rename autoaim_protocol as minipc_protocol; add more comments.

illini-robomaster · Nov 21, 2023 · a1cb494 · a1cb494
1 parent 7a07240
commit a1cb494
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Showing 8 changed files with 33 additions and 21 deletions.
diff --git a/examples/autoaim/main.cc b/examples/autoaim/main.cc
@@ -27,7 +27,7 @@
 #include "gimbal.h"
 #include "rgb.h"
 #include "bsp_gpio.h"
-#include "autoaim_protocol.h"
+#include "minipc_protocol.h"
 #include "filtering.h"
 #include "i2c.h"
 #include "bsp_imu.h"
@@ -305,4 +305,4 @@ void RM_RTOS_Default_Task(const void* args) {
     control::MotorCANBase::TransmitOutput(motors, 2);
     osDelay(10);
   }
-}
+}
diff --git a/examples/minipc/CMakeLists.txt b/examples/minipc/CMakeLists.txt
@@ -24,11 +24,11 @@ project(example_minipc ASM C CXX)
 #    TARGET DJI_Board_TypeA
 #    SOURCES typeA.cc)
 #
-irm_add_arm_executable(${PROJECT_NAME}_typeC
+irm_add_arm_executable(${PROJECT_NAME}_stresstesttypec
     TARGET DJI_Board_TypeC
-    SOURCES typeC.cc)
+    SOURCES StressTestTypeC.cc)
 
-irm_add_arm_executable(${PROJECT_NAME}_test
+irm_add_arm_executable(${PROJECT_NAME}_pingpongtest
     TARGET DJI_Board_TypeC
-    SOURCES test.cc)
+    SOURCES PingpongTest.cc)
 
diff --git a/examples/minipc/test.cc → examples/minipc/PingpongTest.cc b/examples/minipc/test.cc → examples/minipc/PingpongTest.cc
@@ -27,7 +27,7 @@
 #include "bsp_print.h"
 #include "bsp_uart.h"
 #include "cmsis_os.h"
-#include "autoaim_protocol.h"
+#include "minipc_protocol.h"
 #include "rgb.h"
 
 #define RX_SIGNAL (1 << 0)
@@ -86,9 +86,14 @@ void RM_RTOS_Default_Task(const void* argument) {
     /* wait until rx data is available */
     //led->Display(0xFF0000FF);
 
-    // TX RX test, see vision repo communication/communicator.py
+    // TX RX test. Use with communication/communicator.py in iRM_Vision_2023 repo
+    // In the communicator.py, need to set TESTING_TX_RX = True for this test
+    // The value for TESTING_CRC doesn't matter
+
+    // Wait until first packet from minipc.
     uint32_t flags = osThreadFlagsWait(RX_SIGNAL, osFlagsWaitAll, osWaitForever);
     if (flags & RX_SIGNAL) {
+      // When packet received from miniPC, increase rel_pitch by 1 and send back
       length = uart->Read(&data);
       minipc_session.ParseUartBuffer(data, length);
       status_data = minipc_session.GetStatus();
@@ -99,16 +104,18 @@ void RM_RTOS_Default_Task(const void* argument) {
     osDelay(10);
 
 
-    // example code for prepare packet and send
-    //uart->Write(packet_to_send, minipc_session.GetPacketLen(communication::GIMBAL_CMD_ID));
-    //osDelay(1);
+    // example code for prepare other packets and send
+    /*
+    uart->Write(packet_to_send, minipc_session.GetPacketLen(communication::GIMBAL_CMD_ID));
+    osDelay(1);
 
-    //minipc_session.Pack(packet_to_send, (void*)&color_data, communication::COLOR_CMD_ID);
-    //uart->Write(packet_to_send, minipc_session.GetPacketLen(communication::COLOR_CMD_ID));
-    //osDelay(1);
+    minipc_session.Pack(packet_to_send, (void*)&color_data, communication::COLOR_CMD_ID);
+    uart->Write(packet_to_send, minipc_session.GetPacketLen(communication::COLOR_CMD_ID));
+    osDelay(1);
 
-    //minipc_session.Pack(packet_to_send, (void*)&chassis_data, communication::CHASSIS_CMD_ID);
-    //uart->Write(packet_to_send, minipc_session.GetPacketLen(communication::CHASSIS_CMD_ID));
-    //osDelay(1);
+    minipc_session.Pack(packet_to_send, (void*)&chassis_data, communication::CHASSIS_CMD_ID);
+    uart->Write(packet_to_send, minipc_session.GetPacketLen(communication::CHASSIS_CMD_ID));
+    osDelay(1);
+    */
   }
 }
diff --git a/examples/minipc/typeC.cc → examples/minipc/StressTestTypeC.cc b/examples/minipc/typeC.cc → examples/minipc/StressTestTypeC.cc
@@ -27,7 +27,7 @@
 #include "bsp_print.h"
 #include "bsp_uart.h"
 #include "cmsis_os.h"
-#include "autoaim_protocol.h"
+#include "minipc_protocol.h"
 #include "rgb.h"
 
 #define RX_SIGNAL (1 << 0)
@@ -62,6 +62,10 @@ void RM_RTOS_Default_Task(const void* argument) {
   auto minipc_session = communication::MinipcPort();
   int total_processed_bytes = 0;
 
+  /* To run this test, use Communication/communicator.py in the iRM_Vision_2023 repo
+   * Need to set TESTING_TX_RX = False and TESTING_CRC = True
+  **/
+
   while (true) {
     /* wait until rx data is available */
     led->Display(0xFF0000FF);

diff --git a/examples/minipc/typeA.cc b/examples/minipc/typeA.cc
@@ -27,7 +27,7 @@
 #include "bsp_print.h"
 #include "bsp_uart.h"
 #include "cmsis_os.h"
-#include "autoaim_protocol.h"
+#include "minipc_protocol.h"
 
 #define RX_SIGNAL (1 << 0)
 

diff --git a/shared/libraries/autoaim_protocol.cc → shared/libraries/minipc_protocol.cc b/shared/libraries/autoaim_protocol.cc → shared/libraries/minipc_protocol.cc
@@ -18,7 +18,7 @@
  *                                                                          *
  ****************************************************************************/
 
-#include "autoaim_protocol.h"
+#include "minipc_protocol.h"
 
 #include <cstring>
 #include <memory>

diff --git a/shared/libraries/autoaim_protocol.h → shared/libraries/minipc_protocol.h b/shared/libraries/autoaim_protocol.h → shared/libraries/minipc_protocol.h
@@ -83,6 +83,7 @@ enum CMD_ID {GIMBAL_CMD_ID,
              TOTAL_NUM_OF_ID};
 
 // WARNING: THIS CLASS IS NOT THREAD SAFE!!!
+// See docs/comm_protocol.md in vision repo for docs
 class MinipcPort {
  public:
   MinipcPort();

diff --git a/vehicles/Steering/gimbal.cc b/vehicles/Steering/gimbal.cc
@@ -40,7 +40,7 @@
 #include "rgb.h"
 #include "shooter.h"
 #include "stepper.h"
-#include "autoaim_protocol.h"
+#include "minipc_protocol.h"
 
 static bsp::CAN* can1 = nullptr;
 static bsp::CAN* can2 = nullptr;