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Dependencies:   mbed-rtos mbed

main.cpp@5:9a1ec02229dd, 2015-10-09 (annotated)

Committer:
shimogamo
Date:
Fri Oct 09 14:29:32 2015 +0000
Revision:
5:9a1ec02229dd
Parent:
2:e0f1e8662b8c
Child:
6:0d9fa7152934
main.cpp??initialize??????????????string????

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 5:9a1ec02229dd 13
shimogamo 5:9a1ec02229dd 14 #define BUFMAX 20
shimogamo 5:9a1ec02229dd 15
shimogamo 5:9a1ec02229dd 16 RawSerial pc(USBTX, USBRX);
shimogamo 5:9a1ec02229dd 17 Queue<char, BUFMAX> queue;
shimogamo 0:2a15bd367891 18
shimogamo 0:2a15bd367891 19
shimogamo 0:2a15bd367891 20 Display display(p9, p10);
shimogamo 0:2a15bd367891 21 XBee xbee(p13, p14);
shimogamo 0:2a15bd367891 22 Trim trim(p16, p17, p15);
shimogamo 0:2a15bd367891 23 ControllerManager controllerManager(p18,p19,p20);
shimogamo 0:2a15bd367891 24 ServoManager servoManager(p21, p22);
shimogamo 0:2a15bd367891 25 Airspeed airspeed(p26, NC, NC);
shimogamo 0:2a15bd367891 26 Cadence cadence(p29, p30, NC);
shimogamo 0:2a15bd367891 27
shimogamo 0:2a15bd367891 28
shimogamo 5:9a1ec02229dd 29 void pc_rx(){
shimogamo 5:9a1ec02229dd 30 while(pc.readable()==1){
shimogamo 5:9a1ec02229dd 31 char buf = pc.getc();
shimogamo 5:9a1ec02229dd 32 queue.put((char*)buf);
shimogamo 0:2a15bd367891 33 }
shimogamo 0:2a15bd367891 34 }
shimogamo 0:2a15bd367891 35
shimogamo 5:9a1ec02229dd 36
shimogamo 5:9a1ec02229dd 37 void initializeTask(void const *pvParametersd){
shimogamo 5:9a1ec02229dd 38 std::string strbuf;
shimogamo 5:9a1ec02229dd 39 while(1){
shimogamo 5:9a1ec02229dd 40 osEvent evt = queue.get();
shimogamo 5:9a1ec02229dd 41 if(evt.status == osEventMessage){
shimogamo 5:9a1ec02229dd 42 char temp = evt.value.v;
shimogamo 5:9a1ec02229dd 43 strbuf.push_back(temp);
shimogamo 5:9a1ec02229dd 44 if(temp == '\n'){
shimogamo 5:9a1ec02229dd 45 Global::led1 = 1;
shimogamo 5:9a1ec02229dd 46
shimogamo 5:9a1ec02229dd 47 std::string::size_type spaceIndex = strbuf.find(" ");
shimogamo 5:9a1ec02229dd 48 if (spaceIndex != std::string::npos) {
shimogamo 5:9a1ec02229dd 49 char *gomi;
shimogamo 5:9a1ec02229dd 50 std::string command = strbuf.substr(0, spaceIndex);
shimogamo 5:9a1ec02229dd 51 double num = strtod(strbuf.substr(spaceIndex+1, strbuf.size()-1).c_str(), &gomi);
shimogamo 5:9a1ec02229dd 52
shimogamo 5:9a1ec02229dd 53 pc.printf("coms=%s, num=%f\n", command.c_str(), num);
shimogamo 5:9a1ec02229dd 54
shimogamo 5:9a1ec02229dd 55
shimogamo 5:9a1ec02229dd 56 if(command == "eleneu"){
shimogamo 5:9a1ec02229dd 57 Global::setneutralpitch(num);
shimogamo 5:9a1ec02229dd 58 }else if(command == "elemax"){
shimogamo 5:9a1ec02229dd 59 Global::setmaxpitch(num);
shimogamo 5:9a1ec02229dd 60 }else if(command == "elemin"){
shimogamo 5:9a1ec02229dd 61 Global::setminpitch(num);
shimogamo 5:9a1ec02229dd 62 }else if(command == "rudneu"){
shimogamo 5:9a1ec02229dd 63 Global::setneutralyaw(num);
shimogamo 5:9a1ec02229dd 64 }else if(command == "rudmax"){
shimogamo 5:9a1ec02229dd 65 Global::setmaxyaw(num);
shimogamo 5:9a1ec02229dd 66 }else if(command == "rudmin"){
