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Dependencies:   mbed-rtos mbed

main.cpp@6:0d9fa7152934, 2015-10-10 (annotated)

Committer:
shimogamo
Date:
Sat Oct 10 20:16:31 2015 +0000
Revision:
6:0d9fa7152934
Parent:
5:9a1ec02229dd
Child:
7:6f7bd18ce796
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Who changed what in which revision?

UserRevisionLine numberNew contents of line
shimogamo 0:2a15bd367891 1 #include "mbed.h"
shimogamo 0:2a15bd367891 2 #include "rtos.h"
shimogamo 0:2a15bd367891 3 #include "Global.h"
shimogamo 0:2a15bd367891 4 #include "ServoManager.h"
shimogamo 0:2a15bd367891 5 #include "ControllerManager.h"
shimogamo 0:2a15bd367891 6 #include "Trim.h"
shimogamo 0:2a15bd367891 7 #include "Cadence.h"
shimogamo 0:2a15bd367891 8 #include "Airspeed.h"
shimogamo 0:2a15bd367891 9 #include "Altitude.h"
shimogamo 0:2a15bd367891 10 #include "Display.h"
shimogamo 0:2a15bd367891 11 #include "XBee.h"
shimogamo 5:9a1ec02229dd 12 #include <string>
shimogamo 6:0d9fa7152934 13 #include <iostream>
shimogamo 5:9a1ec02229dd 14
shimogamo 5:9a1ec02229dd 15 #define BUFMAX 20
shimogamo 5:9a1ec02229dd 16
shimogamo 5:9a1ec02229dd 17 RawSerial pc(USBTX, USBRX);
shimogamo 5:9a1ec02229dd 18 Queue<char, BUFMAX> queue;
shimogamo 0:2a15bd367891 19
shimogamo 0:2a15bd367891 20
shimogamo 0:2a15bd367891 21 Display display(p9, p10);
shimogamo 0:2a15bd367891 22 XBee xbee(p13, p14);
shimogamo 0:2a15bd367891 23 Trim trim(p16, p17, p15);
shimogamo 0:2a15bd367891 24 ControllerManager controllerManager(p18,p19,p20);
shimogamo 0:2a15bd367891 25 ServoManager servoManager(p21, p22);
shimogamo 0:2a15bd367891 26 Airspeed airspeed(p26, NC, NC);
shimogamo 0:2a15bd367891 27 Cadence cadence(p29, p30, NC);
shimogamo 0:2a15bd367891 28
shimogamo 0:2a15bd367891 29
shimogamo 5:9a1ec02229dd 30 void pc_rx(){
shimogamo 5:9a1ec02229dd 31 while(pc.readable()==1){
shimogamo 5:9a1ec02229dd 32 char buf = pc.getc();
shimogamo 5:9a1ec02229dd 33 queue.put((char*)buf);
shimogamo 0:2a15bd367891 34 }
shimogamo 0:2a15bd367891 35 }
shimogamo 0:2a15bd367891 36
shimogamo 5:9a1ec02229dd 37
shimogamo 5:9a1ec02229dd 38 void initializeTask(void const *pvParametersd){
shimogamo 5:9a1ec02229dd 39 std::string strbuf;
shimogamo 6:0d9fa7152934 40
shimogamo 5:9a1ec02229dd 41 while(1){
shimogamo 5:9a1ec02229dd 42 osEvent evt = queue.get();
shimogamo 5:9a1ec02229dd 43 if(evt.status == osEventMessage){
shimogamo 5:9a1ec02229dd 44 char temp = evt.value.v;
shimogamo 5:9a1ec02229dd 45 strbuf.push_back(temp);
shimogamo 6:0d9fa7152934 46 if(temp == '\n'){
shimogamo 6:0d9fa7152934 47 std::string::size_type spaceIndex = strbuf.find(" ");
shimogamo 5:9a1ec02229dd 48
shimogamo 5:9a1ec02229dd 49 if (spaceIndex != std::string::npos) {
shimogamo 5:9a1ec02229dd 50 char *gomi;
shimogamo 5:9a1ec02229dd 51 std::string command = strbuf.substr(0, spaceIndex);
shimogamo 5:9a1ec02229dd 52 double num = strtod(strbuf.substr(spaceIndex+1, strbuf.size()-1).c_str(), &gomi);
shimogamo 5:9a1ec02229dd 53
shimogamo 5:9a1ec02229dd 54 pc.printf("coms=%s, num=%f\n", command.c_str(), num);
shimogamo 5:9a1ec02229dd 55
shimogamo 5:9a1ec02229dd 56
shimogamo 5:9a1ec02229dd 57 if(command == "eleneu"){
shimogamo 5:9a1ec02229dd 58 Global::setneutralpitch(num);
shimogamo 5:9a1ec02229dd 59 }else if(command == "elemax"){
shimogamo 5:9a1ec02229dd 60 Global::setmaxpitch(num);
shimogamo 5:9a1ec02229dd 61 }else if(command == "elemin"){
shimogamo 5:9a1ec02229dd 62 Global::setminpitch(num);
