diff --git a/CrashRecorder/CrashRecorder.ino b/CrashRecorder/CrashRecorder.ino new file mode 100644 index 0000000..a372c9e --- /dev/null +++ b/CrashRecorder/CrashRecorder.ino @@ -0,0 +1,858 @@ +#include +#include +#include + +// without USB CDC, Serial falls back to USART1 on PA9/PA10, hijacking the mode and right buttons +#ifndef USBD_USE_CDC +#error "Set Tools > USB support to CDC (generic 'Serial' supersede U(S)ART)" +#endif + +/* +Records the IMU to internal flash to work out what a crash looks like, download with tools/crash_dump.py + +MODE start/stop recording, starting erases the previous recording, hold 5s to power off +LEFT/RIGHT add marker 1/2 to the recording, e.g. "crash now" and "bump now" + +DASH dim blue: empty, green: recording stored (bar shows length), amber: erasing, + red: recording (bar shows storage used), blue: downloading, purple blinking: error + +ONBOARD LED fallback for when the dash has no power without the battery + off: idle, fast flicker: erasing, slow blink: recording, short flicker: marker added, + on: downloading, rapid blink: error + +serial commands: r record, s stop, d dump, i info, l live sensor reading +*/ + +constexpr int LEDS_TAIL_PIN = PA6; +constexpr int LEDS_TAIL_LENGTH = 10; + +constexpr int LEDS_LEFT_PIN = PA5; +constexpr int LEDS_RIGHT_PIN = PA7; +constexpr int LEDS_HEAD_LENGTH = 39; + +constexpr int LEDS_DASH_PIN = PB0; +constexpr int LEDS_DASH_LENGTH = 2; +constexpr int LEDS_DASH_BRIGHTNESS = 100; + +constexpr int PIN_ALIVE = PA2; +constexpr int PIN_BUCK = PA1; + +constexpr int PIN_PEDAL = PA0; +constexpr int PIN_PEDAL_FORWARD = PA3; +constexpr int PIN_PEDAL_REVERSE = PA4; + +constexpr int PIN_BUTTON_MODE = PA9; +constexpr int PIN_BUTTON_LEFT = PA8; +constexpr int PIN_BUTTON_RIGHT = PA10; + +constexpr int PIN_IMU_SCL = PB6; +constexpr int PIN_IMU_SDA = PB7; + +constexpr int LED_ON = LOW; +constexpr int LED_OFF = HIGH; + +constexpr int BUCK_ON = HIGH; +constexpr int BUCK_OFF = LOW; + +constexpr unsigned long SHUTDOWN_HOLD = 5000; // ms +constexpr unsigned long IDLE_TIMEOUT = 180000; // ms, not while recording +constexpr unsigned long STATUS_INTERVAL = 50; // ms +constexpr unsigned long MARKER_FLASH = 150; // ms + +// MPU9250/9255 +constexpr uint8_t IMU_ADDRESSES[] = {0x68, 0x69}; // AD0 low, AD0 high +constexpr uint8_t IMU_REG_SMPLRT_DIV = 0x19; +constexpr uint8_t IMU_REG_CONFIG = 0x1A; +constexpr uint8_t IMU_REG_GYRO_CONFIG = 0x1B; +constexpr uint8_t IMU_REG_ACCEL_CONFIG = 0x1C; +constexpr uint8_t IMU_REG_ACCEL_CONFIG2 = 0x1D; +constexpr uint8_t IMU_REG_FIFO_EN = 0x23; +constexpr uint8_t IMU_REG_INT_PIN_CFG = 0x37; +constexpr uint8_t IMU_REG_INT_ENABLE = 0x38; +constexpr uint8_t IMU_REG_INT_STATUS = 0x3A; +constexpr uint8_t IMU_REG_USER_CTRL = 0x6A; +constexpr uint8_t IMU_REG_PWR_MGMT_1 = 0x6B; +constexpr uint8_t IMU_REG_FIFO_COUNT_H = 0x72; +constexpr uint8_t IMU_REG_FIFO_R_W = 0x74; +constexpr uint8_t IMU_REG_WHO_AM_I = 0x75; + +constexpr uint8_t IMU_FIFO_EN_ACCEL_GYRO = 0x78; +constexpr uint8_t IMU_USER_CTRL_FIFO_EN = 0x40; +constexpr uint8_t IMU_USER_CTRL_FIFO_RST = 0x04; +constexpr uint8_t IMU_INT_FIFO_OFLOW = 0x10; +constexpr uint8_t IMU_INT_PIN_CFG_BYPASS = 0x02; // exposes the magnetometer on the main bus + +constexpr int SAMPLE_RATE = 500; // Hz +constexpr uint8_t IMU_DLPF_184HZ = 0x01; // 1kHz internal rate, used for gyro and accel +constexpr uint8_t IMU_ACCEL_16G = 0x18; +constexpr uint8_t IMU_GYRO_2000DPS = 0x18; +constexpr uint16_t ACCEL_LSB_PER_G = 2048; +constexpr uint16_t GYRO_LSB_PER_DPS_X10 = 164; + +constexpr int FIFO_SIZE = 512; +constexpr int FIFO_SAMPLE_SIZE = 12; // accel xyz + gyro xyz, big-endian +constexpr int FIFO_READ_BATCH = 2; // samples per I2C read, stays within the 32 byte Wire buffer +constexpr unsigned long FIFO_INTERVAL = 10; // ms, the fifo holds ~84ms at 500Hz + +// AK8963 magnetometer inside the MPU9250/9255 +constexpr uint8_t MAG_ADDRESS = 0x0C; +constexpr uint8_t MAG_REG_WIA = 0x00; +constexpr uint8_t MAG_REG_ST1 = 0x02; +constexpr uint8_t MAG_REG_HXL = 0x03; +constexpr uint8_t MAG_REG_CNTL1 = 0x0A; +constexpr uint8_t MAG_WIA = 0x48; +constexpr uint8_t MAG_ST1_DRDY = 0x01; +constexpr uint8_t MAG_ST2_HOFL = 0x08; +constexpr uint8_t MAG_CNTL1_POWER_DOWN = 0x00; +constexpr uint8_t MAG_CNTL1_16BIT_100HZ = 0x16; +constexpr unsigned long MAG_INTERVAL = 10; // ms + +// sectors 0-3 (64KB) hold this sketch, sectors 4-7 (448KB) hold the recording +constexpr uint32_t STORAGE_START = 0x08010000; +constexpr uint32_t STORAGE_END = 0x08080000; +constexpr uint32_t STORAGE_SIZE = STORAGE_END - STORAGE_START; +constexpr uint32_t STORAGE_SECTOR_FIRST = FLASH_SECTOR_4; +constexpr int STORAGE_SECTOR_COUNT = 4; + +constexpr float RECORD_BYTES_PER_SECOND = SAMPLE_RATE * (1 + FIFO_SAMPLE_SIZE) + (1000 / MAG_INTERVAL) * (1 + 6); + +// recording format, a stream of tagged records, keep in sync with tools/crash_dump.py +enum RecordTag : uint8_t { + TAG_HEADER = 0x01, // 12 bytes: "QLR", version, WHO_AM_I, mag ok, rate, accel LSB/g, gyro LSB/dps * 10 (uint16 LE) + TAG_IMU = 0x02, // 12 bytes: raw fifo sample, accel xyz + gyro xyz, int16 BE + TAG_MAG = 0x03, // 6 bytes: raw magnetometer xyz, int16 LE, 0.15uT/LSB without sensitivity adjustment + TAG_INPUTS = 0x04, // 1 byte: raw pin levels, see INPUT_BIT_*, low is active + TAG_MARKER = 0x05, // 1 byte: marker number + TAG_OVERFLOW = 0x06, // 0 bytes: fifo overflowed, an unknown number of samples was lost + TAG_END = 0xFF, // erased flash +}; + +constexpr uint8_t RECORD_VERSION = 1; + +constexpr uint8_t INPUT_BIT_PEDAL = 0; +constexpr uint8_t INPUT_BIT_FORWARD = 1; +constexpr uint8_t INPUT_BIT_REVERSE = 2; +constexpr uint8_t INPUT_BIT_MODE = 3; +constexpr uint8_t INPUT_BIT_LEFT = 4; +constexpr uint8_t INPUT_BIT_RIGHT = 5; + +// end of the program in flash, from the linker script +extern "C" uint32_t _sidata, _sdata, _edata; + +Button buttonMode(PIN_BUTTON_MODE); +Button buttonLeft(PIN_BUTTON_LEFT); +Button buttonRight(PIN_BUTTON_RIGHT); + +Adafruit_NeoPixel ledsTail(LEDS_TAIL_LENGTH, LEDS_TAIL_PIN, NEO_GRBW + NEO_KHZ800); +Adafruit_NeoPixel ledsHeadLeft(LEDS_HEAD_LENGTH, LEDS_LEFT_PIN, NEO_GRBW + NEO_KHZ800); +Adafruit_NeoPixel ledsHeadRight(LEDS_HEAD_LENGTH, LEDS_RIGHT_PIN, NEO_GRBW + NEO_KHZ800); +Adafruit_NeoPixel ledsDash(LEDS_DASH_LENGTH, LEDS_DASH_PIN, NEO_GRBW + NEO_KHZ800); + +const uint32_t COLOR_OFF = ledsDash.Color(0, 0, 0, 0); +const uint32_t COLOR_DIM = ledsDash.Color(0, 0, 0, 10); +const uint32_t COLOR_WHITE = ledsDash.Color(0, 0, 0, 255); +const uint32_t COLOR_EMPTY = ledsDash.Color(0, 0, 40, 0); +const uint32_t COLOR_STORED = ledsDash.Color(0, 255, 0, 0); +const uint32_t COLOR_ERASING = ledsDash.Color(255, 60, 0, 0); +const uint32_t COLOR_RECORDING = ledsDash.Color(255, 0, 0, 0); +const uint32_t COLOR_DUMPING = ledsDash.Color(0, 0, 255, 0); +const uint32_t COLOR_ERROR = ledsDash.Color(255, 0, 255, 0); + +enum State { + STATE_IDLE, + STATE_ERASING, + STATE_RECORDING, + STATE_DUMPING, + STATE_ERROR, + STATE_OFF, +}; + +State state = STATE_IDLE; +const char* errorReason = ""; + +uint8_t imuAddress = 0; // 0 when not found +uint8_t imuWhoAmI = 0; +bool magFound = false; + +uint32_t storageAddress = STORAGE_START; // next word to program +uint32_t storageWord = 0xFFFFFFFF; +int storageWordBytes = 0; +bool storageFull = false; +uint32_t recordedBytes = 0; +int sectorsErased = 0; + +unsigned long recordStart = 0; +unsigned long lastFifoRead = 0; +unsigned long lastMagRead = 0; +unsigned long lastStatus = 0; +unsigned long lastActivity = 0; +unsigned long markerFlashUntil = 0; +uint8_t lastInputs = 0; +uint32_t overflowCount = 0; + +unsigned long modePressStart = 0; +bool modePressed = false; + +// I2C + +void writeRegister(uint8_t address, uint8_t reg, uint8_t value) { + Wire.beginTransmission(address); + Wire.write(reg); + Wire.write(value); + Wire.endTransmission(); +} + +bool readRegisters(uint8_t address, uint8_t reg, uint8_t* buffer, uint8_t length) { + Wire.beginTransmission(address); + Wire.write(reg); + + if (Wire.endTransmission(false) != 0 || Wire.requestFrom(address, length) != length) { + return false; + } + + for (int i = 0; i < length; i++) { + buffer[i] = Wire.read(); + } + + return true; +} + +uint8_t readRegister(uint8_t address, uint8_t reg) { + uint8_t value = 0; + readRegisters(address, reg, &value, 1); + + return value; +} + +// IMU + +void connectImu() { + for (const uint8_t address : IMU_ADDRESSES) { + uint8_t whoAmI = 0; + + if (readRegisters(address, IMU_REG_WHO_AM_I, &whoAmI, 1)) { + imuAddress = address; + imuWhoAmI = whoAmI; + + break; + } + } + + if (imuAddress == 0) { + return; + } + + writeRegister(imuAddress, IMU_REG_PWR_MGMT_1, 0x80); // reset + delay(100); + writeRegister(imuAddress, IMU_REG_PWR_MGMT_1, 0x01); // gyro PLL clock + delay(10); + + writeRegister(imuAddress, IMU_REG_CONFIG, IMU_DLPF_184HZ); + writeRegister(imuAddress, IMU_REG_SMPLRT_DIV, 