MINDS-i-Debugger

Code to assist with debugging MINDSi robots

This library contains code for providing logging and debugging msgs on a dedicated serial link.

Usage

To be filled out.

Packet Structure

Header_1	Header_2	Length	Type	Message-dependent	Checksum_1	Checksum_2
0x51	0xAC	len	id	data_bytes..	cs_1	cs_2

Checksum Calculation

Checksums are calculated over the bytes following the length field (see "Packet Structure") up to but not including the checksum fields.

The checksum can be calculated using the following pseudo code:

const uint16_t crctable[256] =
{
    0x0000, 0x1189, 0x2312, 0x329B, 0x4624, 0x57AD, 0x6536, 0x74BF,
    0x8C48, 0x9DC1, 0xAF5A, 0xBED3, 0xCA6C, 0xDBE5, 0xE97E, 0xF8F7,
    0x0919, 0x1890, 0x2A0B, 0x3B82, 0x4F3D, 0x5EB4, 0x6C2F, 0x7DA6,
    0x8551, 0x94D8, 0xA643, 0xB7CA, 0xC375, 0xD2FC, 0xE067, 0xF1EE,
    0x1232, 0x03BB, 0x3120, 0x20A9, 0x5416, 0x459F, 0x7704, 0x668D,
    0x9E7A, 0x8FF3, 0xBD68, 0xACE1, 0xD85E, 0xC9D7, 0xFB4C, 0xEAC5,
    0x1B2B, 0x0AA2, 0x3839, 0x29B0, 0x5D0F, 0x4C86, 0x7E1D, 0x6F94,
    0x9763, 0x86EA, 0xB471, 0xA5F8, 0xD147, 0xC0CE, 0xF255, 0xE3DC,
    0x2464, 0x35ED, 0x0776, 0x16FF, 0x6240, 0x73C9, 0x4152, 0x50DB,
    0xA82C, 0xB9A5, 0x8B3E, 0x9AB7, 0xEE08, 0xFF81, 0xCD1A, 0xDC93,
    0x2D7D, 0x3CF4, 0x0E6F, 0x1FE6, 0x6B59, 0x7AD0, 0x484B, 0x59C2,
    0xA135, 0xB0BC, 0x8227, 0x93AE, 0xE711, 0xF698, 0xC403, 0xD58A,
    0x3656, 0x27DF, 0x1544, 0x04CD, 0x7072, 0x61FB, 0x5360, 0x42E9,
    0xBA1E, 0xAB97, 0x990C, 0x8885, 0xFC3A, 0xEDB3, 0xDF28, 0xCEA1,
    0x3F4F, 0x2EC6, 0x1C5D, 0x0DD4, 0x796B, 0x68E2, 0x5A79, 0x4BF0,
    0xB307, 0xA28E, 0x9015, 0x819C, 0xF523, 0xE4AA, 0xD631, 0xC7B8,
    0x48C8, 0x5941, 0x6BDA, 0x7A53, 0x0EEC, 0x1F65, 0x2DFE, 0x3C77,
    0xC480, 0xD509, 0xE792, 0xF61B, 0x82A4, 0x932D, 0xA1B6, 0xB03F,
    0x41D1, 0x5058, 0x62C3, 0x734A, 0x07F5, 0x167C, 0x24E7, 0x356E,
    0xCD99, 0xDC10, 0xEE8B, 0xFF02, 0x8BBD, 0x9A34, 0xA8AF, 0xB926,
    0x5AFA, 0x4B73, 0x79E8, 0x6861, 0x1CDE, 0x0D57, 0x3FCC, 0x2E45,
    0xD6B2, 0xC73B, 0xF5A0, 0xE429, 0x9096, 0x811F, 0xB384, 0xA20D,
    0x53E3, 0x426A, 0x70F1, 0x6178, 0x15C7, 0x044E, 0x36D5, 0x275C,
    0xDFAB, 0xCE22, 0xFCB9, 0xED30, 0x998F, 0x8806, 0xBA9D, 0xAB14,
    0x6CAC, 0x7D25, 0x4FBE, 0x5E37, 0x2A88, 0x3B01, 0x099A, 0x1813,
    0xE0E4, 0xF16D, 0xC3F6, 0xD27F, 0xA6C0, 0xB749, 0x85D2, 0x945B,
    0x65B5, 0x743C, 0x46A7, 0x572E, 0x2391, 0x3218, 0x0083, 0x110A,
    0xE9FD, 0xF874, 0xCAEF, 0xDB66, 0xAFD9, 0xBE50, 0x8CCB, 0x9D42,
    0x7E9E, 0x6F17, 0x5D8C, 0x4C05, 0x38BA, 0x2933, 0x1BA8, 0x0A21,
    0xF2D6, 0xE35F, 0xD1C4, 0xC04D, 0xB4F2, 0xA57B, 0x97E0, 0x8669,
    0x7787, 0x660E, 0x5495, 0x451C, 0x31A3, 0x202A, 0x12B1, 0x0338,
    0xFBCF, 0xEA46, 0xD8DD, 0xC954, 0xBDEB, 0xAC62, 0x9EF9, 0x8F70
};

crc = 0x0001

for ( each byteValue between length and checksum fields)
{
 	crc = (crc << 8) ^ crctable[((crc >> 8) ^ byteValue)];
}

Message Types

List of available message types.

