Remi Beges / Mbed 2 deprecated telemetry_demo_FRDM-TFC

A demonstration of the telemetry library (https://github.com/Overdrivr/Telemetry) to transfert to the desktop various data from the FRDM-TFC shield

Dependencies:   BufferedSerial FRDM-TFC-HBRIDGE mbed telemetry

Example of the 'Telemetry' library, a portable communication library for embedded devices.

This code fetches all the data from the Freescale Cup RC-car. It relies on a more advanced shield library that is able to read current feedback from HBridges.

The available data is the following :

  • Potentiometer 0
  • Potentiometer 1
  • 4-bit DIP switch
  • Battery level
  • current inside HBridge A
  • current inside HBridge B

You can use the Pytelemetry Command Line Interface to open plots, visualize the received data, and communicate with the car.

See https://github.com/Overdrivr/pytelemetrycli

main.cpp@3:ddf88c34c61d, 2016-03-09 (annotated)

Committer:
Overdrivr
Date:
Wed Mar 09 15:47:31 2016 +0000
Revision:
3:ddf88c34c61d
Parent:
2:9f07b14821b0 
update headers include

Who changed what in which revision?

UserRevisionLine numberNew contents of line
Overdrivr 3:ddf88c34c61d 1 #include "telemetry/Telemetry.hpp"
Overdrivr 0:4fbaf36176b6 2 #include "FRDM-TFC/TFC.h"
Overdrivr 0:4fbaf36176b6 3
Overdrivr 1:eeaf7cbb5582 4 /*
Overdrivr 1:eeaf7cbb5582 5 Example of the 'Telemetry' library, a portable communication library for embedded devices.
Overdrivr 1:eeaf7cbb5582 6
Overdrivr 1:eeaf7cbb5582 7 This code fetches all the data from the Freescale Cup RC-car.
Overdrivr 1:eeaf7cbb5582 8 It relies on a more advanced shield library that is able to read current feedback from HBridges.
Overdrivr 1:eeaf7cbb5582 9
Overdrivr 1:eeaf7cbb5582 10 The available data is the following :
Overdrivr 1:eeaf7cbb5582 11 * Potentiometer 0
Overdrivr 1:eeaf7cbb5582 12 * Potentiometer 1
Overdrivr 1:eeaf7cbb5582 13 * 4-bit DIP switch
Overdrivr 1:eeaf7cbb5582 14 * Battery level
Overdrivr 1:eeaf7cbb5582 15 * current inside HBridge A
Overdrivr 1:eeaf7cbb5582 16 * current inside HBridge B
Overdrivr 1:eeaf7cbb5582 17
Overdrivr 1:eeaf7cbb5582 18 You can use the Pytelemetry Command Line Interface to open plots, visualize the received data,
Overdrivr 1:eeaf7cbb5582 19 and communicate with the car.
Overdrivr 1:eeaf7cbb5582 20 See https://github.com/Overdrivr/pytelemetrycli
Overdrivr 1:eeaf7cbb5582 21 */
Overdrivr 1:eeaf7cbb5582 22
Overdrivr 0:4fbaf36176b6 23 struct TM_state
Overdrivr 0:4fbaf36176b6 24 {
Overdrivr 0:4fbaf36176b6 25 float throttle;
Overdrivr 0:4fbaf36176b6 26 };
Overdrivr 0:4fbaf36176b6 27
Overdrivr 1:eeaf7cbb5582 28 // Definition of the callback function
Overdrivr 0:4fbaf36176b6 29 void process(TM_state * state, TM_msg * msg);
Overdrivr 0:4fbaf36176b6 30
Overdrivr 0:4fbaf36176b6 31 int main()
Overdrivr 0:4fbaf36176b6 32 {
Overdrivr 1:eeaf7cbb5582 33 // Init the shield
Overdrivr 0:4fbaf36176b6 34 TFC_Init();
Overdrivr 1:eeaf7cbb5582 35
Overdrivr 1:eeaf7cbb5582 36 // Create a Telemetry instance, running on uart at 115200 bauds
Overdrivr 1:eeaf7cbb5582 37 Telemetry tm(115200);
Overdrivr 0:4fbaf36176b6 38
Overdrivr 1:eeaf7cbb5582 39 // a data structure to hold writeable parameters
