MorphGI / Mbed OS MGI_Rebuild_MidLevel_9_0-Basic_PWM

Basic Mid-Level control for the rebuilt MorphGI control unit, using PWM to communicate with the low level controllers.

Dependencies:   ros_lib_kinetic

main.cpp@18:6533fb7f5a91, 2018-10-10 (annotated)

Committer:
WD40andTape
Date:
Wed Oct 10 13:36:57 2018 +0000
Revision:
18:6533fb7f5a91
Parent:
17:bbaf3e8440ad
Child:
19:e5acb2183d4e
Temporarily disabling sensor feedback due to lag.

Who changed what in which revision?

UserRevisionLine numberNew contents of line
WD40andTape 7:5b6a2cefbf3b 1 // STANDARD IMPORTS
WD40andTape 7:5b6a2cefbf3b 2 #include "math.h"
WD40andTape 7:5b6a2cefbf3b 3 // MBED IMPORTS
dofydoink 0:607bc887b6e0 4 #include "mbed.h"
WD40andTape 6:f0a18e28a322 5 #include "mbed_events.h"
WD40andTape 7:5b6a2cefbf3b 6 // CUSTOM IMPORTS
dofydoink 12:595ed862e52f 7 #include "MLSettings.h"
WD40andTape 7:5b6a2cefbf3b 8 #include "HLComms.h"
WD40andTape 8:d6657767a182 9 #include "LLComms.h"
dofydoink 0:607bc887b6e0 10
WD40andTape 13:a373dfc57b89 11 //DigitalOut pinTesty(PB_8);
WD40andTape 13:a373dfc57b89 12
dofydoink 12:595ed862e52f 13 // Maximum achievable mm path tolerance plus additional % tolerance
dofydoink 12:595ed862e52f 14 const float FLT_PATH_TOLERANCE = MAX_SPEED_MMPS * PATH_SAMPLE_TIME_S * (1.0f+FLT_PERCENT_PATH_TOLERANCE);
dofydoink 0:607bc887b6e0 15
WD40andTape 7:5b6a2cefbf3b 16 // PATH VARIABLES
WD40andTape 7:5b6a2cefbf3b 17 double dblVelocity_mmps[N_CHANNELS] = { 0.0 }; // The linear path velocity (not sent to actuator)
WD40andTape 16:1e2804a4e5bd 18 double dblLinearPathCurrentPos_mm[N_CHANNELS]= { 0.0 }; // The current position of the linear path (not sent to actuator)
WD40andTape 7:5b6a2cefbf3b 19 double dblTargetActPos_mm[N_CHANNELS] = { 0.0 }; // The final target position for the actuator
dofydoink 0:607bc887b6e0 20
dofydoink 12:595ed862e52f 21 // These have to be declared in the global scope or we get a stack overflow. No idea why.
dofydoink 11:7029367a1840 22 double _dblVelocity_mmps[N_CHANNELS];
dofydoink 12:595ed862e52f 23 //double _dblLinearPathCurrentPos_mm[N_CHANNELS];
dofydoink 12:595ed862e52f 24 double dblADCCurrentPosition[N_CHANNELS];
dofydoink 11:7029367a1840 25
WD40andTape 7:5b6a2cefbf3b 26 Serial pc(USBTX, USBRX); // tx, rx for usb debugging
dofydoink 12:595ed862e52f 27 LLComms llcomms;
WD40andTape 16:1e2804a4e5bd 28 HLComms hlcomms(SERVER_PORT);
WD40andTape 3:c83291bf9fd2 29
WD40andTape 10:1b6daba32452 30 Thread threadLowLevelSPI(osPriorityRealtime);
WD40andTape 13:a373dfc57b89 31 Thread threadSmoothPathPlan(osPriorityNormal);
WD40andTape 4:303584310071 32 Thread threadReceiveAndReplan(osPriorityBelowNormal);
WD40andTape 17:bbaf3e8440ad 33 Thread threadSensorFeedback(osPriorityBelowNormal);
dofydoink 0:607bc887b6e0 34
WD40andTape 4:303584310071 35 Mutex mutPathIn;
WD40andTape 7:5b6a2cefbf3b 36 Semaphore semPathPlan(1);
WD40andTape 17:bbaf3e8440ad 37 Semaphore semSensorData(1);
dofydoink 0:607bc887b6e0 38