Type ID	Name
0x10	Raw Position
0x11	Extrapolated Position
0x20	Orientation
0x30	Radio
0x40	IMU
0x41	Sonar
0x42	Bumper
0x60	State
0x70	Configuration
0x80	Control
0x81	Waypoint
0x90	ASCII
0xA0	Version

Custom Data Types

typedef struct {
	char data[256];
	u8 len;
}LenString_t;

typedef struct {
  int16_t minutes;
  int32_t frac;
}GpsAngle_t;

Message Definitions

Raw Position Message (0x10)

Positioning information being provided by the GPS sensor.

typedef struct {
	GpsAngle_t latitude;
	GpsAngle_t longitude;
	u16 altitude;
}RawPositionMsg_t;

Byte Offset	Name	Description
4-5	latitude_minutes	GPS reciever reported latitude (degrees and nondecimal minutes). Specifically DDDMM of the DDDMM.MMMMM NMEA string
6-9	latitude_frac	GPS reciever reported latitude (decimal minutes). Specifically MMMMM of the DDDMM.MMMMM NMEA string
10-11	longitude_minutes	GPS reciever reported longitude (degrees and nondecimal minutes). Specifically DDDMM of the DDDMM.MMMMM NMEA string
12-15	longitude_frac	GPS reciever reported longitude (decimal minutes). Specifically MMMMM of the DDDMM.MMMMM NMEA string
16-17	altitude	GPS reciever reported altitude (meters). Map 0..(2^16-1) to - 900..19000, resolution ~0.3m

Extrapolated Position Message (0x11)

Position information created through calculation rather than sensed directly.

typedef struct {
	GpsAngle_t latitude;
	GpsAngle_t longitude;
	u16 altitude;
}ExtrapolatedPositionMsg_t;

Byte Offset	Name	Description
4-5	latitude_minutes	GPS reciever reported latitude (degrees and nondecimal minutes). Specifically DDDMM of the DDDMM.MMMMM NMEA string
6-9	latitude_frac	GPS reciever reported latitude (decimal minutes). Specifically MMMMM of the DDDMM.MMMMM NMEA string
10-11	longitude_minutes	GPS reciever reported longitude (degrees and nondecimal minutes). Specifically DDDMM of the DDDMM.MMMMM NMEA string
12-15	longitude_frac	GPS reciever reported longitude (decimal minutes). Specifically MMMMM of the DDDMM.MMMMM NMEA string
12-13	altitude	Altitude extraploated between GPS readings (meters). Map 0..(2^16-1) to - 900..19000, resolution ~0.3m

Orientation Message (0x20)

Orientation information used for control puposes.

typedef struct {
	s16 heading;
	s16 roll;
	s16 pitch;
}OrientationMsg_t;

Byte Offset	Name	Description
4-5	heading	True heading (deg) * 100, range -18000..18000 representing -180.00 to 180.00
6-7	roll	Roll (deg) * 100, range -18000..18000 representing -180.00 to 180.00
8-9	pitch	Pitch (deg) * 100, range -18000..18000 representing -180.00 to 180.00

Radio Message (0x30)

Commands being sent by the radio controller.

typedef struct {
	s16 speed;
	u8 steering;
}RadioMsg_t;

Byte Offset	Name	Description
4-5	speed	Speed command from radio controller (mph) * 100
6	steering	Steering value from radio controller

IMU Message (0x40)

Measurement information being privided by the IMU sensor.

typedef struct {
	s16 euler_x;
	s16 euler_y;
	s16 euler_z;
	s16 acc_x;
	s16 acc_y;
	s16 acc_z;
	s16 gyro_x;
	s16 gyro_y;
	s16 gyro_z;	
}ImuMsg_t;

Byte Offset	Name	Description
4-5	euler_x	Euler angle on the X axis (rad) * 10430, range -32767..32767 representing -pi to pi
6-7	euler_y	Euler angle on the Y axis (rad) * 10430, range -32767..32767 representing -pi to pi
8-9	euler_z	Euler angle on the Z axis (rad) * 10430, range -32767..32767 representing -pi to pi
10-11	acc_x	Acceleration on the X axis (g) * 8192, range -32768..32767 representing -4 to 4
12-13	acc_y	Acceleration angle on the Y axis (g) * 8192, range -32768..32767 representing -4 to 4
14-15	acc_z	Acceleration angle on the Z axis (g) * 8192, range -32768..32767 representing -4 to 4
16-17	gyro_x	Rotation rate on the X axis (deg/s) * 16.4, range -32768..32767 representing -2000 to 2000
18-19	gyro_y	Rotation rate angle on the Y axis (deg/s) * 16.4, range -32768..32767 representing -2000 to 2000
20-21	gyro_z	Rotation rate angle on the Z axis (deg/s) * 16.4, range -32768..32767 representing -2000 to 2000

Sonar Message (0x41)

