ST.PM2 T4 / Mbed OS PM2_First_Test_Programm

Our Programm to build up from the PES Board Example

Dependencies:   PM2_Libary

main.cpp@24:b45ebc28cdf0, 2022-03-27 (annotated)

Committer:
oneelia01
Date:
Sun Mar 27 01:27:06 2022 +0100
Revision:
24:b45ebc28cdf0
Parent:
23:4a0912c80739 
Grundger?st aufgebaut (switch, erste funktoinen eingepfl. ,

Who changed what in which revision?

UserRevisionLine numberNew contents of line
boro 0:5d4d21d56334 1 #include "mbed.h"
pmic 16:2de2a437afdc 2 #include "PM2_Libary.h"
pmic 16:2de2a437afdc 3
pmic 16:2de2a437afdc 4 // logical variable main task
pmic 16:2de2a437afdc 5 bool do_execute_main_task = false; // this variable will be toggled via the user button (blue button) to or not to execute the main task
pmic 16:2de2a437afdc 6
pmic 16:2de2a437afdc 7 // user button on nucleo board
pmic 16:2de2a437afdc 8 Timer user_button_timer; // create Timer object which we use to check if user button was pressed for a certain time (robust against signal bouncing)
pmic 16:2de2a437afdc 9 InterruptIn user_button(PC_13); // create InterruptIn interface object to evaluate user button falling and rising edge (no blocking code in ISR)
pmic 16:2de2a437afdc 10 void user_button_pressed_fcn(); // custom functions which gets executed when user button gets pressed and released, definition below
pmic 16:2de2a437afdc 11 void user_button_released_fcn();
pmic 16:2de2a437afdc 12
pmic 16:2de2a437afdc 13 // while loop gets executed every main_task_period_ms milliseconds
pmic 16:2de2a437afdc 14 int main_task_period_ms = 50; // define main task period time in ms e.g. 50 ms -> main task runns 20 times per second
pmic 16:2de2a437afdc 15 Timer main_task_timer; // create Timer object which we use to run the main task every main task period time in ms
pmic 13:5d689f89d794 16
pmic 16:2de2a437afdc 17 // led on nucleo board
pmic 16:2de2a437afdc 18 DigitalOut user_led(LED1); // create DigitalOut object to command user led
pmic 16:2de2a437afdc 19
pmic 16:2de2a437afdc 20 // additional Led
pmic 16:2de2a437afdc 21 DigitalOut extra_led(PB_9); // create DigitalOut object to command extra led (do add an aditional resistor, e.g. 220...500 Ohm)
pmic 16:2de2a437afdc 22
pmic 16:2de2a437afdc 23 // mechanical button
pmic 16:2de2a437afdc 24 DigitalIn mechanical_button(PC_5); // create DigitalIn object to evaluate extra mechanical button, you need to specify the mode for proper usage, see below
pmic 16:2de2a437afdc 25
pmic 16:2de2a437afdc 26 // Sharp GP2Y0A41SK0F, 4-40 cm IR Sensor
pmic 16:2de2a437afdc 27 float ir_distance_mV = 0.0f; // define variable to store measurement
pmic 20:c52e148d933f 28 // ??? // create AnalogIn object to read in infrared distance sensor, 0...3.3V are mapped to 0...1
pmic 16:2de2a437afdc 29
oneelia01 24:b45ebc28cdf0 30 int schritt = 0;
oneelia01 24:b45ebc28cdf0 31
boro 0:5d4d21d56334 32 int main()
boro 0:5d4d21d56334 33 {
pmic 16:2de2a437afdc 34 // attach button fall and rise functions to user button object
pmic 16:2de2a437afdc 35 user_button.fall(&user_button_pressed_fcn);
pmic 16:2de2a437afdc 36 user_button.rise(&user_button_released_fcn);
pmic 16:2de2a437afdc 37
pmic 16:2de2a437afdc 38 // start timers
pmic 16:2de2a437afdc 39 main_task_timer.start();
pmic 16:2de2a437afdc 40
pmic 16:2de2a437afdc 41 // set pullup mode: add resistor between pin and 3.3 V, so that there is a defined potential
pmic 16:2de2a437afdc 42 mechanical_button.mode(PullUp);
pmic 16:2de2a437afdc 43
pmic 16:2de2a437afdc 44 while (true) { // this loop will run forever
pmic 16:2de2a437afdc 45
pmic 16:2de2a437afdc 46 main_task_timer.reset();
pmic 16:2de2a437afdc 47
pmic 16:2de2a437afdc 48 if (do_execute_main_task) {
pmic 13:5d689f89d794 49
oneelia01 24:b45ebc28cdf0 50 switch (schritt) {