1000 / SAMPLE_RATE - 1); + writeRegister(imuAddress, IMU_REG_GYRO_CONFIG, IMU_GYRO_2000DPS); + writeRegister(imuAddress, IMU_REG_ACCEL_CONFIG, IMU_ACCEL_16G); + writeRegister(imuAddress, IMU_REG_ACCEL_CONFIG2, IMU_DLPF_184HZ); + writeRegister(imuAddress, IMU_REG_INT_ENABLE, IMU_INT_FIFO_OFLOW); + writeRegister(imuAddress, IMU_REG_INT_PIN_CFG, IMU_INT_PIN_CFG_BYPASS); + + magFound = readRegister(MAG_ADDRESS, MAG_REG_WIA) == MAG_WIA; + + if (magFound) { + writeRegister(MAG_ADDRESS, MAG_REG_CNTL1, MAG_CNTL1_POWER_DOWN); + delay(10); + writeRegister(MAG_ADDRESS, MAG_REG_CNTL1, MAG_CNTL1_16BIT_100HZ); + } +} + +void startFifo() { + writeRegister(imuAddress, IMU_REG_FIFO_EN, 0); + writeRegister(imuAddress, IMU_REG_USER_CTRL, IMU_USER_CTRL_FIFO_RST); + readRegister(imuAddress, IMU_REG_INT_STATUS); // clears a stale overflow flag + writeRegister(imuAddress, IMU_REG_USER_CTRL, IMU_USER_CTRL_FIFO_EN); + writeRegister(imuAddress, IMU_REG_FIFO_EN, IMU_FIFO_EN_ACCEL_GYRO); +} + +void stopFifo() { + writeRegister(imuAddress, IMU_REG_FIFO_EN, 0); + writeRegister(imuAddress, IMU_REG_USER_CTRL, 0); +} + +// storage + +uint32_t programEnd() { + return (uint32_t)&_sidata + ((uint32_t)&_edata - (uint32_t)&_sdata); +} + +bool hasHeader() { + const uint8_t* storage = (const uint8_t*)STORAGE_START; + + return storage[0] == TAG_HEADER && storage[1] == 'Q' && storage[2] == 'L' && storage[3] == 'R'; +} + +// recordings end at the first erased tag, the last programmed word marks where to stop downloading +uint32_t findRecordedBytes() { + if (!hasHeader()) { + return 0; + } + + for (uint32_t address = STORAGE_END - 4; address >= STORAGE_START; address -= 4) { + if (*(const uint32_t*)address != 0xFFFFFFFF) { + return address + 4 - STORAGE_START; + } + } + + return 0; +} + +void flushWord() { + if (storageWordBytes == 0) { + return; + } + + // unwritten bytes stay 0xFF, which reads as the end tag + if (HAL_FLASH_Program(FLASH_TYPEPROGRAM_WORD, storageAddress, storageWord) != HAL_OK) { + storageFull = true; + errorReason = "FLASH WRITE FAILED"; + } + + storageAddress += 4; + storageWord = 0xFFFFFFFF; + storageWordBytes = 0; +} + +void storeByte(uint8_t value) { + storageWord &= ~(0xFFu << (storageWordBytes * 8)); + storageWord |= (uint32_t)value << (storageWordBytes * 8); + storageWordBytes++; + + if (storageWordBytes == 4) { + flushWord(); + } +} + +// only whole records are stored, so a full recording still parses cleanly +void storeRecord(uint8_t tag, const uint8_t* payload, int length) { + if (storageFull || storageAddress + storageWordBytes + 1 + length > STORAGE_END) { + storageFull = true; + return; + } + + storeByte(tag); + + for (int i = 0; i < length; i++) { + storeByte(payload[i]); + } +} + +void storeHeader() { + const uint8_t header[] = { + 'Q', 'L', 'R', + RECORD_VERSION, + imuWhoAmI, + magFound, + SAMPLE_RATE & 0xFF, SAMPLE_RATE >> 8, + ACCEL_LSB_PER_G & 0xFF, ACCEL_LSB_PER_G >> 8, + GYRO_LSB_PER_DPS_X10 & 0xFF, GYRO_LSB_PER_DPS_X10 >> 8, + }; + + storeRecord(TAG_HEADER, header, sizeof(header)); +} + +bool eraseStorage() { + HAL_FLASH_Unlock(); + __HAL_FLASH_CLEAR_FLAG(FLASH_FLAG_EOP | FLASH_FLAG_OPERR | FLASH_FLAG_WRPERR | FLASH_FLAG_PGAERR | FLASH_FLAG_PGPERR | FLASH_FLAG_PGSERR); + + // one sector at a time so the dash can show progress, each 128KB sector takes about a second + for (sectorsErased = 0; sectorsErased < STORAGE_SECTOR_COUNT; sectorsErased++) { + renderStatus(millis()); + + FLASH_EraseInitTypeDef erase = {}; + erase.TypeErase = FLASH_TYPEERASE_SECTORS; + erase.Sector = STORAGE_SECTOR_FIRST + sectorsErased; + erase.NbSectors = 1; + erase.VoltageRange = FLASH_VOLTAGE_RANGE_3; + + uint32_t sectorError = 0; + + if (HAL_FLASHEx_Erase(&erase, §orError) != HAL_OK) { + HAL_FLASH_Lock(); + return false; + } + } + + return true; +} + +// recording + +uint8_t readInputs() { + return digitalRead(PIN_PEDAL) << INPUT_BIT_PEDAL + | digitalRead(PIN_PEDAL_FORWARD) << INPUT_BIT_FORWARD + | digitalRead(PIN_PEDAL_REVERSE) << INPUT_BIT_REVERSE + | digitalRead(PIN_BUTTON_MODE) << INPUT_BIT_MODE + | digitalRead(PIN_BUTTON_LEFT) << INPUT_BIT_LEFT + | digitalRead(PIN_BUTTON_RIGHT) << INPUT_BIT_RIGHT; +} + +void recordInputs() { + const uint8_t inputs = readInputs(); + + if (inputs != lastInputs) { + lastInputs = inputs; + storeRecord(TAG_INPUTS, &inputs, 1); + } +} + +void recordMarker(uint8_t marker) { + storeRecord(TAG_MARKER, &marker, 1); + markerFlashUntil = millis() + MARKER_FLASH; + + Serial.print("MARKER "); + Serial.println(marker); +} + +void readFifo() { + const uint8_t status = readRegister(imuAddress, IMU_REG_INT_STATUS); + + uint8_t countBytes[2] = {0, 0}; + readRegisters(imuAddress, IMU_REG_FIFO_COUNT_H, countBytes, 2); + const int count = (countBytes[0] & 0x1F) << 8 | countBytes[1]; + + // once full, new samples overwrite the oldest and the stream loses alignment + if (status & IMU_INT_FIFO_OFLOW || count > FIFO_SIZE - FIFO_SAMPLE_SIZE) { + storeRecord(TAG_OVERFLOW, nullptr, 0); + startFifo(); + overflowCount++; + + return; + } + + uint8_t buffer[FIFO_SAMPLE_SIZE * FIFO_READ_BATCH]; + + for (int samples = count / FIFO_SAMPLE_SIZE; samples > 0; samples -= FIFO_READ_BATCH) { + const int batch = min(samples, FIFO_READ_BATCH); + + if (!readRegisters(imuAddress, IMU_REG_FIFO_R_W, buffer, batch * FIFO_SAMPLE_SIZE)) { + return; + } + + for (int i = 0; i < batch; i++) { + storeRecord(TAG_IMU, buffer + i * FIFO_SAMPLE_SIZE, FIFO_SAMPLE_SIZE); + } + } +} + +void readMag() { + if (!(readRegister(MAG_ADDRESS, MAG_REG_ST1) & MAG_ST1_DRDY)) { + return; + } + + // reading through ST2 is required to release the next measurement + uint8_t data[7]; + + if (readRegisters(MAG_ADDRESS, MAG_REG_HXL, data, sizeof(data)) && !(data[6] & MAG_ST2_HOFL)) { + storeRecord(TAG_MAG, data, 6); + } +} + +void printRecordedLength(uint32_t bytes) { + Serial.print(bytes); + Serial.print(" BYTES, ~"); + Serial.print(bytes / RECORD_BYTES_PER_SECOND, 1); + Serial.println(" S"); +} + +void startRecording() { + if (state != STATE_IDLE) { + return; + } + + Serial.println("ERASING"); + state = STATE_ERASING; + + if (!eraseStorage()) { + state = STATE_ERROR; + errorReason = "FLASH ERASE FAILED"; + Serial.println(errorReason); + + return; + } + + storageAddress = STORAGE_START; + storageWord = 0xFFFFFFFF; + storageWordBytes = 0; + storageFull = false; + recordedBytes = 0; + overflowCount = 0; + + storeHeader(); + + lastInputs = readInputs(); + storeRecord(TAG_INPUTS, &lastInputs, 1); + + startFifo(); + + recordStart = millis(); + lastFifoRead = recordStart; + lastMagRead = recordStart; + state = STATE_RECORDING; + + Serial.println("RECORDING"); +} + +void stopRecording() { + if (state != STATE_RECORDING) { + return; + } + + stopFifo(); + flushWord(); + HAL_FLASH_Lock(); + + recordedBytes = storageAddress - STORAGE_START; + state = STATE_IDLE; + lastActivity = millis(); + + Serial.print(storageFull ? "STORAGE FULL, STOPPED, " : "STOPPED, "); + printRecordedLength(recordedBytes); + + if (overflowCount > 0) { + Serial.print("FIFO OVERFLOWS "); + Serial.println(overflowCount); + } +} + +// serial + +void printInfo() { + Serial.print("IMU "); + + if (imuAddress == 0) { + Serial.println("NOT FOUND ON PB6/PB7"); + } else { + Serial.print("0x"); + Serial.print(imuAddress, HEX); + Serial.print(", WHO_AM_I 0x"); + Serial.print(imuWhoAmI, HEX); + Serial.println(magFound ? ", MAG OK" : ", MAG NOT FOUND"); + } + + Serial.print("PROGRAM ENDS 0x"); + Serial.print(programEnd(), HEX); + Serial.print(", STORAGE 0x"); + Serial.print(STORAGE_START, HEX); + Serial.print(" - 0x"); + Serial.println(STORAGE_END, HEX); + + if (state == STATE_ERROR) { + Serial.print("ERROR "); + Serial.println(errorReason); + } + + Serial.print("RECORDING "); + + if (state == STATE_RECORDING) { + Serial.print("IN PROGRESS, "); + printRecordedLength(storageAddress - STORAGE_START); + } else { + printRecordedLength(recordedBytes); + } + + Serial.println("INFO END"); +} + +// reads straight from the data registers instead of the fifo, handy for checking orientation and calibration +void printLive() { + constexpr uint8_t IMU_REG_ACCEL_XOUT_H = 0x3B; + + Serial.print("CONFIG 0x"); + Serial.print(readRegister(imuAddress, IMU_REG_CONFIG), HEX); + Serial.print(", GYRO_CONFIG 0x"); + Serial.print(readRegister(imuAddress, IMU_REG_GYRO_CONFIG), HEX); + Serial.print(", ACCEL_CONFIG 0x"); + Serial.print(readRegister(imuAddress, IMU_REG_ACCEL_CONFIG), HEX); + Serial.print(", ACCEL_CONFIG2 0x"); + Serial.println(readRegister(imuAddress, IMU_REG_ACCEL_CONFIG2), HEX); + + uint8_t data[14]; + + if (!readRegisters(imuAddress, IMU_REG_ACCEL_XOUT_H, data, sizeof(data))) { + Serial.println("LIVE READ FAILED"); + return; + } + + // accel xyz, temperature, gyro xyz + const char* names[] = {"AX", "AY", "AZ", "T", "GX", "GY", "GZ"}; + const float scales[] = {ACCEL_LSB_PER_G, ACCEL_LSB_PER_G, ACCEL_LSB_PER_G, 