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Dependencies:   mbed-rtos mbed

main.cpp@41:013df90be273, 2017-03-25 (annotated)

Committer:
shimogamo
Date:
Sat Mar 25 07:09:30 2017 +0000
Revision:
41:013df90be273
Parent:
40:fa6c39f853f1 
marge

Who changed what in which revision?

UserRevisionLine numberNew contents of line
shimogamo 12:8e39bb45c61c 1 //@todo Initのコマンドモード化or別プログラム化
shimogamo 17:887cfe1d309f 2 //@todo Initで設定した値の反映をスマートに（ServoMやControllerMでupdate毎にGlobalから設定値を取り込むのではなく，paramSet的な関数を作って更新時に呼び出し）
shimogamo 17:887cfe1d309f 3 //てかそもそもInit情報Globalに入れる必要ないのでは？
shimogamo 10:0a4bf8c82493 4
shimogamo 12:8e39bb45c61c 5 //@todo Cadence, Airspeed内でNC，Encorderクラスから継承
shimogamo 16:7e36177b4435 6 //@todo Buttonクラスを作り，TrimとSelectorの親クラスにする
shimogamo 12:8e39bb45c61c 7
shimogamo 12:8e39bb45c61c 8 //@todo 使っているライブラリの関数の説明追加
shimogamo 12:8e39bb45c61c 9
naoya1687 32:13aba70baa4b 10 //servo回りはシリアルに変更
naoya1687 32:13aba70baa4b 11 //selector周りはコメントアウトしてる
naoya1687 31:cef6ee7af014 12
shimogamo 17:887cfe1d309f 13 //タスクの数に上限があるっぽい(6個以下)
naoya1687 27:5b897e2e0ac6 14 //
shimogamo 14:11e71bf840b2 15
shimogamo 0:2a15bd367891 16 #include "mbed.h"
shimogamo 0:2a15bd367891 17 #include "rtos.h"
shimogamo 0:2a15bd367891 18 #include "Global.h"
shimogamo 9:d1fc0805ec7d 19 #include "Init.h"
naoya1687 34:770a6bbb4d63 20 #include "ServoSend.h"
shimogamo 0:2a15bd367891 21 #include "ControllerManager.h"
shimogamo 0:2a15bd367891 22 #include "Trim.h"
shimogamo 0:2a15bd367891 23 #include "Airspeed.h"
shimogamo 15:e73408fc6008 24 #include "Atmpress.h"
shimogamo 0:2a15bd367891 25 #include "Display.h"
naoya1687 31:cef6ee7af014 26 //#include "Selector.h"
naoya1687 30:6d3a78bc1925 27 #include "TweLite_Sensors.h"
shimogamo 5:9a1ec02229dd 28
shimogamo 5:9a1ec02229dd 29 RawSerial pc(USBTX, USBRX);
shimogamo 0:2a15bd367891 30
naoya1687 31:cef6ee7af014 31 Atmpress atmpress(PB_7, PA_15);//sda, scl
naoya1687 31:cef6ee7af014 32 Display display(PC_4, PA_10, NC);//tx, rx, sw
naoya1687 31:cef6ee7af014 33 ControllerManager controllerManager(PC_0,PC_1,PA_4,PA_1);//ele, rud, eletrimup, eletrimdown
naoya1687 34:770a6bbb4d63 34 ServoSend servoSend(PC_10, PC_11);//tx, rx
naoya1687 31:cef6ee7af014 35 //Selector selector(p25);
naoya1687 31:cef6ee7af014 36 DigitalOut wdt(PA_14);
naoya1687 31:cef6ee7af014 37 Airspeed airspeed(PA_13, NC, NC);//p19,p20をInterruptInに使ってはいけない
naoya1687 31:cef6ee7af014 38 TweLite_Sensors tweLite_Sensors(PC_12,PD_2);
shimogamo 35:63ccdae58da4 39 //FlashMemoryのpin指定は Global.cpp 内
shimogamo 16:7e36177b4435 40
shimogamo 5:9a1ec02229dd 41 void pc_rx(){
shimogamo 5:9a1ec02229dd 42 while(pc.readable()==1){
shimogamo 26:a53c3208ac35 43 //コマンドモードのon,offはここに入れるといい
shimogamo 9:d1fc0805ec7d 44 char buf = (char)pc.getc();
naoya1687 34:770a6bbb4d63 45 pc.putc(buf);
