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Dependencies:   mbed-rtos mbed

main.cpp@26:a53c3208ac35, 2016-07-23 (annotated)

Committer:
shimogamo
Date:
Sat Jul 23 00:50:47 2016 +0000
Revision:
26:a53c3208ac35
Parent:
21:b1419813f2d4
Child:
27:5b897e2e0ac6
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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)
shimogamo 14:11e71bf840b2 11
shimogamo 0:2a15bd367891 12 #include "mbed.h"
shimogamo 0:2a15bd367891 13 #include "rtos.h"
shimogamo 0:2a15bd367891 14 #include "Global.h"
shimogamo 9:d1fc0805ec7d 15 #include "Init.h"
shimogamo 0:2a15bd367891 16 #include "ServoManager.h"
shimogamo 0:2a15bd367891 17 #include "ControllerManager.h"
shimogamo 0:2a15bd367891 18 #include "Trim.h"
shimogamo 0:2a15bd367891 19 #include "Cadence.h"
shimogamo 0:2a15bd367891 20 #include "Airspeed.h"
shimogamo 14:11e71bf840b2 21 #include "Ultsonic.h"
shimogamo 15:e73408fc6008 22 #include "Atmpress.h"
shimogamo 19:c6ad6b453b39 23 #include "BatteryChecker.h"
shimogamo 0:2a15bd367891 24 #include "Display.h"
shimogamo 0:2a15bd367891 25 #include "XBee.h"
shimogamo 16:7e36177b4435 26 #include "Selector.h"
shimogamo 5:9a1ec02229dd 27
shimogamo 5:9a1ec02229dd 28
shimogamo 5:9a1ec02229dd 29 RawSerial pc(USBTX, USBRX);
shimogamo 0:2a15bd367891 30
shimogamo 15:e73408fc6008 31 Atmpress atmpress(p9, p10);//sda, scl
shimogamo 17:887cfe1d309f 32 Display display(p13, p14, NC);//tx, rx, sw
shimogamo 19:c6ad6b453b39 33 ControllerManager controllerManager(p15,p16,p5,p6);//ele, rud, eletrimup, eletrimdown
shimogamo 19:c6ad6b453b39 34 BatteryChecker batteryChecker(p17, p18);
shimogamo 15:e73408fc6008 35 Ultsonic ultsonic(p20);//analogIn
shimogamo 12:8e39bb45c61c 36 ServoManager servoManager(p21, p22);//ele, rud
shimogamo 17:887cfe1d309f 37 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 38 Selector selector(p25);
shimogamo 12:8e39bb45c61c 39 DigitalOut wdt(p26);
shimogamo 12:8e39bb45c61c 40 XBee xbee(p28, p27);//tx, rx
shimogamo 12:8e39bb45c61c 41 Airspeed airspeed(p29, NC, NC);//p19,p20をInterruptInに使ってはいけない
shimogamo 0:2a15bd367891 42
shimogamo 0:2a15bd367891 43
shimogamo 16:7e36177b4435 44
shimogamo 5:9a1ec02229dd 45 void pc_rx(){
shimogamo 5:9a1ec02229dd 46 while(pc.readable()==1){
shimogamo 26:a53c3208ac35 47 //コマンドモードのon,offはここに入れるといい
shimogamo 9:d1fc0805ec7d 48 char buf = (char)pc.getc();
shimogamo 12:8e39bb45c61c 49 Global::initqueue.put((char*)buf);
shimogamo 0:2a15bd367891 50 }
shimogamo 0:2a15bd367891 51 }
shimogamo 0:2a15bd367891 52
shimogamo 5:9a1ec02229dd 53
shimogamo 9:d1fc0805ec7d 54
shimogamo 9:d1fc0805ec7d 55 void initializeTask(void const *pvParameters){
shimogamo 5:9a1ec02229dd 56 while(1){
shimogamo 9:d1fc0805ec7d 57 Init::getSerial();
shimogamo 5:9a1ec02229dd 58 }
shimogamo 5:9a1ec02229dd 59 }
shimogamo 5:9a1ec02229dd 60
shimogamo 0:2a15bd367891 61 void controlTask(void const *pvParameters){
shimogamo 0:2a15bd367891 62 while(1){
shimogamo 15:e73408fc6008 63 //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 64 controllerManager.update();
shimogamo 0:2a15bd367891 65 servoManager.update();
shimogamo 17:887cfe1d309f 66 selector.update();
shimogamo 26:a53c3208ac35 67 wdt = !wdt;//ウォッチドッグタイマのkickに相当
shimogamo 0:2a15bd367891 68 Thread::wait(50);
shimogamo 0:2a15bd367891 69 }
shimogamo 0:2a15bd367891 70 }
shimogamo 0:2a15bd367891 71
shimogamo 14:11e71bf840b2 72 void sensorTask500(void const *pvParameters){
shimogamo 0:2a15bd367891 73 while(1){
shimogamo 26:a53c3208ac35 74 //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 75 airspeed.update();
shimogamo 14:11e71bf840b2 76 cadence.update();
shimogamo 14:11e71bf840b2 77 ultsonic.update();
shimogamo 21:b1419813f2d4 78 batteryChecker.update();
shimogamo 15:e73408fc6008 79 atmpress.update();
shimogamo 9:d1fc0805ec7d 80 Thread::wait(500);
shimogamo 0:2a15bd367891 81 }
shimogamo 0:2a15bd367891 82 }
shimogamo 14:11e71bf840b2 83
shimogamo 0:2a15bd367891 84
shimogamo 0:2a15bd367891 85 void displayTask(void const *pvParameters){
shimogamo 0:2a15bd367891 86 while(1){
shimogamo 0:2a15bd367891 87 display.update();
shimogamo 13:a8e10a69df45 88 Thread::wait(50);
shimogamo 0:2a15bd367891 89 }
shimogamo 0:2a15bd367891 90 }
shimogamo 0:2a15bd367891 91
shimogamo 0:2a15bd367891 92 void xbeeTask(void const *pvParameters){
shimogamo 0:2a15bd367891 93 while(1){
shimogamo 0:2a15bd367891 94 xbee.update();
shimogamo 13:a8e10a69df45 95 Thread::wait(50);
shimogamo 0:2a15bd367891 96 }
shimogamo 0:2a15bd367891 97 }
shimogamo 0:2a15bd367891 98
shimogamo 0:2a15bd367891 99
shimogamo 0:2a15bd367891 100 int main(void){
shimogamo 0:2a15bd367891 101 printf("start\n");
shimogamo 5:9a1ec02229dd 102 pc.attach(pc_rx,Serial::RxIrq);
shimogamo 5:9a1ec02229dd 103
shimogamo 6:0d9fa7152934 104 Global::initialize();
shimogamo 5:9a1ec02229dd 105 Thread InitializeTask(initializeTask);
shimogamo 9:d1fc0805ec7d 106 Thread ControlTask(controlTask, NULL, osPriorityRealtime);
shimogamo 14:11e71bf840b2 107 Thread SensorTask500(sensorTask500);
shimogamo 0:2a15bd367891 108 Thread DisplayTask(displayTask);
shimogamo 0:2a15bd367891 109 Thread XbeeTask(xbeeTask);
shimogamo 0:2a15bd367891 110 printf("Task end\n");
shimogamo 0:2a15bd367891 111
shimogamo 0:2a15bd367891 112 Thread::wait(osWaitForever);
shimogamo 0:2a15bd367891 113 }