1, GYRO_LSB_PER_DPS_X10 / 10.0f, GYRO_LSB_PER_DPS_X10 / 10.0f, GYRO_LSB_PER_DPS_X10 / 10.0f}; + + for (int i = 0; i < 7; i++) { + const int16_t raw = (int16_t)(data[i * 2] << 8 | data[i * 2 + 1]); + + Serial.print(names[i]); + Serial.print(" "); + Serial.print(raw); + + if (i == 3) { + Serial.print(" ("); + Serial.print(raw / 333.87f + 21, 1); // MPU9250 datasheet + Serial.print("C)"); + } else { + Serial.print(" ("); + Serial.print(raw / scales[i], 3); + Serial.print(")"); + } + + Serial.print(i < 6 ? ", " : "\n"); + } +} + +void dump() { + // also works while off or in error, so a recording can be downloaded after the idle timeout + if (state == STATE_RECORDING || state == STATE_ERASING || state == STATE_DUMPING) { + Serial.println("DUMP UNAVAILABLE"); + return; + } + + const State previousState = state; + state = STATE_DUMPING; + renderStatus(millis()); + + Serial.print("DUMP "); + Serial.println(recordedBytes); + + for (uint32_t offset = 0; offset < recordedBytes; offset += 256) { + Serial.write((const uint8_t*)(STORAGE_START + offset), min(recordedBytes - offset, (uint32_t)256)); + } + + Serial.println(); + Serial.println("DUMP END"); + + state = previousState; +} + +void handleSerial() { + while (Serial.available() > 0) { + const char command = Serial.read(); + lastActivity = millis(); + + if (command == 'r') { + startRecording(); + } else if (command == 's') { + stopRecording(); + } else if (command == 'd') { + dump(); + } else if (command == 'i') { + printInfo(); + } else if (command == 'l' && imuAddress != 0) { + printLive(); + } + } +} + +// power + +void shutdown() { + // when STLink or USB prevents full power cut, loop keeps running, only shut down once + if (state == STATE_OFF) { + return; + } + + stopRecording(); + + Serial.println("SHUTTING DOWN"); + state = STATE_OFF; + renderStatus(millis()); + + digitalWrite(PIN_BUCK, BUCK_OFF); + delay(100); + + Serial.println("SELF OFF, GOODBYE"); + digitalWrite(PIN_ALIVE, LOW); +} + +// only used when STLink or USB prevents full power cut +void restart() { + Serial.println("RESTARTING"); + + digitalWrite(PIN_BUCK, BUCK_ON); + state = imuAddress == 0 ? STATE_ERROR : STATE_IDLE; + lastActivity = millis(); +} + +// status + +void fillBar(uint32_t color, float fraction) { + const int length = constrain((int)ceil(fraction * LEDS_DASH_LENGTH), 1, LEDS_DASH_LENGTH); + ledsDash.fill(color, 0, length); +} + +void renderStatus(unsigned long now) { + ledsDash.fill(COLOR_DIM); + + const bool blink = (now / 250) % 2 == 0; + + if (state == STATE_IDLE && recordedBytes == 0) { + ledsDash.fill(COLOR_EMPTY); + } else if (state == STATE_IDLE) { + fillBar(COLOR_STORED, (float)recordedBytes / STORAGE_SIZE); + } else if (state == STATE_ERASING) { + fillBar(COLOR_ERASING, (float)(sectorsErased + 1) / STORAGE_SECTOR_COUNT); + } else if (state == STATE_RECORDING) { + fillBar(COLOR_RECORDING, (float)(storageAddress - STORAGE_START) / STORAGE_SIZE); + + if (blink) { + ledsDash.setPixelColor(LEDS_DASH_LENGTH - 1, COLOR_RECORDING); + } + } else if (state == STATE_DUMPING) { + ledsDash.fill(COLOR_DUMPING); + } else if (state == STATE_ERROR) { + ledsDash.fill(blink ? COLOR_ERROR : COLOR_OFF); + } else { + ledsDash.fill(COLOR_OFF); + } + + if (state != STATE_OFF && now < markerFlashUntil) { + ledsDash.fill(COLOR_WHITE); + } + + ledsDash.show(); + + bool onboard = false; + + if (state == STATE_RECORDING && now < markerFlashUntil) { + onboard = (now / 25) % 2 == 0; + } else if (state == STATE_ERASING) { + onboard = (now / 50) % 2 == 0; + } else if (state == STATE_RECORDING) { + onboard = (now / 500) % 2 == 0; + } else if (state == STATE_DUMPING) { + onboard = true; + } else if (state == STATE_ERROR) { + onboard = (now / 100) % 2 == 0; + } + + digitalWrite(LED_BUILTIN, onboard ? LED_ON : LED_OFF); +} + +void setup() { + pinMode(LED_BUILTIN, OUTPUT); + pinMode(PIN_ALIVE, OUTPUT); + pinMode(PIN_BUCK, OUTPUT); + + pinMode(PIN_PEDAL, INPUT_PULLUP); + pinMode(PIN_PEDAL_FORWARD, INPUT_PULLUP); + pinMode(PIN_PEDAL_REVERSE, INPUT_PULLUP); + + digitalWrite(PIN_ALIVE, HIGH); + digitalWrite(PIN_BUCK, BUCK_ON); + + buttonMode.begin(); + buttonLeft.begin(); + buttonRight.begin(); + + Serial.begin(9600); + + // the other strips aren't used, make sure they don't keep showing whatever ran before + for (Adafruit_NeoPixel* leds : {&ledsTail, &ledsHeadLeft, &ledsHeadRight}) { + leds->begin(); + leds->clear(); + leds->show(); + } + + ledsDash.setBrightness(LEDS_DASH_BRIGHTNESS); + ledsDash.begin(); + + // setSCL/SDA have to be called before begin() + Wire.setSCL(PIN_IMU_SCL); + Wire.setSDA(PIN_IMU_SDA); + Wire.begin(); + Wire.setClock(400000); + + connectImu(); + + recordedBytes = findRecordedBytes(); + lastActivity = millis(); + + if (programEnd() > STORAGE_START) { + state = STATE_ERROR; + errorReason = "PROGRAM OVERLAPS STORAGE"; + } else if (imuAddress == 0) { + state = STATE_ERROR; + errorReason = "IMU NOT FOUND"; + } +} + +void loop() { + const unsigned long now = millis(); + + if (state == STATE_OFF && (buttonMode.pressed() || buttonLeft.pressed() || buttonRight.pressed())) { + restart(); + } else if (state != STATE_OFF) { + if (buttonMode.pressed()) { + modePressed = true; + modePressStart = now; + lastActivity = now; + } + + // act on release, so a long press for shutdown doesn't toggle recording first + if (buttonMode.released() && modePressed) { + modePressed = false; + + if (state == STATE_RECORDING) { + stopRecording(); + } else { + startRecording(); + } + } + + if (modePressed && now - modePressStart > SHUTDOWN_HOLD) { + modePressed = false; + shutdown(); + } + + if (buttonLeft.pressed()) { + lastActivity = now; + + if (state == STATE_RECORDING) { + recordMarker(1); + } + } + + if (buttonRight.pressed()) { + lastActivity = now; + + if (state == STATE_RECORDING) { + recordMarker(2); + } + } + } + + handleSerial(); + + if (state == STATE_RECORDING) { + if (now - lastFifoRead >= FIFO_INTERVAL) { + lastFifoRead = now; + readFifo(); + } + + if (magFound && now - lastMagRead >= MAG_INTERVAL) { + lastMagRead = now; + readMag(); + } + + recordInputs(); + + if (storageFull) { + stopRecording(); + } + } + + if (now - lastStatus >= STATUS_INTERVAL) { + lastStatus = now; + renderStatus(now); + } + + if (state != STATE_RECORDING && state != STATE_OFF && now - lastActivity > IDLE_TIMEOUT) { + shutdown(); + } +} diff --git a/CrashRecorder/sketch.yaml b/CrashRecorder/sketch.yaml new file mode 100644 index 0000000..f37aa76 --- /dev/null +++ b/CrashRecorder/sketch.yaml @@ -0,0 +1 @@ +default_fqbn: STMicroelectronics:stm32:GenF4:pnum=BLACKPILL_F411CE,xserial=generic,usb=CDCgen,xusb=FS,opt=osstd,dbg=none,rtlib=nano,upload_method=swdMethod diff --git a/QuadLightsV3.ino b/QuadLightsV3.ino index f6ea7a3..15c62d1 100644 --- a/QuadLightsV3.ino +++ b/QuadLightsV3.ino @@ -1,8 +1,14 @@ #include #include +#include + +// without USB CDC, Serial falls back to USART1 on PA9/PA10, hijacking the mode and right buttons +#ifndef USBD_USE_CDC +#error "Set Tools > USB support to CDC (generic 'Serial' supersede U(S)ART)" +#endif constexpr bool KEEPALIVE_ENABLE = true; -constexpr int KEEPALIVE_TIMEOUT = 30000; // ms +constexpr int KEEPALIVE_TIMEOUT = 45000; // ms constexpr int LEDS_TAIL_PIN = PA6; constexpr int LEDS_TAIL_LENGTH = 10; @@ -26,7 +32,7 @@ constexpr int LEDS_HEAD_LENGTH = LEDS_TOP_LENGTH + LEDS_BOTTOM_LENGTH + LEDS_RIN constexpr int LEDS_HEAD_BRIGHTNESS = 200; constexpr int LEDS_DASH_PIN = PB0; -constexpr int LEDS_DASH_LENGTH = 10; +constexpr int LEDS_DASH_LENGTH = 2; constexpr int LEDS_DASH_BRIGHTNESS = 255; constexpr int PIN_ALIVE = PA2; @@ -40,6 +46,102 @@ constexpr int PIN_BUTTON_MODE = PA9; constexpr int PIN_BUTTON_LEFT = PA8; constexpr int PIN_BUTTON_RIGHT = PA10; +constexpr int PIN_IMU_SCL = PB6; +constexpr int PIN_IMU_SDA = PB7; +constexpr unsigned long IMU_RETRY_INTERVAL = 250; // ms, after a supply dip the IMU is usually back quickly +constexpr unsigned long IMU_RESET_TIME = 110; // ms, the IMU needs ~100ms after a reset before it takes configuration + +// MPU9250/9255, configured like CrashRecorder but only buffering the accelerometer +constexpr uint8_t IMU_ADDRESSES[] = {0x68, 0x69}; // AD0 low, AD0 high +constexpr uint8_t IMU_REG_SMPLRT_DIV = 0x19; +constexpr uint8_t IMU_REG_CONFIG = 0x1A; +constexpr uint8_t IMU_REG_ACCEL_CONFIG = 0x1C; +constexpr uint8_t IMU_REG_ACCEL_CONFIG2 = 0x1D; +constexpr uint8_t IMU_REG_FIFO_EN = 0x23; +constexpr uint8_t IMU_REG_INT_ENABLE = 0x38; +constexpr uint8_t IMU_REG_INT_STATUS = 0x3A; +constexpr uint8_t IMU_REG_ACCEL_XOUT_H = 0x3B; +constexpr uint8_t IMU_REG_USER_CTRL = 0x6A; +constexpr uint8_t IMU_REG_PWR_MGMT_1 = 0x6B; +constexpr uint8_t IMU_REG_FIFO_COUNT_H = 0x72; +constexpr uint8_t IMU_REG_FIFO_R_W = 0x74; +constexpr uint8_t IMU_REG_WHO_AM_I = 0x75; + +constexpr uint8_t IMU_FIFO_EN_ACCEL = 0x08; +constexpr uint8_t IMU_USER_CTRL_FIFO_EN = 0x40; +constexpr