Jordan Kinden / ECE4333Lab3

Lab 3 Template Code

Dependencies:   mbed-rtos ECE4333Lab3

Fork of ECE4333Lab3 by ECE 4333

main.cpp@4:434586084857, 2016-02-05 (annotated)

Committer:
JordanWisdom
Date:
Fri Feb 05 16:45:01 2016 +0000
Revision:
4:434586084857
Parent:
3:0efaad3251a8 
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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 4:434586084857 4 #include "InterruptIn.h"
JordanWisdom 0:a046f7397436 5 #include "rtos.h"
JordanWisdom 0:a046f7397436 6 #include "mbed.h"
JordanWisdom 4:434586084857 7 #include "Serial.h"
JordanWisdom 4:434586084857 8
JordanWisdom 0:a046f7397436 9 // Function prototypes
JordanWisdom 0:a046f7397436 10 void PiControllerISR(void);
JordanWisdom 0:a046f7397436 11 void WdtFaultISR(void);
JordanWisdom 0:a046f7397436 12 void ExtCollisionISR(void);
JordanWisdom 0:a046f7397436 13 void PiControlThread(void const *argument);
JordanWisdom 0:a046f7397436 14 void ExtCollisionThread(void const *argument);
JordanWisdom 0:a046f7397436 15 void Watchdog(void const *n);
JordanWisdom 3:0efaad3251a8 16 void UserInterface(void);
JordanWisdom 1:79e780124b58 17
JordanWisdom 0:a046f7397436 18 // Global variables for interrupt handler
JordanWisdom 0:a046f7397436 19 int Position;
JordanWisdom 4:434586084857 20 signed int u; //On Time Int
JordanWisdom 1:79e780124b58 21
JordanWisdom 0:a046f7397436 22 // Processes and threads
JordanWisdom 4:434586084857 23 int32_t SignalPi, SignalWdt, SignalExtCollision; //Semaphores
JordanWisdom 1:79e780124b58 24
JordanWisdom 0:a046f7397436 25 osThreadId PiControl,WdtFault,ExtCollision;
JordanWisdom 0:a046f7397436 26 osThreadDef(PiControlThread, osPriorityRealtime, DEFAULT_STACK_SIZE); // Declare Control as a thread/process
JordanWisdom 0:a046f7397436 27 osThreadDef(ExtCollisionThread, osPriorityHigh, DEFAULT_STACK_SIZE); // Declare External Collision as a thread/process
JordanWisdom 0:a046f7397436 28 osTimerDef(Wdtimer, Watchdog); // Declare a watch dog timer
JordanWisdom 4:434586084857 29 //typedef enum{
JordanWisdom 0:a046f7397436 30 // osPriorityIdle = -3, ///< priority: idle (lowest)
JordanWisdom 0:a046f7397436 31 // osPriorityLow = -2, ///< priority: low
JordanWisdom 0:a046f7397436 32 // osPriorityBelowNormal = -1, ///< priority: below normal
JordanWisdom 0:a046f7397436 33 // osPriorityNormal = 0, ///< priority: normal (default)
JordanWisdom 0:a046f7397436 34 // osPriorityAboveNormal = +1, ///< priority: above normal
JordanWisdom 0:a046f7397436 35 // osPriorityHigh = +2, ///< priority: high
JordanWisdom 0:a046f7397436 36 // osPriorityRealtime = +3, ///< priority: realtime (highest)
JordanWisdom 4:434586084857 37 //}osPriority;
JordanWisdom 1:79e780124b58 38
JordanWisdom 0:a046f7397436 39 // IO Port Configuration
JordanWisdom 4:434586084857 40 // Digital
JordanWisdom 0:a046f7397436 41 DigitalOut led1(LED1);
JordanWisdom 0:a046f7397436 42 DigitalOut led2(LED2);
JordanWisdom 0:a046f7397436 43 DigitalOut led3(LED3);
JordanWisdom 0:a046f7397436 44 DigitalOut led4(LED4);
JordanWisdom 4:434586084857 45
JordanWisdom 4:434586084857 46 DigitalOut BR1(p9); //Brake 1
JordanWisdom 4:434586084857 47 DigitalOut DIR1(p10); //Direction 1
JordanWisdom 4:434586084857 48
JordanWisdom 4:434586084857 49 //PWM
JordanWisdom 4:434586084857 50 PwmOut PW1(p22);
JordanWisdom 4:434586084857 51
JordanWisdom 4:434586084857 52 //Serial
JordanWisdom 0:a046f7397436 53 Serial pc(USBTX, USBRX); // Pins (tx, rx) for PC serial channel