WD40andTape 7:5b6a2cefbf3b 39 Timer timer;
WD40andTape 7:5b6a2cefbf3b 40 Ticker PathCalculationTicker;
WD40andTape 17:bbaf3e8440ad 41 Ticker SendSensorDataTicker;
WD40andTape 17:bbaf3e8440ad 42
WD40andTape 17:bbaf3e8440ad 43
WD40andTape 17:bbaf3e8440ad 44 void sendSensorData() {
WD40andTape 17:bbaf3e8440ad 45 while( true ) {
WD40andTape 17:bbaf3e8440ad 46 semSensorData.wait();
WD40andTape 17:bbaf3e8440ad 47 double pressures[N_CHANNELS];
WD40andTape 17:bbaf3e8440ad 48 // !!! READ ADC PRESSURE ASSUMES THAT LL ARE ON FIRST
WD40andTape 17:bbaf3e8440ad 49 for(short int i=0; i<N_CHANNELS; i++) {
WD40andTape 17:bbaf3e8440ad 50 pressures[i] = llcomms.ReadADCPressure_bar(i);
WD40andTape 17:bbaf3e8440ad 51 }
WD40andTape 17:bbaf3e8440ad 52 int error_code = hlcomms.send_sensor_message(dblLinearPathCurrentPos_mm,pressures);
WD40andTape 17:bbaf3e8440ad 53 /*if( error_code < 0 ) {
WD40andTape 17:bbaf3e8440ad 54 if(IS_PRINT_OUTPUT) printf("Error %i. Could not send data over the TCP socket. "
WD40andTape 17:bbaf3e8440ad 55 "Perhaps the server socket is not bound or not set to listen for connections? "
WD40andTape 17:bbaf3e8440ad 56 "Or the socket is set to non-blocking or timed out?\n\r", error_code);
WD40andTape 17:bbaf3e8440ad 57 hlcomms.close_server();
WD40andTape 17:bbaf3e8440ad 58 return;
WD40andTape 17:bbaf3e8440ad 59 }*/
WD40andTape 17:bbaf3e8440ad 60 }
WD40andTape 17:bbaf3e8440ad 61 }
WD40andTape 17:bbaf3e8440ad 62
WD40andTape 17:bbaf3e8440ad 63 void signalSendSensorData() {
WD40andTape 17:bbaf3e8440ad 64 semSensorData.release();
WD40andTape 17:bbaf3e8440ad 65 }
dofydoink 0:607bc887b6e0 66
WD40andTape 7:5b6a2cefbf3b 67 void startPathPlan() { // Plan a new linear path after receiving new target data
WD40andTape 4:303584310071 68 semPathPlan.release(); // Uses threadReceiveAndReplan which is below normal priority to ensure consistent transmission to LL
dofydoink 0:607bc887b6e0 69 }
dofydoink 0:607bc887b6e0 70
WD40andTape 7:5b6a2cefbf3b 71 // This function will be called when a new transmission is received from high level
WD40andTape 7:5b6a2cefbf3b 72 void ReceiveAndReplan() {
WD40andTape 6:f0a18e28a322 73
WD40andTape 6:f0a18e28a322 74 int error_code;
WD40andTape 7:5b6a2cefbf3b 75 error_code = hlcomms.setup_server();
WD40andTape 6:f0a18e28a322 76 if( error_code == -1 ) return;
WD40andTape 7:5b6a2cefbf3b 77 error_code = hlcomms.accept_connection();
WD40andTape 7:5b6a2cefbf3b 78 if( error_code == -1 ) {
WD40andTape 7:5b6a2cefbf3b 79 hlcomms.close_server();
WD40andTape 7:5b6a2cefbf3b 80 return;
WD40andTape 7:5b6a2cefbf3b 81 }
WD40andTape 6:f0a18e28a322 82
WD40andTape 18:6533fb7f5a91 83 SendSensorDataTicker.attach(&signalSendSensorData, 0.1); // Set up planning thread to recur at fixed intervals
WD40andTape 17:bbaf3e8440ad 84
WD40andTape 7:5b6a2cefbf3b 85 int ii;
WD40andTape 7:5b6a2cefbf3b 86 struct msg_format input; //hlcomms.msg_format
WD40andTape 4:303584310071 87
WD40andTape 6:f0a18e28a322 88 while( true ) {
