Diff: CameraThread.cpp

Revision:

10:8919b1b76243

Child:

11:9135e5bc2fcf

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/CameraThread.cpp	Fri Mar 02 23:37:31 2018 +0000
@@ -0,0 +1,116 @@
+/******************************************************************************/
+// ECE4333
+// LAB Partner 1:   Ahmed Sobhy - ID: 3594449
+// LAB Partner 2:   Brandon Kingman - ID: 3470444
+// Project:         Autonomous Robot Design
+// Instructor:      Prof. Chris Diduch
+/******************************************************************************/
+// filename: CameraThread.cpp
+// file content description:
+//      * Function to Create the Camera Thread
+//      * CameraThread
+//      * CameraThread ISR
+//      * Variables related to the functionality of the thread
+/******************************************************************************/
+
+#include "mbed.h"
+#include "Pixy.h"
+
+#define CENTER              160
+#define DISTANCE            20
+#define SIGNATURE_IN_USE    0
+
+osThreadId CameraId;
+
+extern Serial bluetooth;
+
+SPI spiR(p11, p12, p13); // (mosi, miso, sclk)
+PixySPI pixyR(&spiR, &bluetooth);
+
+void CameraThread(void const *argument);
+void CameraPeriodicInterruptISR(void);
+
+/******************************************************************************/
+//  osPriorityIdle          = -3,          ///< priority: idle (lowest)
+//  osPriorityLow           = -2,          ///< priority: low
+//  osPriorityBelowNormal   = -1,          ///< priority: below normal
+//  osPriorityNormal        =  0,          ///< priority: normal (default)
+//  osPriorityAboveNormal   = +1,          ///< priority: above normal
+//  osPriorityHigh          = +2,          ///< priority: high
+//  osPriorityRealtime      = +3,          ///< priority: realtime (highest)
+/******************************************************************************/
+
+// Declare PeriodicInterruptThread as a thread/process
+osThreadDef(CameraThread, osPriorityHigh, 1024); 
+
+Ticker CameraPeriodicInt;      // Declare a timer interrupt: PeriodicInt
+
+int xR, yR, ObjectWidth, ObjectHeight, ObjectArea, SteeringError, DistanceError;
+uint16_t blocksR;
+
+/*******************************************************************************
+* @brief    function that creates a thread for the Camera
+* @param    none
+* @return   none
+*******************************************************************************/
+void CameraThreadInit()
+{
+    pixyR.init();
+    xR=0;
+    yR=0;
+    ObjectWidth=0;
+    ObjectHeight=0; 
+    ObjectArea=0; 
+    SteeringError=0; 
+    DistanceError=0;
+    
+    CameraId = osThreadCreate(osThread(CameraThread), NULL);
+    CameraPeriodicInt.attach(&CameraPeriodicInterruptISR, 0.02);   // 20ms sampling rate - 50fps    
+}
+
+
+/*******************************************************************************
+* @brief    This is the Camera thread. It reads several values from the 
+*           Camera: x coordinate error from center @ 160 & the block area of the object
+* @param    none
+* @return   none
+*******************************************************************************/
+void CameraThread(void const *argument)
+{
+    
+    while (true) 
+    {
+        
+        osSignalWait(0x01, osWaitForever); // Go to sleep until signal is received.
+        
+        blocksR = pixyR.getBlocks();
+        if (blocksR) {
+            // signature 0 is cloudy day
+            // signature 1 is indoor lighting
+            xR = pixyR.blocks[SIGNATURE_IN_USE].x;
+            yR = pixyR.blocks[SIGNATURE_IN_USE].y;
+            ObjectWidth = pixyR.blocks[SIGNATURE_IN_USE].width;
+            ObjectHeight = pixyR.blocks[SIGNATURE_IN_USE].height;
+            ObjectArea = ObjectHeight * ObjectWidth;
+            
+            DistanceError = DISTANCE - ObjectWidth;
+            SteeringError = CENTER - xR;
+            
+        }
+           
+    }
+    
+}
+
+/*******************************************************************************
+* @brief    The ISR below signals the CameraThread. it is setup to run 
+*           every 20ms
+* @param    none
+* @return   none
+*******************************************************************************/
+void CameraPeriodicInterruptISR(void)
+{
+    // Send signal to the thread with ID, PeriodicInterruptId, i.e., PeriodicInterruptThread.
+    osSignalSet(CameraId,0x1); 
+}
+