JordanWisdom 3:0efaad3251a8 54 Serial BluetoothSerial(p28,p27);
JordanWisdom 4:434586084857 55
JordanWisdom 4:434586084857 56 //Interrupts
JordanWisdom 0:a046f7397436 57 InterruptIn Bumper(p8); // External interrupt pin declared as Bumper
JordanWisdom 4:434586084857 58 Ticker PeriodicInt; // Declare a timer interrupt: PeriodicInt
JordanWisdom 1:79e780124b58 59
JordanWisdom 4:434586084857 60 signed DisplayMenu(){
JordanWisdom 4:434586084857 61 signed x = 0;
JordanWisdom 4:434586084857 62 char Key[7] = "+00000";
JordanWisdom 4:434586084857 63 printf("\n\rEnter a Pulse Width in microSeconds (max +/-30000, include leading zeroes):");
JordanWisdom 4:434586084857 64 pc.gets(Key,7);
JordanWisdom 4:434586084857 65 x = strtol(Key,NULL,10);
JordanWisdom 4:434586084857 66 printf("\n\r Selected Pulse Width = %d us", x);
JordanWisdom 4:434586084857 67 //pc.printf("\r\n%6d", Position); // The terminal emulator may be configured to
JordanWisdom 4:434586084857 68 // store received data to a file
JordanWisdom 4:434586084857 69 Thread::wait(100); // Go to sleep for 500 ms
JordanWisdom 4:434586084857 70 return x;
JordanWisdom 4:434586084857 71 }
JordanWisdom 1:79e780124b58 72
JordanWisdom 0:a046f7397436 73 // ******** Main Thread ********
JordanWisdom 0:a046f7397436 74 int main() { // This thread executes first upon reset or power-on.
JordanWisdom 4:434586084857 75 PW1.period_us(20);
JordanWisdom 4:434586084857 76 BR1.write(1);
JordanWisdom 4:434586084857 77 DIR1.write(1);
JordanWisdom 4:434586084857 78
JordanWisdom 1:79e780124b58 79 // Attach the address of the ExtCollisionISR to the rising edge of Bumper:
JordanWisdom 1:79e780124b58 80 Bumper.rise(&ExtCollisionISR);
JordanWisdom 1:79e780124b58 81
JordanWisdom 1:79e780124b58 82 // Start execution of the threads: PiControlThread and ExtCollisionThread:
JordanWisdom 1:79e780124b58 83 PiControl = osThreadCreate(osThread(PiControlThread), NULL);
JordanWisdom 1:79e780124b58 84 ExtCollision = osThreadCreate(osThread(ExtCollisionThread), NULL);
JordanWisdom 1:79e780124b58 85
JordanWisdom 1:79e780124b58 86 // Start the watch dog timer and enable the watch dog interrupt
JordanWisdom 1:79e780124b58 87 osTimerId OneShot = osTimerCreate(osTimer(Wdtimer), osTimerOnce, (void *)0);
JordanWisdom 1:79e780124b58 88 pc.printf("\r\n RTOS Template Program");
JordanWisdom 1:79e780124b58 89
JordanWisdom 1:79e780124b58 90 // May prompt user for input data here:
JordanWisdom 1:79e780124b58 91 // Specify address of the PeriodicInt ISR as PiControllerISR, specify the interval
JordanWisdom 1:79e780124b58 92 // in seconds between interrupts, and start interrupt generation:
JordanWisdom 1:79e780124b58 93 PeriodicInt.attach(&PiControllerISR, .05);
JordanWisdom 4:434586084857 94 do {
JordanWisdom 4:434586084857 95 u = DisplayMenu();
JordanWisdom 4:434586084857 96 printf("\n\r Memory Pulse Width: %d", u);
JordanWisdom 1:79e780124b58 97 }
JordanWisdom 1:79e780124b58 98 while(1);
JordanWisdom 4:434586084857 99
JordanWisdom 0:a046f7397436 100 }
JordanWisdom 1:79e780124b58 101
JordanWisdom 4:434586084857 102
JordanWisdom 0:a046f7397436 103 // ******** Control Thread ********
JordanWisdom 0:a046f7397436 104 void PiControlThread(void const *argument) {
JordanWisdom 1:79e780124b58 105 while (true) {
JordanWisdom 1:79e780124b58 106 osSignalWait(SignalPi, osWaitForever); // Go to sleep until, SignalPi, is received.
JordanWisdom 4:434586084857 107 //led2 = !led2; // Alive status - led2 toggles each time PiControlThread is signaled.