WD40andTape 6:f0a18e28a322 89 // RECEIVE MESSAGE
WD40andTape 9:cd3607ba5643 90 error_code = hlcomms.receive_message();
WD40andTape 6:f0a18e28a322 91 if( error_code == NSAPI_ERROR_NO_CONNECTION ) { // -3004
dofydoink 12:595ed862e52f 92 if(IS_PRINT_OUTPUT) printf("Client disconnected.\n\r");
WD40andTape 7:5b6a2cefbf3b 93 hlcomms.close_server();
WD40andTape 6:f0a18e28a322 94 return;
WD40andTape 6:f0a18e28a322 95 } else if( error_code < 0 ) {
dofydoink 12:595ed862e52f 96 if(IS_PRINT_OUTPUT) printf("Error %i. Could not send data over the TCP socket. "
WD40andTape 6:f0a18e28a322 97 "Perhaps the server socket is not connected to a remote host? "
WD40andTape 6:f0a18e28a322 98 "Or the socket is set to non-blocking or timed out?\n\r", error_code);
WD40andTape 7:5b6a2cefbf3b 99 hlcomms.close_server();
WD40andTape 6:f0a18e28a322 100 return;
WD40andTape 6:f0a18e28a322 101 }
WD40andTape 17:bbaf3e8440ad 102 // !!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!! RECV MUTEX
WD40andTape 9:cd3607ba5643 103 input = hlcomms.process_message();
WD40andTape 1:2a43cf183a62 104
WD40andTape 7:5b6a2cefbf3b 105 // PROCESS INPUT
WD40andTape 7:5b6a2cefbf3b 106 double dblTargetChambLen_mm[N_CHANNELS]; // The currenly assigned final target position (actuator will reach this at end of path)
dofydoink 12:595ed862e52f 107 if(IS_PRINT_OUTPUT) printf("REPLAN, %f\r\n",input.duration);
WD40andTape 14:54c3759e76ed 108
WD40andTape 14:54c3759e76ed 109 //update rear Segment
dofydoink 11:7029367a1840 110 dblTargetChambLen_mm[3] = input.psi[0][0]*1000;
WD40andTape 14:54c3759e76ed 111 dblTargetChambLen_mm[5] = 0.0;//input.psi[0][1]*1000;//not used
WD40andTape 14:54c3759e76ed 112 dblTargetChambLen_mm[6] = 0.0;//input.psi[0][2]*1000;//not used
WD40andTape 14:54c3759e76ed 113
WD40andTape 14:54c3759e76ed 114 //update mid segment
WD40andTape 14:54c3759e76ed 115 dblTargetChambLen_mm[4] = input.psi[1][0]*1000;
WD40andTape 14:54c3759e76ed 116 dblTargetChambLen_mm[7] = dblTargetChambLen_mm[4]; // Same because two pumps are used
WD40andTape 14:54c3759e76ed 117
WD40andTape 14:54c3759e76ed 118 // Update front segment
dofydoink 11:7029367a1840 119 dblTargetChambLen_mm[0] = input.psi[2][0]*1000;
dofydoink 11:7029367a1840 120 dblTargetChambLen_mm[1] = input.psi[2][1]*1000;
dofydoink 11:7029367a1840 121 dblTargetChambLen_mm[2] = input.psi[2][2]*1000;
dofydoink 11:7029367a1840 122
dofydoink 11:7029367a1840 123 mutPathIn.lock(); // Lock variables to avoid race condition
dofydoink 12:595ed862e52f 124 for(int j = 0; j<N_CHANNELS; j++) {
dofydoink 12:595ed862e52f 125 dblADCCurrentPosition[j] = dblLinearPathCurrentPos_mm[j];
dofydoink 12:595ed862e52f 126 //dblADCCurrentPosition[j] = llcomms.ReadADCPosition_mtrs(j); // Read position from channel
dofydoink 11:7029367a1840 127 }
dofydoink 12:595ed862e52f 128
dofydoink 11:7029367a1840 129 mutPathIn.unlock(); // Unlock mutex
dofydoink 0:607bc887b6e0 130
WD40andTape 13:a373dfc57b89 131 //bool isTimeChanged = 0;
