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Feature/timestamps on sd cards #100

Merged
merged 6 commits into from
Dec 13, 2023
Merged

Feature/timestamps on sd cards #100

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658b281
Wrote the code for timestamps. Now we recieve a packet, get the time …
Nov 9, 2023
23b5404
Only take unix timestamp onces instead of syncing every time
JWillegers Nov 16, 2023
a056f9c
correctly saving and increamenting of timestamp
Nov 27, 2023
255d8d8
Update reference of submodules
JWillegers Nov 27, 2023
3cc7792
Merge branch 'development' into feature/timestamps-on-sd-cards
JWillegers Dec 8, 2023
f6b4115
Cleaning up code before merge: changing & to &&
JWillegers Dec 8, 2023
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2 changes: 1 addition & 1 deletion Core/Inc/roboteam_embedded_messages
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Submodule roboteam_embedded_messages updated 51 files
+9 −2 generator/Generator.py
+1 −1 generator/latest_rem_version.txt
+1 −2 generator/packets.py
+47 −47 include/REM_BaseTypes.h
+30 −28 include/REM_BasestationConfiguration.h
+27 −25 include/REM_BasestationGetConfiguration.h
+27 −25 include/REM_Log.h
+27 −25 include/REM_Packet.h
+30 −28 include/REM_RobotAssuredAck.h
+33 −31 include/REM_RobotAssuredPacket.h
+36 −34 include/REM_RobotBuzzer.h
+74 −72 include/REM_RobotCommand.h
+72 −70 include/REM_RobotFeedback.h
+27 −25 include/REM_RobotGetPIDGains.h
+27 −25 include/REM_RobotKillCommand.h
+58 −56 include/REM_RobotMusicCommand.h
+87 −85 include/REM_RobotPIDGains.h
+87 −85 include/REM_RobotSetPIDGains.h
+105 −103 include/REM_RobotStateInfo.h
+1 −1 include/REM_SX1280Filler.h
+18 −18 proto/REM_BasestationConfiguration.proto
+17 −17 proto/REM_BasestationGetConfiguration.proto
+17 −17 proto/REM_Log.proto
+17 −17 proto/REM_Packet.proto
+18 −18 proto/REM_RobotAssuredAck.proto
+19 −19 proto/REM_RobotAssuredPacket.proto
+19 −19 proto/REM_RobotBuzzer.proto
+31 −31 proto/REM_RobotCommand.proto
+31 −31 proto/REM_RobotFeedback.proto
+17 −17 proto/REM_RobotGetPIDGains.proto
+17 −17 proto/REM_RobotKillCommand.proto
+27 −27 proto/REM_RobotMusicCommand.proto
+32 −32 proto/REM_RobotPIDGains.proto
+32 −32 proto/REM_RobotSetPIDGains.proto
+36 −36 proto/REM_RobotStateInfo.proto
+47 −47 python/REM_BaseTypes.py
+28 −26 python/REM_BasestationConfiguration.py
+25 −23 python/REM_BasestationGetConfiguration.py
+25 −23 python/REM_Log.py
+25 −23 python/REM_Packet.py
+28 −26 python/REM_RobotAssuredAck.py
+31 −29 python/REM_RobotAssuredPacket.py
+34 −32 python/REM_RobotBuzzer.py
+72 −70 python/REM_RobotCommand.py
+70 −68 python/REM_RobotFeedback.py
+25 −23 python/REM_RobotGetPIDGains.py
+25 −23 python/REM_RobotKillCommand.py
+56 −54 python/REM_RobotMusicCommand.py
+85 −83 python/REM_RobotPIDGains.py
+85 −83 python/REM_RobotSetPIDGains.py
+103 −101 python/REM_RobotStateInfo.py
20 changes: 15 additions & 5 deletions Core/Src/robot.c
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Original file line number Diff line number Diff line change
Expand Up @@ -93,6 +93,8 @@ volatile uint32_t counter_TIM_SHOOT = 0;
volatile uint32_t counter_RobotCommand = 0;
volatile uint32_t counter_RobotBuzzer = 0;
uint32_t timestamp_initialized = 0;
uint64_t unix_timestamp = 0;
bool unix_initalized = false;

