Oliver Wenzel / Mbed 2 deprecated mbed_amf_controlsystem_iO

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Dependencies:   mbed-rtos mbed

Fork of mbed_amf_controlsystem by Matti Borchers

main.cpp@11:8b79f6545628, 2016-02-04 (annotated)

Committer:
mborchers
Date:
Thu Feb 04 19:39:56 2016 +0000
Revision:
11:8b79f6545628
Parent:
9:46c42975a0dc
Parent:
10:f92664a22d02
Child:
12:221c9e02ea96
Null Pointer Exception gel?st, Serial Thread implementiert

Who changed what in which revision?

UserRevisionLine numberNew contents of line
mborchers 0:8a6003b8bb5b 1 #include <mbed.h>
mborchers 0:8a6003b8bb5b 2 #include "rtos.h"
mborchers 0:8a6003b8bb5b 3 #include "Periphery/SupportSystem.h"
mborchers 0:8a6003b8bb5b 4 #include "Misc/SystemTimer.h"
mborchers 3:391c4639bc7d 5 #include "Controller/QuadratureController.h"
mborchers 0:8a6003b8bb5b 6
mborchers 0:8a6003b8bb5b 7 #define PI 3.14159265
mborchers 0:8a6003b8bb5b 8
mborchers 0:8a6003b8bb5b 9 Serial serialMinnow(p13, p14);
mborchers 0:8a6003b8bb5b 10 PwmOut drivePWM(p22);
mborchers 0:8a6003b8bb5b 11 PwmOut steerPWM(p21);
mborchers 0:8a6003b8bb5b 12 I2C i2c(p9, p10);
mborchers 0:8a6003b8bb5b 13
mborchers 0:8a6003b8bb5b 14 DigitalOut heartbeatLED(LED1);
mborchers 0:8a6003b8bb5b 15 DigitalOut buttonLED(LED2);
mborchers 0:8a6003b8bb5b 16 DigitalOut redlightLED(LED3);
mborchers 10:f92664a22d02 17 DigitalOut led4(LED4);
mborchers 0:8a6003b8bb5b 18
mborchers 0:8a6003b8bb5b 19 DigitalIn buttonOne(p25);
mborchers 0:8a6003b8bb5b 20 DigitalIn buttonTwo(p26);
mborchers 0:8a6003b8bb5b 21 DigitalIn buttonThree(p29);
mborchers 0:8a6003b8bb5b 22 DigitalIn buttonFour(p30);
mborchers 0:8a6003b8bb5b 23
mborchers 0:8a6003b8bb5b 24 IMU_RegisterDataBuffer_t *IMU_registerDataBuffer;
mborchers 0:8a6003b8bb5b 25 RadioDecoder_RegisterDataBuffer_t *RadioDecoder_registerDataBuffer;
mborchers 0:8a6003b8bb5b 26
mborchers 4:f0be27a5a83a 27 QuadratureController *quadratureController;
mborchers 4:f0be27a5a83a 28
mborchers 0:8a6003b8bb5b 29 // Queues von der Bahnplanung
mborchers 0:8a6003b8bb5b 30 Queue<float, 2> quadrature_queue;
mborchers 0:8a6003b8bb5b 31 Queue<float, 2> machine_direction_queue;
mborchers 0:8a6003b8bb5b 32 float steering_angle_minnow_queue;
mborchers 0:8a6003b8bb5b 33 float velocity_minnow_queue;
mborchers 0:8a6003b8bb5b 34
mborchers 0:8a6003b8bb5b 35
mborchers 0:8a6003b8bb5b 36 // Queues von dem Maussensor
mborchers 0:8a6003b8bb5b 37 Queue<float, 2> imu_queue_velocity;
mborchers 0:8a6003b8bb5b 38 Queue<float, 2> imu_queue_steering_angle;
mborchers 0:8a6003b8bb5b 39 float steering_angle_imu_queue;
mborchers 0:8a6003b8bb5b 40 float velocity_imu_queue;
mborchers 0:8a6003b8bb5b 41
