Code for Sprint 2
Dependencies: C12832 mbed rtos RangeFinder
main.cpp@2:b109a4eb9b0d, 2015-03-05 (annotated)
- Committer:
- Ali_taher
- Date:
- Thu Mar 05 17:43:10 2015 +0000
- Revision:
- 2:b109a4eb9b0d
- Parent:
- 1:28ea653772dc
- Child:
- 3:3d53799c2f18
serial port working
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
Soldier7 | 0:5edc27224a37 | 1 | #include "mbed.h" |
Soldier7 | 0:5edc27224a37 | 2 | #include "rtos.h" |
Soldier7 | 0:5edc27224a37 | 3 | #include "Servo.h" |
Soldier7 | 0:5edc27224a37 | 4 | #include "C12832.h" |
Soldier7 | 0:5edc27224a37 | 5 | Servo s1(p21); |
Soldier7 | 0:5edc27224a37 | 6 | Servo s2(p22); |
Soldier7 | 0:5edc27224a37 | 7 | Serial pc(USBTX, USBRX); |
Soldier7 | 0:5edc27224a37 | 8 | Mutex mutexIn; |
Soldier7 | 0:5edc27224a37 | 9 | Mutex mutexOut; |
Soldier7 | 0:5edc27224a37 | 10 | |
Soldier7 | 0:5edc27224a37 | 11 | // Globel variables |
Ali_taher | 2:b109a4eb9b0d | 12 | char cordinates[20]; |
PaulF | 1:28ea653772dc | 13 | char corHoriz; |
PaulF | 1:28ea653772dc | 14 | char corVertic; |
PaulF | 1:28ea653772dc | 15 | //float corDeep; |
PaulF | 1:28ea653772dc | 16 | //float outVert; |
PaulF | 1:28ea653772dc | 17 | //float outHoriz; |
Soldier7 | 0:5edc27224a37 | 18 | C12832 lcd(p5, p7, p6, p8, p11);// lcd is an object from class c12832 initialised by p5,p7.... |
Soldier7 | 0:5edc27224a37 | 19 | |
Soldier7 | 0:5edc27224a37 | 20 | /* Thread Serial 1 - handles the output data from the control thread, and pass to the servo. |
Soldier7 | 0:5edc27224a37 | 21 | @update s1, s2 */ |
Soldier7 | 0:5edc27224a37 | 22 | void serial_thread(void const *args) { |
Soldier7 | 0:5edc27224a37 | 23 | while (true) { |
Soldier7 | 0:5edc27224a37 | 24 | mutexIn.lock(); |
Ali_taher | 2:b109a4eb9b0d | 25 | // pc.gets(cordinates,4); |
Ali_taher | 2:b109a4eb9b0d | 26 | // cordinates = pc.putc(pc.getc()); |
Ali_taher | 2:b109a4eb9b0d | 27 | pc.gets(cordinates,4);// read from serial port the data |
Ali_taher | 2:b109a4eb9b0d | 28 | //corHoriz=cordinates; |
Ali_taher | 2:b109a4eb9b0d | 29 | // corHoriz=(cordinates[0]+cordinates[1]+cordinates[2]+cordinates[3]); |
Ali_taher | 2:b109a4eb9b0d | 30 | // corVertic=(cordinates[4]+cordinates[5]+cordinates[6]+cordinates[7]); |
Ali_taher | 2:b109a4eb9b0d | 31 | |
Ali_taher | 2:b109a4eb9b0d | 32 | //corVertic = cordinates[1]; |
PaulF | 1:28ea653772dc | 33 | // corDeep = cordinates[2]; |
Soldier7 | 0:5edc27224a37 | 34 | mutexIn.unlock(); |
Soldier7 | 0:5edc27224a37 | 35 | Thread::wait(200); |
Soldier7 | 0:5edc27224a37 | 36 | } |
Soldier7 | 0:5edc27224a37 | 37 | } |
Soldier7 | 0:5edc27224a37 | 38 | |
Soldier7 | 0:5edc27224a37 | 39 | /* Thread LCD 2 - handles the input data from the sonar sensor, and display on the LCD screen. |
Soldier7 | 0:5edc27224a37 | 40 | @update inData */ |