Measurement information being provided by the sonar ring.

typedef struct {
	u16 ping1;
	u16 ping2;
	u16 ping3;
	u16 ping4;
	u16 ping5;
}SonarMsg_t;

Byte Offset	Name	Description
4-5	ping1	Echo time in microseconds
6-7	ping2	Echo time in microseconds
8-9	ping3	Echo time in microseconds
10-11	ping4	Echo time in microseconds
12-13	ping5	Echo time in microseconds

Bumper Message (0x42)

TBD

State Message (0x60)

Current rover state information

typedef struct {
	u8 apmState;
	u8 driveState;
	u8 autoState;
	u8 autoFlag;
	u8 voltage;
	u8 amperage;
	u8 groundSpeed;
}StateMsg_t;

Byte Offset	Name	Description
4	apmState	Maps [Invalid, Init, Self-test, Drive] to [0,1,2,3]
5	driveState	Maps [Invalid, Stop, Auto, Radio] to [0,1,2,3]
6	autoState	Maps [Invalid, Full, Avoid, Stalled] to [0,1,2,3]
7	autoFlag	Maps [None, Caution, Approach] to [0,1,2]
8	voltage	Current battery voltage * 10 (volts)
9	amperage	Current amperage draw on battery * 10 (amps)
8	groundSpeed	Current speed of rover * 10 (mph)

Configuration Message (0x70)

TBD

Control Message (0x80)

Rover output control values.

typedef struct {
	s16 speed;
	u8 steering;
}ControlMsg_t;

Byte Offset	Name	Description
4-5	speed * 100	speed setting sent to controller (mph)
6	steering	steering angle sent to controller (angle, 90 = no turn angle)

Waypoint Message (0x81)

Variables used to calculate control for waypoint navigation.

typedef struct {
	GpsAngle_t latStart;
	GpsAngle_t lonStart;
	GpsAngle_t latIntermediate;
	GpsAngle_t lonIntermediate;
	GpsAngle_t latTarget;
	GpsAngle_t lonTarget;
	s16 pathHeading;
}WaypointMsg_t;

Byte Offset	Name	Description
4-5	latStart_minutes	Previous waypoint latitude used for creating path (degrees and nondecimal minutes). Specifically DDDMM of the DDDMM.MMMMM NMEA string
6-9	latStart_frac	Previous waypoint latitude used for creating path (decimal minutes). Specifically MMMMM of the DDDMM.MMMMM NMEA string
10-11	lonStart_minutes	Previous waypoint longitude used for creating path (degrees and nondecimal minutes). Specifically DDDMM of the DDDMM.MMMMM NMEA string
12-15	lonStart_frac	Previous waypoint longitude used for creating path (decimal minutes). Specifically MMMMM of the DDDMM.MMMMM NMEA string
16-17	latIntermediate_minutes	Temporary target latitude calculated by line gravity (degrees and nondecimal minutes). Specifically DDDMM of the DDDMM.MMMMM NMEA string
18-21	latIntermediate_frac	Temporary target latitude calculated by line gravity (decimal minutes). Specifically MMMMM of the DDDMM.MMMMM NMEA string
22-23	lonIntermediate_minutes	Temporary target longitude calculated by line gravity (degrees and nondecimal minutes). Specifically DDDMM of the DDDMM.MMMMM NMEA string
24-27	lonIntermediate_frac	Temporary target longitude calculated by line gravity (decimal minutes). Specifically MMMMM of the DDDMM.MMMMM NMEA string
28-29	latTarget_minutes	Current goal waypoint latitude. Specifically DDDMM of the DDDMM.MMMMM NMEA string
30-33	latTarget_frac	Current goal waypoint latitude. Specifically MMMMM of the DDDMM.MMMMM NMEA string
34-35	lonTarget_minutes	Current goal waypoint longitude (degrees and nondecimal minutes). Specifically DDDMM of the DDDMM.MMMMM NMEA string
36-39	lonTarget_frac	Current goal waypoint longitude (decimal minutes). Specifically MMMMM of the DDDMM.MMMMM NMEA string
40-41	pathHeading	Desired heading * 100 deg, range -18000..18000 representing -180.00 to 180.00

ASCII Message (0x90)

A method for sending ASCII messages. These should only be used for active debugging and should be removed before committing to the repository.

typedef struct {
	LenString_t ascii
}AsciiMsg_t;

Byte Offset	Name	Description
4-?	LenString_t	Struct of ASCII characters for temporary debugging msgs

Example:

#ifdef M_DEBUG
	AsciiMsg_t msg;
	String tst = "ASCII MSG Here";
	msg.ascii.len = tst.length();
	tst.toCharArray(msg.ascii.data,tst.length()+1);
	debugger.send(msg);
#endif

Version Message (0xA0)

Version information

typedef struct {
	u8 debug_major
	u8 debug_minor
	u8 apm_major
	u8 apm_minor
}AsciiMsg_t;

Byte Offset	Name	Description
4	debug_major	Major version of debug protocol
5	debug_minor	Minor version of debug protocol
6	apm_major	Major version of amp protocol
7	apm_minor	Minor version of amp protocol