Overdrivr 1:eeaf7cbb5582 40 // i.e. the car direction and throttle that will be both be controlled from the laptop
Overdrivr 1:eeaf7cbb5582 41 TM_state state;
Overdrivr 1:eeaf7cbb5582 42 state.throttle = 0.0;
Overdrivr 1:eeaf7cbb5582 43
Overdrivr 1:eeaf7cbb5582 44 // Suscribe our custom processing function (= callback function), and pass the data structure
Overdrivr 1:eeaf7cbb5582 45 // so that we can access it inside
Overdrivr 1:eeaf7cbb5582 46 // This way, everytime a frame is received, Telemetry will call this function for us,
Overdrivr 1:eeaf7cbb5582 47 // and pass the TM_state data structure to it.
Overdrivr 1:eeaf7cbb5582 48 tm.sub(process, &state);
Overdrivr 0:4fbaf36176b6 49
Overdrivr 0:4fbaf36176b6 50 Timer refresh_timer;
Overdrivr 0:4fbaf36176b6 51 refresh_timer.start();
Overdrivr 1:eeaf7cbb5582 52
Overdrivr 1:eeaf7cbb5582 53 // Activate the engines !
Overdrivr 0:4fbaf36176b6 54 TFC_HBRIDGE_ENABLE;
Overdrivr 1:eeaf7cbb5582 55
Overdrivr 0:4fbaf36176b6 56 for( ; ; )
Overdrivr 0:4fbaf36176b6 57 {
Overdrivr 1:eeaf7cbb5582 58 // 20 times per second, re-send data
Overdrivr 1:eeaf7cbb5582 59 if(refresh_timer.read_ms() > 50)
Overdrivr 0:4fbaf36176b6 60 {
Overdrivr 1:eeaf7cbb5582 61 tm.pub_f32("HBcurrentA",TFC_ReadMotorCurrent(0));
Overdrivr 1:eeaf7cbb5582 62 tm.pub_f32("HBcurrentB",TFC_ReadMotorCurrent(1));
Overdrivr 0:4fbaf36176b6 63 tm.pub_f32("pot0",TFC_ReadPot(0));
Overdrivr 0:4fbaf36176b6 64 tm.pub_f32("pot1",TFC_ReadPot(1));
Overdrivr 1:eeaf7cbb5582 65 tm.pub_f32("bat",TFC_ReadBatteryVoltage());
Overdrivr 2:9f07b14821b0 66 tm.pub_u8("dip",TFC_GetDIP_Switch());
Overdrivr 0:4fbaf36176b6 67 tm.pub_f32("throttle",state.throttle);
Overdrivr 0:4fbaf36176b6 68
Overdrivr 0:4fbaf36176b6 69 TFC_SetMotorPWM(state.throttle ,state.throttle);
Overdrivr 1:eeaf7cbb5582 70 // Update in order to process received data
Overdrivr 0:4fbaf36176b6 71 tm.update();
Overdrivr 0:4fbaf36176b6 72 }
Overdrivr 0:4fbaf36176b6 73 }
Overdrivr 0:4fbaf36176b6 74 }
Overdrivr 0:4fbaf36176b6 75
Overdrivr 1:eeaf7cbb5582 76 // This is our processing function called every time a frame is received
Overdrivr 1:eeaf7cbb5582 77 // First parameter is a pointer to the data structure we defined in main
Overdrivr 1:eeaf7cbb5582 78 // Second parameter is a pointer to a data structure containing all info about received frame
Overdrivr 1:eeaf7cbb5582 79
Overdrivr 0:4fbaf36176b6 80 void process(TM_state * state, TM_msg * msg)
Overdrivr 0:4fbaf36176b6 81 {
Overdrivr 1:eeaf7cbb5582 82 // If data type matches 'float32'
Overdrivr 0:4fbaf36176b6 83 if(msg->type == TM_float32)
Overdrivr 0:4fbaf36176b6 84 {
Overdrivr 0:4fbaf36176b6 85 float th = 0;
Overdrivr 1:eeaf7cbb5582 86 // Emplace the data into 'th'
Overdrivr 0:4fbaf36176b6 87 if(emplace_f32(msg,&th))
Overdrivr 0:4fbaf36176b6 88 {
Overdrivr 1:eeaf7cbb5582 89 // If the emplace has worked, push the value to the actual value state->throttle
Overdrivr 1:eeaf7cbb5582 90 // This way the processing is entirely safe
Overdrivr 0:4fbaf36176b6 91 state->throttle = th;
Overdrivr 0:4fbaf36176b6 92 }
Overdrivr 0:4fbaf36176b6 93 }
Overdrivr 0:4fbaf36176b6 94 }