mborchers 0:8a6003b8bb5b 42
mborchers 0:8a6003b8bb5b 43 // Variablen von der Trajektorienplanung
mborchers 0:8a6003b8bb5b 44
mborchers 3:391c4639bc7d 45 float velocity_set = 0;
mborchers 0:8a6003b8bb5b 46
mborchers 0:8a6003b8bb5b 47 // Variablen für die Längsregelung
mborchers 0:8a6003b8bb5b 48 float velocity_current = 0, velocity_last = 0;
mborchers 0:8a6003b8bb5b 49
mborchers 1:7eddde9fba60 50 uint8_t timer_velocity_sampling_time=0.01;
mborchers 1:7eddde9fba60 51 float Vorsteuerungsfaktor;
mborchers 2:bf739d7d9f8f 52 float l_esum, Vorsteuerung, I_Regler, l_output, l_PWM, l_e;
mborchers 1:7eddde9fba60 53 float l_Ki=30*timer_velocity_sampling_time;
mborchers 1:7eddde9fba60 54 uint16_t a[19]={0,600,400,325,250,237,225,212,200,177,144,140,136,132,128,124,120,115,111};
mborchers 1:7eddde9fba60 55
mborchers 1:7eddde9fba60 56 // Querregelung Ende
mborchers 0:8a6003b8bb5b 57
mborchers 10:f92664a22d02 58 void hearbeat_thread(void const *args);
mborchers 10:f92664a22d02 59
mborchers 0:8a6003b8bb5b 60 void serial_thread(void const *args) {
mborchers 10:f92664a22d02 61 size_t length = 20;
mborchers 10:f92664a22d02 62 char receive_buffer[length];
mborchers 10:f92664a22d02 63 char* ptr = (char*) receive_buffer;
mborchers 10:f92664a22d02 64 char* end = ptr + length;
mborchers 10:f92664a22d02 65 char c, x = 22;
mborchers 7:c5940ae7773a 66 float f;
mborchers 10:f92664a22d02 67 int return_value = 666;
mborchers 0:8a6003b8bb5b 68 while (true) {
mborchers 10:f92664a22d02 69 if (ptr != end) {
mborchers 10:f92664a22d02 70 c = serialMinnow.getc();
mborchers 10:f92664a22d02 71 *ptr++ = c;
mborchers 10:f92664a22d02 72 } else {
mborchers 10:f92664a22d02 73 ptr = (char*)receive_buffer;
mborchers 7:c5940ae7773a 74 }
mborchers 7:c5940ae7773a 75 heartbeatLED = !heartbeatLED;
mborchers 10:f92664a22d02 76
mborchers 10:f92664a22d02 77 if (c == '\r') return_value = sscanf(receive_buffer, "[%c]=%f\r", &x, &f);
mborchers 10:f92664a22d02 78
mborchers 10:f92664a22d02 79 serialMinnow.printf("%d\r\n", return_value);
mborchers 10:f92664a22d02 80
mborchers 10:f92664a22d02 81 if (x == 'v') {
mborchers 10:f92664a22d02 82 serialMinnow.printf("v erhalten: %f\r\n", f);
mborchers 10:f92664a22d02 83 buttonLED = true;
mborchers 10:f92664a22d02 84 // Buffer wieder auf Anfang setzen
mborchers 10:f92664a22d02 85 ptr = (char*)receive_buffer;
mborchers 10:f92664a22d02 86 x = 22;
mborchers 10:f92664a22d02 87 } else if (x == 'g') {
mborchers 10:f92664a22d02 88 serialMinnow.printf("g erhalten: %f\r\n", f);
mborchers 10:f92664a22d02 89 redlightLED = true;
mborchers 10:f92664a22d02 90 // Buffer wieder auf Anfang setzen
mborchers 10:f92664a22d02 91 ptr = (char*)receive_buffer;