JordanWisdom 4:434586084857 108 if(u >= 0)
JordanWisdom 4:434586084857 109 {
JordanWisdom 4:434586084857 110 if(u>=131071) u = 131071; //Overflow protection
JordanWisdom 4:434586084857 111 PW1.pulsewidth_us(u);
JordanWisdom 4:434586084857 112 DIR1.write(1);
JordanWisdom 4:434586084857 113 }
JordanWisdom 4:434586084857 114 else if(u < 0)
JordanWisdom 4:434586084857 115 {
JordanWisdom 4:434586084857 116 if(u<-131071) u = -131071; //Overflow protection
JordanWisdom 4:434586084857 117 PW1.pulsewidth_us(u);
JordanWisdom 4:434586084857 118 DIR1.write(0);
JordanWisdom 4:434586084857 119 }
JordanWisdom 1:79e780124b58 120 Position = Position + 1;
JordanWisdom 4:434586084857 121 printf("\n\r Memory Pulse Width = %d", u);
JordanWisdom 1:79e780124b58 122 }
JordanWisdom 0:a046f7397436 123 }
JordanWisdom 1:79e780124b58 124
JordanWisdom 0:a046f7397436 125 // ******** Collision Thread ********
JordanWisdom 0:a046f7397436 126 void ExtCollisionThread(void const *argument) {
JordanWisdom 1:79e780124b58 127 while (true) {
JordanWisdom 1:79e780124b58 128 // Go to sleep until signal, SignalExtCollision, is received:
JordanWisdom 1:79e780124b58 129 osSignalWait(SignalExtCollision, osWaitForever);
JordanWisdom 4:434586084857 130 led4 = 0;
JordanWisdom 1:79e780124b58 131 }
JordanWisdom 0:a046f7397436 132 }
JordanWisdom 1:79e780124b58 133
JordanWisdom 0:a046f7397436 134 // ******** Watchdog Interrupt Handler ********
JordanWisdom 0:a046f7397436 135 void Watchdog(void const *n) {
JordanWisdom 4:434586084857 136 led3=0; // led3 is activated when the watchdog timer times out
JordanWisdom 0:a046f7397436 137 }
JordanWisdom 1:79e780124b58 138
JordanWisdom 0:a046f7397436 139 // ******** Period Timer Interrupt Handler ********
JordanWisdom 0:a046f7397436 140 void PiControllerISR(void) {
JordanWisdom 1:79e780124b58 141 // Activate the signal, PiControl, with each periodic timer interrupt.
JordanWisdom 4:434586084857 142 //osSignalSet(PiControl,0x1);
JordanWisdom 1:79e780124b58 143 }
JordanWisdom 0:a046f7397436 144
JordanWisdom 0:a046f7397436 145 // ******** Collision Interrupt Handler ********
JordanWisdom 0:a046f7397436 146 void ExtCollisionISR(void) {
JordanWisdom 1:79e780124b58 147 // Activate the signal, ExtCollision, with each pexternal interrupt.
JordanWisdom 4:434586084857 148 //osSignalSet(ExtCollision,0x1);
JordanWisdom 1:79e780124b58 149 }
JordanWisdom 3:0efaad3251a8 150
JordanWisdom 4:434586084857 151 /*/ ******** User Interface *********
JordanWisdom 3:0efaad3251a8 152 void UserInterface(void) {
JordanWisdom 3:0efaad3251a8 153 char x;
JordanWisdom 3:0efaad3251a8 154 do{
JordanWisdom 3:0efaad3251a8 155 if (pc.readable()) {
JordanWisdom 3:0efaad3251a8 156 x = pc.getc(); pc.putc(x); //Echo keyboard entry
JordanWisdom 3:0efaad3251a8 157 osTimerStart(OneShot, 2000); // Set WDT interrupt to 2s.
JordanWisdom 3:0efaad3251a8 158 led3 = 0;
JordanWisdom 3:0efaad3251a8 159 }
JordanWisdom 4:434586084857 160 (BluetoothSerial.readable()) {
JordanWisdom 3:0efaad3251a8 161 x = BluetoothSerial.getc();
JordanWisdom 4:434586084857 162 (x == 'w'){
JordanWisdom 3:0efaad3251a8 163 pc.printf("\r\n w pressed");
JordanWisdom 3:0efaad3251a8 164 }
JordanWisdom 3:0efaad3251a8 165 // Display variables at the terminal emulator for logging:
JordanWisdom 3:0efaad3251a8 166 pc.printf("\r\n blah blah");
JordanWisdom 3:0efaad3251a8 167 Thread::wait(500); // Wait 500 ms
JordanWisdom 3:0efaad3251a8 168 }
JordanWisdom 4:434586084857 169 }while(1);
JordanWisdom 4:434586084857 170 }*/