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Dependencies:   mbed-rtos mbed

main.cpp@27:5b897e2e0ac6, 2016-12-29 (annotated)

Committer:
naoya1687
Date:
Thu Dec 29 08:20:09 2016 +0000
Revision:
27:5b897e2e0ac6
Parent:
26:a53c3208ac35
Child:
30:6d3a78bc1925
Cadence????Ultsonic??????

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
shimogamo 17:887cfe1d309f 10 //タスクの数に上限があるっぽい(6個以下)
naoya1687 27:5b897e2e0ac6 11 //
shimogamo 14:11e71bf840b2 12
shimogamo 0:2a15bd367891 13 #include "mbed.h"
shimogamo 0:2a15bd367891 14 #include "rtos.h"
shimogamo 0:2a15bd367891 15 #include "Global.h"
shimogamo 9:d1fc0805ec7d 16 #include "Init.h"
shimogamo 0:2a15bd367891 17 #include "ServoManager.h"
shimogamo 0:2a15bd367891 18 #include "ControllerManager.h"
shimogamo 0:2a15bd367891 19 #include "Trim.h"
shimogamo 0:2a15bd367891 20 #include "Cadence.h"
shimogamo 0:2a15bd367891 21 #include "Airspeed.h"
shimogamo 14:11e71bf840b2 22 #include "Ultsonic.h"
shimogamo 15:e73408fc6008 23 #include "Atmpress.h"
shimogamo 19:c6ad6b453b39 24 #include "BatteryChecker.h"
shimogamo 0:2a15bd367891 25 #include "Display.h"
shimogamo 0:2a15bd367891 26 #include "XBee.h"
shimogamo 16:7e36177b4435 27 #include "Selector.h"
shimogamo 5:9a1ec02229dd 28
shimogamo 5:9a1ec02229dd 29
shimogamo 5:9a1ec02229dd 30 RawSerial pc(USBTX, USBRX);
shimogamo 0:2a15bd367891 31
shimogamo 15:e73408fc6008 32 Atmpress atmpress(p9, p10);//sda, scl
shimogamo 17:887cfe1d309f 33 Display display(p13, p14, NC);//tx, rx, sw
shimogamo 19:c6ad6b453b39 34 ControllerManager controllerManager(p15,p16,p5,p6);//ele, rud, eletrimup, eletrimdown
shimogamo 19:c6ad6b453b39 35 BatteryChecker batteryChecker(p17, p18);
shimogamo 15:e73408fc6008 36 Ultsonic ultsonic(p20);//analogIn
shimogamo 12:8e39bb45c61c 37 ServoManager servoManager(p21, p22);//ele, rud
shimogamo 17:887cfe1d309f 38 Cadence cadence(p23, NC, NC);//p11, p12では動作しない=>使っていたmbedのピンが逝ってる可能性が微レ存
shimogamo 16:7e36177b4435 39 Selector selector(p25);
shimogamo 12:8e39bb45c61c 40 DigitalOut wdt(p26);
shimogamo 12:8e39bb45c61c 41 XBee xbee(p28, p27);//tx, rx
shimogamo 12:8e39bb45c61c 42 Airspeed airspeed(p29, NC, NC);//p19,p20をInterruptInに使ってはいけない
shimogamo 0:2a15bd367891 43
shimogamo 0:2a15bd367891 44
shimogamo 16:7e36177b4435 45
shimogamo 5:9a1ec02229dd 46 void pc_rx(){
shimogamo 5:9a1ec02229dd 47 while(pc.readable()==1){
shimogamo 26:a53c3208ac35 48 //コマンドモードのon,offはここに入れるといい
shimogamo 9:d1fc0805ec7d 49 char buf = (char)pc.getc();
shimogamo 12:8e39bb45c61c 50 Global::initqueue.put((char*)buf);
shimogamo 0:2a15bd367891 51 }
shimogamo 0:2a15bd367891 52 }
shimogamo 0:2a15bd367891 53
shimogamo 5:9a1ec02229dd 54
shimogamo 9:d1fc0805ec7d 55
shimogamo 9:d1fc0805ec7d 56 void initializeTask(void const *pvParameters){
shimogamo 5:9a1ec02229dd 57 while(1){
shimogamo 9:d1fc0805ec7d 58 Init::getSerial();
shimogamo 5:9a1ec02229dd 59 }
shimogamo 5:9a1ec02229dd 60 }
shimogamo 5:9a1ec02229dd 61
shimogamo 0:2a15bd367891 62 void controlTask(void const *pvParameters){
shimogamo 0:2a15bd367891 63 while(1){
shimogamo 15:e73408fc6008 64 //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 65 controllerManager.update();
shimogamo 0:2a15bd367891 66 servoManager.update();
shimogamo 17:887cfe1d309f 67 selector.update();
shimogamo 26:a53c3208ac35 68 wdt = !wdt;//ウォッチドッグタイマのkickに相当
shimogamo 0:2a15bd367891 69 Thread::wait(50);
shimogamo 0:2a15bd367891 70 }
shimogamo 0:2a15bd367891 71 }
shimogamo 0:2a15bd367891 72
shimogamo 14:11e71bf840b2 73 void sensorTask500(void const *pvParameters){
shimogamo 0:2a15bd367891 74 while(1){
shimogamo 26:a53c3208ac35 75 //batteryCheckerとatmpressを入れ替えると10minくらいで停止する。わけわからん
shimogamo 0:2a15bd367891 76 airspeed.update();
shimogamo 14:11e71bf840b2 77 cadence.update();
shimogamo 14:11e71bf840b2 78 ultsonic.update();
shimogamo 21:b1419813f2d4 79 batteryChecker.update();
shimogamo 15:e73408fc6008 80 atmpress.update();
shimogamo 9:d1fc0805ec7d 81 Thread::wait(500);
shimogamo 0:2a15bd367891 82 }
shimogamo 0:2a15bd367891 83 }
shimogamo 14:11e71bf840b2 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 void xbeeTask(void const *pvParameters){
shimogamo 0:2a15bd367891 94 while(1){
shimogamo 0:2a15bd367891 95 xbee.update();
shimogamo 13:a8e10a69df45 96 Thread::wait(50);
shimogamo 0:2a15bd367891 97 }
shimogamo 0:2a15bd367891 98 }
shimogamo 0:2a15bd367891 99
shimogamo 0:2a15bd367891 100
shimogamo 0:2a15bd367891 101 int main(void){
shimogamo 0:2a15bd367891 102 printf("start\n");
shimogamo 5:9a1ec02229dd 103 pc.attach(pc_rx,Serial::RxIrq);
shimogamo 5:9a1ec02229dd 104
shimogamo 6:0d9fa7152934 105 Global::initialize();
shimogamo 5:9a1ec02229dd 106 Thread InitializeTask(initializeTask);
shimogamo 9:d1fc0805ec7d 107 Thread ControlTask(controlTask, NULL, osPriorityRealtime);
shimogamo 14:11e71bf840b2 108 Thread SensorTask500(sensorTask500);
shimogamo 0:2a15bd367891 109 Thread DisplayTask(displayTask);
shimogamo 0:2a15bd367891 110 Thread XbeeTask(xbeeTask);
shimogamo 0:2a15bd367891 111 printf("Task end\n");
shimogamo 0:2a15bd367891 112
shimogamo 0:2a15bd367891 113 Thread::wait(osWaitForever);
shimogamo 0:2a15bd367891 114 }