uint8_t IMU_USER_CTRL_FIFO_RST = 0x04; +constexpr uint8_t IMU_INT_FIFO_OFLOW = 0x10; +constexpr uint8_t IMU_DLPF_184HZ = 0x01; +constexpr uint8_t IMU_ACCEL_16G = 0x18; +constexpr float ACCEL_LSB_PER_G = 2048; + +constexpr int IMU_SAMPLE_RATE = 500; // Hz +constexpr int FIFO_SIZE = 512; +constexpr int FIFO_SAMPLE_SIZE = 6; // accel xyz, big-endian +constexpr int FIFO_READ_BATCH = 5; // samples per I2C read, stays within the 32 byte Wire buffer +constexpr unsigned long FIFO_INTERVAL = 10; // ms, the fifo holds ~170ms at 500Hz +constexpr unsigned long IMU_HEALTH_INTERVAL = 1000; // ms +constexpr float IMU_MISALIGNED_DIFFERENCE = 0.5; // g between the fifo stream and a direct read, a shifted stream is ~1.5g off +constexpr int IMU_MISALIGNED_CHECKS = 2; // in a row, so a single check during a crash doesn't count + +/* crash detection, from the CrashRecorder recordings of 2026-10-21 (recordings/, tools/crash_dump.py) + +speed lost against the direction of travel within 100ms: + normal stops <= 0.19 m/s, handling by hand <= 0.25 m/s (parked, so not armed) + wall hits 0.58 - 1.07 m/s, driving off a threshold into the doorframe 0.51 m/s + +the sensor is mounted on its side with +z pointing backward, its offset is removed by the gravity baseline +*/ +constexpr float CRASH_SPEED_LOSS = 0.6; // m/s, only proper hits, 0.35-0.45 also triggered on grazes and lighter bumps +constexpr float CRASH_LOG_SPEED_LOSS = 0.2; // m/s, anything above is logged to help tune the threshold +constexpr int CRASH_WINDOW = 50; // samples, 100ms +constexpr unsigned long CRASH_ARMED_AFTER_RELEASE = 1500; // ms, impacts happen with the pedal still down or just released +constexpr unsigned long CRASH_HAZARD_DURATION = 5000; // ms +constexpr float GRAVITY_BASELINE_TIME = 2.0; // s, follows gravity leaking into the forward axis on slopes +constexpr float STANDARD_GRAVITY = 9.81; // m/s2 + +// per-sensor calibration from the tilt test of 2026-10-21, keep in sync with tools/crash_dump.py +constexpr float ACCEL_OFFSET_X = 0.490; // g, sensor axes +constexpr float ACCEL_OFFSET_Y = -0.277; +constexpr float ACCEL_OFFSET_Z = -0.004; +constexpr float FLAT_FORWARD = -0.060; // g, gravity in the vehicle frame when standing flat +constexpr float FLAT_LEFT = -0.019; +constexpr float FLAT_UP = 0.996; + +constexpr unsigned long STARTUP_SWEEP = 500; // ms, the headlight edges sweep on before the normal lights +constexpr unsigned long STARTUP_RING_DELAY = 200; // ms from the start, STARTUP_SWEEP waits for the sweep to complete +constexpr unsigned long STARTUP_RING_FADE = 300; // ms +constexpr unsigned long STARTUP_DURATION = STARTUP_RING_DELAY + STARTUP_RING_FADE > STARTUP_SWEEP + ? STARTUP_RING_DELAY + STARTUP_RING_FADE + : STARTUP_SWEEP; +// the top and bottom edge rows start side by side in the same corner, so the first LEDs light up as a bright pair +// they start dimmer, the first at STARTUP_CORNER_LEVEL rising to full over STARTUP_CORNER_LEDS, all full when the sweep completes +constexpr int STARTUP_CORNER_LEDS = 4; +constexpr float STARTUP_CORNER_LEVEL = 0; + +// scrambled lights while tilted, an easter egg +constexpr float SCRAMBLE_TILT = 20; // degrees from flat to start +constexpr float SCRAMBLE_TILT_END = 8; // degrees, lower so it doesn't flicker around the threshold +constexpr unsigned long SCRAMBLE_HOLD = 300; // ms above SCRAMBLE_TILT before it starts +constexpr float TILT_FILTER_TIME = 1.0; // s, the motor pulling the quad forward reads like tilt but doesn't last +constexpr int SCRAMBLE_FRAMES = 4; // between changes, at full frame rate it would blur into white +constexpr int SCRAMBLE_CHANGE_PERCENT = 35; // of the pixels changed each time + +// the dash shows what crash detection sees, for testing without serial, replacing its normal use +// first pixel white: debug mode is on +// second pixel, by priority: red: IMU problem (read failed, overflow, reconfigured, not found), yellow flash: near miss, +// blue: armed and travelling backward (only expected in reverse), green: armed, off: not armed +constexpr bool DEBUG_DASH = false; + +// temporary, for testing by pushing the quad into a wall without the motor: +// detects in both directions without the pedal, and disables the keepalive timeout (hold mode to power off) +constexpr bool DEBUG_CRASH_WITHOUT_PEDAL = false; + +// temporary, logs a status line every IMU_HEALTH_INTERVAL to find crash detection dropouts from the log alone +constexpr bool DEBUG_IMU_LOG = false; +constexpr unsigned long DEBUG_NEAR_MISS_DURATION = 500; // ms +constexpr unsigned long DEBUG_IMU_PROBLEM_DURATION = 3000; // ms + constexpr int LED_ON = LOW; constexpr int LED_OFF = HIGH; @@ -69,14 +171,17 @@ enum Direction { LEFT, RIGHT }; enum Mode { MODE_HEAD, - MODE_HAZARD, MODE_POLICE, MODE_RAINBOW, MODE_KITT, + MODE_HAZARD, MODE_COUNT, }; Mode activeMode = MODE_HEAD; + +// polling stops as soon as the IMU fails, every I2C call to a missing IMU blocks the loop for up to 100ms +enum ImuState { IMU_MISSING, IMU_STARTING, IMU_RUNNING }; // Mode activeMode = MODE_KITT; uint32_t colorHSV(float hue, float sat = 1.0, float val = 1.0) { @@ -95,6 +200,7 @@ const uint32_t COLOR_AMBER = colorHSV(10); // easier value fade const uint32_t COLOR_POLICE_BLUE = ledsTail.Color(0, 0, 255, 0); const uint32_t COLOR_POLICE_RED = ledsTail.Color(255, 0, 0, 0); const uint32_t COLOR_GREEN = ledsTail.Color(0, 255, 0, 0); +const uint32_t COLOR_YELLOW = ledsTail.Color(255, 150, 0, 0); unsigned long animationFrame = 0; unsigned long stableAnimationFrame = 0; @@ -112,6 +218,396 @@ unsigned long indicatorRightStart = 0; bool indicatorLeftActive = false; bool indicatorRightActive = false; +ImuState imuState = IMU_MISSING; +unsigned long imuStateSince = 0; +bool imuMissingReported = false; // only the first failure of an outage is logged +uint8_t imuAddress = 0; +uint8_t imuWhoAmI = 0; +unsigned long lastFifoRead = 0; +unsigned long lastImuHealth = 0; +unsigned long imuSamples = 0; // since the last health check +unsigned long lastImuProblem = 0; // 0 when none yet +unsigned long lastNearMiss = 0; +int16_t lastFifoSample[3] = {}; // raw accel xyz +int imuMisalignedChecks = 0; +float debugSpeedChangeMin = 0; // since the last health check +float debugSpeedChangeMax = 0; + +unsigned long startupStart = 0; +bool shuttingDown = false; +unsigned long shutdownStart = 0; + +bool travellingBackward = false; // last direction while the pedal was down +bool crashHazardActive = false; +unsigned long crashHazardStart = 0; + +float gravityBaseline = 0; +bool gravityBaselineReady = false; + +float tiltForward = 0; // g, filtered gravity in the vehicle frame +float tiltLeft = 0; +float tiltUp = 0; +bool tiltReady = false; + +bool scrambleActive = false; +bool scrambleTilted = false; // above SCRAMBLE_TILT, waiting for SCRAMBLE_HOLD +unsigned long scrambleTiltedSince = 0; +uint32_t scrambleHeadLeft[LEDS_HEAD_LENGTH]; +uint32_t scrambleHeadRight[LEDS_HEAD_LENGTH]; +uint32_t scrambleTail[LEDS_TAIL_LENGTH]; +uint32_t scrambleDash[LEDS_DASH_LENGTH]; +float crashWindow[CRASH_WINDOW] = {}; +float crashWindowSum = 0; +int crashWindowIndex = 0; +float crashEventPeak = 0; // largest speed loss of the current event above CRASH_LOG_SPEED_LOSS +bool crashEventTriggered = false; + +void writeRegister(uint8_t reg, uint8_t value) { + Wire.beginTransmission(imuAddress); + Wire.write(reg); + Wire.write(value); + Wire.endTransmission(); +} + +bool readRegisters(uint8_t address, uint8_t reg, uint8_t* buffer, uint8_t length) { + Wire.beginTransmission(address); + Wire.write(reg); + + if (Wire.endTransmission(false) != 0 || Wire.requestFrom(address, length) != length) { + return false; + } + + for (int i = 0; i < length; i++) { + buffer[i] = Wire.read(); + } + + return true; +} + +uint8_t readRegister(uint8_t reg) { + uint8_t value = 0; + readRegisters(imuAddress, reg, &value, 1); + + return value; +} + +void reportImuProblem(const char* message) { + Serial.println(message); + lastImuProblem = max(millis(), 1ul); +} + +void startFifo() { + writeRegister(IMU_REG_FIFO_EN, 0); + writeRegister(IMU_REG_USER_CTRL, IMU_USER_CTRL_FIFO_RST); + readRegister(IMU_REG_INT_STATUS); // clears a stale overflow flag + writeRegister(IMU_REG_USER_CTRL, IMU_USER_CTRL_FIFO_EN); + writeRegister(IMU_REG_FIFO_EN, IMU_FIFO_EN_ACCEL); +} + +void beginWire() { + // setSCL/SDA have to be called before begin() + Wire.setSCL(PIN_IMU_SCL); + Wire.setSDA(PIN_IMU_SDA); + Wire.begin(); + Wire.setClock(400000); +} + +// the IMU can reset halfway through a transfer, likely browning out when the motor stalls against a wall, and keep +// holding SDA low, which blocks the bus until power is cut. clocking SCL until it lets go and sending a STOP frees it, +// restarting Wire also clears the I2C peripheral if it got stuck busy +void recoverWire() { + constexpr int PULSE = 5; // us, ~100kHz + constexpr int MAX_CLOCKS = 