Merge pull request #23 from BlueAndi/SensorFusionPR

Sensor fusion Pull Request
BlueAndi · Nov 14, 2023 · e425aef · e425aef
2 parents 70adae5 + 04e35fe
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diff --git a/.github/workflows/main.yml b/.github/workflows/main.yml
@@ -30,7 +30,7 @@ jobs:
     needs: intro
     strategy:
       matrix:
-        environment: ["ConvoyLeaderTarget", "LineFollowerTarget", "RemoteControlTarget"]
+        environment: ["ConvoyLeaderTarget", "LineFollowerTarget", "RemoteControlTarget", "SensorFusionTarget"]
 
     # Steps represent a sequence of tasks that will be executed as part of the job.
     steps:
@@ -71,7 +71,7 @@ jobs:
     needs: intro
     strategy:
       matrix:
-        environment: ["ConvoyLeaderTarget", "LineFollowerTarget", "RemoteControlTarget", "Test"]
+        environment: ["ConvoyLeaderTarget", "LineFollowerTarget", "RemoteControlTarget", "Test", "SensorFusionTarget"]
 
     steps:
     - name: Checkout repository
@@ -148,7 +148,7 @@ jobs:
     needs: intro
     strategy:
       matrix:
-        environment: ["ConvoyLeaderTarget", "LineFollowerTarget", "RemoteControlTarget", "ConvoyLeaderSim", "LineFollowerSim", "RemoteControlSim"]
+        environment: ["ConvoyLeaderTarget", "LineFollowerTarget", "RemoteControlTarget", "SensorFusionTarget", "ConvoyLeaderSim", "LineFollowerSim", "RemoteControlSim", "SensorFusionSim"]
 