mborchers 10:f92664a22d02 92 x = 22;
mborchers 10:f92664a22d02 93 }
mborchers 10:f92664a22d02 94
mborchers 7:c5940ae7773a 95 //Thread::wait(100);
mborchers 0:8a6003b8bb5b 96 }
mborchers 0:8a6003b8bb5b 97 }
mborchers 0:8a6003b8bb5b 98
mborchers 0:8a6003b8bb5b 99 void machine_direction_control(void const *args) {
mborchers 0:8a6003b8bb5b 100 osEvent velocity_set_event = machine_direction_queue.get(0);
mborchers 0:8a6003b8bb5b 101 if (velocity_set_event.status == osEventMessage) {
mborchers 0:8a6003b8bb5b 102 velocity_set = *(float*)velocity_set_event.value.p;
mborchers 0:8a6003b8bb5b 103 }
mborchers 0:8a6003b8bb5b 104
mborchers 0:8a6003b8bb5b 105 osEvent velocity_current_event = imu_queue_velocity.get(0);
mborchers 0:8a6003b8bb5b 106 if (velocity_current_event.status == osEventMessage) {
mborchers 0:8a6003b8bb5b 107 velocity_current = *(float *)velocity_current_event.value.p;
mborchers 0:8a6003b8bb5b 108 }
mborchers 0:8a6003b8bb5b 109
mborchers 1:7eddde9fba60 110 Vorsteuerungsfaktor = a[(uint8_t)velocity_set*4];
mborchers 1:7eddde9fba60 111 l_e = velocity_set-velocity_current;
mborchers 1:7eddde9fba60 112 l_esum = l_esum + l_e;
mborchers 1:7eddde9fba60 113
mborchers 1:7eddde9fba60 114 Vorsteuerung=Vorsteuerungsfaktor*velocity_set;
mborchers 3:391c4639bc7d 115 I_Regler = l_Ki * l_esum;
mborchers 1:7eddde9fba60 116
mborchers 2:bf739d7d9f8f 117 l_output=Vorsteuerung;//+I_Regler;
mborchers 1:7eddde9fba60 118
mborchers 2:bf739d7d9f8f 119 l_PWM = 1500+l_output;
mborchers 2:bf739d7d9f8f 120
mborchers 2:bf739d7d9f8f 121 if(l_PWM<1500)
mborchers 2:bf739d7d9f8f 122 {
mborchers 2:bf739d7d9f8f 123 l_PWM=1500;
mborchers 2:bf739d7d9f8f 124 }
mborchers 2:bf739d7d9f8f 125 else if(l_PWM>2000)
mborchers 2:bf739d7d9f8f 126 {
mborchers 2:bf739d7d9f8f 127 l_PWM=2000;
mborchers 2:bf739d7d9f8f 128 }
mborchers 1:7eddde9fba60 129
torstenwylegala 6:aa27bc8c58f5 130 drivePWM.pulsewidth_us(1700);
mborchers 0:8a6003b8bb5b 131 }
mborchers 0:8a6003b8bb5b 132
mborchers 4:f0be27a5a83a 133 void redirect_quadrature_controller(void const *args) {
mborchers 4:f0be27a5a83a 134 quadratureController->cylic_control();
mborchers 4:f0be27a5a83a 135 }
mborchers 4:f0be27a5a83a 136
mborchers 0:8a6003b8bb5b 137 int main() {
mborchers 0:8a6003b8bb5b 138 serialMinnow.baud(115200);
mborchers 0:8a6003b8bb5b 139
mborchers 0:8a6003b8bb5b 140 drivePWM.period_ms(20);
mborchers 0:8a6003b8bb5b 141 steerPWM.period_ms(20);
mborchers 0:8a6003b8bb5b 142
mborchers 0:8a6003b8bb5b 143 SystemTimer *millis = new SystemTimer();
mborchers 0:8a6003b8bb5b 144
mborchers 0:8a6003b8bb5b 145 SupportSystem *supportSystem = new SupportSystem(0x80, &i2c);