16; + + Wire.end(); + + pinMode(PIN_IMU_SDA, INPUT_PULLUP); + pinMode(PIN_IMU_SCL, OUTPUT_OPEN_DRAIN); + digitalWrite(PIN_IMU_SCL, HIGH); + delayMicroseconds(PULSE); + + for (int clock = 0; clock < MAX_CLOCKS && digitalRead(PIN_IMU_SDA) == LOW; clock++) { + digitalWrite(PIN_IMU_SCL, LOW); + delayMicroseconds(PULSE); + digitalWrite(PIN_IMU_SCL, HIGH); + delayMicroseconds(PULSE); + } + + // STOP: SDA rising while SCL is high + pinMode(PIN_IMU_SDA, OUTPUT_OPEN_DRAIN); + digitalWrite(PIN_IMU_SDA, LOW); + delayMicroseconds(PULSE); + digitalWrite(PIN_IMU_SDA, HIGH); + delayMicroseconds(PULSE); + + beginWire(); +} + +void setImuState(ImuState state, unsigned long now) { + imuState = state; + imuStateSince = now; +} + +// stops polling until the next reconnect, retrying a failing IMU would only block the loop on I2C timeouts +void imuFailed(const char* message, unsigned long now) { + if (!imuMissingReported) { + reportImuProblem(message); + imuMissingReported = true; + } + + setImuState(IMU_MISSING, now); +} + +// first half of connecting, configureImu() finishes after IMU_RESET_TIME without blocking the loop +void connectImu(unsigned long now, bool recover = true) { + if (recover) { + recoverWire(); + } + + imuAddress = 0; + + for (const uint8_t address : IMU_ADDRESSES) { + if (readRegisters(address, IMU_REG_WHO_AM_I, &imuWhoAmI, 1)) { + imuAddress = address; + break; + } + } + + if (imuAddress == 0) { + imuFailed("IMU NOT FOUND ON PB6/PB7, CRASH DETECTION DISABLED UNTIL IT IS BACK", now); + return; + } + + writeRegister(IMU_REG_PWR_MGMT_1, 0x80); // reset + setImuState(IMU_STARTING, now); +} + +void configureImu(unsigned long now) { + writeRegister(IMU_REG_PWR_MGMT_1, 0x01); // gyro PLL clock + writeRegister(IMU_REG_CONFIG, IMU_DLPF_184HZ); + writeRegister(IMU_REG_SMPLRT_DIV, 1000 / IMU_SAMPLE_RATE - 1); + writeRegister(IMU_REG_ACCEL_CONFIG, IMU_ACCEL_16G); + writeRegister(IMU_REG_ACCEL_CONFIG2, IMU_DLPF_184HZ); + writeRegister(IMU_REG_INT_ENABLE, IMU_INT_FIFO_OFLOW); + + startFifo(); + resetCrashMeasure(); + + imuSamples = 0; + lastImuHealth = now; + imuMissingReported = false; + setImuState(IMU_RUNNING, now); + + Serial.print("IMU FOUND AT 0x"); + Serial.print(imuAddress, HEX); + Serial.print(", WHO_AM_I 0x"); + Serial.println(imuWhoAmI, HEX); +} + +// the baseline and window follow whatever the stream delivered, start over after the stream was wrong +void resetCrashMeasure() { + gravityBaselineReady = false; + tiltReady = false; + crashWindowSum = 0; + crashWindowIndex = 0; + + for (float& value : crashWindow) { + value = 0; + } +} + +// recovers from the IMU resetting itself, e.g. after a supply dip, which would otherwise disable crash detection silently +void checkImuHealth(unsigned long now) { + uint8_t accelConfig = 0; + uint8_t fifoEnabled = 0; + + if (!readRegisters(imuAddress, IMU_REG_ACCEL_CONFIG, &accelConfig, 1) || !readRegisters(imuAddress, IMU_REG_FIFO_EN, &fifoEnabled, 1)) { + imuFailed("IMU NOT RESPONDING, RECONNECTING", now); + return; + } + + const unsigned long samples = imuSamples; + + if (accelConfig != IMU_ACCEL_16G || fifoEnabled != IMU_FIFO_EN_ACCEL) { + imuFailed("IMU LOST ITS CONFIGURATION, RECONNECTING", now); + return; + } + + if (imuSamples == 0) { + imuFailed("IMU STOPPED SENDING SAMPLES, RECONNECTING", now); + return; + } + + imuSamples = 0; + float streamDifference = -1; // g, largest axis difference, -1 when the direct read failed + + // a byte lost without a read error shifts the stream onto another axis, which still looks sane but never shows a crash + // a shift by either one or two axes moves the vertical axis (~1.5g with its offset) where it doesn't belong + uint8_t direct[6]; + + if (readRegisters(imuAddress, IMU_REG_ACCEL_XOUT_H, direct, 6)) { + bool misaligned = false; + + for (int axis = 0; axis < 3; axis++) { + const int16_t directValue = (int16_t)(direct[axis * 2] << 8 | direct[axis * 2 + 1]); + const float difference = abs(directValue - lastFifoSample[axis]) / ACCEL_LSB_PER_G; + + streamDifference = max(streamDifference, difference); + misaligned |= difference > IMU_MISALIGNED_DIFFERENCE; + } + + imuMisalignedChecks = misaligned ? imuMisalignedChecks + 1 : 0; + + if (imuMisalignedChecks >= IMU_MISALIGNED_CHECKS) { + reportImuProblem("IMU FIFO MISALIGNED, RESET"); + startFifo(); + resetCrashMeasure(); + imuMisalignedChecks = 0; + } + } + + if (DEBUG_IMU_LOG) { + Serial.print("IMU "); + Serial.print(samples); + Serial.print(" SAMPLES, BASELINE "); + Serial.print(gravityBaseline, 2); + Serial.print(" G, SPEED CHANGE "); + Serial.print(debugSpeedChangeMin, 2); + Serial.print(" / "); + Serial.print(debugSpeedChangeMax, 2); + Serial.print(" M/S, STREAM VS DIRECT "); + Serial.print(streamDifference, 2); + Serial.println(" G"); + } + + debugSpeedChangeMin = 0; + debugSpeedChangeMax = 0; +} + +void triggerCrash(unsigned long now) { + crashHazardActive = true; + crashHazardStart = now; + animationFrame = 0; // start the hazard sweep cleanly + + Serial.println("CRASH DETECTED, HAZARD ON"); +} + +bool isCrashArmed(unsigned long now) { + return DEBUG_CRASH_WITHOUT_PEDAL + || pedal.read() == Button::PRESSED + || (lastPedalRelease > 0 && now - lastPedalRelease < CRASH_ARMED_AFTER_RELEASE); +} + +void processImuSample(const uint8_t* sample, unsigned long now) { + imuSamples++; + + for (int axis = 0; axis < 3; axis++) { + lastFifoSample[axis] = (int16_t)(sample[axis * 2] << 8 | sample[axis * 2 + 1]); + } + + // mounted on its side: +x up, +y left, +z backward + const float sampleForward = -(lastFifoSample[2] / ACCEL_LSB_PER_G - ACCEL_OFFSET_Z); + const float sampleLeft = lastFifoSample[1] / ACCEL_LSB_PER_G - ACCEL_OFFSET_Y; + const float sampleUp = lastFifoSample[0] / ACCEL_LSB_PER_G - ACCEL_OFFSET_X; + + if (!tiltReady) { + tiltForward = sampleForward; + tiltLeft = sampleLeft; + tiltUp = sampleUp; + tiltReady = true; + } + + tiltForward += (sampleForward - tiltForward) / (TILT_FILTER_TIME * IMU_SAMPLE_RATE); + tiltLeft += (sampleLeft - tiltLeft) / (TILT_FILTER_TIME * IMU_SAMPLE_RATE); + tiltUp += (sampleUp - tiltUp) / (TILT_FILTER_TIME * IMU_SAMPLE_RATE); + + const int16_t rawZ = lastFifoSample[2]; + const float forward = -rawZ / ACCEL_LSB_PER_G; + + if (!gravityBaselineReady) { + gravityBaseline = forward; + gravityBaselineReady = true; + } + + gravityBaseline += (forward - gravityBaseline) / (GRAVITY_BASELINE_TIME * IMU_SAMPLE_RATE); + + crashWindowSum += forward - gravityBaseline - crashWindow[crashWindowIndex]; + crashWindow[crashWindowIndex] = forward - gravityBaseline; + crashWindowIndex = (crashWindowIndex + 1) % CRASH_WINDOW; + + // recompute every window so float rounding can't accumulate + if (crashWindowIndex == 0) { + crashWindowSum = 0; + + for (const float value : crashWindow) { + crashWindowSum += value; + } + } + + const float speedChange = crashWindowSum / IMU_SAMPLE_RATE * STANDARD_GRAVITY; // m/s gained forward within the window + + debugSpeedChangeMin = min(debugSpeedChangeMin, speedChange); + debugSpeedChangeMax = max(debugSpeedChangeMax, speedChange); + const float speedLoss = DEBUG_CRASH_WITHOUT_PEDAL + ? fabsf(speedChange) + : travellingBackward ? speedChange : -speedChange; + + if (isCrashArmed(now) && speedLoss > CRASH_LOG_SPEED_LOSS) { + crashEventPeak = max(crashEventPeak, speedLoss); + + if (speedLoss >= CRASH_SPEED_LOSS && !crashEventTriggered) { + crashEventTriggered = true; + triggerCrash(now); + } + } else if (crashEventPeak > 0) { + Serial.print(crashEventTriggered ? "CRASH " : "NEAR MISS "); + Serial.print(crashEventPeak, 2); + Serial.println(travellingBackward ? " M/S LOST REVERSING" : " M/S LOST"); + + if (!crashEventTriggered) { + lastNearMiss = now; + } + + crashEventPeak = 0; + crashEventTriggered = false; + } +} + +void readFifo(unsigned long now) { + uint8_t status = 0; + uint8_t countBytes[2] = {0, 0}; + + if (!readRegisters(imuAddress, IMU_REG_INT_STATUS, &status, 1) || !readRegisters(imuAddress, IMU_REG_FIFO_COUNT_H, countBytes, 2)) { + imuFailed("IMU NOT RESPONDING, RECONNECTING", now); + return; + } + + const int count = (countBytes[0] & 0x1F) << 8 | countBytes[1]; + + // once full, new samples overwrite the oldest and the stream loses alignment + if (status & IMU_INT_FIFO_OFLOW || count > FIFO_SIZE - FIFO_SAMPLE_SIZE) { + reportImuProblem("IMU FIFO OVERFLOW, RESET"); + startFifo(); + return; + } + + uint8_t buffer[FIFO_SAMPLE_SIZE * FIFO_READ_BATCH]; + + for (int samples = count / FIFO_SAMPLE_SIZE; samples > 0; samples -= FIFO_READ_BATCH) { + const int batch = min(samples, FIFO_READ_BATCH); + + // a partial read leaves the fifo misaligned, which silently shifts every following sample to another axis + if (!readRegisters(imuAddress, IMU_REG_FIFO_R_W, buffer, batch * FIFO_SAMPLE_SIZE)) { + imuFailed("IMU READ FAILED, RECONNECTING", now); + return; + } + + for (int i = 0; i < batch; i++) { + processImuSample(buffer + i * FIFO_SAMPLE_SIZE, now); + } + } +} + void setup() { // initialize digital pin LED_BUILTIN as an output. pinMode(LED_BUILTIN, OUTPUT); @@ -150,11 +646,17 @@ void setup() { buttonRight.begin(); Serial.begin(9600); + randomSeed(micros() ^ HAL_GetUIDw0() ^ HAL_GetUIDw1()); + + beginWire(); + connectImu(millis(), false); ledsTail.clear(); ledsHeadLeft.clear(); ledsHeadRight.clear(); ledsDash.clear(); + + startupStart = millis(); } void animateHeadlights() { @@ -201,6 +703,14 @@ constexpr int INDICATOR_HOLD_FRAMES = 15; constexpr int INDICATOR_OFF_FRAMES = 20; constexpr float INDICATOR_SPEED = 2; +// shutdown blinks like locking a car with the key fob, on, off and on again, timed like a normal indicator blink +// the second blink stays on and fades out with everything else +constexpr unsigned long SHUTDOWN_BLINK_ON = (LEDS_TOP_LENGTH + INDICATOR_HOLD_FRAMES) / INDICATOR_SPEED * ANIMATION_INTERVAL; // ms, sweep and hold +constexpr unsigned long SHUTDOWN_BLINK_CYCLE = (LEDS_EDGE_LENGTH + INDICATOR_HOLD_FRAMES + INDICATOR_OFF_FRAMES) / INDICATOR_SPEED * ANIMATION_INTERVAL; // ms +constexpr unsigned long SHUTDOWN_FADE = 500; // ms +constexpr unsigned long SHUTDOWN_FADE_START = SHUTDOWN_BLINK_CYCLE + SHUTDOWN_BLINK_ON; +constexpr unsigned long SHUTDOWN_DURATION = SHUTDOWN_FADE_START + SHUTDOWN_FADE; + void animateIndicator(Direction direction) { Adafruit_NeoPixel& ledsTarget = direction == LEFT ? ledsHeadLeft @@ -440,7 +950,207 @@ void animateKitt() { ledsDash.setPixelColor(1, colorHSV(0, 1, 1.0 - t)); } +void animateDebugDash(unsigned long now) { + uint32_t status = COLOR_OFF; + + if (lastImuProblem > 0 && now - lastImuProblem < DEBUG_IMU_PROBLEM_DURATION) { + status = COLOR_RED; + } else if (lastNearMiss > 0 && now - lastNearMiss < DEBUG_NEAR_MISS_DURATION) { + status = COLOR_YELLOW; + } else if (isCrashArmed(now)) { + status = travellingBackward ? COLOR_POLICE_BLUE : COLOR_GREEN; + } + + ledsDash.setPixelColor(0, COLOR_WHITE); + ledsDash.setPixelColor(1, status); +} + +// degrees between gravity now and gravity when standing flat, 0 without the IMU +float tiltAngle() { + if (!tiltReady || imuState != IMU_RUNNING) { + return 0; + } + + const float dot = tiltForward * FLAT_FORWARD + tiltLeft * FLAT_LEFT + tiltUp * FLAT_UP; + const float lengths = sqrtf(tiltForward * tiltForward + tiltLeft * tiltLeft + tiltUp * tiltUp) + * sqrtf(FLAT_FORWARD * FLAT_FORWARD + FLAT_LEFT * FLAT_LEFT + FLAT_UP * FLAT_UP); + + if (lengths == 0) { + return 0; + } + + return degrees(acosf(constrain(dot / lengths, -1.0f, 1.0f))); +} + +void updateScramble(unsigned long now) { + const float tilt = tiltAngle(); + + if (scrambleActive) { + if (tilt < SCRAMBLE_TILT_END) { + scrambleActive = false; + Serial.println("LEVEL AGAIN, UNSCRAMBLED"); + } + + return; + } + + if (tilt <= SCRAMBLE_TILT) { + scrambleTilted = false; + } else if (!scrambleTilted) { + scrambleTilted = true; + scrambleTiltedSince = now; + } else if (now - scrambleTiltedSince >= SCRAMBLE_HOLD) { + scrambleActive = true; + scrambleTilted = false; + + Serial.print("TILTED "); + Serial.print(tilt, 0); + Serial.println(" DEGREES, SCRAMBLED"); + } +} + +// saturated and far apart on the colour wheel, random hues and brightness blended into pastel +const float SCRAMBLE_HUES[] = {0, 60, 120, 180, 240, 300}; + +void scramblePixels(uint32_t* pixels, int length, bool all) { + if (all) { + for (int i = 0; i < length; i++) { + pixels[i] = COLOR_OFF; + } + } + + for (int i = 0; i < length; i++) { + if (!all && random(100) >= SCRAMBLE_CHANGE_PERCENT) { + continue; + } + + // lit pixels always get a dark neighbour, so the colours don't blend + const bool neighbourLit = (i > 0 && pixels[i - 1] != COLOR_OFF) + || (i < length - 1 && pixels[i + 1] != COLOR_OFF); + + pixels[i] = neighbourLit || random(2) == 0 + ? COLOR_OFF + : colorHSV(SCRAMBLE_HUES[random(sizeof(SCRAMBLE_HUES) / sizeof(SCRAMBLE_HUES[0]))]); + } +} + +void drawPixels(Adafruit_NeoPixel& leds, const uint32_t* pixels, int length) { + for (int i = 0; i < length; i++) { + leds.setPixelColor(i, pixels[i]); + } +} + +void animateScramble(bool start) { + if (start || stableAnimationFrame % SCRAMBLE_FRAMES == 0) { + scramblePixels(scrambleHeadLeft, LEDS_HEAD_LENGTH, start); + scramblePixels(scrambleHeadRight, LEDS_HEAD_LENGTH, start); + scramblePixels(scrambleTail, LEDS_TAIL_LENGTH, start); + scramblePixels(scrambleDash, LEDS_DASH_LENGTH, start); + } + + drawPixels(ledsHeadLeft, scrambleHeadLeft, LEDS_HEAD_LENGTH); + drawPixels(ledsHeadRight, scrambleHeadRight, LEDS_HEAD_LENGTH); + drawPixels(ledsTail, scrambleTail, LEDS_TAIL_LENGTH); + drawPixels(ledsDash, scrambleDash, LEDS_DASH_LENGTH); +} + +// LED output looks much brighter than its level at the dark end, a linear fade seems done halfway through +float perceived(float level) { + return Adafruit_NeoPixel::gamma8(level * 255) / 255.0f; +} + +// edges sweep on in the same direction as the indicator sweep, the leading LED fading in so it moves smoothly, and the +// tail light sweeps from the centre outward and the dash fades in over the whole startup, the rings fade in from STARTUP_RING_DELAY +void animateStartup(unsigned long now) { + const unsigned long elapsed = now - startupStart; + const float progress = min(1.0f, (float)elapsed / STARTUP_SWEEP); + const float ringLevel = elapsed < STARTUP_RING_DELAY ? 0 : min(1.0f, (float)(elapsed - STARTUP_RING_DELAY) / STARTUP_RING_FADE); + const uint32_t ringColor = ledsHeadLeft.Color(0, 0, 0, 255 * perceived(ringLevel)); + + // the tail and dash span the whole startup, so they finish when the normal lights take over + const float durationProgress = min(1.0f, (float)elapsed / STARTUP_DURATION); + + constexpr int TAIL_PAIRS = (LEDS_TAIL_LENGTH - LEDS_TAIL_SIDE_LENGTH * 2) / 2; + + ledsTail.clear(); + + for (int ledIndex = LEDS_TAIL_SIDE_LENGTH; ledIndex < LEDS_TAIL_LENGTH - LEDS_TAIL_SIDE_LENGTH; ledIndex++) { + const int pair = abs(ledIndex * 2 - (LEDS_TAIL_LENGTH - 1)) / 2; // 0 in the centre + const float level = constrain(durationProgress * TAIL_PAIRS - pair, 0.0f, 1.0f); + + ledsTail.setPixelColor(ledIndex, ledsTail.Color(255 * perceived(level), 0, 0, 0)); + } + + ledsDash.fill(ledsDash.Color(0, 255 * perceived(durationProgress), 0, 0)); + + for (Adafruit_NeoPixel* leds : {&ledsHeadLeft, &ledsHeadRight}) { + leds->clear(); + leds->fill(ringColor, LEDS_EDGE_LENGTH, LEDS_RING_LENGTH); + + for (int ledIndex = LEDS_TOP_LENGTH - 1; ledIndex >= 0; ledIndex--) { + const int position = LEDS_TOP_LENGTH - 1 - ledIndex; // 0 is reached first + const float sweepLevel = constrain(progress * LEDS_TOP_LENGTH - position, 0.0f, 1.0f); + + const float cornerStart = position < STARTUP_CORNER_LEDS + ? STARTUP_CORNER_LEVEL + (1 - STARTUP_CORNER_LEVEL) * position / STARTUP_CORNER_LEDS + : 1; + const float cornerLevel = cornerStart + (1 - cornerStart) * progress; + + const uint32_t color = leds->Color(0, 0, 0, 255 * perceived(sweepLevel * cornerLevel)); + + leds->setPixelColor(ledIndex, color); + + if (ledIndex > 0) { + leds->setPixelColor(LEDS_EDGE_LENGTH - ledIndex, color); + } + } + } +} + +void fadeLeds(Adafruit_NeoPixel& leds, float level) { + for (uint16_t i = 0; i < leds.numPixels(); i++) { + const uint32_t color = leds.getPixelColor(i); + + leds.setPixelColor(i, leds.Color( + (uint8_t)(color >> 16 & 0xFF) * level, + (uint8_t)(color >> 8 & 0xFF) * level, + (uint8_t)(color & 0xFF) * level, + (uint8_t)(color >> 24 & 0xFF) * level + )); + } +} + +// one amber blink like locking a car, the second stays on and fades out with the other lights +// only the indicator areas blink, like the hazard lights, the rings and tail light keep showing as normal +void animateShutdown(unsigned long now) { + const unsigned long elapsed = now - shutdownStart; + const bool indicatorsOn = elapsed < SHUTDOWN_BLINK_ON || elapsed >= SHUTDOWN_BLINK_CYCLE; + const uint32_t indicatorColor = indicatorsOn ? COLOR_AMBER : COLOR_OFF; + + ledsHeadLeft.fill(indicatorColor, 0, LEDS_EDGE_LENGTH); + ledsHeadRight.fill(indicatorColor, 0, LEDS_EDGE_LENGTH); + animateLeftTailSide(indicatorColor, true); + animateRightTailSide(indicatorColor, true); + ledsDash.fill(indicatorColor); + + if (elapsed < SHUTDOWN_FADE_START) { + return; + } + + const float level = perceived(1 - min(1.0f, (float)(elapsed - SHUTDOWN_FADE_START) / SHUTDOWN_FADE)); + + fadeLeds(ledsHeadLeft, level); + fadeLeds(ledsHeadRight, level); + fadeLeds(ledsTail, level); + fadeLeds(ledsDash, level); +} + void animate(long now) { + if ((unsigned long)now - startupStart < STARTUP_DURATION) { + animateStartup(now); + return; + } + // always animate headlights, let other modes override animateHeadlights(); animateTailLight(); @@ -480,6 +1190,42 @@ void animate(long now) { if (indicatorRightActive && now - indicatorRightStart < INDICATOR_DURATION) { animateIndicator(RIGHT); } + + const bool wasScrambled = scrambleActive; + updateScramble(now); + + // overrides every mode, only the crash hazard goes on top so a rollover still warns + if (scrambleActive) { + animateScramble(!wasScrambled); + } + + // drawn last so it overrides every mode + if (crashHazardActive && now - crashHazardStart < CRASH_HAZARD_DURATION) { + animateIndicator(LEFT); + animateIndicator(RIGHT); + } else { + crashHazardActive = false; + } + + if (DEBUG_DASH) { + animateDebugDash(now); + } + + if (shuttingDown) { + animateShutdown(now); + } +} + +// any button dismisses the crash hazard, that press does nothing else +bool dismissCrashHazard() { + if (!crashHazardActive) { + return false; + } + + crashHazardActive = false; + Serial.println("CRASH HAZARD DISMISSED"); + + return true; } void render() { @@ -491,13 +1237,41 @@ void render() { bool isOff = false; -void shutdown() { - // when STLink or USB prevents full power cut, loop keeps running, only shut down once +unsigned long modePressStart = 0; +bool modePressed = false; + +// the lights play the shutdown animation first, powerOff() follows after SHUTDOWN_DURATION +void beginShutdown(unsigned long now) { + if (isOff || shuttingDown) { + return; + } + + shuttingDown = true; + shutdownStart = now; + modePressed = false; // releasing the long press shouldn't switch mode + + Serial.println("SHUTTING DOWN"); +} + +// any press during the shutdown animation keeps it on, that press does nothing else +bool cancelShutdown() { + if (!shuttingDown) { + return false; + } + + shuttingDown = false; + Serial.println("SHUTDOWN CANCELLED"); + + return true; +} + +void powerOff() { + // when STLink or USB prevents full power cut, loop keeps running, only power off once if (isOff) { return; } - Serial.println("SHUTTING DOWN"); + shuttingDown = false; Serial.println("BUCK OFF"); digitalWrite(PIN_BUCK, BUCK_OFF); @@ -512,7 +1286,10 @@ void shutdown() { // only used when STLink or USB prevents full power cut void restart() { + Serial.println("RESTARTING"); + lastFrame = millis(); + startupStart = lastFrame; animationFrame = 0; stableAnimationFrame = 0; isOff = false; @@ -520,16 +1297,71 @@ void restart() { digitalWrite(PIN_BUCK, BUCK_ON); } -unsigned long modePressStart = 0; -bool modePressed = false; +bool indicatorCombo = false; // both indicator buttons pressed, until both are released +Mode modeBeforeHazard = MODE_HEAD; + +void toggleHazardMode() { + if (activeMode == MODE_HAZARD) { + activeMode = modeBeforeHazard; + } else { + modeBeforeHazard = activeMode; + activeMode = MODE_HAZARD; + } + + animationFrame = 0; // ensures animations start cleanly instead of halfway + + Serial.print("BUTTONS LEFT AND RIGHT, MODE "); + Serial.println(activeMode); +} + +void handleIndicatorPress(Direction direction, unsigned long now) { + if (isOff) { + restart(); + } + + lastButtonPress = now; + + if (cancelShutdown() || dismissCrashHazard() || indicatorCombo) { + return; + } + + // both buttons are never pressed at exactly the same time, so the first one already started its indicator + Button& otherButton = direction == LEFT ? buttonRight : buttonLeft; + + if (otherButton.read() == Button::PRESSED) { + indicatorCombo = true; + indicatorLeftActive = false; + indicatorRightActive = false; + + toggleHazardMode(); + return; + } + + animationFrame = 0; + + indicatorLeftActive = direction == LEFT; + indicatorLeftStart = direction == LEFT ? now : 0; + + indicatorRightActive = direction == RIGHT; + indicatorRightStart = direction == RIGHT ? now : 0; + + Serial.println(direction == LEFT ? "BUTTON LEFT" : "BUTTON RIGHT"); +} // the loop function runs over and over again forever void loop() { const unsigned long now = millis(); if (buttonMode.pressed()) { - modePressed = true; - modePressStart = now; + if (isOff) { + // wake only, this press shouldn't switch mode on release or count towards a shutdown hold + restart(); + } else if (cancelShutdown() || dismissCrashHazard()) { + // same for cancelling and dismissing + } else { + modePressed = true; + modePressStart = now; + } lastButtonPress = now; } @@ -547,41 +1379,26 @@ void loop() { modePressed = false; } - if (modePressed && now - modePressStart > 5000) { - shutdown(); + if (modePressed && now - modePressStart > 4000) { + beginShutdown(now); } if (buttonLeft.pressed()) { - animationFrame = 0; - - indicatorLeftActive = true; - indicatorLeftStart = now; - - indicatorRightActive = false; - indicatorRightStart = 0; - - lastButtonPress = now; - - Serial.println("BUTTON LEFT"); + handleIndicatorPress(LEFT, now); } if (buttonRight.pressed()) { - animationFrame = 0; + handleIndicatorPress(RIGHT, now); + } - indicatorRightActive = true; - indicatorRightStart = now; - - indicatorLeftActive = false; - indicatorLeftStart = 0; - - lastButtonPress = now; - - Serial.println("BUTTON RIGHT"); + if (indicatorCombo && buttonLeft.read() != Button::PRESSED && buttonRight.read() != Button::PRESSED) { + indicatorCombo = false; } // only the pedal counts as activity, forward and reverse inputs can read active while parked if (pedal.read() == Button::PRESSED) { lastPedalPress = now; + cancelShutdown(); if (isOff) { restart(); @@ -605,6 +1422,30 @@ void loop() { Serial.println(isReversing ? "REVERSE ON" : "REVERSE OFF"); } + // parked in reverse both inputs read active, so the direction only counts while driving + if (pedal.read() == Button::PRESSED) { + travellingBackward = isReversing; + } + + if (!isOff && imuState == IMU_RUNNING && now - lastFifoRead >= FIFO_INTERVAL) { + lastFifoRead = now; + readFifo(now); + } + + if (!isOff && imuState == IMU_RUNNING && now - lastImuHealth >= IMU_HEALTH_INTERVAL) { + lastImuHealth = now; + checkImuHealth(now); + } + + if (imuState == IMU_STARTING && now - imuStateSince >= IMU_RESET_TIME) { + configureImu(now); + } + + // retry while missing, so a supply dip or reseating a wire doesn't need a reboot + if (imuState == IMU_MISSING && now - imuStateSince >= IMU_RETRY_INTERVAL) { + connectImu(now); + } + if (!isOff && now - lastFrame >= ANIMATION_INTERVAL) { lastFrame += ANIMATION_INTERVAL; animationFrame += 1; @@ -614,7 +1455,11 @@ void loop() { render(); } - if (KEEPALIVE_ENABLE && now - lastPedalPress > KEEPALIVE_TIMEOUT && now - lastButtonPress > KEEPALIVE_TIMEOUT) { - shutdown(); + if (shuttingDown && now - shutdownStart >= SHUTDOWN_DURATION) { + powerOff(); + } + + if (KEEPALIVE_ENABLE && !DEBUG_CRASH_WITHOUT_PEDAL && now - lastPedalPress > KEEPALIVE_TIMEOUT && now - lastButtonPress > KEEPALIVE_TIMEOUT) { + beginShutdown(now); } } \ No newline at end of file diff --git a/recordings/crash-20261021-212651.bin b/recordings/crash-20261021-212651.bin new file mode 100644 index 0000000..c3145ae Binary files /dev/null and b/recordings/crash-20261021-212651.bin differ diff --git a/recordings/crash-20261021-212651.csv b/recordings/crash-20261021-212651.csv new file mode 100644 index 0000000..c41cef2 --- /dev/null +++ b/recordings/crash-20261021-212651.csv @@ -0,0 +1,10462 @@ +t,a_forward,a_left,a_up,a_vehicle_magnitude,a_horizontal,roll_rate,pitch_rate,yaw_rate,ax,ay,az,a_magnitude,gx,gy,gz,mx,my,mz,pedal,forward,reverse,mode,left,right,marker,overflow 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/dev/null and b/recordings/crash-20261021-215500.png differ diff --git a/sketch.yaml b/sketch.yaml new file mode 100644 index 0000000..f37aa76 --- /dev/null +++ b/sketch.yaml @@ -0,0 +1 @@ +default_fqbn: STMicroelectronics:stm32:GenF4:pnum=BLACKPILL_F411CE,xserial=generic,usb=CDCgen,xusb=FS,opt=osstd,dbg=none,rtlib=nano,upload_method=swdMethod diff --git a/tools/crash_dump.py b/tools/crash_dump.py new file mode 100644 index 0000000..1d8d464 --- /dev/null +++ b/tools/crash_dump.py @@ -0,0 +1,314 @@ +# /// script +# requires-python = ">=3.10" +# dependencies = ["pyserial", "numpy", "matplotlib"] +# /// +"""Download a recording from CrashRecorder, convert it to CSV and plot it. + + uv run tools/crash_dump.py download, save and plot + uv run tools/crash_dump.py --png save the plot as PNG instead of opening a window + uv run tools/crash_dump.py --from-bin FILE.bin re-parse and plot a saved recording + +Keep the record format in sync with RecordTag in CrashRecorder/CrashRecorder.ino. +""" + +import argparse +import csv +import struct +import sys +import time +from datetime import datetime +from pathlib import Path + +import numpy as np + +TAG_HEADER = 0x01 +TAG_IMU = 0x02 +TAG_MAG = 0x03 +TAG_INPUTS = 0x04 +TAG_MARKER = 0x05 +TAG_OVERFLOW = 0x06 +TAG_END = 0xFF + +PAYLOAD_LENGTHS = { + TAG_HEADER: 12, + TAG_IMU: 12, + TAG_MAG: 6, + TAG_INPUTS: 1, + TAG_MARKER: 1, + TAG_OVERFLOW: 0, +} + +INPUT_BITS = {"pedal": 0, "forward": 1, "reverse": 2, "mode": 3, "left": 4, "right": 5} + +MAG_UT_PER_LSB = 0.15 # 16-bit mode, without the per-chip sensitivity adjustment + +# from the tilt test on 2026-10-21: subtracting these brings |a| to 1g in every pose within ~2mg, +# cross-checked against