Mark Bruijn / Mbed 2 deprecated SOS_V1

new battery bar

Dependencies:   CAN_IDs CanControl Dashboard PinDetect PowerControl mbed-rtos mbed

main.cpp@14:0ad1bc8be76b, 2017-05-22 (annotated)

Committer:
zathorix
Date:
Mon May 22 15:16:34 2017 +0000
Revision:
14:0ad1bc8be76b
Parent:
11:005a50dd7db5
Child:
15:56b25cffa523
throttle working

Who changed what in which revision?

UserRevisionLine numberNew contents of line
kwasymodo 1:c5d8ea5d049b 1 /*******************************************************************************
kwasymodo 4:dfd10f43cc8b 2 This software is especially designed for Solarboat Twente for the use in their Solarboat v1.0
kwasymodo 1:c5d8ea5d049b 3
kwasymodo 1:c5d8ea5d049b 4 Written by:
kwasymodo 1:c5d8ea5d049b 5 Niels Leijen, Jesse van Rhijn, Bram Seinhorst
kwasymodo 1:c5d8ea5d049b 6
kwasymodo 1:c5d8ea5d049b 7 Thanks to:
kwasymodo 1:c5d8ea5d049b 8 Jasper Admiraal, Hidde Pik (hihihihi), Lisa Postma, Heleen Jeurink, Ruben Peters,
kwasymodo 1:c5d8ea5d049b 9 Martijn Groot Jebbink, Martijn Wilpshaar, Bram Seinhorst, Robert Geels, Arnoud Meutstege,
kwasymodo 4:dfd10f43cc8b 10 Jeroen te Braake, Ids de Vos, Jesse van Rhijn, Sam Benou, Niels Leijen and Mark Bruijn
kwasymodo 1:c5d8ea5d049b 11
kwasymodo 1:c5d8ea5d049b 12 DISCLAIMER:
kwasymodo 1:c5d8ea5d049b 13 THIS SOFTWARE IS SUPPLIED "AS IS" WITHOUT ANY WARRANTIES AND SUPPORT.
kwasymodo 1:c5d8ea5d049b 14 SOLARBOATTWENTE ASSUMES NO RESPONSIBILITY OR LIABILITY FOR THE USE OF THE SOFTWARE.
kwasymodo 1:c5d8ea5d049b 15 *******************************************************************************/
kwasymodo 1:c5d8ea5d049b 16
kwasymodo 1:c5d8ea5d049b 17 // uncomment to send debug information
kwasymodo 1:c5d8ea5d049b 18 #define DEBUG
kwasymodo 1:c5d8ea5d049b 19
kwasymodo 1:c5d8ea5d049b 20 //include 3rd party libraries
kwasymodo 4:dfd10f43cc8b 21 #include "mbed.h" //needs to be revision 136 else SD filesystem will not work
kwasymodo 1:c5d8ea5d049b 22 #include "rtos.h"
kwasymodo 1:c5d8ea5d049b 23
kwasymodo 1:c5d8ea5d049b 24 // include Solarboat libraries
kwasymodo 1:c5d8ea5d049b 25 #include "pinout.h"
zathorix 14:0ad1bc8be76b 26 #include "CAN_IDs.h"
kwasymodo 1:c5d8ea5d049b 27 #include "PowerControl.h"
kwasymodo 1:c5d8ea5d049b 28
zathorix 14:0ad1bc8be76b 29 #define SPEED_THRESH 0.05
zathorix 14:0ad1bc8be76b 30
kwasymodo 1:c5d8ea5d049b 31 // initialize serial connection for debug
kwasymodo 1:c5d8ea5d049b 32 #ifdef DEBUG
kwasymodo 3:b164662f9740 33 RawSerial pc(SERIAL_TX, SERIAL_RX);
kwasymodo 1:c5d8ea5d049b 34 #endif
kwasymodo 1:c5d8ea5d049b 35