mborchers 3:391c4639bc7d 146
torstenwylegala 6:aa27bc8c58f5 147 quadratureController = new QuadratureController(&steerPWM, &quadrature_queue, &imu_queue_steering_angle);
mborchers 0:8a6003b8bb5b 148
mborchers 1:7eddde9fba60 149 Thread machineDirectionControl(serial_thread);
mborchers 10:f92664a22d02 150 Thread hearbeatThread(hearbeat_thread);
mborchers 0:8a6003b8bb5b 151
mborchers 0:8a6003b8bb5b 152 RtosTimer machine_direction_control_timer(machine_direction_control);
mborchers 4:f0be27a5a83a 153 RtosTimer quadrature_control_timer(redirect_quadrature_controller);
mborchers 0:8a6003b8bb5b 154
mborchers 0:8a6003b8bb5b 155 // Konfiguration AMF-IMU
mborchers 0:8a6003b8bb5b 156 // [0]: Conversation Factor
mborchers 0:8a6003b8bb5b 157 // [1]: Sensor Position X
mborchers 0:8a6003b8bb5b 158 // [2]: Sensor Position Y
mborchers 0:8a6003b8bb5b 159 // [3]: Sensor Position Angle
torstenwylegala 5:4319a748181a 160 float configData[4] = {0.002751114f, 167.0f, 0.0f, 271.5f};
mborchers 0:8a6003b8bb5b 161
mborchers 0:8a6003b8bb5b 162 supportSystem->writeData(SUPPORT_SYSTEM_REGISTER_ADDRESS_IMU_CONVERSION_FACTOR, configData, sizeof(float)*4);
mborchers 0:8a6003b8bb5b 163
mborchers 0:8a6003b8bb5b 164 // Flag setzen
torstenwylegala 5:4319a748181a 165 uint8_t command = 1<<2;
mborchers 0:8a6003b8bb5b 166 supportSystem->writeData(SUPPORT_SYSTEM_REGISTER_ADDRESS_IMU_COMMAND, &command, sizeof(uint8_t));
mborchers 0:8a6003b8bb5b 167
mborchers 0:8a6003b8bb5b 168 bool timer_started = false;
mborchers 0:8a6003b8bb5b 169
mborchers 0:8a6003b8bb5b 170 wait(0.1);
mborchers 0:8a6003b8bb5b 171
torstenwylegala 6:aa27bc8c58f5 172 steering_angle_minnow_queue = 10.0;
mborchers 2:bf739d7d9f8f 173 quadrature_queue.put(&steering_angle_minnow_queue);
mborchers 2:bf739d7d9f8f 174
mborchers 2:bf739d7d9f8f 175 velocity_minnow_queue = 1.5;
mborchers 2:bf739d7d9f8f 176 machine_direction_queue.put(&velocity_minnow_queue);
mborchers 0:8a6003b8bb5b 177
mborchers 0:8a6003b8bb5b 178 while(true) {
mborchers 0:8a6003b8bb5b 179 IMU_registerDataBuffer = supportSystem->getImuRegisterDataBuffer();
mborchers 0:8a6003b8bb5b 180 RadioDecoder_registerDataBuffer = supportSystem->getRadioDecoderRegisterDataBuffer();
mborchers 0:8a6003b8bb5b 181
mborchers 7:c5940ae7773a 182 //for(uint8_t i=0; i<3; i++) {
mborchers 7:c5940ae7773a 183 // serialMinnow.printf("RadioDecoder - Ch[%d] Valid: %d\r\n",i,RadioDecoder_registerDataBuffer->channelValid[i]);
mborchers 7:c5940ae7773a 184 // serialMinnow.printf("RadioDecoder - Ch[%d] ActiveTime: %d\r\n",i,RadioDecoder_registerDataBuffer->channelActiveTime[i]);
mborchers 7:c5940ae7773a 185 // serialMinnow.printf("RadioDecoder - Ch[%d] Percentage: %d\r\n\r\n",i,RadioDecoder_registerDataBuffer->channelPercent[i]);