gyro-integrated tilt angles +ACCEL_OFFSET = np.array([0.490, -0.277, -0.004]) # g, sensor x y z + +# sensor mounted on its side: +x up, +y left, +z backward +# vehicle frame accel: forward, left, up (up reads +1g at rest) +# vehicle frame rotation, aviation style: roll + right side down, pitch + nose up, yaw + turning right +def to_vehicle(accel: np.ndarray, gyro: np.ndarray) -> tuple[np.ndarray, np.ndarray]: + corrected = accel - ACCEL_OFFSET + vehicle_accel = np.column_stack([-corrected[:, 2], corrected[:, 1], corrected[:, 0]]) + vehicle_rotation = np.column_stack([-gyro[:, 2], -gyro[:, 1], -gyro[:, 0]]) + + return vehicle_accel, vehicle_rotation + +DEFAULT_OUT = Path(__file__).resolve().parent.parent / "recordings" + + +def download(port: str) -> bytes: + import serial + + with serial.Serial(port, timeout=1) as connection: + time.sleep(0.2) + connection.reset_input_buffer() + + connection.write(b"i") + while True: + line = connection.readline().decode(errors="replace").strip() + if not line: + sys.exit("no response from the board, is CrashRecorder running?") + if line == "INFO END": + break + print(f" {line}") + + connection.write(b"d") + while True: + line = connection.readline().decode(errors="replace").strip() + if not line: + sys.exit("no response to the dump command") + if line == "DUMP UNAVAILABLE": + sys.exit("board is busy, stop the recording first") + if line.startswith("DUMP "): + length = int(line.split()[1]) + break + + print(f"downloading {length} bytes") + connection.timeout = 10 + data = connection.read(length) + + if len(data) != length: + sys.exit(f"download incomplete, got {len(data)} of {length} bytes") + + return data + + +def parse(data: bytes) -> dict: + header = None + imu = [] # raw int16 rows: ax ay az gx gy gz + mag_at = [] # (imu index, mx, my, mz) + inputs_at = [] # (imu index, raw levels) + markers = [] # (imu index, marker) + overflows = [] # imu index + + position = 0 + while position < len(data): + tag = data[position] + if tag == TAG_END: + break + + length = PAYLOAD_LENGTHS.get(tag) + if length is None: + print(f"warning: unknown tag 0x{tag:02X} at byte {position}, stopping", file=sys.stderr) + break + + payload = data[position + 1 : position + 1 + length] + if len(payload) < length: + break # cut off by power loss or storage full + position += 1 + length + + if tag == TAG_HEADER: + if payload[:3] != b"QLR": + sys.exit("not a CrashRecorder recording") + version, who_am_i, mag_ok, rate, accel_lsb, gyro_lsb_x10 = struct.unpack("6h", payload)) + elif tag == TAG_MAG: + mag_at.append((len(imu), *struct.unpack("<3h", payload))) + elif tag == TAG_INPUTS: + inputs_at.append((len(imu), payload[0])) + elif tag == TAG_MARKER: + markers.append((len(imu), payload[0])) + elif tag == TAG_OVERFLOW: + overflows.append(len(imu)) + + if header is None: + sys.exit("recording has no header") + + raw = np.array(imu, dtype=np.float64).reshape(-1, 6) + count = len(raw) + + # mag and inputs are stored when they change, hold them until the next record + mag = np.full((count, 3), np.nan) + for (index, *values), following in zip(mag_at, mag_at[1:] + [(count,)]): + mag[index : following[0]] = np.array(values) * MAG_UT_PER_LSB + + inputs = np.zeros((count, len(INPUT_BITS)), dtype=np.int8) + for (index, levels), following in zip(inputs_at, inputs_at[1:] + [(count,)]): + for column, bit in enumerate(INPUT_BITS.values()): + inputs[index : following[0], column] = 0 if levels >> bit & 1 else 1 # low is active + + accel = raw[:, :3] / header["accel_lsb_per_g"] + gyro = raw[:, 3:] / header["gyro_lsb_per_dps"] + vehicle_accel, vehicle_rotation = to_vehicle(accel, gyro) + + return { + "header": header, + "t": np.arange(count) / header["rate"], + "accel": accel, + "accel_magnitude": np.linalg.norm(accel, axis=1), + "gyro": gyro, + "vehicle_accel": vehicle_accel, + "vehicle_magnitude": np.linalg.norm(vehicle_accel, axis=1), + "horizontal": np.linalg.norm(vehicle_accel[:, :2], axis=1), + "vehicle_rotation": vehicle_rotation, + "mag": mag, + "inputs": inputs, + "markers": markers, + "overflows": overflows, + } + + +def write_csv(recording: dict, path: Path) -> None: + marker_column = np.zeros(len(recording["t"]), dtype=np.int8) + for index, marker in recording["markers"]: + marker_column[min(index, len(marker_column) - 1)] = marker + + overflow_column = np.zeros(len(recording["t"]), dtype=np.int8) + for index in recording["overflows"]: + overflow_column[min(index, len(overflow_column) - 1)] = 1 + + with path.open("w", newline="") as file: + writer = csv.writer(file) + writer.writerow( + [ + "t", + "a_forward", "a_left", "a_up", "a_vehicle_magnitude", "a_horizontal", + "roll_rate", "pitch_rate", "yaw_rate", + "ax", "ay", "az", "a_magnitude", "gx", "gy", "gz", + "mx", "my", "mz", + *INPUT_BITS, "marker", "overflow", + ] + ) + for i, t in enumerate(recording["t"]): + writer.writerow( + [ + f"{t:.3f}", + *(f"{v:.4f}" for v in recording["vehicle_accel"][i]), + f"{recording['vehicle_magnitude'][i]:.4f}", + f"{recording['horizontal'][i]:.4f}", + *(f"{v:.2f}" for v in recording["vehicle_rotation"][i]), + *(f"{v:.4f}" for v in recording["accel"][i]), + f"{recording['accel_magnitude'][i]:.4f}", + *(f"{v:.2f}" for v in recording["gyro"][i]), + *("" if np.isnan(v) else f"{v:.2f}" for v in recording["mag"][i]), + *recording["inputs"][i], + marker_column[i], + overflow_column[i], + ] + ) + + +def plot(recording: dict, title: str, png: Path | None) -> None: + import matplotlib + + if png: + matplotlib.use("Agg") + + import matplotlib.pyplot as plt + + t = recording["t"] + figure, axes = plt.subplots(4, 1, sharex=True, figsize=(16, 11), height_ratios=[3, 2, 1, 1]) + figure.suptitle(title) + + accel_axis, gyro_axis, mag_axis, inputs_axis = axes + + for column, name in enumerate(["forward", "left", "up"]): + accel_axis.plot(t, recording["vehicle_accel"][:, column], linewidth=0.7, label=name) + accel_axis.plot(t, recording["horizontal"], linewidth=0.7, color="black", alpha=0.6, label="horizontal") + accel_axis.set_ylabel("acceleration (g)") + + for column, name in enumerate(["roll (+ right down)", "pitch (+ nose up)", "yaw (+ right)"]): + gyro_axis.plot(t, recording["vehicle_rotation"][:, column], linewidth=0.7, label=name) + gyro_axis.set_ylabel("rotation (°/s)") + + for column, name in enumerate("xyz"): + mag_axis.plot(t, recording["mag"][:, column], linewidth=0.7, label=f"m{name}") + mag_axis.set_ylabel("magnetic (µT)") + + # one row per input, filled while active + for column, name in enumerate(INPUT_BITS): + inputs_axis.fill_between( + t, column + 0.1, column + 0.1 + recording["inputs"][:, column] * 0.8, step="post", linewidth=0, label=name + ) + inputs_axis.set_yticks(np.arange(len(INPUT_BITS)) + 0.5, list(INPUT_BITS)) + inputs_axis.set_ylim(0, len(INPUT_BITS)) + inputs_axis.set_xlabel("time (s)") + + for axis in axes: + for index, marker in recording["markers"]: + axis.axvline(index / recording["header"]["rate"], color="red" if marker == 1 else "orange", linestyle="--", linewidth=1) + for index in recording["overflows"]: + axis.axvline(index / recording["header"]["rate"], color="grey", linestyle=":", linewidth=1) + axis.grid(alpha=0.3) + axis.legend(loc="upper right", fontsize="small", ncol=7) + + figure.tight_layout() + + if png: + figure.savefig(png, dpi=120) + print(f"plot saved to {png}") + else: + plt.show() + + +def main() -> None: + parser = argparse.ArgumentParser(description=__doc__, formatter_class=argparse.RawDescriptionHelpFormatter) + parser.add_argument("--port", default="/dev/ttyACM0") + parser.add_argument("--out", type=Path, default=DEFAULT_OUT, help="directory for downloaded recordings") + parser.add_argument("--from-bin", type=Path, help="parse a saved recording instead of downloading") + parser.add_argument("--png", action="store_true", help="save the plot as PNG instead of opening a window") + parser.add_argument("--no-plot", action="store_true") + arguments = parser.parse_args() + + if arguments.from_bin: + bin_path = arguments.from_bin + data = bin_path.read_bytes() + else: + data = download(arguments.port) + arguments.out.mkdir(parents=True, exist_ok=True) + bin_path = arguments.out / f"crash-{datetime.now():%Y%m%d-%H%M%S}.bin" + bin_path.write_bytes(data) + print(f"recording saved to {bin_path}") + + recording = parse(data) + header = recording["header"] + duration = len(recording["t"]) / header["rate"] + + print( + f"{len(recording['t'])} samples ({duration:.1f} s at {header['rate']} Hz), " + f"WHO_AM_I 0x{header['who_am_i']:02X}, {len(recording['markers'])} markers, " + f"{len(recording['overflows'])} fifo overflows" + ) + + csv_path = bin_path.with_suffix(".csv") + write_csv(recording, csv_path) + print(f"csv saved to {csv_path}") + + if not arguments.no_plot: + plot(recording, bin_path.stem, bin_path.with_suffix(".png") if arguments.png else None) + + +if __name__ == "__main__": + main()