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?
User | Revision | Line number | New 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 | } |