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Dependencies:   mbed-rtos mbed

main.cpp@18:d8a9c25d6137, 2016-05-10 (annotated)

Committer:
shimogamo
Date:
Tue May 10 07:50:40 2016 +0000
Revision:
18:d8a9c25d6137
Parent:
17:887cfe1d309f
Child:
19:c6ad6b453b39
??????

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 0:2a15bd367891 23 #include "Display.h"
shimogamo 0:2a15bd367891 24 #include "XBee.h"
shimogamo 16:7e36177b4435 25 #include "Selector.h"
shimogamo 5:9a1ec02229dd 26
shimogamo 5:9a1ec02229dd 27
shimogamo 5:9a1ec02229dd 28 RawSerial pc(USBTX, USBRX);
shimogamo 0:2a15bd367891 29
shimogamo 15:e73408fc6008 30 Atmpress atmpress(p9, p10);//sda, scl
shimogamo 17:887cfe1d309f 31 Display display(p13, p14, NC);//tx, rx, sw
shimogamo 12:8e39bb45c61c 32 ControllerManager controllerManager(p15,p16,p17,p18);//ele, rud, eletrimup, eletrimdown
shimogamo 15:e73408fc6008 33 Ultsonic ultsonic(p20);//analogIn
shimogamo 12:8e39bb45c61c 34 ServoManager servoManager(p21, p22);//ele, rud
shimogamo 17:887cfe1d309f 35 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 36 Selector selector(p25);
shimogamo 12:8e39bb45c61c 37 DigitalOut wdt(p26);
shimogamo 12:8e39bb45c61c 38 XBee xbee(p28, p27);//tx, rx
shimogamo 12:8e39bb45c61c 39 Airspeed airspeed(p29, NC, NC);//p19,p20をInterruptInに使ってはいけない
shimogamo 0:2a15bd367891 40
shimogamo 0:2a15bd367891 41
shimogamo 16:7e36177b4435 42
shimogamo 5:9a1ec02229dd 43 void pc_rx(){
shimogamo 5:9a1ec02229dd 44 while(pc.readable()==1){
shimogamo 10:0a4bf8c82493 45 //コマンドモードのon,offはここに入れる
shimogamo 9:d1fc0805ec7d 46 char buf = (char)pc.getc();
shimogamo 12:8e39bb45c61c 47 Global::initqueue.put((char*)buf);
shimogamo 0:2a15bd367891 48 }
shimogamo 0:2a15bd367891 49 }
shimogamo 0:2a15bd367891 50
shimogamo 5:9a1ec02229dd 51
shimogamo 9:d1fc0805ec7d 52
shimogamo 9:d1fc0805ec7d 53 void initializeTask(void const *pvParameters){
shimogamo 5:9a1ec02229dd 54 while(1){
shimogamo 9:d1fc0805ec7d 55 Init::getSerial();
shimogamo 5:9a1ec02229dd 56 }
shimogamo 5:9a1ec02229dd 57 }
shimogamo 5:9a1ec02229dd 58
shimogamo 0:2a15bd367891 59 void controlTask(void const *pvParameters){
shimogamo 0:2a15bd367891 60 while(1){
shimogamo 15:e73408fc6008 61 //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 62 controllerManager.update();
shimogamo 0:2a15bd367891 63 servoManager.update();
shimogamo 17:887cfe1d309f 64 selector.update();
shimogamo 12:8e39bb45c61c 65 wdt = !wdt;
shimogamo 0:2a15bd367891 66 Thread::wait(50);
shimogamo 0:2a15bd367891 67 }
shimogamo 0:2a15bd367891 68 }
shimogamo 0:2a15bd367891 69
shimogamo 14:11e71bf840b2 70 void sensorTask500(void const *pvParameters){
shimogamo 0:2a15bd367891 71 while(1){
shimogamo 0:2a15bd367891 72 airspeed.update();
shimogamo 14:11e71bf840b2 73 cadence.update();
shimogamo 14:11e71bf840b2 74 ultsonic.update();
shimogamo 15:e73408fc6008 75 atmpress.update();
shimogamo 9:d1fc0805ec7d 76 Thread::wait(500);
shimogamo 0:2a15bd367891 77 }
shimogamo 0:2a15bd367891 78 }
shimogamo 14:11e71bf840b2 79
shimogamo 0:2a15bd367891 80
shimogamo 0:2a15bd367891 81 void displayTask(void const *pvParameters){
shimogamo 0:2a15bd367891 82 while(1){
shimogamo 0:2a15bd367891 83 display.update();
shimogamo 13:a8e10a69df45 84 Thread::wait(50);
shimogamo 0:2a15bd367891 85 }
shimogamo 0:2a15bd367891 86 }
shimogamo 0:2a15bd367891 87
shimogamo 0:2a15bd367891 88 void xbeeTask(void const *pvParameters){
shimogamo 0:2a15bd367891 89 while(1){
shimogamo 0:2a15bd367891 90 xbee.update();
shimogamo 13:a8e10a69df45 91 Thread::wait(50);
shimogamo 0:2a15bd367891 92 }
shimogamo 0:2a15bd367891 93 }
shimogamo 0:2a15bd367891 94
shimogamo 0:2a15bd367891 95
shimogamo 0:2a15bd367891 96 int main(void){
shimogamo 0:2a15bd367891 97 printf("start\n");
shimogamo 5:9a1ec02229dd 98 pc.attach(pc_rx,Serial::RxIrq);
shimogamo 5:9a1ec02229dd 99
shimogamo 6:0d9fa7152934 100 Global::initialize();
shimogamo 5:9a1ec02229dd 101 Thread InitializeTask(initializeTask);
shimogamo 9:d1fc0805ec7d 102 Thread ControlTask(controlTask, NULL, osPriorityRealtime);
shimogamo 14:11e71bf840b2 103 Thread SensorTask500(sensorTask500);
shimogamo 0:2a15bd367891 104 Thread DisplayTask(displayTask);
shimogamo 0:2a15bd367891 105 Thread XbeeTask(xbeeTask);
shimogamo 0:2a15bd367891 106 printf("Task end\n");
shimogamo 0:2a15bd367891 107
shimogamo 0:2a15bd367891 108 Thread::wait(osWaitForever);
shimogamo 0:2a15bd367891 109 }