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Dependencies:   mbed-rtos mbed

main.cpp@15:e73408fc6008, 2015-12-21 (annotated)

Committer:
shimogamo
Date:
Mon Dec 21 17:06:25 2015 +0000
Revision:
15:e73408fc6008
Parent:
14:11e71bf840b2
Child:
16:7e36177b4435
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Who changed what in which revision?

UserRevisionLine numberNew contents of line
shimogamo 14:11e71bf840b2 1 //@todo 時間のクラスの作成(Global中に)
shimogamo 14:11e71bf840b2 2
shimogamo 12:8e39bb45c61c 3 //@todo Initのコマンドモード化or別プログラム化
shimogamo 10:0a4bf8c82493 4
shimogamo 10:0a4bf8c82493 5 //@todo ソフトウェアシリアルの確認等
shimogamo 8:ca92cb674004 6
shimogamo 12:8e39bb45c61c 7 //@todo Cadence, Airspeed内でNC，Encorderクラスから継承
shimogamo 12:8e39bb45c61c 8
shimogamo 12:8e39bb45c61c 9 //@todo 使っているライブラリの関数の説明追加
shimogamo 12:8e39bb45c61c 10
shimogamo 14:11e71bf840b2 11 //@todo Processing
shimogamo 14:11e71bf840b2 12
shimogamo 14:11e71bf840b2 13 //タスクの数に上限があるっぽい？(6個以下)
shimogamo 14:11e71bf840b2 14
shimogamo 0:2a15bd367891 15 #include "mbed.h"
shimogamo 0:2a15bd367891 16 #include "rtos.h"
shimogamo 0:2a15bd367891 17 #include "Global.h"
shimogamo 9:d1fc0805ec7d 18 #include "Init.h"
shimogamo 0:2a15bd367891 19 #include "ServoManager.h"
shimogamo 0:2a15bd367891 20 #include "ControllerManager.h"
shimogamo 0:2a15bd367891 21 #include "Trim.h"
shimogamo 0:2a15bd367891 22 #include "Cadence.h"
shimogamo 0:2a15bd367891 23 #include "Airspeed.h"
shimogamo 14:11e71bf840b2 24 #include "Ultsonic.h"
shimogamo 15:e73408fc6008 25 #include "Atmpress.h"
shimogamo 0:2a15bd367891 26 #include "Display.h"
shimogamo 0:2a15bd367891 27 #include "XBee.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 12:8e39bb45c61c 33 Display display(p13, p14);//tx, rx
shimogamo 12:8e39bb45c61c 34 ControllerManager controllerManager(p15,p16,p17,p18);//ele, rud, eletrimup, eletrimdown
shimogamo 15:e73408fc6008 35 Ultsonic ultsonic(p20);//analogIn
shimogamo 12:8e39bb45c61c 36 ServoManager servoManager(p21, p22);//ele, rud
shimogamo 13:a8e10a69df45 37 Cadence cadence(p23, p24, NC);//p11, p12では動作しない
shimogamo 12:8e39bb45c61c 38 DigitalOut wdt(p26);
shimogamo 12:8e39bb45c61c 39 XBee xbee(p28, p27);//tx, rx
shimogamo 12:8e39bb45c61c 40 Airspeed airspeed(p29, NC, NC);//p19,p20をInterruptInに使ってはいけない
shimogamo 0:2a15bd367891 41
shimogamo 0:2a15bd367891 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 12:8e39bb45c61c 64 wdt = !wdt;
shimogamo 0:2a15bd367891 65 Thread::wait(50);
shimogamo 0:2a15bd367891 66 }
shimogamo 0:2a15bd367891 67 }
shimogamo 0:2a15bd367891 68
shimogamo 14:11e71bf840b2 69 void sensorTask500(void const *pvParameters){
shimogamo 0:2a15bd367891 70 while(1){
shimogamo 0:2a15bd367891 71 airspeed.update();
shimogamo 14:11e71bf840b2 72 cadence.update();
shimogamo 14:11e71bf840b2 73 ultsonic.update();
shimogamo 15:e73408fc6008 74 atmpress.update();
shimogamo 9:d1fc0805ec7d 75 Thread::wait(500);
shimogamo 0:2a15bd367891 76 }
shimogamo 0:2a15bd367891 77 }
shimogamo 14:11e71bf840b2 78
shimogamo 0:2a15bd367891 79
shimogamo 0:2a15bd367891 80 void displayTask(void const *pvParameters){
shimogamo 0:2a15bd367891 81 while(1){
shimogamo 0:2a15bd367891 82 display.update();
shimogamo 13:a8e10a69df45 83 Thread::wait(50);
shimogamo 0:2a15bd367891 84 }
shimogamo 0:2a15bd367891 85 }
shimogamo 0:2a15bd367891 86
shimogamo 0:2a15bd367891 87 void xbeeTask(void const *pvParameters){
shimogamo 0:2a15bd367891 88 while(1){
shimogamo 0:2a15bd367891 89 xbee.update();
shimogamo 13:a8e10a69df45 90 Thread::wait(50);
shimogamo 0:2a15bd367891 91 }
shimogamo 0:2a15bd367891 92 }
shimogamo 0:2a15bd367891 93
shimogamo 0:2a15bd367891 94
shimogamo 0:2a15bd367891 95 int main(void){
shimogamo 0:2a15bd367891 96 printf("start\n");
shimogamo 5:9a1ec02229dd 97
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 }