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Dependencies:   mbed-rtos mbed

main.cpp@33:d939479e7b13, 2017-03-01 (annotated)

Committer:
naoya1687
Date:
Wed Mar 01 08:05:52 2017 +0000
Revision:
33:d939479e7b13
Parent:
32:13aba70baa4b
Child:
34:770a6bbb4d63
BatteryChecker.h???twelite_sensors??

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 33:d939479e7b13 12 //cadence,ultsonicまわりをfloatにかえる
naoya1687 31:cef6ee7af014 13
shimogamo 17:887cfe1d309f 14 //タスクの数に上限があるっぽい(6個以下)
naoya1687 27:5b897e2e0ac6 15 //
shimogamo 14:11e71bf840b2 16
shimogamo 0:2a15bd367891 17 #include "mbed.h"
shimogamo 0:2a15bd367891 18 #include "rtos.h"
shimogamo 0:2a15bd367891 19 #include "Global.h"
shimogamo 9:d1fc0805ec7d 20 #include "Init.h"
shimogamo 0:2a15bd367891 21 #include "ServoManager.h"
shimogamo 0:2a15bd367891 22 #include "ControllerManager.h"
shimogamo 0:2a15bd367891 23 #include "Trim.h"
shimogamo 0:2a15bd367891 24 #include "Airspeed.h"
shimogamo 15:e73408fc6008 25 #include "Atmpress.h"
shimogamo 0:2a15bd367891 26 #include "Display.h"
naoya1687 31:cef6ee7af014 27 //#include "Selector.h"
naoya1687 30:6d3a78bc1925 28 #include "TweLite_Sensors.h"
naoya1687 31:cef6ee7af014 29 #define CADENCE 0
naoya1687 31:cef6ee7af014 30 #define ULTSONIC 1
shimogamo 5:9a1ec02229dd 31
shimogamo 5:9a1ec02229dd 32
shimogamo 5:9a1ec02229dd 33 RawSerial pc(USBTX, USBRX);
shimogamo 0:2a15bd367891 34
naoya1687 31:cef6ee7af014 35 Atmpress atmpress(PB_7, PA_15);//sda, scl
naoya1687 31:cef6ee7af014 36 Display display(PC_4, PA_10, NC);//tx, rx, sw
naoya1687 31:cef6ee7af014 37 ControllerManager controllerManager(PC_0,PC_1,PA_4,PA_1);//ele, rud, eletrimup, eletrimdown
naoya1687 32:13aba70baa4b 38 ServoManager servoManager(p21, p22);//ele, rud // 要変更
naoya1687 31:cef6ee7af014 39 //Selector selector(p25);
naoya1687 31:cef6ee7af014 40 DigitalOut wdt(PA_14);
naoya1687 31:cef6ee7af014 41 Airspeed airspeed(PA_13, NC, NC);//p19,p20をInterruptInに使ってはいけない
naoya1687 31:cef6ee7af014 42 TweLite_Sensors tweLite_Sensors(PC_12,PD_2);
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();
naoya1687 32:13aba70baa4b 66 servoManager.update();
naoya1687 31:cef6ee7af014 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 15:e73408fc6008 77 atmpress.update();
shimogamo 9:d1fc0805ec7d 78 Thread::wait(500);
shimogamo 0:2a15bd367891 79 }
shimogamo 0:2a15bd367891 80 }
shimogamo 14:11e71bf840b2 81
naoya1687 33:d939479e7b13 82 void twesensorTask(void const *pvParameters){
naoya1687 33:d939479e7b13 83 while(1){
naoya1687 33:d939479e7b13 84 tweLite_Sensors.update();//こっちでそれぞれのbatteryをupdata
naoya1687 33:d939479e7b13 85 }
naoya1687 33:d939479e7b13 86 }
naoya1687 33:d939479e7b13 87
shimogamo 0:2a15bd367891 88
shimogamo 0:2a15bd367891 89 void displayTask(void const *pvParameters){
shimogamo 0:2a15bd367891 90 while(1){
shimogamo 0:2a15bd367891 91 display.update();
shimogamo 13:a8e10a69df45 92 Thread::wait(50);
shimogamo 0:2a15bd367891 93 }
shimogamo 0:2a15bd367891 94 }
shimogamo 0:2a15bd367891 95
shimogamo 0:2a15bd367891 96
shimogamo 0:2a15bd367891 97
shimogamo 0:2a15bd367891 98 int main(void){
shimogamo 0:2a15bd367891 99 printf("start\n");
shimogamo 5:9a1ec02229dd 100 pc.attach(pc_rx,Serial::RxIrq);
shimogamo 5:9a1ec02229dd 101
shimogamo 6:0d9fa7152934 102 Global::initialize();
shimogamo 5:9a1ec02229dd 103 Thread InitializeTask(initializeTask);
shimogamo 9:d1fc0805ec7d 104 Thread ControlTask(controlTask, NULL, osPriorityRealtime);
shimogamo 14:11e71bf840b2 105 Thread SensorTask500(sensorTask500);
naoya1687 33:d939479e7b13 106 Thread TwesensorTask(twesensorTask);
shimogamo 0:2a15bd367891 107 Thread DisplayTask(displayTask);
shimogamo 0:2a15bd367891 108 printf("Task end\n");
shimogamo 0:2a15bd367891 109
shimogamo 0:2a15bd367891 110 Thread::wait(osWaitForever);
shimogamo 0:2a15bd367891 111 }