Instrumentation / Mbed 2 deprecated frdm_MasterVehicle

This is the source code used by master vehicle. Modules: CAMCTL SRVCTL MTRCTL still missing i2c readings from accelerometer and rf communication

Dependencies:   CAMCTL MTRCTL SRVCTL mbed FXOS8700CQ XBEE

main.cpp@0:2a825db40e1b, 2014-10-14 (annotated)

Committer:
JalilChavez
Date:
Tue Oct 14 04:00:40 2014 +0000
Revision:
0:2a825db40e1b
Child:
1:a457798861a4
Master vehicle system

Who changed what in which revision?

UserRevisionLine numberNew contents of line
JalilChavez 0:2a825db40e1b 1 #include "camctl.h"
JalilChavez 0:2a825db40e1b 2 #include "srvctl.h"
JalilChavez 0:2a825db40e1b 3 #include "mtrctl.h"
JalilChavez 0:2a825db40e1b 4
JalilChavez 0:2a825db40e1b 5 DigitalOut MAIN__xPinAlive( LED_BLUE );
JalilChavez 0:2a825db40e1b 6 Serial xComPort1(USBTX,USBRX);
JalilChavez 0:2a825db40e1b 7
JalilChavez 0:2a825db40e1b 8
JalilChavez 0:2a825db40e1b 9 /**********************************************************************************
JalilChavez 0:2a825db40e1b 10 * CAMCTL-Module
JalilChavez 0:2a825db40e1b 11 ***********************************************************************************/
JalilChavez 0:2a825db40e1b 12 uint16_t au16ThresholdBuffer[BUFFER_LENGTH] = {0};
JalilChavez 0:2a825db40e1b 13 uint16_t *pu16DataBuffer;
JalilChavez 0:2a825db40e1b 14 uint8_t u8Index = 0;
JalilChavez 0:2a825db40e1b 15 uint8_t u8FrameCtr = 0;
JalilChavez 0:2a825db40e1b 16 /* Variables to get the line center */
JalilChavez 0:2a825db40e1b 17 uint32_t u32Sum = 0;
JalilChavez 0:2a825db40e1b 18 uint32_t u32Avg = 0;
JalilChavez 0:2a825db40e1b 19 uint32_t u3SampleCtr = 0;
JalilChavez 0:2a825db40e1b 20 bool boCalibrationDone = false;
JalilChavez 0:2a825db40e1b 21
JalilChavez 0:2a825db40e1b 22 int main()
JalilChavez 0:2a825db40e1b 23 {
JalilChavez 0:2a825db40e1b 24 /* Initialization of modules */
JalilChavez 0:2a825db40e1b 25 CAMCTL_vInit();
JalilChavez 0:2a825db40e1b 26 MTRCTL_vInit();
JalilChavez 0:2a825db40e1b 27 SRVCTL_vInit();
JalilChavez 0:2a825db40e1b 28 xComPort1.baud(115200);
JalilChavez 0:2a825db40e1b 29 /* Main loop */
JalilChavez 0:2a825db40e1b 30 while(true)
JalilChavez 0:2a825db40e1b 31 {
JalilChavez 0:2a825db40e1b 32 /* Wait until camera is calibrated */
JalilChavez 0:2a825db40e1b 33 if(boCalibrationDone == false)
JalilChavez 0:2a825db40e1b 34 {
JalilChavez 0:2a825db40e1b 35 boCalibrationDone = CAMCTL_boCalibrateCamera( au16ThresholdBuffer, 4 );
JalilChavez 0:2a825db40e1b 36 }
JalilChavez 0:2a825db40e1b 37 else
JalilChavez 0:2a825db40e1b 38 {
JalilChavez 0:2a825db40e1b 39 /* Get frame */
JalilChavez 0:2a825db40e1b 40 CAMCTL_vTriggerOneShotCapture();
JalilChavez 0:2a825db40e1b 41 pu16DataBuffer = CAMCTL_pu16GetData();
JalilChavez 0:2a825db40e1b 42 while( pu16DataBuffer == NULL )
JalilChavez 0:2a825db40e1b 43 {
JalilChavez 0:2a825db40e1b 44 pu16DataBuffer = CAMCTL_pu16GetData();
JalilChavez 0:2a825db40e1b 45 }
JalilChavez 0:2a825db40e1b 46 /* Detect path center */
JalilChavez 0:2a825db40e1b 47 for( u8Index = 0; u8Index < BUFFER_LENGTH; u8Index++ )
JalilChavez 0:2a825db40e1b 48 {
JalilChavez 0:2a825db40e1b 49 if( pu16DataBuffer[u8Index] < au16ThresholdBuffer[u8Index] )
JalilChavez 0:2a825db40e1b 50 {
JalilChavez 0:2a825db40e1b 51 u32Sum = u32Sum + u8Index;
JalilChavez 0:2a825db40e1b 52 u3SampleCtr++;
JalilChavez 0:2a825db40e1b 53
JalilChavez 0:2a825db40e1b 54 }
JalilChavez 0:2a825db40e1b 55 else
JalilChavez 0:2a825db40e1b 56 {
JalilChavez 0:2a825db40e1b 57
JalilChavez 0:2a825db40e1b 58 }
JalilChavez 0:2a825db40e1b 59 }
JalilChavez 0:2a825db40e1b 60 /*Move servo according to camer readings*/
JalilChavez 0:2a825db40e1b 61 u32Avg = (uint32_t)( u32Sum / u3SampleCtr );
JalilChavez 0:2a825db40e1b 62 SRVCTL_vSetPosition( u32Avg, BUFFER_LENGTH );
JalilChavez 0:2a825db40e1b 63 MTRCTL_vSetSystemSpeed( 400, (uint8_t)(u32Avg) );
JalilChavez 0:2a825db40e1b 64 /* Report data through COM port */
JalilChavez 0:2a825db40e1b 65 xComPort1.printf("u8CenterPos = %f\r\n",(float)(u32Avg/128.0));
JalilChavez 0:2a825db40e1b 66 /* Reinitialize variables */
JalilChavez 0:2a825db40e1b 67 u32Sum = 0;
JalilChavez 0:2a825db40e1b 68 u3SampleCtr = 0;
JalilChavez 0:2a825db40e1b 69 }
JalilChavez 0:2a825db40e1b 70 /* Pin alive message */
JalilChavez 0:2a825db40e1b 71 MAIN__xPinAlive = !MAIN__xPinAlive;
JalilChavez 0:2a825db40e1b 72 wait(0.0001);
JalilChavez 0:2a825db40e1b 73 }
JalilChavez 0:2a825db40e1b 74 }
JalilChavez 0:2a825db40e1b 75