Implementation of Robot Motor Control model. More...

#include <common/neuron-typedefs.h>
#include <common/in_spikes.h>
#include <data_specification.h>
#include <debug.h>
#include <simulation.h>
#include <stdbool.h>

Go to the source code of this file.

Data Structures
struct	motor_control_config_t
	The structure of our configuration region in SDRAM. More...

struct	robot_motor_control_provenance
	The provenance information written on application shutdown. More...

Macros
#define	N_COUNTERS 6
	Number of counters. More...

#define	NEURON_ID_MASK 0x7FF
	Mask for selecting the neuron ID from a spike. More...

Enumerations
enum	direction_t { MOTION_FORWARD = 0x01 , MOTION_BACK = 0x02 , MOTION_RIGHT = 0x03 , MOTION_LEFT = 0x04 , MOTION_CLOCKWISE = 0x05 , MOTION_C_CLOCKWISE = 0x06 }
	The "directions" that the motors can move in. More...

enum	robot_motor_control_regions_e { SYSTEM_REGION , PARAMS_REGION , PROVENANCE_DATA_REGION }
	DSG regions in use. More...

enum	robot_motor_control_callback_priorities { MC = -1 , SDP = 0 , DMA = 1 , TIMER = 2 }
	values for the priority for each callback More...

Functions
static void	send_to_motor (uint32_t direction, uint32_t the_speed)
	Send a SpiNNaker multicast-with-payload message to the motor hardware. More...

static void	do_motion (direction_t direction_index, direction_t opposite_index, const char direction, const char opposite)
	Commands the robot's motors to start doing a motion. More...

static void	do_update (direction_t direction_index, direction_t opposite_index, const char direction, const char opposite)
	Commands the robot's motors to continue a motion started by do_motion() More...

static void	timer_callback (uint unused0, uint unused1)
	Regular 1ms callback. Takes spikes from circular buffer and converts to motor activity level. More...

static void	read_parameters (motor_control_config_t *config_region)
	Reads the configuration. More...

static void	incoming_spike_callback (uint key, uint payload)
	Add incoming spike message (in FIQ) to circular buffer. More...

static void	incoming_spike_callback_payload (uint key, uint payload)
	Add incoming spike message (in FIQ) to circular buffer. More...

static void	c_main_store_provenance_data (address_t provenance_region)
	Callback to store provenance data (format: neuron_provenance). More...

static bool	initialize (uint32_t *timer_period)
	Read all application configuration. More...

void	c_main (void)
	Entry point. More...

Variables
static uint32_t	time
	The simulation time. More...

static int *	counters
	Accumulators for each motor direction. More...

static int *	last_speed
	The last speeds for each motor direction. More...

static uint32_t	key
	The (base) key to use to send to the motor. More...

static int	speed
	The standard motor speed, set by configuration. More...

static uint32_t	sample_time
	Time interval between samples, in ticks. More...

static uint32_t	update_time
	Time interval between updates, in ticks. More...

static uint32_t	delay_time
	Inter-message delay time, in μs. More...

static int	delta_threshold
	The size of change required to matter. More...

static bool	continue_if_not_different
	Whether we should continue moving if there is no change. More...

static uint32_t	simulation_ticks
	Current simulation stop/pause time. More...

static uint32_t	infinite_run
	True if the simulation is running continuously. More...

Detailed Description

Implementation of Robot Motor Control model.

Definition in file robot_motor_control.c.

Data Structure Documentation

◆ motor_control_config_t

struct motor_control_config_t

The structure of our configuration region in SDRAM.

Definition at line 33 of file robot_motor_control.c.

Data Fields
uint32_t	key	The (base) key to use to send to the motor.
int	speed	The standard motor speed scaling factor.
uint32_t	sample_time	Time interval between samples of the state of incoming messages, in ticks
uint32_t	update_time	Time interval between motor speed updates, in ticks.
uint32_t	delay_time	Outgoing inter-message delay time, in μs.
int	delta_threshold	The size of change required to matter.
uint32_t	continue_if_not_different	Whether we should continue moving if there is no change.

◆ robot_motor_control_provenance

struct robot_motor_control_provenance

The provenance information written on application shutdown.

Definition at line 52 of file robot_motor_control.c.

Data Fields
uint32_t	n_input_buffer_overflows	A count of the times that the synaptic input circular buffers overflowed.

Macro Definition Documentation

◆ N_COUNTERS

#define N_COUNTERS 6

Number of counters.

Definition at line 58 of file robot_motor_control.c.

◆ NEURON_ID_MASK

#define NEURON_ID_MASK 0x7FF

Mask for selecting the neuron ID from a spike.

Definition at line 71 of file robot_motor_control.c.

Enumeration Type Documentation

◆ direction_t

enum direction_t

The "directions" that the motors can move in.

Enumerator
MOTION_FORWARD	Forwards.
MOTION_BACK	Backwards.
MOTION_RIGHT	To the right.
MOTION_LEFT	To the left.
MOTION_CLOCKWISE	Rotate clockwise on the spot.
MOTION_C_CLOCKWISE	Rotate counterclockwise on the spot.

Definition at line 61 of file robot_motor_control.c.

◆ robot_motor_control_regions_e

enum robot_motor_control_regions_e

DSG regions in use.

Enumerator
SYSTEM_REGION	General simulation API control area.
PARAMS_REGION	Configuration region for this application.
PROVENANCE_DATA_REGION	Provenance region for this application.

Definition at line 100 of file robot_motor_control.c.

◆ robot_motor_control_callback_priorities

enum robot_motor_control_callback_priorities

values for the priority for each callback

Enumerator
MC	Multicast message reception is FIQ.
SDP	SDP handling is highest normal priority.
DMA	DMA complete handling is medium priority.
TIMER	Timer interrupt processing is lowest priority.