kwasymodo 1:c5d8ea5d049b 36 // initialize canbus
kwasymodo 1:c5d8ea5d049b 37 CAN can(CAN_RD, CAN_TD);
kwasymodo 1:c5d8ea5d049b 38
zathorix 14:0ad1bc8be76b 39 //init throttle
zathorix 14:0ad1bc8be76b 40 AnalogIn analogThrottle(STEER_THROTTLE);
zathorix 14:0ad1bc8be76b 41
kwasymodo 1:c5d8ea5d049b 42 // initialze onboard leds
kwasymodo 1:c5d8ea5d049b 43 DigitalOut ledError(LED3);
kwasymodo 1:c5d8ea5d049b 44 DigitalOut ledSD(LED1);
kwasymodo 1:c5d8ea5d049b 45 DigitalOut ledFona(LED5);
kwasymodo 1:c5d8ea5d049b 46 DigitalOut led24V(LED4);
kwasymodo 1:c5d8ea5d049b 47
kwasymodo 4:dfd10f43cc8b 48 //DigitalOut buckCan(BUCK2);
kwasymodo 11:005a50dd7db5 49 DigitalOut buckXSens(BUCK3);
kwasymodo 11:005a50dd7db5 50 DigitalOut buckScreen(BUCK4);
kwasymodo 11:005a50dd7db5 51 DigitalOut buck24V(BUCK5);
kwasymodo 1:c5d8ea5d049b 52
kwasymodo 1:c5d8ea5d049b 53
kwasymodo 1:c5d8ea5d049b 54 // Thread 1 - Power
kwasymodo 1:c5d8ea5d049b 55 void power(){
kwasymodo 4:dfd10f43cc8b 56 PowerControl powercontrol(PUSH_GREEN);
kwasymodo 4:dfd10f43cc8b 57
kwasymodo 1:c5d8ea5d049b 58 #ifdef DEBUG
kwasymodo 4:dfd10f43cc8b 59 pc.printf("Thread 1 - Power started\r\n ");
kwasymodo 1:c5d8ea5d049b 60 #endif
kwasymodo 1:c5d8ea5d049b 61
kwasymodo 4:dfd10f43cc8b 62 Thread::wait(osWaitForever);
kwasymodo 1:c5d8ea5d049b 63 }
kwasymodo 1:c5d8ea5d049b 64
kwasymodo 11:005a50dd7db5 65 // Thread X - Test
kwasymodo 11:005a50dd7db5 66 void test(){
kwasymodo 11:005a50dd7db5 67 ledError = 0;
kwasymodo 11:005a50dd7db5 68 ledSD = 0;
kwasymodo 11:005a50dd7db5 69 ledFona = 0 ;
kwasymodo 11:005a50dd7db5 70 led24V=1;
kwasymodo 11:005a50dd7db5 71
kwasymodo 11:005a50dd7db5 72 //DigitalOut buckCan(BUCK2);
kwasymodo 11:005a50dd7db5 73 buckXSens = 0;
kwasymodo 11:005a50dd7db5 74 buckScreen = 0;
kwasymodo 11:005a50dd7db5 75 buck24V = 1;
kwasymodo 11:005a50dd7db5 76
kwasymodo 11:005a50dd7db5 77 }
kwasymodo 1:c5d8ea5d049b 78
zathorix 14:0ad1bc8be76b 79 float speed = 0;
zathorix 14:0ad1bc8be76b 80
zathorix 14:0ad1bc8be76b 81 //send motor command
zathorix 14:0ad1bc8be76b 82 void sendMotorSpeed(float throttle) {
zathorix 14:0ad1bc8be76b 83 if ((abs(throttle - speed)) > SPEED_THRESH) {
zathorix 14:0ad1bc8be76b 84 union {
zathorix 14:0ad1bc8be76b 85 char msg[4];
zathorix 14:0ad1bc8be76b 86 float value;
zathorix 14:0ad1bc8be76b 87 } packet;
zathorix 14:0ad1bc8be76b 88 packet.value = throttle;
zathorix 14:0ad1bc8be76b 89 can.write(CANMessage(MOTOR_COMMAND, packet.msg));
zathorix 14:0ad1bc8be76b 90 printf("Sent motor speed: %f\r\n", packet.value);
