155 clean unused firmware components #185
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gdoffe
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mlecriva
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Feb 11, 2025
boards/cogip-board-pami/board.c
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| */ | |||
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In my opinion you can also remove cogip board PAMI as cogip-board is the only one used in applications
mlecriva
reviewed
Feb 11, 2025
| @@ -6,3 +6,6 @@ PORT = "/dev/ttyUSB0" | |||
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| # Setup of programmer and serial is shared between STM32 based boards | |||
| include $(RIOTMAKE)/boards/stm32.inc.mk | |||
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| # Set onboard transceiver loop delay | |||
| CFLAGS += -DCONFIG_FDCAN_DEVICE_TRANSCEIVER_LOOP_DELAY=130 | |||
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How do you determine this value ?
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You can find it inside the datasheet:
I choose a value that is inside both ranges, nominal and highly loaded network. i added this to the commit message:
The TCAN332GDCNR CAN transceiver datasheet exposes two ranges for this
value:
- Nominal range: 100 (typical) to 135 (max)
- Highly loaded network: 120 (typical) to 180 (max)
So here the value 130 is choosen as it is inside both ranges.
This value has been tested in nominal robot working conditions.
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In latest versions of RIOT, stdio.h is not systematically included at board level, so include it manually. Signed-off-by: Gilles DOFFE <[email protected]>
Compensate for transceiver loop delay in FDCAN timing The transceiver loop delay introduces a lag between sending and receiving messages in FDCAN due to internal processing. This delay affects bit timing, especially in high-speed communication, and can lead to synchronization issues. This commit adjusts this timing parameters as it is mandatory for the new RIOT fdcan driver implementation. Signed-off-by: Gilles DOFFE <[email protected]>
This feature has been renamed in RIOT. Signed-off-by: Gilles DOFFE <[email protected]>
Since RIOT commit e93b5e4b98, thread_measure_stack_free() prototype has changed to fixed. Update it to be compliant with new RIOT versions. Signed-off-by: Gilles DOFFE <[email protected]>
This driver is not used anymore since lidar management has been moved to the Raspberry Pi4. Signed-off-by: Gilles DOFFE <[email protected]>
SD21 analog servo driver board, derived from SD12 board is not used since 2019 robotic cup and can thus be removed. Signed-off-by: Gilles DOFFE <[email protected]>
Vacuum pump driver board, is not used anymore since 2023 robotic cup and can thus be removed safely. Signed-off-by: Gilles DOFFE <[email protected]>
The cup2024-pami application is specific to French robotic cup 2024 and PAMIs architecture will change in 2025, thus remove it. Signed-off-by: Gilles DOFFE <[email protected]>
The pf-pami platform is specific to French robotic cup 2024 and PAMIs architecture will change in 2025, thus remove it. Signed-off-by: Gilles DOFFE <[email protected]>
Analog servomotors are not used anymore and numerical servomotors are now managed directly by the Raspberry Pi. So remove all code related to servomotors, analog or numerical from pf-robot-actuators platform. Signed-off-by: Gilles DOFFE <[email protected]>
Analog servomotors are not used anymore in favor of numerical servomotors directly driven by the Raspberry Pi4, thus remove the driver. Signed-off-by: Gilles DOFFE <[email protected]>
LX servomotors are not used anymore and have been replaced by Waveshare servomotors directly driven by the Raspberry Pi4. Signed-off-by: Gilles DOFFE <[email protected]>
No more drivers are handled specifically by the firmware, thus delete the drivers folder. Signed-off-by: Gilles DOFFE <[email protected]>
Avoidance has been moved to the Raspberry Pi4 and this library is then not used anymore, remove it. Signed-off-by: Gilles DOFFE <[email protected]>
Obstacle management has been moved to the Raspberry Pi4 and this library is then not used anymore, remove it. Signed-off-by: Gilles DOFFE <[email protected]>
The pure C quadpid motion controller has been ported to C++ through new implementation. The quadpid and the common controller part has been kept as a fall back, but the new motion control modules are now fully operationals. Remove quadpid and common_controller. Signed-off-by: Gilles DOFFE <[email protected]>
Old pure C PID module has been replaced by C++ pid_ng module. Remove it. Signed-off-by: Gilles DOFFE <[email protected]>
As legacy PID implementation has been removed, rename pid_ng to pid. Signed-off-by: Gilles DOFFE <[email protected]>
As it is done now on the Raspberry Pi4, this code is no more used nor maintained. Signed-off-by: Gilles DOFFE <[email protected]>
The uartpb protocol is handling protobuf messages over uart. However all COGIP boards are now using canpb to handle protobuf messages over CAN bus. The uartpb protocol is now legacy and not maintained any more, thus remove it. Signed-off-by: Gilles DOFFE <[email protected]>
The shmem module was used forcommunication with old versions of simulator. This module is no more used for a long time so remove it. Signed-off-by: Gilles DOFFE <[email protected]>
As all menus are now displayed on the Raspberry Pi4, console menu on RIOT is no more relevant and is not used anymore. Signed-off-by: Gilles DOFFE <[email protected]>
These directories are now empty, remove them. Signed-off-by: Gilles DOFFE <[email protected]>
As shell_menu module does not exist anymore, remove parsing for shell menu commands modules. Signed-off-by: Gilles DOFFE <[email protected]>
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The transceiver loop delay introduces a lag between sending and receiving messages in FDCAN due to internal processing. This delay affects bit timing, especially in high-speed communication, and can lead to synchronization issues. The TCAN332GDCNR CAN transceiver datasheet [1] exposes two ranges for this value: - Nominal range: 100 (typical) to 135 (max) - Highly loaded network: 120 (typical) to 180 (max) So here the value 130 is choosen as it is inside both ranges. This value has been tested in nominal robot working conditions. [1] https://www.ti.com/lit/ds/symlink/tcan332g.pdf Signed-off-by: Gilles DOFFE <[email protected]>
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The transceiver loop delay introduces a lag between sending and receiving messages in FDCAN due to internal processing. This delay affects bit timing, especially in high-speed communication, and can lead to synchronization issues. Fake the value here as cogip-native is for simulation. Signed-off-by: Gilles DOFFE <[email protected]>
This board is not used anymore as cogip-board is also used in PAMIs. Signed-off-by: Gilles DOFFE <[email protected]>
mlecriva
approved these changes
Feb 12, 2025
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LGTM |
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This PR removes from firmware all legacy code and unused modules.
Each deprecated module is removed in a specific commit in case of revert needed.