New communication system (#49)

* synchronous communication, remove protobuf

* accumulate ticks to send

* receive config parameters at startup, close #13

* file cleanup

* README.md

* fix ticks type

README.md

@@ -1,17 +1,16 @@
 # Otto
 Material regarding my stage with Iralab, designing and realizing a 2 wheeled robot.
 
-If you just want to use the program you can download the binary file from the [releases](https://github.com/iralabdisco/otto/releases): 
+If you just want to use the robot you can download the binary file from the [releases](https://github.com/iralabdisco/otto/releases): 
 1. Download the lastest otto_controller.bin
 2. Plug your Nucleo boart to the PC.
 3. Copy and paste the .bin file inside your board.
 
 The main program is located in [otto_controller](https://github.com/iralabdisco/otto/tree/master/otto_controller).
 
-You can find various useful tools inside the [utils](https://github.com/iralabdisco/otto/tree/master/utils) folder.
-
 See the [wiki](https://github.com/iralabdisco/otto/wiki) for more info about this projects.
 
+## Coding style
 Follow [Google C++ guideline](https://google.github.io/styleguide/cppguide.html) while working on the project
 
 Eclipse's formatting configuration file can be found [here](https://github.com/google/styleguide/blob/gh-pages/eclipse-cpp-google-style.xml)

otto_controller/.project

@@ -29,6 +29,7 @@
 		<nature>com.st.stm32cube.ide.mcu.MCURootProjectNature</nature>
 		<nature>org.eclipse.cdt.managedbuilder.core.managedBuildNature</nature>
 		<nature>org.eclipse.cdt.managedbuilder.core.ScannerConfigNature</nature>
+		<nature>com.st.stm32cube.ide.mcu.MCUCubeIdeServicesRevAev2ProjectNature</nature>
 		<nature>org.eclipse.cdt.core.ccnature</nature>
 	</natures>
 </projectDescription>

otto_controller/.settings/language.settings.xml

@@ -6,7 +6,7 @@
 			<provider-reference id="org.eclipse.cdt.core.ReferencedProjectsLanguageSettingsProvider" ref="shared-provider"/>
 			<provider-reference id="org.eclipse.cdt.managedbuilder.core.MBSLanguageSettingsProvider" ref="shared-provider"/>
 			<provider copy-of="extension" id="org.eclipse.cdt.managedbuilder.core.GCCBuildCommandParser"/>
-			<provider class="com.st.stm32cube.ide.mcu.toolchain.armnone.setup.CrossBuiltinSpecsDetector" console="false" env-hash="-977709318318761742" id="com.st.stm32cube.ide.mcu.toolchain.armnone.setup.CrossBuiltinSpecsDetector" keep-relative-paths="false" name="MCU ARM GCC Built-in Compiler Settings" parameter="${COMMAND} ${FLAGS} -E -P -v -dD &quot;${INPUTS}&quot;" prefer-non-shared="true">
+			<provider class="com.st.stm32cube.ide.mcu.toolchain.armnone.setup.CrossBuiltinSpecsDetector" console="false" env-hash="1141965905428366138" id="com.st.stm32cube.ide.mcu.toolchain.armnone.setup.CrossBuiltinSpecsDetector" keep-relative-paths="false" name="MCU ARM GCC Built-in Compiler Settings" parameter="${COMMAND} ${FLAGS} -E -P -v -dD &quot;${INPUTS}&quot;" prefer-non-shared="true">
 				<language-scope id="org.eclipse.cdt.core.gcc"/>
 				<language-scope id="org.eclipse.cdt.core.g++"/>
 			</provider>
@@ -18,10 +18,10 @@
 			<provider-reference id="org.eclipse.cdt.core.ReferencedProjectsLanguageSettingsProvider" ref="shared-provider"/>
 			<provider-reference id="org.eclipse.cdt.managedbuilder.core.MBSLanguageSettingsProvider" ref="shared-provider"/>
 			<provider copy-of="extension" id="org.eclipse.cdt.managedbuilder.core.GCCBuildCommandParser"/>
-			<provider class="com.st.stm32cube.ide.mcu.toolchain.armnone.setup.CrossBuiltinSpecsDetector" console="false" env-hash="-977709318318761742" id="com.st.stm32cube.ide.mcu.toolchain.armnone.setup.CrossBuiltinSpecsDetector" keep-relative-paths="false" name="MCU ARM GCC Built-in Compiler Settings" parameter="${COMMAND} ${FLAGS} -E -P -v -dD &quot;${INPUTS}&quot;" prefer-non-shared="true">
+			<provider class="com.st.stm32cube.ide.mcu.toolchain.armnone.setup.CrossBuiltinSpecsDetector" console="false" env-hash="1127776546690919898" id="com.st.stm32cube.ide.mcu.toolchain.armnone.setup.CrossBuiltinSpecsDetector" keep-relative-paths="false" name="MCU ARM GCC Built-in Compiler Settings" parameter="${COMMAND} ${FLAGS} -E -P -v -dD &quot;${INPUTS}&quot;" prefer-non-shared="true">
 				<language-scope id="org.eclipse.cdt.core.gcc"/>
 				<language-scope id="org.eclipse.cdt.core.g++"/>
 			</provider>
 		</extension>
 	</configuration>
-</project>
+</project>