zathorix 14:0ad1bc8be76b 91 speed = throttle;
zathorix 14:0ad1bc8be76b 92 }
zathorix 14:0ad1bc8be76b 93 }
zathorix 14:0ad1bc8be76b 94
zathorix 14:0ad1bc8be76b 95 //throttle thread
zathorix 14:0ad1bc8be76b 96 void readThrottle() {
zathorix 14:0ad1bc8be76b 97 float throttleread;
zathorix 14:0ad1bc8be76b 98 while(1) {
zathorix 14:0ad1bc8be76b 99 throttleread = floor(2*(0.5 - analogThrottle.read())*1000)/1000;
zathorix 14:0ad1bc8be76b 100 sendMotorSpeed(throttleread);
zathorix 14:0ad1bc8be76b 101 Thread::wait(100);
zathorix 14:0ad1bc8be76b 102 }
zathorix 14:0ad1bc8be76b 103 }
zathorix 14:0ad1bc8be76b 104
kwasymodo 1:c5d8ea5d049b 105 // Thread 0 - DO NOT CHANGE THIS!
kwasymodo 1:c5d8ea5d049b 106 int main() {
kwasymodo 1:c5d8ea5d049b 107 #ifdef DEBUG
kwasymodo 1:c5d8ea5d049b 108 pc.baud(115200);
kwasymodo 3:b164662f9740 109 pc.printf("Starting SOS V1.0\n");
kwasymodo 1:c5d8ea5d049b 110 #endif
kwasymodo 1:c5d8ea5d049b 111 // change CAN frequency
kwasymodo 1:c5d8ea5d049b 112 can.frequency(250000);
kwasymodo 1:c5d8ea5d049b 113
kwasymodo 1:c5d8ea5d049b 114 // initialze threads
kwasymodo 1:c5d8ea5d049b 115 Thread thread1;
kwasymodo 1:c5d8ea5d049b 116 //Thread thread2;
kwasymodo 1:c5d8ea5d049b 117 //Thread thread3;
kwasymodo 1:c5d8ea5d049b 118 //Thread thread4;
kwasymodo 11:005a50dd7db5 119 Thread threadx;
zathorix 14:0ad1bc8be76b 120 Thread threadthrottle;
kwasymodo 1:c5d8ea5d049b 121
kwasymodo 1:c5d8ea5d049b 122 // change thread priority
kwasymodo 1:c5d8ea5d049b 123 //thread2.set_priority(osPriorityBelowNormal);
kwasymodo 1:c5d8ea5d049b 124
kwasymodo 1:c5d8ea5d049b 125 // start threads
kwasymodo 1:c5d8ea5d049b 126 thread1.start(&power);
kwasymodo 1:c5d8ea5d049b 127 //thread2.start(&calcPi);
kwasymodo 1:c5d8ea5d049b 128 //thread3.start(&motorTest);
kwasymodo 1:c5d8ea5d049b 129 //thread4.start(&canReceive);
kwasymodo 11:005a50dd7db5 130 threadx.start(&test);
zathorix 14:0ad1bc8be76b 131 threadthrottle.start(&readThrottle);
kwasymodo 1:c5d8ea5d049b 132
kwasymodo 1:c5d8ea5d049b 133 //stop this thread while keeping the other threads running
kwasymodo 11:005a50dd7db5 134 CANMessage msg;
kwasymodo 11:005a50dd7db5 135 while(1) {
kwasymodo 11:005a50dd7db5 136 if(can.read(msg)) {
kwasymodo 11:005a50dd7db5 137 pc.printf("Message received: 0x %x; %u %u%u %d%d %c %u %u\n", msg.id, msg.data[0], msg.data[1], msg.data[2], msg.data[3], msg.data[4], msg.data[5], msg.data[6], msg.data[7]);
kwasymodo 11:005a50dd7db5 138 }
kwasymodo 11:005a50dd7db5 139 }
kwasymodo 1:c5d8ea5d049b 140 Thread::wait(osWaitForever);
kwasymodo 1:c5d8ea5d049b 141 }