WD40andTape 6:f0a18e28a322 132 double dblMaxRecalculatedTime = input.duration;
WD40andTape 13:a373dfc57b89 133 // Convert from requested chamber to actuator space and limit actuator positions
WD40andTape 4:303584310071 134 for (ii = 0; ii< N_CHANNELS; ii++) {
WD40andTape 13:a373dfc57b89 135 // If sent a negative requested position, do NOT replan that actuator
WD40andTape 14:54c3759e76ed 136 if( dblTargetChambLen_mm[ii] < 0.0 ) continue;
dofydoink 0:607bc887b6e0 137 //check to see if positions are achievable
dofydoink 12:595ed862e52f 138 dblTargetActPos_mm[ii] = dblTargetChambLen_mm[ii]*FLT_ACTUATOR_CONVERSION[ii];
WD40andTape 15:59471daef4cb 139 dblTargetActPos_mm[ii] = min( max( 0.0 , dblTargetActPos_mm[ii] ) , 40.0 );
WD40andTape 6:f0a18e28a322 140 //!! LIMIT CHAMBER LENGTHS TOO
WD40andTape 6:f0a18e28a322 141 }
WD40andTape 13:a373dfc57b89 142 // Calculate achievable velocities, and hence time, for the requested move to complete within tolerance
WD40andTape 6:f0a18e28a322 143 double dblActPosChange;
WD40andTape 6:f0a18e28a322 144 short sgn;
WD40andTape 7:5b6a2cefbf3b 145 for (ii = 0; ii< N_CHANNELS; ii++) { // Work out new velocities
WD40andTape 13:a373dfc57b89 146 // If sent a negative requested position, do NOT replan that actuator
WD40andTape 14:54c3759e76ed 147 if( dblTargetChambLen_mm[ii] < 0.0 ) continue;
WD40andTape 13:a373dfc57b89 148
WD40andTape 17:bbaf3e8440ad 149 //dblActPosChange = 1.0; // or = 0.0;
WD40andTape 17:bbaf3e8440ad 150 //_dblVelocity_mmps[ii] = 0.0; // DOESN'T CRASH
WD40andTape 17:bbaf3e8440ad 151
WD40andTape 17:bbaf3e8440ad 152 //dblActPosChange = dblTargetActPos_mm[ii];
WD40andTape 17:bbaf3e8440ad 153 //_dblVelocity_mmps[ii] = 0.0; // DOESN'T CRASH
WD40andTape 17:bbaf3e8440ad 154
WD40andTape 17:bbaf3e8440ad 155 //dblActPosChange = _dblLinearPathCurrentPos_mm[ii]; // DOESN'T CRASH
WD40andTape 17:bbaf3e8440ad 156
WD40andTape 17:bbaf3e8440ad 157 //_dblVelocity_mmps[ii] = _dblLinearPathCurrentPos_mm[ii]; // DOESN'T CRASH
WD40andTape 17:bbaf3e8440ad 158
WD40andTape 17:bbaf3e8440ad 159 //dblActPosChange = 0.0;
WD40andTape 17:bbaf3e8440ad 160 //_dblVelocity_mmps[ii] = _dblLinearPathCurrentPos_mm[ii]; // DOESN'T CRASH
dofydoink 11:7029367a1840 161
dofydoink 11:7029367a1840 162 // DOES CRASH but not with a return at the end of while OR if _ variables are declared globally
WD40andTape 17:bbaf3e8440ad 163 //dblActPosChange = _dblLinearPathCurrentPos_mm[ii];
WD40andTape 17:bbaf3e8440ad 164 //_dblVelocity_mmps[ii] = 0.0;
dofydoink 11:7029367a1840 165
dofydoink 12:595ed862e52f 166 dblActPosChange = dblTargetActPos_mm[ii] - dblADCCurrentPosition[ii];
WD40andTape 13:a373dfc57b89 167 if( fabs(dblActPosChange) < FLT_PATH_TOLERANCE ) { // If actuator ii is already within tolerance
WD40andTape 6:f0a18e28a322 168 dblActPosChange = 0.0;
WD40andTape 13:a373dfc57b89 169 //isTimeChanged = 1;
dofydoink 0:607bc887b6e0 170 }
dofydoink 11:7029367a1840 171 //IS BELOW