Soldier7 | 0:5edc27224a37 | 41 | void lcd_thread(void const *args) { |
Soldier7 | 0:5edc27224a37 | 42 | while (true) { |
Soldier7 | 0:5edc27224a37 | 43 | mutexIn.lock(); |
Soldier7 | 0:5edc27224a37 | 44 | mutexOut.lock(); |
Soldier7 | 0:5edc27224a37 | 45 | // Display values on the LCD screen |
Soldier7 | 0:5edc27224a37 | 46 | lcd.cls(); // clear the display |
Soldier7 | 0:5edc27224a37 | 47 | lcd.locate(0,3); // the location where you want your charater to be displayed |
Ali_taher | 2:b109a4eb9b0d | 48 | lcd.printf("Hor: %s ",cordinates ); |
Ali_taher | 2:b109a4eb9b0d | 49 | // lcd.printf("vertical: %s ",cordinates ); |
Soldier7 | 0:5edc27224a37 | 50 | mutexIn.unlock(); |
Soldier7 | 0:5edc27224a37 | 51 | mutexOut.unlock(); |
Soldier7 | 0:5edc27224a37 | 52 | Thread::wait(25); |
Soldier7 | 0:5edc27224a37 | 53 | } |
Soldier7 | 0:5edc27224a37 | 54 | } |
Soldier7 | 0:5edc27224a37 | 55 | |
Soldier7 | 0:5edc27224a37 | 56 | /* Thread Control 3 - handles the input data from the sonar sensor, and display on the LCD screen. |
Soldier7 | 0:5edc27224a37 | 57 | @update inData */ |
Soldier7 | 0:5edc27224a37 | 58 | void control_thread(void const *args) { |
Soldier7 | 0:5edc27224a37 | 59 | while (true) { |
Soldier7 | 0:5edc27224a37 | 60 | mutexIn.lock(); |
Soldier7 | 0:5edc27224a37 | 61 | // The control code will come here |
Soldier7 | 0:5edc27224a37 | 62 | |
Soldier7 | 0:5edc27224a37 | 63 | mutexIn.unlock(); |
Soldier7 | 0:5edc27224a37 | 64 | Thread::wait(25); |
Soldier7 | 0:5edc27224a37 | 65 | } |
Soldier7 | 0:5edc27224a37 | 66 | } |
Soldier7 | 0:5edc27224a37 | 67 | |
Soldier7 | 0:5edc27224a37 | 68 | /* Thread Servo 4 - handles the output data from the control thread, and pass to the servo. |
Soldier7 | 0:5edc27224a37 | 69 | @update s1, s2 */ |
Soldier7 | 0:5edc27224a37 | 70 | void servo_thread(void const *args) { |
Soldier7 | 0:5edc27224a37 | 71 | while (true) { |
Soldier7 | 0:5edc27224a37 | 72 | mutexOut.lock(); |
Soldier7 | 0:5edc27224a37 | 73 | // s1 = outVert; |
Soldier7 | 0:5edc27224a37 | 74 | // s2 = outHoriz; |
Soldier7 | 0:5edc27224a37 | 75 | mutexOut.unlock(); |
Soldier7 | 0:5edc27224a37 | 76 | Thread::wait(200); |
Soldier7 | 0:5edc27224a37 | 77 | } |
Soldier7 | 0:5edc27224a37 | 78 | } |
Soldier7 | 0:5edc27224a37 | 79 | |
Soldier7 | 0:5edc27224a37 | 80 | int main() { |
Soldier7 | 0:5edc27224a37 | 81 | Thread thread_1(serial_thread); // Start Serial Thread |
Soldier7 | 0:5edc27224a37 | 82 | Thread thread_2(lcd_thread); // Start LCD Thread |
Soldier7 | 0:5edc27224a37 | 83 | Thread thread_3(control_thread); // Start Control Thread |
Soldier7 | 0:5edc27224a37 | 84 | Thread thread_4(servo_thread); // Start Servo Thread |
Soldier7 | 0:5edc27224a37 | 85 | while(1) { |
Soldier7 | 0:5edc27224a37 | 86 | Thread::wait(10); |
Soldier7 | 0:5edc27224a37 | 87 | } |
Soldier7 | 0:5edc27224a37 | 88 | } |