Psi Swarm robot library version 0.9
Fork of PsiSwarmV9 by
Diff: eprom.cpp
- Revision:
- 17:bf614e28668f
- Parent:
- 14:2f1ad77d281e
- Child:
- 18:9204f74069b4
--- a/eprom.cpp Thu Jun 01 23:02:32 2017 +0000 +++ b/eprom.cpp Sun Jun 04 13:11:09 2017 +0000 @@ -81,6 +81,27 @@ return data [0]; } +void Eprom::write_firmware_byte ( int address, char data ){ + char write_array[3]; + write_array[0] = 255; + write_array[1] = address % 256; + write_array[2] = data; + primary_i2c.write(EEPROM_ADDRESS, write_array, 3, false); + //Takes 5ms to write a page: ideally this could be done with a timer or RTOS + wait(0.005); +} + + +char Eprom::read_firmware_byte ( int address ){ + char address_array [2]; + address_array[0] = 255; + address_array[1] = address % 256; + char data [1]; + primary_i2c.write(EEPROM_ADDRESS, address_array, 2, false); + primary_i2c.read(EEPROM_ADDRESS, data, 1, false); + return data [0]; +} + /** Read the data stored in the reserved firmware area of the EPROM * * @return 1 if a valid firmware is read, 0 otherwise @@ -89,7 +110,7 @@ { char address_array [2] = {255,0}; primary_i2c.write(EEPROM_ADDRESS, address_array, 2, false); - primary_i2c.read(EEPROM_ADDRESS, firmware_bytes, 21, false); + primary_i2c.read(EEPROM_ADDRESS, firmware_bytes, 80, false); if(firmware_bytes[0] == PSI_BYTE) { // Parse firmware @@ -100,7 +121,8 @@ sprintf(pcb_version_string,"%d.%d",firmware_bytes[7],firmware_bytes[8]); pcb_version = atof(pcb_version_string); char serial_number_string [8]; - sprintf(serial_number_string,"%d.%d",firmware_bytes[5],firmware_bytes[6]); + if(firmware_bytes[6] > 9) sprintf(serial_number_string,"%d.%d",firmware_bytes[5],firmware_bytes[6]); + else sprintf(serial_number_string,"%d.0%d",firmware_bytes[5],firmware_bytes[6]); serial_number = atof(serial_number_string); has_compass = firmware_bytes[11]; has_side_ir = firmware_bytes[12]; @@ -124,9 +146,222 @@ right_motor_calibration_value += ((float) firmware_bytes[27] * 256); right_motor_calibration_value += firmware_bytes[28]; right_motor_calibration_value /= 16777216; - } + } else motor_calibration_set = 0; } else motor_calibration_set = 0; + if(firmware_version > 1.1) { + base_ir_calibration_set = firmware_bytes[29]; + if(base_ir_calibration_set == 1){ + int white_values[5]; + int black_values[5]; + for(int i=0;i<5;i++){ + int k_val = i+i; + white_values[i] = (firmware_bytes[30 + k_val] << 8) + firmware_bytes[31 + k_val]; + black_values[i] = (firmware_bytes[40 + k_val] << 8) + firmware_bytes[41 + k_val]; + } + sensors.IF_set_base_calibration_values(white_values[0], white_values[1], white_values[2], white_values[3], white_values[4], black_values[0], black_values[1], black_values[2], black_values[3], black_values[4]); + }else base_ir_calibration_set = 0; + base_colour_calibration_set = firmware_bytes[50]; + if(base_colour_calibration_set == 1){ + int white_values[4]; + int black_values[4]; + for(int i=0;i<4;i++){ + int k_val = i+i; + white_values[i] = (firmware_bytes[51 + k_val] << 8) + firmware_bytes[52 + k_val]; + black_values[i] = (firmware_bytes[59 + k_val] << 8) + firmware_bytes[60 + k_val]; + } + colour.set_calibration_values(black_values[0],black_values[1],black_values[2],black_values[3],white_values[0],white_values[1],white_values[2],white_values[3]); + }else base_colour_calibration_set = 0; + } else { + base_ir_calibration_set = 0; + base_colour_calibration_set = 0; + } return 1; } return 0; -} \ No newline at end of file +} + +void Eprom::IF_write_base_ir_calibration_values(short white_values[5], short black_values[5]){ + //Set calibration_set byte [29] to 1 + write_firmware_byte(29,1); + for(int i=0;i<5;i++){ + write_firmware_byte(30+i+i,(char) (white_values[i] >> 8)); + write_firmware_byte(31+i+i,(char) (white_values[i] && 