otto_controller/.settings/org.eclipse.cdt.core.prefs

@@ -0,0 +1,6 @@
+doxygen/doxygen_new_line_after_brief=true
+doxygen/doxygen_use_brief_tag=false
+doxygen/doxygen_use_javadoc_tags=true
+doxygen/doxygen_use_pre_tag=false
+doxygen/doxygen_use_structural_commands=false
+eclipse.preferences.version=1

otto_controller/.settings/stm32cubeide.project.prefs

@@ -0,0 +1,3 @@
+8DF89ED150041C4CBC7CB9A9CAA90856=AE0564D014D0FF6F8CDA67667BE5E95D
+DC22A860405A8BF2F2C095E5B6529F12=AE0564D014D0FF6F8CDA67667BE5E95D
+eclipse.preferences.version=1

otto_controller/Core/Inc/communication/otto_messages.h

@@ -0,0 +1,50 @@
+/*
+ * otto_messages.h
+ *
+ *  Created on: Aug 5, 2021
+ *      Author: fdila
+ */
+
+#ifndef INC_COMMUNICATION_OTTO_MESSAGES_H_
+#define INC_COMMUNICATION_OTTO_MESSAGES_H_
+
+typedef struct _ConfigMessage {
+  uint32_t ticks_per_revolution;  //x4 resolution
+  float baseline;  //in meters
+  float left_wheel_circumference;  //in meters
+  float right_wheel_circumference;  //in meters
+  float kp_left;
+  float ki_left;
+  float kd_left;
+  float kp_right;
+  float ki_right;
+  float kd_right;
+  float kp_cross;
+  float ki_cross;
+  float kd_cross;
+  uint32_t crc;
+} ConfigMessage;
+
+typedef struct _VelocityMessage {
+  float linear_velocity;
+  float angular_velocity;
+  uint32_t crc;
+} VelocityMessage;
+
+typedef struct _StatusMessage {
+  /*
+   * Status codes:
+   * 0 - waiting for config
+   * 1 - running
+   * 2 - error receiving config
+   * 3 - error receiving vel
+   * 4 - H-Bridge fault
+   */
+  uint16_t status;
+  uint16_t delta_millis;
+  int32_t left_ticks;
+  int32_t right_ticks;
+  uint32_t crc;
+} StatusMessage;
+
+#endif /* INC_COMMUNICATION_OTTO_MESSAGES_H_ */

otto_controller/Core/Inc/control/pid.h

@@ -21,6 +21,20 @@ class Pid {
   int max_;
 
  public:
+  Pid() {
+    this->kp_ = 0;
+    this->ki_ = 0;
+    this->kd_ = 0;
+
+    this->error_ = 0;
+    this->setpoint_ = 0;
+
+    this->previous_error_ = 0;
+    this->error_sum_ = 0;
+
+    this->min_ = 0;
+    this->max_ = 0;
+  }
   Pid(float kp, float ki, float kd, int min, int max) {
     this->kp_ = kp;
     this->ki_ = ki;
@@ -78,7 +92,7 @@ class Pid {
     if (integer_output > this->max_) {
       integer_output = this->max_;
       this->error_sum_ -= this->error_;
-    } else if (integer_output < this->min_){
+    } else if (integer_output < this->min_) {
       integer_output = this->min_;
       this->error_sum_ -= this->error_;
     }