mborchers 7:c5940ae7773a 186 //}
mborchers 0:8a6003b8bb5b 187
mborchers 0:8a6003b8bb5b 188 uint16_t rc_percentage = RadioDecoder_registerDataBuffer->channelActiveTime[0];
mborchers 0:8a6003b8bb5b 189 uint8_t rc_valid = RadioDecoder_registerDataBuffer->channelValid[0];
mborchers 0:8a6003b8bb5b 190
mborchers 0:8a6003b8bb5b 191 uint16_t drive_percentage = RadioDecoder_registerDataBuffer->channelActiveTime[1];
mborchers 0:8a6003b8bb5b 192 uint8_t drive_valid = RadioDecoder_registerDataBuffer->channelValid[1];
mborchers 0:8a6003b8bb5b 193
mborchers 0:8a6003b8bb5b 194 uint16_t steer_percentage = RadioDecoder_registerDataBuffer->channelActiveTime[2];
mborchers 0:8a6003b8bb5b 195 uint8_t steer_valid = RadioDecoder_registerDataBuffer->channelValid[2];
mborchers 0:8a6003b8bb5b 196
mborchers 0:8a6003b8bb5b 197
mborchers 0:8a6003b8bb5b 198 if (rc_percentage > (uint16_t) 1800 && rc_valid != 0) {
mborchers 0:8a6003b8bb5b 199 // oben => Wettbewerb
mborchers 7:c5940ae7773a 200 //heartbeatLED = true;
mborchers 10:f92664a22d02 201 //buttonLED = false;
mborchers 10:f92664a22d02 202 //redlightLED = false;
mborchers 0:8a6003b8bb5b 203 supportSystem->setLightManagerRemoteLight(false, true);
mborchers 0:8a6003b8bb5b 204 if (!timer_started) {
mborchers 0:8a6003b8bb5b 205 timer_started = true;
mborchers 0:8a6003b8bb5b 206 machine_direction_control_timer.start(10);
mborchers 0:8a6003b8bb5b 207 quadrature_control_timer.start(10);
mborchers 0:8a6003b8bb5b 208 }
mborchers 0:8a6003b8bb5b 209 } else if (rc_percentage > (uint16_t) 1200 && rc_valid != 0) {
mborchers 0:8a6003b8bb5b 210 // unten => RC-Wettbewerb
mborchers 7:c5940ae7773a 211 //heartbeatLED = false;
mborchers 10:f92664a22d02 212 //buttonLED = false;
mborchers 10:f92664a22d02 213 //redlightLED = true;
mborchers 0:8a6003b8bb5b 214 supportSystem->setLightManagerRemoteLight(true, true);
mborchers 0:8a6003b8bb5b 215 if (drive_valid) {
mborchers 0:8a6003b8bb5b 216 drivePWM.pulsewidth_us(drive_percentage);
mborchers 0:8a6003b8bb5b 217 }
mborchers 0:8a6003b8bb5b 218 if (steer_valid) {
mborchers 0:8a6003b8bb5b 219 steerPWM.pulsewidth_us(steer_percentage);
mborchers 0:8a6003b8bb5b 220 }
mborchers 0:8a6003b8bb5b 221 if (timer_started) {
mborchers 0:8a6003b8bb5b 222 timer_started = false;
mborchers 0:8a6003b8bb5b 223 machine_direction_control_timer.stop();
mborchers 0:8a6003b8bb5b 224 quadrature_control_timer.stop();
mborchers 0:8a6003b8bb5b 225 }
mborchers 0:8a6003b8bb5b 226 } else if (rc_percentage > (uint16_t) 800 && rc_valid != 0) {
mborchers 0:8a6003b8bb5b 227 // mitte => RC-Training
mborchers 7:c5940ae7773a 228 //heartbeatLED = false;