0xFF)); + } + for(int i=0;i<5;i++){ + write_firmware_byte(40+i+i,(char) (black_values[i] >> 8)); + write_firmware_byte(41+i+i,(char) (black_values[i] && 0xFF)); + } + sensors.IF_set_base_calibration_values(white_values[0], white_values[1], white_values[2], white_values[3], white_values[4], black_values[0], black_values[1], black_values[2], black_values[3], black_values[4]); +} + +void Eprom::IF_write_base_colour_calibration_values(int white_values[4], int black_values[4]){ + //Set calibration_set byte [50] to 1 + write_firmware_byte(50,1); + for(int i=0;i<4;i++){ + write_firmware_byte(51+i+i,(char) (black_values[i] >> 8)); + write_firmware_byte(52+i+i,(char) (black_values[i] && 0xFF)); + } + for(int i=0;i<4;i++){ + write_firmware_byte(59+i+i,(char) (white_values[i] >> 8)); + write_firmware_byte(60+i+i,(char) (white_values[i] && 0xFF)); + } + colour.set_calibration_values(black_values[0],black_values[1],black_values[2],black_values[3],white_values[0],white_values[1],white_values[2],white_values[3]); +} + + +void Eprom::update_firmware(){ + psi.debug("\n\nPsiSwarm Firmware Writer\n___________________________________\nUpdating firmware to version %1.1f\n",TARGET_FIRMWARE_VERSION); + display.clear_display(); + display.set_position(0,0); + display.write_string("UPDATING"); + display.set_position(1,0); + display.write_string("FIRMWARE"); + char fv_big = (char) TARGET_FIRMWARE_VERSION; + char fv_small = (char) ((float) (TARGET_FIRMWARE_VERSION - fv_big) * 10.0f); + + wait(0.5); + eprom.write_firmware(firmware_bytes[1], FD_CREATE_DAY, FD_CREATE_MONTH, FD_CREATE_YEAR, firmware_bytes[5], firmware_bytes[6], firmware_bytes[7], firmware_bytes[8],fv_big, + fv_small, has_compass, has_side_ir, has_base_ir, has_base_colour_sensor, has_top_colour_sensor, has_wheel_encoders, has_audio_pic, has_ultrasonic_sensor, has_temperature_sensor, has_recharging_circuit, + has_433_radio, motor_calibration_set, base_ir_calibration_set, base_colour_calibration_set); +} + + + +void Eprom::write_string(char value){ + if(value==1) pc.printf("YES\n"); + else pc.printf("NO\n"); +} + +void Eprom::write_firmware(char _flash_count, char _create_day, char _create_month, char _create_year, char _batch_number, char _serial_number, char _pcb_version_big, char _pcb_version_little, char _firmware_version_big, + char _firmware_version_little, char _has_compass, char _has_side_ir, char _has_base_ir, char _has_base_colour_sensor, char _has_top_colour_sensor, char _has_encoders, char _has_audio_pic, char _has_ultrasonic, + char _has_temperature, char _has_recharging, char _has_433_radio, char _motor_calibration_set, char _base_ir_calibration_set, char _base_colour_calibration_set){ + psi.debug("Writing new firmware:\n"); + write_firmware_byte(0,PSI_BYTE); + _flash_count ++; + pc.printf("Flash Count: %d\n",_flash_count); + write_firmware_byte(1,_flash_count); + pc.printf("Flash Date: %d-%d-%d\n",_create_day,_create_month,_create_year); + write_firmware_byte(2,_create_day); + write_firmware_byte(3,_create_month); + write_firmware_byte(4,_create_year); + pc.printf("Serial Number: %d-%d\n",_batch_number,_serial_number); + write_firmware_byte(5,_batch_number); + write_firmware_byte(6,_serial_number); + pc.printf("PCB Version: %d.%d\n",_pcb_version_big,_pcb_version_little); + write_firmware_byte(7,_pcb_version_big); + write_firmware_byte(8,_pcb_version_little); + pc.printf("Firmware Version: %d.