Mark Bruijn / Mbed 2 deprecated SOS_V1

new battery bar

Dependencies:   CAN_IDs CanControl Dashboard PinDetect PowerControl mbed-rtos mbed

main.cpp@15:56b25cffa523, 2017-05-22 (annotated)

Committer:
zathorix
Date:
Mon May 22 17:21:08 2017 +0000
Revision:
15:56b25cffa523
Parent:
14:0ad1bc8be76b
Child:
16:c5427db9edf0
Version working for test

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 15:56b25cffa523 29 #define SPEED_THRESH 0.02 //threshold for setting speed to prevent CAN spam
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 11:005a50dd7db5 48 DigitalOut buckXSens(BUCK3);
kwasymodo 11:005a50dd7db5 49 DigitalOut buckScreen(BUCK4);
kwasymodo 11:005a50dd7db5 50 DigitalOut buck24V(BUCK5);
kwasymodo 1:c5d8ea5d049b 51
kwasymodo 1:c5d8ea5d049b 52
kwasymodo 1:c5d8ea5d049b 53 // Thread 1 - Power
kwasymodo 1:c5d8ea5d049b 54 void power(){
kwasymodo 4:dfd10f43cc8b 55 PowerControl powercontrol(PUSH_GREEN);
kwasymodo 4:dfd10f43cc8b 56
kwasymodo 1:c5d8ea5d049b 57 #ifdef DEBUG
kwasymodo 4:dfd10f43cc8b 58 pc.printf("Thread 1 - Power started\r\n ");
kwasymodo 1:c5d8ea5d049b 59 #endif
kwasymodo 1:c5d8ea5d049b 60
kwasymodo 4:dfd10f43cc8b 61 Thread::wait(osWaitForever);
kwasymodo 1:c5d8ea5d049b 62 }
kwasymodo 1:c5d8ea5d049b 63
kwasymodo 11:005a50dd7db5 64 // Thread X - Test
kwasymodo 11:005a50dd7db5 65 void test(){
kwasymodo 11:005a50dd7db5 66 ledError = 0;
kwasymodo 11:005a50dd7db5 67 ledSD = 0;
kwasymodo 11:005a50dd7db5 68 ledFona = 0 ;
kwasymodo 11:005a50dd7db5 69 led24V=1;
kwasymodo 11:005a50dd7db5 70
kwasymodo 11:005a50dd7db5 71 //DigitalOut buckCan(BUCK2);
kwasymodo 11:005a50dd7db5 72 buckXSens = 0;
kwasymodo 11:005a50dd7db5 73 buckScreen = 0;
kwasymodo 11:005a50dd7db5 74 buck24V = 1;
kwasymodo 11:005a50dd7db5 75 }
kwasymodo 1:c5d8ea5d049b 76
zathorix 15:56b25cffa523 77 //global var for speed; ugly solution but works
zathorix 14:0ad1bc8be76b 78 float speed = 0;
zathorix 14:0ad1bc8be76b 79 //send motor command
zathorix 14:0ad1bc8be76b 80 void sendMotorSpeed(float throttle) {
zathorix 14:0ad1bc8be76b 81 if ((abs(throttle - speed)) > SPEED_THRESH) {
zathorix 14:0ad1bc8be76b 82 union {
zathorix 14:0ad1bc8be76b 83 char msg[4];
zathorix 14:0ad1bc8be76b 84 float value;
zathorix 14:0ad1bc8be76b 85 } packet;
zathorix 14:0ad1bc8be76b 86 packet.value = throttle;
zathorix 14:0ad1bc8be76b 87 can.write(CANMessage(MOTOR_COMMAND, packet.msg));
zathorix 14:0ad1bc8be76b 88 printf("Sent motor speed: %f\r\n", packet.value);
zathorix 14:0ad1bc8be76b 89 speed = throttle;
zathorix 14:0ad1bc8be76b 90 }
zathorix 14:0ad1bc8be76b 91 }
zathorix 14:0ad1bc8be76b 92
zathorix 14:0ad1bc8be76b 93 //throttle thread
zathorix 14:0ad1bc8be76b 94 void readThrottle() {
zathorix 14:0ad1bc8be76b 95 float throttleread;
zathorix 14:0ad1bc8be76b 96 while(1) {
zathorix 15:56b25cffa523 97 throttleread = 2*(0.5 - analogThrottle.read());
zathorix 14:0ad1bc8be76b 98 sendMotorSpeed(throttleread);
zathorix 15:56b25cffa523 99 Thread::wait(10);
zathorix 14:0ad1bc8be76b 100 }
zathorix 14:0ad1bc8be76b 101 }
zathorix 14:0ad1bc8be76b 102
kwasymodo 1:c5d8ea5d049b 103 // Thread 0 - DO NOT CHANGE THIS!
kwasymodo 1:c5d8ea5d049b 104 int main() {
kwasymodo 1:c5d8ea5d049b 105 #ifdef DEBUG
kwasymodo 1:c5d8ea5d049b 106 pc.baud(115200);
kwasymodo 3:b164662f9740 107 pc.printf("Starting SOS V1.0\n");
kwasymodo 1:c5d8ea5d049b 108 #endif
kwasymodo 1:c5d8ea5d049b 109 // change CAN frequency
kwasymodo 1:c5d8ea5d049b 110 can.frequency(250000);
kwasymodo 1:c5d8ea5d049b 111
kwasymodo 1:c5d8ea5d049b 112 // initialze threads
zathorix 15:56b25cffa523 113 Thread threadpower;
zathorix 15:56b25cffa523 114 Thread threadtest;
zathorix 14:0ad1bc8be76b 115 Thread threadthrottle;
kwasymodo 1:c5d8ea5d049b 116
kwasymodo 1:c5d8ea5d049b 117 // start threads
zathorix 15:56b25cffa523 118 threadpower.start(&power);
zathorix 15:56b25cffa523 119 threadtest.start(&test);
zathorix 14:0ad1bc8be76b 120 threadthrottle.start(&readThrottle);
kwasymodo 1:c5d8ea5d049b 121
kwasymodo 1:c5d8ea5d049b 122 //stop this thread while keeping the other threads running
kwasymodo 11:005a50dd7db5 123 CANMessage msg;
kwasymodo 11:005a50dd7db5 124 while(1) {
kwasymodo 11:005a50dd7db5 125 if(can.read(msg)) {
kwasymodo 11:005a50dd7db5 126 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 127 }
kwasymodo 11:005a50dd7db5 128 }
kwasymodo 1:c5d8ea5d049b 129 Thread::wait(osWaitForever);
kwasymodo 1:c5d8ea5d049b 130 }