Jordan Kinden / ECE4333Lab3

Lab 3 Template Code

Dependencies:   mbed-rtos ECE4333Lab3

Fork of ECE4333Lab3 by ECE 4333

main.cpp@3:0efaad3251a8, 2016-02-03 (annotated)

Committer:
JordanWisdom
Date:
Wed Feb 03 23:22:01 2016 +0000
Revision:
3:0efaad3251a8
Parent:
2:f1ce213d3367
Child:
4:434586084857
Added Dr. Diduch's UserInterface code and fixed the errors to get it running.

Who changed what in which revision?

UserRevisionLine numberNew contents of line
JordanWisdom 0:a046f7397436 1 // C.P. Diduch
JordanWisdom 0:a046f7397436 2 // EE4333 Robotics Lab-3, January 18, 2014.
JordanWisdom 0:a046f7397436 3 // Template for implementation of a PI Speed Control System
JordanWisdom 0:a046f7397436 4 #include "rtos.h"
JordanWisdom 0:a046f7397436 5 #include "mbed.h"
JordanWisdom 0:a046f7397436 6 // Function prototypes
JordanWisdom 0:a046f7397436 7 void PiControllerISR(void);
JordanWisdom 0:a046f7397436 8 void WdtFaultISR(void);
JordanWisdom 0:a046f7397436 9 void ExtCollisionISR(void);
JordanWisdom 0:a046f7397436 10 void PiControlThread(void const *argument);
JordanWisdom 0:a046f7397436 11 void ExtCollisionThread(void const *argument);
JordanWisdom 0:a046f7397436 12 void Watchdog(void const *n);
JordanWisdom 3:0efaad3251a8 13 void UserInterface(void);
JordanWisdom 1:79e780124b58 14
JordanWisdom 0:a046f7397436 15 // Global variables for interrupt handler
JordanWisdom 0:a046f7397436 16 int Position;
JordanWisdom 1:79e780124b58 17
JordanWisdom 0:a046f7397436 18 // Processes and threads
JordanWisdom 0:a046f7397436 19 int32_t SignalPi, SignalWdt, SignalExtCollision;
JordanWisdom 1:79e780124b58 20
JordanWisdom 0:a046f7397436 21 osThreadId PiControl,WdtFault,ExtCollision;
JordanWisdom 0:a046f7397436 22 osThreadDef(PiControlThread, osPriorityRealtime, DEFAULT_STACK_SIZE); // Declare Control as a thread/process
JordanWisdom 0:a046f7397436 23 osThreadDef(ExtCollisionThread, osPriorityHigh, DEFAULT_STACK_SIZE); // Declare External Collision as a thread/process
JordanWisdom 0:a046f7397436 24 osTimerDef(Wdtimer, Watchdog); // Declare a watch dog timer
JordanWisdom 3:0efaad3251a8 25 osTimerId OneShot = osTimerCreate(osTimer(Wdtimer), osTimerOnce, (void *)0);//OneShot Timer
JordanWisdom 0:a046f7397436 26 // osPriorityIdle = -3, ///< priority: idle (lowest)
JordanWisdom 0:a046f7397436 27 // osPriorityLow = -2, ///< priority: low
JordanWisdom 0:a046f7397436 28 // osPriorityBelowNormal = -1, ///< priority: below normal
JordanWisdom 0:a046f7397436 29 // osPriorityNormal = 0, ///< priority: normal (default)
JordanWisdom 0:a046f7397436 30 // osPriorityAboveNormal = +1, ///< priority: above normal
JordanWisdom 0:a046f7397436 31 // osPriorityHigh = +2, ///< priority: high
JordanWisdom 0:a046f7397436 32 // osPriorityRealtime = +3, ///< priority: realtime (highest)
JordanWisdom 1:79e780124b58 33
JordanWisdom 0:a046f7397436 34 // IO Port Configuration
JordanWisdom 0:a046f7397436 35 DigitalOut led1(LED1);
JordanWisdom 0:a046f7397436 36 DigitalOut led2(LED2);
JordanWisdom 0:a046f7397436 37 DigitalOut led3(LED3);