mborchers 10:f92664a22d02 229 //buttonLED = true;
mborchers 10:f92664a22d02 230 //redlightLED = false;
mborchers 0:8a6003b8bb5b 231 supportSystem->setLightManagerRemoteLight(true, true);
mborchers 0:8a6003b8bb5b 232 if (drive_valid) {
mborchers 0:8a6003b8bb5b 233 drivePWM.pulsewidth_us(drive_percentage);
mborchers 0:8a6003b8bb5b 234 }
mborchers 0:8a6003b8bb5b 235 if (steer_valid) {
mborchers 0:8a6003b8bb5b 236 steerPWM.pulsewidth_us(steer_percentage);
mborchers 0:8a6003b8bb5b 237 }
mborchers 0:8a6003b8bb5b 238 if (timer_started) {
mborchers 0:8a6003b8bb5b 239 timer_started = false;
mborchers 0:8a6003b8bb5b 240 machine_direction_control_timer.stop();
mborchers 0:8a6003b8bb5b 241 quadrature_control_timer.stop();
mborchers 0:8a6003b8bb5b 242 }
mborchers 0:8a6003b8bb5b 243 }
mborchers 0:8a6003b8bb5b 244
mborchers 0:8a6003b8bb5b 245 velocity_imu_queue = IMU_registerDataBuffer->velocityXFilteredRegister;
mborchers 0:8a6003b8bb5b 246 imu_queue_velocity.put(&velocity_imu_queue);
mborchers 0:8a6003b8bb5b 247
mborchers 0:8a6003b8bb5b 248 float radius = IMU_registerDataBuffer->velocityXFilteredRegister/IMU_registerDataBuffer->velocityAngularFilteredRegister;
mborchers 0:8a6003b8bb5b 249
mborchers 0:8a6003b8bb5b 250 steering_angle_imu_queue = atan(0.205/radius)*180/PI;
mborchers 0:8a6003b8bb5b 251 imu_queue_steering_angle.put(&steering_angle_imu_queue);
mborchers 0:8a6003b8bb5b 252
mborchers 0:8a6003b8bb5b 253
mborchers 2:bf739d7d9f8f 254 //serialMinnow.printf("%ld, ", difference_millis);
mborchers 7:c5940ae7773a 255 //serialMinnow.printf("%f, ", velocity_minnow_queue);
mborchers 7:c5940ae7773a 256 //serialMinnow.printf("%f, ", steering_angle_minnow_queue);
mborchers 7:c5940ae7773a 257 //serialMinnow.printf("%d, ", IMU_registerDataBuffer->curveRadiusRegister);
mborchers 7:c5940ae7773a 258 //serialMinnow.printf("%f, ", IMU_registerDataBuffer->velocityAngularRegister);
mborchers 7:c5940ae7773a 259 //serialMinnow.printf("%f, ", IMU_registerDataBuffer->velocityAngularFilteredRegister);
mborchers 7:c5940ae7773a 260 //serialMinnow.printf("%f, ", IMU_registerDataBuffer->velocityXRegister);
mborchers 7:c5940ae7773a 261 //serialMinnow.printf("%f\r\n", IMU_registerDataBuffer->velocityXFilteredRegister);
mborchers 0:8a6003b8bb5b 262 Thread::wait(50);
mborchers 0:8a6003b8bb5b 263 }
mborchers 0:8a6003b8bb5b 264 }
mborchers 10:f92664a22d02 265
mborchers 10:f92664a22d02 266 void hearbeat_thread(void const *args) {
mborchers 10:f92664a22d02 267 while(true) {
mborchers 10:f92664a22d02 268 led4 = !led4;
mborchers 10:f92664a22d02 269 Thread::wait(100);
mborchers 10:f92664a22d02 270 }
mborchers 10:f92664a22d02 271 }