WD40andTape 13:a373dfc57b89 172 if( input.duration < 0.000000001 ) { // If max (safe) velocity was requested
WD40andTape 6:f0a18e28a322 173 sgn = (dblActPosChange > 0) ? 1 : ((dblActPosChange < 0) ? -1 : 0);
dofydoink 11:7029367a1840 174 _dblVelocity_mmps[ii] = sgn * MAX_SPEED_MMPS;
WD40andTape 13:a373dfc57b89 175 //isTimeChanged = 1;
WD40andTape 6:f0a18e28a322 176 } else {
dofydoink 11:7029367a1840 177 _dblVelocity_mmps[ii] = dblActPosChange / input.duration;
WD40andTape 6:f0a18e28a322 178 }
dofydoink 11:7029367a1840 179 //IS ABOVE
WD40andTape 13:a373dfc57b89 180 // Check to see if velocities are achievable -- this can move into the else section of the above if statement
dofydoink 11:7029367a1840 181 if(abs(_dblVelocity_mmps[ii]) > MAX_SPEED_MMPS) {
dofydoink 11:7029367a1840 182 if(_dblVelocity_mmps[ii]>0) {
dofydoink 11:7029367a1840 183 _dblVelocity_mmps[ii] = MAX_SPEED_MMPS;
WD40andTape 6:f0a18e28a322 184 } else {
dofydoink 11:7029367a1840 185 _dblVelocity_mmps[ii] = -1*MAX_SPEED_MMPS;
WD40andTape 6:f0a18e28a322 186 }
WD40andTape 13:a373dfc57b89 187 //isTimeChanged = 1;
WD40andTape 6:f0a18e28a322 188 }
WD40andTape 13:a373dfc57b89 189 // Recalculate the move's time after altering the position and/or velocity
WD40andTape 6:f0a18e28a322 190 double dblRecalculatedTime;
dofydoink 11:7029367a1840 191 if( fabs(_dblVelocity_mmps[ii]) < 0.000000001 ) {
WD40andTape 6:f0a18e28a322 192 dblRecalculatedTime = 0;
WD40andTape 6:f0a18e28a322 193 } else {
dofydoink 11:7029367a1840 194 dblRecalculatedTime = dblActPosChange / _dblVelocity_mmps[ii];
WD40andTape 6:f0a18e28a322 195 }
WD40andTape 13:a373dfc57b89 196 // Find the maximum time for any actuator's move for synchronization
WD40andTape 6:f0a18e28a322 197 if( dblRecalculatedTime > dblMaxRecalculatedTime ) {
WD40andTape 6:f0a18e28a322 198 dblMaxRecalculatedTime = dblRecalculatedTime;
WD40andTape 6:f0a18e28a322 199 }
WD40andTape 6:f0a18e28a322 200 }
WD40andTape 13:a373dfc57b89 201 // Finally recalculate all of the velocities based upon this maximum time for synchronization
WD40andTape 13:a373dfc57b89 202 // !!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!MUTEX FOR dblVelocity_mmps and dblTargetActPos_mm??
WD40andTape 13:a373dfc57b89 203 for (ii = 0; ii< N_CHANNELS; ii++) { // Work out new velocities
WD40andTape 13:a373dfc57b89 204 // If sent a negative requested position, do NOT replan that actuator
WD40andTape 14:54c3759e76ed 205 if( dblTargetChambLen_mm[ii] < 0.0 ) continue;
WD40andTape 13:a373dfc57b89 206
WD40andTape 13:a373dfc57b89 207 _dblVelocity_mmps[ii] = (dblTargetActPos_mm[ii] - dblADCCurrentPosition[ii]) / dblMaxRecalculatedTime;
WD40andTape 13:a373dfc57b89 208 dblVelocity_mmps[ii] = _dblVelocity_mmps[ii];
WD40andTape 6:f0a18e28a322 209 }
WD40andTape 6:f0a18e28a322 210 // SEND MESSAGE
WD40andTape 17:bbaf3e8440ad 211 error_code = hlcomms.send_duration_message(&dblMaxRecalculatedTime);
WD40andTape 6:f0a18e28a322 212 if( error_code < 0 ) {