JordanWisdom 0:a046f7397436 38 DigitalOut led4(LED4);
JordanWisdom 0:a046f7397436 39 Serial pc(USBTX, USBRX); // Pins (tx, rx) for PC serial channel
JordanWisdom 3:0efaad3251a8 40 Serial BluetoothSerial(p28,p27);
JordanWisdom 0:a046f7397436 41 Ticker PeriodicInt; // Declare a timer interrupt: PeriodicInt
JordanWisdom 0:a046f7397436 42 InterruptIn Bumper(p8); // External interrupt pin declared as Bumper
JordanWisdom 1:79e780124b58 43
JordanWisdom 1:79e780124b58 44
JordanWisdom 0:a046f7397436 45 // ******** Main Thread ********
JordanWisdom 0:a046f7397436 46 int main() { // This thread executes first upon reset or power-on.
JordanWisdom 1:79e780124b58 47 char x;
JordanWisdom 1:79e780124b58 48 // Attach the address of the ExtCollisionISR to the rising edge of Bumper:
JordanWisdom 1:79e780124b58 49 Bumper.rise(&ExtCollisionISR);
JordanWisdom 1:79e780124b58 50
JordanWisdom 1:79e780124b58 51 // Start execution of the threads: PiControlThread and ExtCollisionThread:
JordanWisdom 1:79e780124b58 52 PiControl = osThreadCreate(osThread(PiControlThread), NULL);
JordanWisdom 1:79e780124b58 53 ExtCollision = osThreadCreate(osThread(ExtCollisionThread), NULL);
JordanWisdom 1:79e780124b58 54
JordanWisdom 1:79e780124b58 55 // Start the watch dog timer and enable the watch dog interrupt
JordanWisdom 1:79e780124b58 56 osTimerId OneShot = osTimerCreate(osTimer(Wdtimer), osTimerOnce, (void *)0);
JordanWisdom 1:79e780124b58 57 pc.printf("\r\n RTOS Template Program");
JordanWisdom 1:79e780124b58 58
JordanWisdom 1:79e780124b58 59 // May prompt user for input data here:
JordanWisdom 1:79e780124b58 60 // Specify address of the PeriodicInt ISR as PiControllerISR, specify the interval
JordanWisdom 1:79e780124b58 61 // in seconds between interrupts, and start interrupt generation:
JordanWisdom 1:79e780124b58 62 PeriodicInt.attach(&PiControllerISR, .05);
JordanWisdom 1:79e780124b58 63 do {
JordanWisdom 1:79e780124b58 64 if (pc.readable()){
JordanWisdom 1:79e780124b58 65 x=pc.getc();
JordanWisdom 1:79e780124b58 66 pc.putc(x); // Echo keyboard entry
JordanWisdom 1:79e780124b58 67 // Start or restart the watchdog timer interrupt and set to 2000ms.
JordanWisdom 1:79e780124b58 68 osTimerStart(OneShot, 2000);
JordanWisdom 1:79e780124b58 69 led3=0; // Clear watch dog led3 status
JordanWisdom 1:79e780124b58 70 led4=0;
JordanWisdom 1:79e780124b58 71 }
JordanWisdom 1:79e780124b58 72 // Display variables at the terminal emulator for logging:
JordanWisdom 1:79e780124b58 73 pc.printf("\r\n%6d", Position); // The terminal emulator may be configured to
JordanWisdom 1:79e780124b58 74 // store received data to a file
JordanWisdom 1:79e780124b58 75 Thread::wait(500); // Go to sleep for 500 ms
JordanWisdom 1:79e780124b58 76 }
JordanWisdom 1:79e780124b58 77 while(1);
JordanWisdom 0:a046f7397436 78 }
JordanWisdom 1:79e780124b58 79
JordanWisdom 0:a046f7397436 80 // ******** Control Thread ********
JordanWisdom 0:a046f7397436 81 void PiControlThread(void const *argument) {
JordanWisdom 1:79e780124b58 82 while (true) {
