFFE <[email protected]>
Position error sign can only be set if position error is not zero. Signed-off-by: Gilles DOFFE <[email protected]>
As the deceleration is related to the distance error, it has to be computed by pose straight filter. This allows to force a deceleration profile according to the remaining distance to the target point and the current speed. Signed-off-by: Gilles DOFFE <[email protected]>
The CAN_EFF_FLAG allows to use 29 bits CAN message identifiers. If not specified, only 11 bits identifiers can be used. Signed-off-by: Gilles DOFFE <[email protected]>
The pose straight filter now uses an internal state machine to ensure transitions between the stages of moving towards a point. The main difference with the old state machine is that once a stage is passed, it cannot be revisited without resetting the filter. Signed-off-by: Gilles DOFFE <[email protected]>
The robot must continue to control its position on the point even when the point is reached. Signed-off-by: Gilles DOFFE <[email protected]>
Signed-off-by: Gilles DOFFE <[email protected]>
Fix motion control motors parameters according to the new 2024 motion control platform. Signed-off-by: Gilles DOFFE <[email protected]>
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With CAN bus, there is now several hardware platforms, each one dedicated to a specific task. Now that pegasus has been cleaned of actuators, it can be dedicated to motion control task. Signed-off-by: Gilles DOFFE <[email protected]>
This platform manage most of 2024 main robot actuators except both front lifts. Signed-off-by: Gilles DOFFE <[email protected]>
To keep module name consistency. Signed-off-by: Gilles DOFFE <[email protected]>
This application relies on pf-robot-actuators and manage most of 2024 actuators, except front lifts. Signed-off-by: Gilles DOFFE <[email protected]>
…ontrol Signed-off-by: Gilles DOFFE <[email protected]>
This application has become legacy and can be removed. Signed-off-by: Gilles DOFFE <[email protected]>
This is the application for 2024 PAMI robots. All PAMIs will share the same application. Signed-off-by: Gilles DOFFE <[email protected]>
On PAMI there is still three UARTS: * Console UART * LX Servo UART * UartPB UART Signed-off-by: Gilles DOFFE <[email protected]>
Signed-off-by: Gilles DOFFE <[email protected]>
Update configuration after testing. Signed-off-by: Gilles DOFFE <[email protected]>
…straight filter As the pose straight filter state machine has changed, it implies some updates on motion control. Signed-off-by: Gilles DOFFE <[email protected]>
Signed-off-by: Gilles DOFFE <[email protected]>
Update parameters after testing. Signed-off-by: Gilles DOFFE <[email protected]>
Following tests, all applications need at least nearly 5120 bytes of main stack. Needs may vary due to architecture To prevent too tighten size and give flexibility to incoming development, oversize the stack to 8192 as the remaining flash memory allows it. Signed-off-by: Gilles DOFFE <[email protected]>
As each platform handles some specific messages, add a default filter when initializing CanProtobuf object. This avoids to process unexpected messages. Signed-off-by: Gilles DOFFE <[email protected]>
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Batch of set and improvments to make the 2024 robot almost functional.