bool flag_send_PID_gains = false;
bool flag_sdcard_write_feedback = false;
Expand Down Expand Up @@ -166,9 +168,11 @@ void Wireless_Readpacket_Cplt(void){
// TODO insert REM_SX1280Filler packet if total_packet_length < 6. Fine for now since feedback is already more than 6 bytes
WritePacket_DMA(SX, &txPacket, &Wireless_Writepacket_Cplt);
}

void Wireless_Default(){
WaitForPacket(SX);
}

void Wireless_RXDone(SX1280_Packet_Status *status){
/* It is possible that random noise can trigger the syncword.
* Correct syncword from noise have a very weak signal.
Expand Down Expand Up @@ -375,7 +379,7 @@ void init(void){
dribbler_Init();
// TODO: Currently the ball sensor initialization is just disabled.
// Since we will no longer use it anymore this should be fully removed from the code.
// if(ballSensor_Init()) LOG("[init:"STRINGIZE(__LINE__)"] Ballsensor initialized\n");
// if(ballSensor_Init()) LOG("[init:"STRINGIZE(__LINE__)"] Ballsensor initialized\n");
LOG_sendAll();
}

Expand Down Expand Up @@ -577,7 +581,6 @@ void loop(void){
}
if(flag_sdcard_write_command){
flag_sdcard_write_command = false;
activeRobotCommand.timestamp = current_time;
encodeREM_RobotCommand( &robotCommandPayload, &activeRobotCommand );
SDCard_Write(robotCommandPayload.payload, REM_PACKET_SIZE_REM_ROBOT_COMMAND, false);
}
Expand Down Expand Up @@ -819,7 +822,6 @@ void HAL_GPIO_EXTI_Callback(uint16_t GPIO_Pin) {
}else if(GPIO_Pin == MTi_IRQ_pin.PIN){
MTi_IRQ_Handler(MTi);
}else if (GPIO_Pin == BS_IRQ_pin.PIN){
// TODO: make this work and use instead of the thing in the while loop
ballSensor_IRQ_Handler();
}
}
Expand All @@ -831,6 +833,11 @@ void HAL_TIM_PeriodElapsedCallback(TIM_HandleTypeDef *htim) {
if(htim->Instance == TIM_CONTROL->Instance) {
if(!ROBOT_INITIALIZED) return;

if (!unix_initalized && activeRobotCommand.timestamp != 0){
unix_timestamp = activeRobotCommand.timestamp;
unix_initalized = true;
}

counter_TIM_CONTROL++;

// Update the dribbler at 10Hz
Expand Down Expand Up @@ -895,7 +902,7 @@ void HAL_TIM_PeriodElapsedCallback(TIM_HandleTypeDef *htim) {
wheels_Update();

/* == Fill robotFeedback packet == */ {
robotFeedback.timestamp = current_time;
robotFeedback.timestamp = unix_timestamp;
robotFeedback.XsensCalibrated = xsens_CalibrationDone;
// robotFeedback.batteryLevel = (batCounter > 1000);
robotFeedback.ballSensorWorking = ballSensor_isInitialized();
Expand All @@ -915,7 +922,7 @@ void HAL_TIM_PeriodElapsedCallback(TIM_HandleTypeDef *htim) {
}

/* == Fill robotStateInfo packet == */ {
robotStateInfo.timestamp = current_time;
robotStateInfo.timestamp = unix_timestamp;
robotStateInfo.xsensAcc1 = stateInfo.xsensAcc[0];
robotStateInfo.xsensAcc2 = stateInfo.xsensAcc[1];
robotStateInfo.xsensYaw = yaw_GetCalibratedYaw();
Expand All @@ -934,6 +941,7 @@ void HAL_TIM_PeriodElapsedCallback(TIM_HandleTypeDef *htim) {
}

flag_sdcard_write_feedback = true;

}
else if (htim->Instance == TIM_BUZZER->Instance) {
counter_TIM_BUZZER++;
Expand All @@ -944,4 +952,6 @@ void HAL_TIM_PeriodElapsedCallback(TIM_HandleTypeDef *htim) {
counter_TIM_SHOOT++;
shoot_Callback();
}

unix_timestamp += 1 ;
}
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