JordanWisdom 1:79e780124b58 83 osSignalWait(SignalPi, osWaitForever); // Go to sleep until, SignalPi, is received.
JordanWisdom 2:f1ce213d3367 84 led2 = !led2; // Alive status - led2 toggles each time PiControlThread is signaled.
JordanWisdom 1:79e780124b58 85 Position = Position + 1;
JordanWisdom 1:79e780124b58 86 }
JordanWisdom 0:a046f7397436 87 }
JordanWisdom 1:79e780124b58 88
JordanWisdom 0:a046f7397436 89 // ******** Collision Thread ********
JordanWisdom 0:a046f7397436 90 void ExtCollisionThread(void const *argument) {
JordanWisdom 1:79e780124b58 91 while (true) {
JordanWisdom 1:79e780124b58 92 // Go to sleep until signal, SignalExtCollision, is received:
JordanWisdom 1:79e780124b58 93 osSignalWait(SignalExtCollision, osWaitForever);
JordanWisdom 1:79e780124b58 94 led4 = 1;
JordanWisdom 1:79e780124b58 95 }
JordanWisdom 0:a046f7397436 96 }
JordanWisdom 1:79e780124b58 97
JordanWisdom 0:a046f7397436 98 // ******** Watchdog Interrupt Handler ********
JordanWisdom 0:a046f7397436 99 void Watchdog(void const *n) {
JordanWisdom 1:79e780124b58 100 led3=1; // led3 is activated when the watchdog timer times out
JordanWisdom 0:a046f7397436 101 }
JordanWisdom 1:79e780124b58 102
JordanWisdom 0:a046f7397436 103 // ******** Period Timer Interrupt Handler ********
JordanWisdom 0:a046f7397436 104 void PiControllerISR(void) {
JordanWisdom 1:79e780124b58 105 // Activate the signal, PiControl, with each periodic timer interrupt.
JordanWisdom 1:79e780124b58 106 osSignalSet(PiControl,0x1);
JordanWisdom 1:79e780124b58 107 }
JordanWisdom 0:a046f7397436 108
JordanWisdom 0:a046f7397436 109 // ******** Collision Interrupt Handler ********
JordanWisdom 0:a046f7397436 110 void ExtCollisionISR(void) {
JordanWisdom 1:79e780124b58 111 // Activate the signal, ExtCollision, with each pexternal interrupt.
JordanWisdom 1:79e780124b58 112 osSignalSet(ExtCollision,0x1);
JordanWisdom 1:79e780124b58 113 }
JordanWisdom 3:0efaad3251a8 114
JordanWisdom 3:0efaad3251a8 115 // ******** User Interface *********
JordanWisdom 3:0efaad3251a8 116 void UserInterface(void) {
JordanWisdom 3:0efaad3251a8 117 char x;
JordanWisdom 3:0efaad3251a8 118 do{
JordanWisdom 3:0efaad3251a8 119 if (pc.readable()) {
JordanWisdom 3:0efaad3251a8 120 x = pc.getc(); pc.putc(x); //Echo keyboard entry
JordanWisdom 3:0efaad3251a8 121 osTimerStart(OneShot, 2000); // Set WDT interrupt to 2s.
JordanWisdom 3:0efaad3251a8 122 led3 = 0;
JordanWisdom 3:0efaad3251a8 123 }
JordanWisdom 3:0efaad3251a8 124 if (BluetoothSerial.readable()) {
JordanWisdom 3:0efaad3251a8 125 x = BluetoothSerial.getc();
JordanWisdom 3:0efaad3251a8 126 if(x == 'w'){
JordanWisdom 3:0efaad3251a8 127 pc.printf("\r\n w pressed");
JordanWisdom 3:0efaad3251a8 128 }
JordanWisdom 3:0efaad3251a8 129 // Display variables at the terminal emulator for logging:
JordanWisdom 3:0efaad3251a8 130 pc.printf("\r\n blah blah");
JordanWisdom 3:0efaad3251a8 131 Thread::wait(500); // Wait 500 ms
JordanWisdom 3:0efaad3251a8 132 }
JordanWisdom 3:0efaad3251a8 133 }while(1);
JordanWisdom 3:0efaad3251a8 134 }