shimogamo 5:9a1ec02229dd 63 }else if(command == "rudneu"){
shimogamo 5:9a1ec02229dd 64 Global::setneutralyaw(num);
shimogamo 5:9a1ec02229dd 65 }else if(command == "rudmax"){
shimogamo 5:9a1ec02229dd 66 Global::setmaxyaw(num);
shimogamo 5:9a1ec02229dd 67 }else if(command == "rudmin"){
shimogamo 5:9a1ec02229dd 68 Global::setminyaw(num);
shimogamo 5:9a1ec02229dd 69 }
shimogamo 5:9a1ec02229dd 70
shimogamo 5:9a1ec02229dd 71 strbuf.clear();
shimogamo 6:0d9fa7152934 72 //ここで，ニュートラル情報をLocalFileに保存
shimogamo 6:0d9fa7152934 73 Global::filewrite();
shimogamo 5:9a1ec02229dd 74 }
shimogamo 5:9a1ec02229dd 75 }
shimogamo 5:9a1ec02229dd 76 Thread::wait(10);
shimogamo 5:9a1ec02229dd 77 if(strbuf.size() >= BUFMAX){
shimogamo 5:9a1ec02229dd 78 pc.printf("\nInput Error ... ");
shimogamo 5:9a1ec02229dd 79 strbuf.clear();
shimogamo 5:9a1ec02229dd 80 pc.printf("Buffer clear\n");
shimogamo 5:9a1ec02229dd 81 }
shimogamo 5:9a1ec02229dd 82 }
shimogamo 5:9a1ec02229dd 83 }
shimogamo 5:9a1ec02229dd 84 }
shimogamo 5:9a1ec02229dd 85
shimogamo 5:9a1ec02229dd 86
shimogamo 0:2a15bd367891 87 void controlTask(void const *pvParameters){
shimogamo 0:2a15bd367891 88 while(1){
shimogamo 2:e0f1e8662b8c 89 trim.update();
shimogamo 0:2a15bd367891 90 controllerManager.update();
shimogamo 0:2a15bd367891 91 servoManager.update();
shimogamo 0:2a15bd367891 92 Thread::wait(50);
shimogamo 0:2a15bd367891 93 }
shimogamo 0:2a15bd367891 94 }
shimogamo 0:2a15bd367891 95
shimogamo 0:2a15bd367891 96 void airspeedTask(void const *pvParameters){
shimogamo 0:2a15bd367891 97 while(1){
shimogamo 0:2a15bd367891 98 airspeed.update();
shimogamo 0:2a15bd367891 99 Thread::wait(200);
shimogamo 0:2a15bd367891 100 }
shimogamo 0:2a15bd367891 101 }
shimogamo 0:2a15bd367891 102
shimogamo 0:2a15bd367891 103 void cadenceTask(void const *pvParameters){
shimogamo 0:2a15bd367891 104 while(1){
shimogamo 0:2a15bd367891 105 cadence.update();
shimogamo 0:2a15bd367891 106 Thread::wait(200);
shimogamo 0:2a15bd367891 107 }
shimogamo 0:2a15bd367891 108 }
shimogamo 0:2a15bd367891 109
shimogamo 0:2a15bd367891 110 void displayTask(void const *pvParameters){
shimogamo 0:2a15bd367891 111 while(1){
shimogamo 0:2a15bd367891 112 display.update();
shimogamo 0:2a15bd367891 113 Thread::wait(50);
shimogamo 0:2a15bd367891 114 }
shimogamo 0:2a15bd367891 115 }
shimogamo 0:2a15bd367891 116
shimogamo 0:2a15bd367891 117 void xbeeTask(void const *pvParameters){
shimogamo 0:2a15bd367891 118 while(1){
shimogamo 0:2a15bd367891 119 xbee.update();
shimogamo 0:2a15bd367891 120 Thread::wait(50);
shimogamo 0:2a15bd367891 121 }
shimogamo 0:2a15bd367891 122 }
shimogamo 0:2a15bd367891 123
shimogamo 0:2a15bd367891 124
shimogamo 0:2a15bd367891 125 int main(void){
shimogamo 0:2a15bd367891 126 printf("start\n");
shimogamo 5:9a1ec02229dd 127
shimogamo 5:9a1ec02229dd 128 pc.attach(pc_rx,Serial::RxIrq);
shimogamo 5:9a1ec02229dd 129
shimogamo 6:0d9fa7152934 130 Global::initialize();
shimogamo 5:9a1ec02229dd 131 Thread InitializeTask(initializeTask);
shimogamo 0:2a15bd367891 132 Thread ControlTask(controlTask);
shimogamo 0:2a15bd367891 133 Thread AirspeedTask(airspeedTask);
shimogamo 0:2a15bd367891 134 Thread CadenceTask(cadenceTask);
shimogamo 0:2a15bd367891 135 Thread DisplayTask(displayTask);
shimogamo 0:2a15bd367891 136 Thread XbeeTask(xbeeTask);
shimogamo 0:2a15bd367891 137 printf("Task end\n");
shimogamo 0:2a15bd367891 138
shimogamo 0:2a15bd367891 139 Thread::wait(osWaitForever);
shimogamo 0:2a15bd367891 140 }