shimogamo 36:ad6b2b81bb89 46 Global::initqueue.put((char*)buf);
shimogamo 0:2a15bd367891 47 }
shimogamo 0:2a15bd367891 48 }
shimogamo 0:2a15bd367891 49
shimogamo 5:9a1ec02229dd 50
shimogamo 9:d1fc0805ec7d 51
shimogamo 9:d1fc0805ec7d 52 void initializeTask(void const *pvParameters){
shimogamo 5:9a1ec02229dd 53 while(1){
shimogamo 9:d1fc0805ec7d 54 Init::getSerial();
shimogamo 5:9a1ec02229dd 55 }
shimogamo 5:9a1ec02229dd 56 }
shimogamo 5:9a1ec02229dd 57
shimogamo 0:2a15bd367891 58 void controlTask(void const *pvParameters){
shimogamo 0:2a15bd367891 59 while(1){
shimogamo 15:e73408fc6008 60 //この中でpc.printfはしないほうがいいみたい（9600bpsだと遅延が起こる）
shimogamo 0:2a15bd367891 61 controllerManager.update();
naoya1687 34:770a6bbb4d63 62 servoSend.send();
naoya1687 31:cef6ee7af014 63 //selector.update();
shimogamo 26:a53c3208ac35 64 wdt = !wdt;//ウォッチドッグタイマのkickに相当
shimogamo 0:2a15bd367891 65 Thread::wait(50);
shimogamo 0:2a15bd367891 66 }
shimogamo 0:2a15bd367891 67 }
shimogamo 0:2a15bd367891 68
shimogamo 14:11e71bf840b2 69 void sensorTask500(void const *pvParameters){
shimogamo 0:2a15bd367891 70 while(1){
shimogamo 0:2a15bd367891 71 airspeed.update();
shimogamo 15:e73408fc6008 72 atmpress.update();
shimogamo 9:d1fc0805ec7d 73 Thread::wait(500);
shimogamo 0:2a15bd367891 74 }
shimogamo 0:2a15bd367891 75 }
shimogamo 14:11e71bf840b2 76
naoya1687 33:d939479e7b13 77 void twesensorTask(void const *pvParameters){
naoya1687 33:d939479e7b13 78 while(1){
shimogamo 35:63ccdae58da4 79 tweLite_Sensors.update();
shimogamo 35:63ccdae58da4 80 //こっちでそれぞれのbatteryをupdata
shimogamo 35:63ccdae58da4 81 //更新周期はTickerのインターバルで指定
naoya1687 33:d939479e7b13 82 }
naoya1687 33:d939479e7b13 83 }
naoya1687 33:d939479e7b13 84
shimogamo 0:2a15bd367891 85
shimogamo 0:2a15bd367891 86 void displayTask(void const *pvParameters){
shimogamo 0:2a15bd367891 87 while(1){
shimogamo 0:2a15bd367891 88 display.update();
shimogamo 13:a8e10a69df45 89 Thread::wait(50);
shimogamo 0:2a15bd367891 90 }
shimogamo 0:2a15bd367891 91 }
shimogamo 0:2a15bd367891 92
shimogamo 0:2a15bd367891 93
shimogamo 0:2a15bd367891 94
shimogamo 0:2a15bd367891 95 int main(void){
shimogamo 35:63ccdae58da4 96 pc.printf("start\n");
shimogamo 5:9a1ec02229dd 97 pc.attach(pc_rx,Serial::RxIrq);
shimogamo 6:0d9fa7152934 98 Global::initialize();
shimogamo 5:9a1ec02229dd 99 Thread InitializeTask(initializeTask);
shimogamo 9:d1fc0805ec7d 100 Thread ControlTask(controlTask, NULL, osPriorityRealtime);
shimogamo 14:11e71bf840b2 101 Thread SensorTask500(sensorTask500);
naoya1687 33:d939479e7b13 102 Thread TwesensorTask(twesensorTask);
shimogamo 0:2a15bd367891 103 Thread DisplayTask(displayTask);
shimogamo 35:63ccdae58da4 104 pc.printf("Task end\n");
shimogamo 0:2a15bd367891 105
shimogamo 36:ad6b2b81bb89 106 Thread::wait(osWaitForever);
shimogamo 0:2a15bd367891 107 }