%d\n",_firmware_version_big,_firmware_version_little); + write_firmware_byte(9,_firmware_version_big); + write_firmware_byte(10,_firmware_version_little); + pc.printf("Has Compass: "); + write_string(_has_compass); + write_firmware_byte(11,_has_compass); + pc.printf("Has Side IR Sensors: "); + write_string(_has_side_ir); + write_firmware_byte(12,_has_side_ir); + pc.printf("Has Base IR Sensors: "); + write_string(_has_base_ir); + write_firmware_byte(13,_has_base_ir); + pc.printf("Has Base Colour Sensor: "); + write_string(_has_base_colour_sensor); + write_firmware_byte(14,_has_base_colour_sensor); + pc.printf("Has Top Colour Sensor: "); + write_string(_has_top_colour_sensor); + write_firmware_byte(15,_has_top_colour_sensor); + pc.printf("Has Wheel Encoders: "); + write_string(_has_encoders); + write_firmware_byte(16,_has_encoders); + pc.printf("Has Audio PIC: "); + write_string(_has_audio_pic); + write_firmware_byte(17,_has_audio_pic); + pc.printf("Has Ultrasonic Sensor: "); + write_string(_has_ultrasonic); + write_firmware_byte(18,_has_ultrasonic); + pc.printf("Has Temperature Sensor: "); + write_string(_has_temperature); + write_firmware_byte(19,_has_temperature); + pc.printf("Has Recharging Circuit: "); + write_string(_has_recharging); + write_firmware_byte(20,_has_recharging); + pc.printf("Has 433MHz Radio: "); + write_string(_has_433_radio); + write_firmware_byte(21,_has_433_radio); + pc.printf("Motor calibration set: "); + write_string(_motor_calibration_set); + write_firmware_byte(22,_motor_calibration_set); + pc.printf("Base IR calibration set: "); + write_string(_base_ir_calibration_set); + write_firmware_byte(29,_base_ir_calibration_set); + pc.printf("Base colour calibration set: "); + write_string(_base_colour_calibration_set); + write_firmware_byte(50,_base_colour_calibration_set); + wait(0.2); + pc.printf("_________________________________________\n"); + wait(0.2); + pc.printf("VERIFYING FIRMWARE...\n"); + if(read_firmware_byte(0) == PSI_BYTE + && read_firmware_byte(1) == _flash_count + && read_firmware_byte(2) == _create_day + && read_firmware_byte(3) == _create_month + && read_firmware_byte(4) == _create_year + && read_firmware_byte(5) == _batch_number + && read_firmware_byte(6) == _serial_number + && read_firmware_byte(7) == _pcb_version_big + && read_firmware_byte(8) == _pcb_version_little + && read_firmware_byte(9) == _firmware_version_big + && read_firmware_byte(10) == _firmware_version_little + && read_firmware_byte(11) == _has_compass + && read_firmware_byte(12) == _has_side_ir + && read_firmware_byte(13) == _has_base_ir + && read_firmware_byte(14) == _has_base_colour_sensor + && read_firmware_byte(15) == _has_top_colour_sensor + && read_firmware_byte(16) == _has_encoders + && read_firmware_byte(17) == _has_audio_pic + && read_firmware_byte(18) == _has_ultrasonic + && read_firmware_byte(19) == _has_temperature + && read_firmware_byte(20) == _has_recharging + && read_firmware_byte(21) == _has_433_radio + && read_firmware_byte(22) == _motor_calibration_set + && read_firmware_byte(29) == _base_ir_calibration_set + && read_firmware_byte(50) == _base_colour_calibration_set + + ){ + pc.printf("Flash successful.\n"); + display.clear_display(); + display.set_position(0,0); + display.write_string("FIRMWARE"); + display.set_position(1,0); + display.write_string("UPDATED"); + } + else {pc.printf("ERROR: Corrupt data. Flashing failed.\n"); + display.clear_display(); + display.set_position(0,0); + display.write_string("UPDATE"); + display.set_position(1,0); + display.write_string("FAILED"); + wait(1); + } + + wait(0.5); + psi.debug("\nResetting...\n"); + wait(0.2); + mbed_reset(); +} + + + +//PCB Features +#define HAS_COMPASS 0 +#define HAS_SIDE_IR 1 +#define HAS_BASE_IR 1 +#define HAS_ULTRASONIC 1 +#define HAS_BASE_COLOUR_SENSOR 1 +#define HAS_TOP_COLOUR_SENSOR 0 +#define HAS_ENCODERS 0 +#define HAS_AUDIO_PIC 0 +#define HAS_TEMPERATURE 1 +#define HAS_RECHARGING 1 +#define HAS_433_RADIO 0 + +//Calibration +#define MOTOR_CALIBRATION_SET 0 \ No newline at end of file