shimogamo 5:9a1ec02229dd 67 Global::setminyaw(num);
shimogamo 5:9a1ec02229dd 68 }
shimogamo 5:9a1ec02229dd 69
shimogamo 5:9a1ec02229dd 70 strbuf.clear();
shimogamo 5:9a1ec02229dd 71 //ここで，ニュートラル情報をLocalFileに保存
shimogamo 5:9a1ec02229dd 72 }
shimogamo 5:9a1ec02229dd 73 }
shimogamo 5:9a1ec02229dd 74 Thread::wait(10);
shimogamo 5:9a1ec02229dd 75 if(strbuf.size() >= BUFMAX){
shimogamo 5:9a1ec02229dd 76 pc.printf("\nInput Error ... ");
shimogamo 5:9a1ec02229dd 77 strbuf.clear();
shimogamo 5:9a1ec02229dd 78 pc.printf("Buffer clear\n");
shimogamo 5:9a1ec02229dd 79 }
shimogamo 5:9a1ec02229dd 80 }
shimogamo 5:9a1ec02229dd 81 }
shimogamo 5:9a1ec02229dd 82 }
shimogamo 5:9a1ec02229dd 83
shimogamo 5:9a1ec02229dd 84
shimogamo 0:2a15bd367891 85 void controlTask(void const *pvParameters){
shimogamo 0:2a15bd367891 86 while(1){
shimogamo 2:e0f1e8662b8c 87 trim.update();
shimogamo 0:2a15bd367891 88 controllerManager.update();
shimogamo 0:2a15bd367891 89 servoManager.update();
shimogamo 0:2a15bd367891 90 Thread::wait(50);
shimogamo 0:2a15bd367891 91 }
shimogamo 0:2a15bd367891 92 }
shimogamo 0:2a15bd367891 93
shimogamo 0:2a15bd367891 94 void airspeedTask(void const *pvParameters){
shimogamo 0:2a15bd367891 95 while(1){
shimogamo 0:2a15bd367891 96 airspeed.update();
shimogamo 0:2a15bd367891 97 Thread::wait(200);
shimogamo 0:2a15bd367891 98 }
shimogamo 0:2a15bd367891 99 }
shimogamo 0:2a15bd367891 100
shimogamo 0:2a15bd367891 101 void cadenceTask(void const *pvParameters){
shimogamo 0:2a15bd367891 102 while(1){
shimogamo 0:2a15bd367891 103 cadence.update();
shimogamo 0:2a15bd367891 104 Thread::wait(200);
shimogamo 0:2a15bd367891 105 }
shimogamo 0:2a15bd367891 106 }
shimogamo 0:2a15bd367891 107
shimogamo 0:2a15bd367891 108 void displayTask(void const *pvParameters){
shimogamo 0:2a15bd367891 109 while(1){
shimogamo 0:2a15bd367891 110 display.update();
shimogamo 0:2a15bd367891 111 Thread::wait(50);
shimogamo 0:2a15bd367891 112 }
shimogamo 0:2a15bd367891 113 }
shimogamo 0:2a15bd367891 114
shimogamo 0:2a15bd367891 115 void xbeeTask(void const *pvParameters){
shimogamo 0:2a15bd367891 116 while(1){
shimogamo 0:2a15bd367891 117 xbee.update();
shimogamo 0:2a15bd367891 118 Thread::wait(50);
shimogamo 0:2a15bd367891 119 }
shimogamo 0:2a15bd367891 120 }
shimogamo 0:2a15bd367891 121
shimogamo 0:2a15bd367891 122
shimogamo 0:2a15bd367891 123 int main(void){
shimogamo 0:2a15bd367891 124 printf("start\n");
shimogamo 5:9a1ec02229dd 125
shimogamo 5:9a1ec02229dd 126 pc.attach(pc_rx,Serial::RxIrq);
shimogamo 5:9a1ec02229dd 127
shimogamo 0:2a15bd367891 128 Global::timer.start();
shimogamo 5:9a1ec02229dd 129 Thread InitializeTask(initializeTask);
shimogamo 0:2a15bd367891 130 Thread ControlTask(controlTask);
shimogamo 0:2a15bd367891 131 Thread AirspeedTask(airspeedTask);
shimogamo 0:2a15bd367891 132 Thread CadenceTask(cadenceTask);
shimogamo 0:2a15bd367891 133 Thread DisplayTask(displayTask);
shimogamo 0:2a15bd367891 134 Thread XbeeTask(xbeeTask);
shimogamo 0:2a15bd367891 135 printf("Task end\n");
shimogamo 0:2a15bd367891 136
shimogamo 0:2a15bd367891 137 Thread::wait(osWaitForever);
shimogamo 0:2a15bd367891 138 }