oneelia01 24:b45ebc28cdf0 51
oneelia01 24:b45ebc28cdf0 52 case 0: //initialsiserung
oneelia01 24:b45ebc28cdf0 53 initialisierung();
oneelia01 24:b45ebc28cdf0 54
oneelia01 24:b45ebc28cdf0 55 if(/*stütze oben und keine Treppe erkennbar und boden erkennbar (alle sensoren funktionieren)*/){
oneelia01 24:b45ebc28cdf0 56 schritt = 1;
oneelia01 24:b45ebc28cdf0 57 reset_initialisierung;
oneelia01 24:b45ebc28cdf0 58 }
oneelia01 24:b45ebc28cdf0 59 break;
oneelia01 24:b45ebc28cdf0 60
oneelia01 24:b45ebc28cdf0 61 case 1: //anfahren bis treppenanschlag
oneelia01 24:b45ebc28cdf0 62 break;
pmic 13:5d689f89d794 63
oneelia01 24:b45ebc28cdf0 64 case 2: //Mittelkörper hochfahren
oneelia01 24:b45ebc28cdf0 65 break;
oneelia01 24:b45ebc28cdf0 66
oneelia01 24:b45ebc28cdf0 67 case 3: //vorwärtsfahren bis Mittelkörper auf der Treppe
oneelia01 24:b45ebc28cdf0 68 break;
pmic 14:db46f47b0480 69
oneelia01 24:b45ebc28cdf0 70 case 4: //Sttze hochfahren und trpee erkennen
oneelia01 24:b45ebc28cdf0 71 break;
pmic 16:2de2a437afdc 72
oneelia01 24:b45ebc28cdf0 73 case 5: //Vorwärtsfahren und "abschalten"
oneelia01 24:b45ebc28cdf0 74 break;
oneelia01 24:b45ebc28cdf0 75 }
oneelia01 24:b45ebc28cdf0 76 }
pmic 16:2de2a437afdc 77
oneelia01 24:b45ebc28cdf0 78
pmic 13:5d689f89d794 79
pmic 16:2de2a437afdc 80 user_led = !user_led;
pmic 13:5d689f89d794 81
oneelia01 24:b45ebc28cdf0 82
pmic 16:2de2a437afdc 83
pmic 16:2de2a437afdc 84 // read timer and make the main thread sleep for the remaining time span (non blocking)
pmic 16:2de2a437afdc 85 int main_task_elapsed_time_ms = std::chrono::duration_cast<std::chrono::milliseconds>(main_task_timer.elapsed_time()).count();
pmic 16:2de2a437afdc 86 thread_sleep_for(main_task_period_ms - main_task_elapsed_time_ms);
boro 0:5d4d21d56334 87 }
boro 0:5d4d21d56334 88 }
pmic 13:5d689f89d794 89
oneelia01 24:b45ebc28cdf0 90 void user_button_pressed_fcn() //NH: Darf nicht gelöscht werden!
pmic 1:4e0e4d0363d9 91 {
pmic 19:22e264bd960d 92 user_button_timer.start();
pmic 1:4e0e4d0363d9 93 user_button_timer.reset();
pmic 1:4e0e4d0363d9 94 }
pmic 13:5d689f89d794 95
oneelia01 24:b45ebc28cdf0 96 void user_button_released_fcn() //NH: Darf nicht gelöscht werden!
pmic 1:4e0e4d0363d9 97 {
pmic 16:2de2a437afdc 98 // read timer and toggle do_execute_main_task if the button was pressed longer than the below specified time
pmic 16:2de2a437afdc 99 int user_button_elapsed_time_ms = std::chrono::duration_cast<std::chrono::milliseconds>(user_button_timer.elapsed_time()).count();
pmic 1:4e0e4d0363d9 100 user_button_timer.stop();
pmic 16:2de2a437afdc 101 if (user_button_elapsed_time_ms > 200) {
pmic 16:2de2a437afdc 102 do_execute_main_task = !do_execute_main_task;
pmic 13:5d689f89d794 103 }
oneelia01 24:b45ebc28cdf0 104 }
oneelia01 24:b45ebc28cdf0 105
oneelia01 24:b45ebc28cdf0 106
oneelia01 24:b45ebc28cdf0 107 void initialisierung(){
oneelia01 24:b45ebc28cdf0 108
oneelia01 24:b45ebc28cdf0 109 }
oneelia01 24:b45ebc28cdf0 110
oneelia01 24:b45ebc28cdf0 111 void reset_initialisierung(){
oneelia01 24:b45ebc28cdf0 112
oneelia01 24:b45ebc28cdf0 113 }
oneelia01 24:b45ebc28cdf0 114
oneelia01 24:b45ebc28cdf0 115
oneelia01 24:b45ebc28cdf0 116 void prozessschritt_1(){ //initial
oneelia01 24:b45ebc28cdf0 117
oneelia01 24:b45ebc28cdf0 118 }
oneelia01 24:b45ebc28cdf0 119
oneelia01 24:b45ebc28cdf0 120 void reset_Prozessschritt_1(){
oneelia01 24:b45ebc28cdf0 121
oneelia01 24:b45ebc28cdf0 122 }
oneelia01 24:b45ebc28cdf0 123
oneelia01 24:b45ebc28cdf0 124 void prozessschritt_2(){
oneelia01 24:b45ebc28cdf0 125
oneelia01 24:b45ebc28cdf0 126 }
oneelia01 24:b45ebc28cdf0 127
oneelia01 24:b45ebc28cdf0 128 void reset_Prozessschritt_2(){
oneelia01 24:b45ebc28cdf0 129
pmic 6:6c1c38d4faa4 130 }