     steps:
     - name: Checkout repository

diff --git a/doc/architecture/SENSORFUSION.md b/doc/architecture/SENSORFUSION.md
@@ -0,0 +1,72 @@
+# Radon Ulzer - SENSORFUSION <!-- omit in toc -->
+
+* [General](#general)
+  * [SerialMuxProt Channels](#serialmuxprot-channels)
+    * [Tx channel "LINE\_SENS"](#tx-channel-sensor_data)
+* [SW Architecture](#sw-architecture)
+  * [Logical View](#logical-view)
+    * [Application](#application)
+* [Abbreviations](#abbreviations)
+* [Issues, Ideas And Bugs](#issues-ideas-and-bugs)
+* [License](#license)
+* [Contribution](#contribution)
+
+# General
+
+The robot sends sensor data (Odometry data and IMU data) via SerialMuxProt. 
+
+On target the physical communication uses the serial.
+
+On simulation the physical communication uses a socket connection.
+
+## SerialMuxProt Channels
+
+
+### Tx channel "SENSOR_DATA"
+This channel is used to send raw sensor data used for Sensor Fusion on the ZumoComSystem.
+
+* The datatypes can be found in SerialMuxChannel.h.
+* Order:
+  * Acceleration in X (raw sensor value)
+  * Acceleration in Y (raw sensor value)
+  * turnRateZ around Z (raw sensor value)
+  * Magnetometer value in X (raw sensor value)
+  * Magnetometer value in Y (raw sensor value)
+  * Angle calculated by Odometry (in mrad)
+  * Position in X calculated by Odometry (in mm)
+  * Position in Y calculated by Odometry (in mm)
+* Endianess: Big endian
+
+# SW Architecture
+The following part contains the specific details of the SensorFusion application.
+
+## Logical View
+
+### Application
+The application uses the same [State Machine](https://github.com/BlueAndi/RadonUlzer/blob/main/doc/architecture/LINEFOLLOWER.md) as the Line Follower Application.
+
+### HAL
+Some changes have been made to the HAL.
+![HALSensorFusion](http://www.plantuml.com/plantuml/proxy?cache=no&src=https://raw.githubusercontent.com/BlueAndi/RadonUlzer/SensorFusion/doc/architecture/uml/LogicalView/SensorFusion/HAL_SensorFusion.puml)
+
+ButtonB, ButtonC, the ProximitySensor and the Buzzer have been removed. 
+An IMU has been added:
+![HALIMU](http://www.plantuml.com/plantuml/proxy?cache=no&src=https://raw.githubusercontent.com/BlueAndi/RadonUlzer/SensorFusion/doc/architecture/uml/LogicalView/SensorFusion/HAL_IMU.puml)
+
+# Abbreviations
+
+| Abbreviation | Description |
+| - | - |
+| HAL | Hardware Abstraction Layer |
+| IMU | Inertial Measurement Unit |
+
+# Issues, Ideas And Bugs
+If you have further ideas or you found some bugs, great! Create a [issue](https://github.com/BlueAndi/RadonUlzer/issues) or if you are able and willing to fix it by yourself, clone the repository and create a pull request.
+
+# License
+The whole source code is published under the [MIT license](http://choosealicense.com/licenses/mit/).
+Consider the different licenses of the used third party libraries too!
+
+# Contribution
+Unless you explicitly state otherwise, any contribution intentionally submitted for inclusion in the work by you, shall be licensed as above, without any
+additional terms or conditions.
diff --git a/doc/architecture/uml/LogicalView/SensorFusion/HAL_IMU.puml b/doc/architecture/uml/LogicalView/SensorFusion/HAL_IMU.puml
@@ -0,0 +1,139 @@
+@startuml HAL IMU
+
+title Hardware Abstraction Layer - IMU
+
+package "HAL" as hal {
+
+    package "HAL Interfaces" as halInterfaces {
+        interface "IBoard" as iBoard {
+            + {abstract} getIMU() : IIMU&
+            + init() : void
+        }
+        interface "IIMU" as iIMU {
+            + {abstract} init() : bool
+            + {abstract} readAcc() : void
+            + {abstract} readGyro() : void
+            + {abstract} readMag() : void
+            + {abstract} accDataReady() : bool
+            + {abstract} gyroDataReady() : bool
+            + {abstract} magDataReady() : bool
+            + {abstract} getAccelerationValues(int16_t* accelerationValues) : void
+            + {abstract} getTurnRates(int16_t* turnRates) : void
+            + {abstract} getMagnetometerValues(int16_t* magnetometerValues) : void
+
+        }
+    }
+
+    package "HAL Simulation" as simulation {
+        class "IMU" as ImuSim {
+            -  m_accelerationValues[3] : int16_t
+            -  m_gyroValues[3] : int16_t
+            -  m_magnetometerValues[3] : int16_t
+            +  init() : bool
+            +  readAcc() : void
+            +  readGyro() : void
+            +  readMag() : void
+            +  accDataReady() : bool
+            +  gyroDataReady() : bool
+            +  magDataReady() : bool
+            +  getAccelerationValues(int16_t* accelerationValues) : void
+            +  getTurnRates(int16_t* turnRates) : void
+            +  getMagnetometerValues(int16_t* magnetometerValues) : void
+        }
+        class "Board" as BoardSim {
+            - m_imu : IMU
+            + getIMU() : IMU&
+            + init() : void
+        }
+    }
+
+    package "HAL Target" as target {
+        class "IMU" as ImuTarget {
+            -  m_accelerationValues[3] : vector<int16_t> 
+            -  m_gyroValues[3] : vector<int16_t> 
+            -  m_magnetometerValues[3] : vector<int16_t> 
+            +  init() : bool
+            +  readAcc() : void
+            +  readGyro() : void
+            +  readMag() : void
+            +  accDataReady() : bool
+            +  gyroDataReady() : bool
+            +  magDataReady() : bool
+            +  getAccelerationValues(int16_t* accelerationValues) : void
+            +  getTurnRates(int16_t* turnRates) : void
+            +  getMagnetometerValues(int16_t* magnetometerValues) : void
+        }
+        class "Board" as BoardTarget{
+            - m_imu : IMU
+            + getIMU() : IMU&
+            + init() : void
+        }
+    }
+    }
+    iIMU <|... ImuSim: <<realize>>
+    iBoard <|... BoardSim: <<realize>>
+    iBoard *-- iIMU
+
+    iIMU <|... ImuTarget: <<realize>>
+    iBoard <|... BoardTarget: <<realize>>
+
+
+package "Webots library"  as webotsLib {
+    class Accelerometer {
+        + getValues() : double *
+        + enable(int samplingPeriod) : void
+    }
+    class Gyro {
+        + getValues() : double *
+        + enable(int samplingPeriod) : void
+    }
+    class Compass {
+        + getValues() : double *
+        + enable(int samplingPeriod) : void
+    }
+}
+
+package "Zumo32U4 library"  as zumo32u4Lib {
+
+    class Zumo32U4IMU {
+        -  a[3] : vector<int16_t> 
+        -  g[3] : vector<int16_t> 
+        -  m[3] : vector<int16_t> 
+        +  init() : bool
+        +  readAcc() : void
+        +  readGyro() : void
+        +  readMag() : void
+        +  accDataReady() : bool
+        +  gyroDataReady() : bool
+        +  magDataReady() : bool
+    }
+}
+
+note bottom of zumo32u4Lib
+    Provided by Pololu.
+    https://pololu.github.io/zumo-32u4-arduino-library/index.html
+end note
+
+note bottom of webotsLib
+    Provided by Cyberbotics.
+    https://cyberbotics.com/doc/reference/thanks?version=R2023b
+end note
+
+ImuTarget *--> Zumo32U4IMU
+
+ImuSim *--> Accelerometer
+ImuSim *--> Gyro
+ImuSim *--> Compass
+
+note left of iIMU
+    IMU stands for Inertial Measurement Unit.
+end note
+
+note left of hal
+    This diagram shows the added IMU component.
+    Classes like the LineSensors or Motors
+    are missing.
+end note
+
+
+@enduml