otto_controller/Core/Inc/crc.h

@@ -0,0 +1,52 @@
+/**
+  ******************************************************************************
+  * @file    crc.h
+  * @brief   This file contains all the function prototypes for
+  *          the crc.c file
+  ******************************************************************************
+  * @attention
+  *
+  * <h2><center>&copy; Copyright (c) 2021 STMicroelectronics.
+  * All rights reserved.</center></h2>
+  *
+  * This software component is licensed by ST under BSD 3-Clause license,
+  * the "License"; You may not use this file except in compliance with the
+  * License. You may obtain a copy of the License at:
+  *                        opensource.org/licenses/BSD-3-Clause
+  *
+  ******************************************************************************
+  */
+/* Define to prevent recursive inclusion -------------------------------------*/
+#ifndef __CRC_H__
+#define __CRC_H__
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/* Includes ------------------------------------------------------------------*/
+#include "main.h"
+
+/* USER CODE BEGIN Includes */
+
+/* USER CODE END Includes */
+
+extern CRC_HandleTypeDef hcrc;
+
+/* USER CODE BEGIN Private defines */
+
+/* USER CODE END Private defines */
+
+void MX_CRC_Init(void);
+
+/* USER CODE BEGIN Prototypes */
+
+/* USER CODE END Prototypes */
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif /* __CRC_H__ */
+
+/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/

otto_controller/Core/Inc/dma.h

@@ -1,12 +1,12 @@
 /**
   ******************************************************************************
-  * File Name          : dma.h
-  * Description        : This file contains all the function prototypes for
-  *                      the dma.c file
+  * @file    dma.h
+  * @brief   This file contains all the function prototypes for
+  *          the dma.c file
   ******************************************************************************
   * @attention
   *
-  * <h2><center>&copy; Copyright (c) 2020 STMicroelectronics.
+  * <h2><center>&copy; Copyright (c) 2021 STMicroelectronics.
   * All rights reserved.</center></h2>
   *
   * This software component is licensed by ST under BSD 3-Clause license,
@@ -17,11 +17,11 @@
   ******************************************************************************
   */
 /* Define to prevent recursive inclusion -------------------------------------*/
-#ifndef __dma_H
-#define __dma_H
+#ifndef __DMA_H__
+#define __DMA_H__
 
 #ifdef __cplusplus
- extern "C" {
+extern "C" {
 #endif
 
 /* Includes ------------------------------------------------------------------*/
@@ -47,10 +47,6 @@ void MX_DMA_Init(void);
 }
 #endif
 
-#endif /* __dma_H */
-
-/**
-  * @}
-  */
+#endif /* __DMA_H__ */
 
 /************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/

otto_controller/Core/Inc/gpio.h

@@ -1,12 +1,12 @@
 /**
   ******************************************************************************
-  * File Name          : gpio.h
-  * Description        : This file contains all the functions prototypes for 
-  *                      the gpio  
+  * @file    gpio.h
+  * @brief   This file contains all the function prototypes for
+  *          the gpio.c file
   ******************************************************************************
   * @attention
   *
-  * <h2><center>&copy; Copyright (c) 2020 STMicroelectronics.
+  * <h2><center>&copy; Copyright (c) 2021 STMicroelectronics.
   * All rights reserved.</center></h2>
   *
   * This software component is licensed by ST under BSD 3-Clause license,
@@ -16,12 +16,12 @@
   *
   ******************************************************************************
   */
-
 /* Define to prevent recursive inclusion -------------------------------------*/
-#ifndef __gpio_H
-#define __gpio_H
+#ifndef __GPIO_H__
+#define __GPIO_H__
+
 #ifdef __cplusplus
- extern "C" {
+extern "C" {
 #endif
 
 /* Includes ------------------------------------------------------------------*/
@@ -44,14 +44,6 @@ void MX_GPIO_Init(void);
 #ifdef __cplusplus
 }
 #endif
-#endif /*__ pinoutConfig_H */
-
-/**
-  * @}
-  */
-
-/**
-  * @}
-  */
+#endif /*__ GPIO_H__ */
 
 /************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/