dofydoink 12:595ed862e52f 213 if(IS_PRINT_OUTPUT) printf("Error %i. Could not send data over the TCP socket. "
WD40andTape 6:f0a18e28a322 214 "Perhaps the server socket is not bound or not set to listen for connections? "
WD40andTape 6:f0a18e28a322 215 "Or the socket is set to non-blocking or timed out?\n\r", error_code);
WD40andTape 7:5b6a2cefbf3b 216 hlcomms.close_server();
WD40andTape 6:f0a18e28a322 217 return;
WD40andTape 6:f0a18e28a322 218 }
WD40andTape 6:f0a18e28a322 219 }
WD40andTape 6:f0a18e28a322 220
dofydoink 0:607bc887b6e0 221 }
dofydoink 0:607bc887b6e0 222
WD40andTape 4:303584310071 223 void CalculateSmoothPath() {
dofydoink 5:712e7634c779 224 int jj;
WD40andTape 1:2a43cf183a62 225 double dblMeasuredSampleTime;
WD40andTape 7:5b6a2cefbf3b 226 double dblSmoothPathCurrentPos_mm[N_CHANNELS] = { 0.0 }; // The current position of the smooth path (not sent to actuator)
WD40andTape 7:5b6a2cefbf3b 227 //double dblPosition_mtrs[N_CHANNELS]; // The actual chamber lengths in meters given as the change in length relative to neutral (should always be >=0)
WD40andTape 7:5b6a2cefbf3b 228 //double dblPressure_bar[N_CHANNELS]; // The pressure in a given chamber in bar (1 bar = 100,000 Pa)
WD40andTape 4:303584310071 229 while(1) {
dofydoink 0:607bc887b6e0 230 semPathPlan.wait();
WD40andTape 13:a373dfc57b89 231 //pinTesty = 1;
WD40andTape 1:2a43cf183a62 232 // If run time is more than 50 us from expected, calculate from measured time step
WD40andTape 4:303584310071 233 if (fabs(PATH_SAMPLE_TIME_S*1000000 - timer.read_us()) > 50) {
dofydoink 5:712e7634c779 234 dblMeasuredSampleTime = timer.read();
WD40andTape 4:303584310071 235 } else {
WD40andTape 1:2a43cf183a62 236 dblMeasuredSampleTime = PATH_SAMPLE_TIME_S;
WD40andTape 1:2a43cf183a62 237 }
WD40andTape 4:303584310071 238 timer.reset();
WD40andTape 1:2a43cf183a62 239
dofydoink 5:712e7634c779 240 for(jj = 0; jj < N_CHANNELS; jj++) {
WD40andTape 7:5b6a2cefbf3b 241 //dblPressure_bar[jj] = ReadADCPressure_bar(jj); // Read pressure from channel
WD40andTape 7:5b6a2cefbf3b 242 //dblPosition_mtrs[jj] = ReadADCPosition_mtrs(jj); // Read position from channel
WD40andTape 1:2a43cf183a62 243
WD40andTape 7:5b6a2cefbf3b 244 // Calculate next step in linear path
WD40andTape 7:5b6a2cefbf3b 245 mutPathIn.lock(); // Lock relevant mutex
WD40andTape 7:5b6a2cefbf3b 246 // Check tolerance
dofydoink 12:595ed862e52f 247 if (fabs(dblLinearPathCurrentPos_mm[jj] - dblTargetActPos_mm[jj]) <= FLT_PATH_TOLERANCE) {
WD40andTape 7:5b6a2cefbf3b 248 dblVelocity_mmps[jj] = 0.0; // Stop linear path generation when linear path is within tolerance of target position
WD40andTape 7:5b6a2cefbf3b 249 }
dofydoink 11:7029367a1840 250 dblLinearPathCurrentPos_mm[jj] = dblLinearPathCurrentPos_mm[jj] + dblVelocity_mmps[jj]*dblMeasuredSampleTime;
WD40andTape 15:59471daef4cb 251 dblLinearPathCurrentPos_mm[jj] = min( max( 0.0 , dblLinearPathCurrentPos_mm[jj] ) , 40.0 );
WD40andTape 7:5b6a2cefbf3b 252 mutPathIn.unlock(); // Unlock relevant mutex
dofydoink 0:607bc887b6e0 253
