BA / SerialCom

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Fork of OmniWheels by Gustav Atmel

Main.cpp@2:798925c9e4a8, 2018-05-01 (annotated)

Committer:
gustavatmel
Date:
Tue May 01 15:55:34 2018 +0000
Revision:
2:798925c9e4a8
Parent:
1:9c5af431a1f1 
bluetooth

Who changed what in which revision?

UserRevisionLine numberNew contents of line
gustavatmel 0:d698f15ceaf1 1 /*
gustavatmel 0:d698f15ceaf1 2 * Main.cpp
gustavatmel 0:d698f15ceaf1 3 * Copyright (c) 2017, ZHAW
gustavatmel 0:d698f15ceaf1 4 * All rights reserved.
gustavatmel 0:d698f15ceaf1 5 *
gustavatmel 0:d698f15ceaf1 6 * Created on: 06.10.2017
gustavatmel 0:d698f15ceaf1 7 * Author: Marcel Honegger
gustavatmel 0:d698f15ceaf1 8 */
gustavatmel 2:798925c9e4a8 9 #include "SerialCom.h"
gustavatmel 0:d698f15ceaf1 10 #include <cstdlib>
gustavatmel 0:d698f15ceaf1 11 #include <mbed.h>
gustavatmel 1:9c5af431a1f1 12
gustavatmel 1:9c5af431a1f1 13
gustavatmel 1:9c5af431a1f1 14
gustavatmel 1:9c5af431a1f1 15
gustavatmel 0:d698f15ceaf1 16
gustavatmel 0:d698f15ceaf1 17 using namespace std;
gustavatmel 0:d698f15ceaf1 18
gustavatmel 0:d698f15ceaf1 19 class Main {
gustavatmel 0:d698f15ceaf1 20
gustavatmel 0:d698f15ceaf1 21 public:
gustavatmel 0:d698f15ceaf1 22
gustavatmel 0:d698f15ceaf1 23 Main();
gustavatmel 0:d698f15ceaf1 24 virtual ~Main();
gustavatmel 0:d698f15ceaf1 25
gustavatmel 0:d698f15ceaf1 26 private:
gustavatmel 0:d698f15ceaf1 27
gustavatmel 0:d698f15ceaf1 28 static const uint32_t STACK_SIZE = 8192; // stack size of thread, given in [bytes]
gustavatmel 0:d698f15ceaf1 29
gustavatmel 0:d698f15ceaf1 30 Thread thread;
gustavatmel 0:d698f15ceaf1 31 void run();
gustavatmel 0:d698f15ceaf1 32 };
gustavatmel 0:d698f15ceaf1 33
gustavatmel 0:d698f15ceaf1 34 Main::Main() : thread(osPriorityNormal, STACK_SIZE) {
gustavatmel 0:d698f15ceaf1 35
gustavatmel 0:d698f15ceaf1 36 thread.start(callback(this, &Main::run));
gustavatmel 0:d698f15ceaf1 37 }
gustavatmel 0:d698f15ceaf1 38
gustavatmel 0:d698f15ceaf1 39 Main::~Main() {}
gustavatmel 0:d698f15ceaf1 40
gustavatmel 0:d698f15ceaf1 41 void Main::run() {
gustavatmel 0:d698f15ceaf1 42
gustavatmel 0:d698f15ceaf1 43 // create miscellaneous periphery objects
gustavatmel 0:d698f15ceaf1 44
gustavatmel 0:d698f15ceaf1 45 DigitalOut led(LED1);
gustavatmel 0:d698f15ceaf1 46 DigitalIn button(USER_BUTTON);
gustavatmel 0:d698f15ceaf1 47
gustavatmel 1:9c5af431a1f1 48 // create serial server object
gustavatmel 1:9c5af431a1f1 49
gustavatmel 0:d698f15ceaf1 50
gustavatmel 0:d698f15ceaf1 51
gustavatmel 1:9c5af431a1f1 52 RawSerial serial(PA_0, PA_1);
gustavatmel 0:d698f15ceaf1 53 serial.baud(38400);
gustavatmel 0:d698f15ceaf1 54 serial.format(8, SerialBase::None, 1);
gustavatmel 0:d698f15ceaf1 55
gustavatmel 0:d698f15ceaf1 56 DigitalOut reset(PB_12);
gustavatmel 0:d698f15ceaf1 57 DigitalOut modes1(PB_0);
gustavatmel 0:d698f15ceaf1 58
gustavatmel 0:d698f15ceaf1 59 modes1 = 0;
gustavatmel 0:d698f15ceaf1 60
gustavatmel 0:d698f15ceaf1 61 reset = 1; Thread::wait(100);
gustavatmel 0:d698f15ceaf1 62 reset = 0; Thread::wait(100);
gustavatmel 0:d698f15ceaf1 63 reset = 1; Thread::wait(100);
gustavatmel 0:d698f15ceaf1 64
gustavatmel 2:798925c9e4a8 65 SerialCom serialCom(serial);
gustavatmel 0:d698f15ceaf1 66
gustavatmel 0:d698f15ceaf1 67 // enter main loop
gustavatmel 0:d698f15ceaf1 68
gustavatmel 0:d698f15ceaf1 69 while (true) {
gustavatmel 0:d698f15ceaf1 70
gustavatmel 0:d698f15ceaf1 71 led = !led;
gustavatmel 1:9c5af431a1f1 72 /*
gustavatmel 1:9c5af431a1f1 73 if (//stateMachine.getState() == StateMachine::STATE_MANUAL) {
gustavatmel 0:d698f15ceaf1 74 Thread::wait(100);
gustavatmel 1:9c5af431a1f1 75 } else if (//stateMachine.getState() == StateMachine::STATE_AUTOMATIC) {
gustavatmel 0:d698f15ceaf1 76 Thread::wait(200);
gustavatmel 0:d698f15ceaf1 77 } else {
gustavatmel 0:d698f15ceaf1 78 Thread::wait(500);
gustavatmel 0:d698f15ceaf1 79 }
gustavatmel 1:9c5af431a1f1 80 */
gustavatmel 0:d698f15ceaf1 81 }
gustavatmel 0:d698f15ceaf1 82 }
gustavatmel 0:d698f15ceaf1 83
gustavatmel 0:d698f15ceaf1 84 /**
gustavatmel 0:d698f15ceaf1 85 * This is the main program of the ROME2RevG firmware.
gustavatmel 0:d698f15ceaf1 86 */
gustavatmel 0:d698f15ceaf1 87 int32_t main() {
gustavatmel 0:d698f15ceaf1 88
gustavatmel 1:9c5af431a1f1 89 /* Serial pc(USBTX, USBRX); // tx, rx
gustavatmel 1:9c5af431a1f1 90 pc.baud(9600);
gustavatmel 1:9c5af431a1f1 91 pc.printf("was here\r\n");*/
gustavatmel 1:9c5af431a1f1 92
gustavatmel 0:d698f15ceaf1 93 Main main;
gustavatmel 0:d698f15ceaf1 94
gustavatmel 0:d698f15ceaf1 95 Thread::wait(osWaitForever);
gustavatmel 0:d698f15ceaf1 96 }