Definition at line 107 of file robot_motor_control.c.

Function Documentation

◆ send_to_motor()

static void send_to_motor	(	uint32_t	direction,
		uint32_t	the_speed
	)

inlinestatic

Send a SpiNNaker multicast-with-payload message to the motor hardware.

Parameters

[in]	direction	Which direction to move in
[in]	the_speed	What speed to move at

Definition at line 119 of file robot_motor_control.c.

◆ do_motion()

static void do_motion	(	direction_t	direction_index,
		direction_t	opposite_index,
		const char *	direction,
		const char *	opposite
	)

inlinestatic

Commands the robot's motors to start doing a motion.

Parameters

[in]	direction_index	The "forward" sense of motion
[in]	opposite_index	The "reverse" sense of motion
[in]	direction	for debugging
[in]	opposite	for debugging

Definition at line 134 of file robot_motor_control.c.

◆ do_update()

static void do_update	(	direction_t	direction_index,
		direction_t	opposite_index,
		const char *	direction,
		const char *	opposite
	)

inlinestatic

Commands the robot's motors to continue a motion started by do_motion()

Parameters

[in]	direction_index	The "forward" sense of motion
[in]	opposite_index	The "reverse" sense of motion
[in]	direction	for debugging
[in]	opposite	for debugging

Definition at line 169 of file robot_motor_control.c.

◆ timer_callback()

static void timer_callback	(	uint	unused0,
		uint	unused1
	)

static

Regular 1ms callback. Takes spikes from circular buffer and converts to motor activity level.

Parameters

unused0	unused
unused1	unused

Definition at line 193 of file robot_motor_control.c.

◆ read_parameters()

static void read_parameters ( motor_control_config_t * config_region )

static

Reads the configuration.

Parameters

[in] config_region Where to read the configuration from

Definition at line 240 of file robot_motor_control.c.

◆ incoming_spike_callback()

static void incoming_spike_callback	(	uint	key,
		uint	payload
	)

static

Add incoming spike message (in FIQ) to circular buffer.

Parameters

[in]	key	The received spike
	payload	ignored

Definition at line 268 of file robot_motor_control.c.

◆ incoming_spike_callback_payload()

static void incoming_spike_callback_payload	(	uint	key,
		uint	payload
	)

static

Add incoming spike message (in FIQ) to circular buffer.

Parameters

[in]	key	The received spike
	payload	ignored

Definition at line 278 of file robot_motor_control.c.

◆ c_main_store_provenance_data()

static void c_main_store_provenance_data ( address_t provenance_region )

static

Callback to store provenance data (format: neuron_provenance).

Parameters

[out] provenance_region Where to write the provenance data

Definition at line 291 of file robot_motor_control.c.

◆ initialize()

static bool initialize ( uint32_t * timer_period )

static

Read all application configuration.

Parameters

[out] timer_period How long to program ticks to be

Returns: True if initialisation succeeded

Definition at line 304 of file robot_motor_control.c.

◆ c_main()

void c_main ( void )

Entry point.

Definition at line 337 of file robot_motor_control.c.

Variable Documentation

◆ time

uint32_t time

static

The simulation time.

Definition at line 75 of file robot_motor_control.c.

◆ counters

int* counters

static

Accumulators for each motor direction.

Definition at line 77 of file robot_motor_control.c.

◆ last_speed

int* last_speed

static

The last speeds for each motor direction.

Definition at line 79 of file robot_motor_control.c.

◆ key

uint32_t key

static

The (base) key to use to send to the motor.

Definition at line 81 of file robot_motor_control.c.

◆ speed

int speed

static

The standard motor speed, set by configuration.

Definition at line 83 of file robot_motor_control.c.

◆ sample_time

uint32_t sample_time

static

Time interval between samples, in ticks.

Definition at line 85 of file robot_motor_control.c.

◆ update_time

uint32_t update_time

static

Time interval between updates, in ticks.

Definition at line 87 of file robot_motor_control.c.

◆ delay_time

uint32_t delay_time

static

Inter-message delay time, in μs.

Definition at line 89 of file robot_motor_control.c.

◆ delta_threshold

int delta_threshold

static

The size of change required to matter.

Definition at line 91 of file robot_motor_control.c.

◆ continue_if_not_different

bool continue_if_not_different

static

Whether we should continue moving if there is no change.

Definition at line 93 of file robot_motor_control.c.

◆ simulation_ticks

uint32_t simulation_ticks

static

Current simulation stop/pause time.

Definition at line 95 of file robot_motor_control.c.

◆ infinite_run

uint32_t infinite_run

static

True if the simulation is running continuously.

Definition at line 97 of file robot_motor_control.c.

Data Structures

Macros

Enumerations

Functions

Variables

Detailed Description

Data Structure Documentation

◆ motor_control_config_t

◆ robot_motor_control_provenance

Macro Definition Documentation

◆ N_COUNTERS

◆ NEURON_ID_MASK

Enumeration Type Documentation

◆ direction_t

◆ robot_motor_control_regions_e

◆ robot_motor_control_callback_priorities

Function Documentation

◆ send_to_motor()

◆ do_motion()

◆ do_update()

◆ timer_callback()

◆ read_parameters()

◆ incoming_spike_callback()

◆ incoming_spike_callback_payload()

◆ c_main_store_provenance_data()

◆ initialize()

◆ c_main()

Variable Documentation

◆ time

◆ counters

◆ last_speed

◆ key

◆ speed

◆ sample_time

◆ update_time

◆ delay_time

◆ delta_threshold

◆ continue_if_not_different

◆ simulation_ticks

◆ infinite_run