WD40andTape 7:5b6a2cefbf3b 254 // Calculate next step in smooth path
dofydoink 12:595ed862e52f 255 dblSmoothPathCurrentPos_mm[jj] = FLT_SMOOTHING_FACTOR*dblLinearPathCurrentPos_mm[jj] + (1.0f-FLT_SMOOTHING_FACTOR)*dblSmoothPathCurrentPos_mm[jj];
dofydoink 11:7029367a1840 256 dblSmoothPathCurrentPos_mm[jj] = max( 0.0 , dblSmoothPathCurrentPos_mm[jj] );
dofydoink 11:7029367a1840 257 llcomms.mutChannel[jj].lock(); // MUTEX LOCK
WD40andTape 10:1b6daba32452 258 llcomms.demandPosition[jj] = (int) ((dblSmoothPathCurrentPos_mm[jj]/MAX_ACTUATOR_LENGTH)*8191);// Convert to a 13-bit number
WD40andTape 10:1b6daba32452 259 llcomms.demandPosition[jj] = llcomms.demandPosition[jj] & 0x1FFF; // Ensure number is 13-bit
WD40andTape 8:d6657767a182 260 llcomms.mutChannel[jj].unlock(); // MUTEX UNLOCK
dofydoink 0:607bc887b6e0 261
WD40andTape 10:1b6daba32452 262 llcomms.isDataReady[jj] = 1; // Signal that data ready
WD40andTape 4:303584310071 263 } // end for
WD40andTape 7:5b6a2cefbf3b 264
dofydoink 12:595ed862e52f 265 //if(IS_PRINT_OUTPUT) printf("%f, %d\r\n",dblSmoothPathCurrentPos_mm[0], intDemandPos_Tx[0]);
dofydoink 12:595ed862e52f 266 //if(IS_PRINT_OUTPUT) printf("%f, %f, %f, %f, %f, %f, %f, %f\r\n",dblLinearPathCurrentPos_mm[0],dblLinearPathCurrentPos_mm[1],dblLinearPathCurrentPos_mm[2],
dofydoink 11:7029367a1840 267 // dblLinearPathCurrentPos_mm[3],dblLinearPathCurrentPos_mm[4],dblLinearPathCurrentPos_mm[5],dblLinearPathCurrentPos_mm[6],dblLinearPathCurrentPos_mm[7]);
dofydoink 12:595ed862e52f 268 //if(IS_PRINT_OUTPUT) printf("%f\r\n",dblLinearPathCurrentPos_mm[0]);
WD40andTape 13:a373dfc57b89 269 //pinTesty = 0;
WD40andTape 4:303584310071 270 } // end while
WD40andTape 3:c83291bf9fd2 271 }
dofydoink 0:607bc887b6e0 272
WD40andTape 13:a373dfc57b89 273 int main() {
WD40andTape 7:5b6a2cefbf3b 274 pc.baud(BAUD_RATE);
WD40andTape 17:bbaf3e8440ad 275 printf("ML engage. Compiled at %s\r\n.",__TIME__);
dofydoink 5:712e7634c779 276 wait(3);
WD40andTape 9:cd3607ba5643 277
dofydoink 0:607bc887b6e0 278 timer.start();
WD40andTape 7:5b6a2cefbf3b 279
WD40andTape 10:1b6daba32452 280 threadLowLevelSPI.start(callback(&llcomms.queue, &EventQueue::dispatch_forever)); // Start the event queue
WD40andTape 7:5b6a2cefbf3b 281 threadReceiveAndReplan.start(ReceiveAndReplan);// Start replanning thread
WD40andTape 7:5b6a2cefbf3b 282 threadSmoothPathPlan.start(CalculateSmoothPath); // Start planning thread
WD40andTape 17:bbaf3e8440ad 283 threadSensorFeedback.start(sendSensorData); // Start sensor feedback thread
WD40andTape 7:5b6a2cefbf3b 284
WD40andTape 7:5b6a2cefbf3b 285 PathCalculationTicker.attach(&startPathPlan, PATH_SAMPLE_TIME_S); // Set up planning thread to recur at fixed intervals
dofydoink 0:607bc887b6e0 286
WD40andTape 7:5b6a2cefbf3b 287 Thread::wait(1);
WD40andTape 1:2a43cf183a62 288 while(1) {
WD40andTape 1:2a43cf183a62 289 Thread::wait(osWaitForever);
dofydoink 0:607bc887b6e0 290 }
WD40andTape 7:5b6a2cefbf3b 291 }