File content as of revision 0:4beb2ea291ec:

/*
 * Main.cpp
 * Copyright (c) 2017, ZHAW
 * All rights reserved.
 *
 *  Created on: 07.07.2017
 *      Author: Marcel Honegger
 */

#include <mbed.h>
#include <EthernetInterface.h>
//#include "SDFileSystem/SDFileSystem.h"
#include "HTTPServer.h"
#include "IndexScript.h"
#include "ControllerScript.h"
#include "EncoderCounter.h"
#include "IMU.h"
#include "IRSensor.h"
#include "SDBlockDevice.h"
#include "FATFileSystem.h"
#include "IRSensor.h"
#include "Controller.h"
#include "LIDAR.h"

class Main {
    
    public:
        
                Main();
        void    run();
        
    private:
        
        Thread  thread;
};

Main::Main() : thread(osPriorityNormal, 64*1024) {
    
    thread.start(callback(this, &Main::run));
}

void Main::run() {
     
    // create user_button object
    DigitalIn user_button(USER_BUTTON);
    DigitalOut led(LED1);
    DigitalOut myLed2(LED2);
    
    DigitalOut enableRouter(PB_15);
    enableRouter = 1;
    
    printf("Starting Router\r\n");
    Thread::wait(1000);
    printf("Starting webserver\r\n");
    
    // create webserver
    EthernetInterface* ethernet = new EthernetInterface();
    ethernet->set_network("192.168.0.100", "255.255.255.0", "192.168.1.1");
    ethernet->connect();
    printf("The target IP address is '%s'\r\n", ethernet->get_ip_address());
    
    HTTPServer httpServer(*ethernet);
    
        
    
    
    // initialise PWM objects
    PwmOut pwmRight(PF_8);
    PwmOut pwmLeft(PF_7);
    PwmOut pwmReserve(PF_9);
    
    // crete Encoder read objects
    EncoderCounter counterRight(PB_4, PC_7); // counter(pin A, pin B)
    EncoderCounter counterLeft(PA_15, PB_3);
    EncoderCounter counterRes(PD_12, PD_13);
    
    PwmOut servo1(PE_10);
    PwmOut servo2(PE_12);
    
    servo1.period(0.02f);// 0.02ms 50Hz
    servo2.period(0.02f);// 0.02ms 50Hz
    servo1.write(0.01f);
    servo2.write(0.01f);
    
    Controller controller(pwmReserve, pwmRight, counterRes, counterRight);
    
    // create LIDAR object
    PwmOut pwm(PE_9);
    pwm.period(0.00005f);
    pwm.write(0.5f);      // 50% duty-cycle
    
    RawSerial com(PG_14, PG_9);
    
    LIDAR lidar(com);
    
    httpServer.add("index", new IndexScript());
    httpServer.add("controller", new ControllerScript(user_button,myLed2,controller,servo1,servo2,lidar));
    
    // create IMU comunication objects
    SPI spi(PC_12, PC_11, PC_10); // mosi, miso, sclk
    DigitalOut csAG(PC_8);
    DigitalOut csM(PC_9);
    
    //create IMU object
    IMU imu(spi, csAG, csM);
    printf("IMU init done\r\n");
    // create IRSensor object
    AnalogIn distance(PA_0);
    
    // create multiplexer objects
    DigitalOut bit0(PF_0);
    DigitalOut bit1(PF_1);
    DigitalOut bit2(PF_2);
    
    // create sd card object
    SDBlockDevice sd(PE_6, PE_5, PE_2, PE_4); // mosi miso clk cs
    FATFileSystem fs("sd");
    printf("SD FileSystem init done\r\n");
    
    // others
    DigitalOut enable_motors(PG_0);
    DigitalIn driver_warning(PD_0);
    DigitalIn driver_fault(PD_1);
    
    DigitalOut enable_IRsens(PG_1);
    
    CAN can(PB_12, PB_6);
    
    AnalogIn ain1(PB_1);
    AnalogIn ain2(PC_2);
    AnalogIn ain3(PF_4);
    
    DigitalIn din1(PE_14);
    DigitalIn din2(PE_15);
    DigitalIn din3(PE_0);
    
    I2C i2c(PB_11,PB_10);
    
    
    
    Serial uartGroove(PE_8, PE_7); // tx, rx
    
    DigitalOut led0(PD_4);
    DigitalOut led1(PD_3);
    DigitalOut led2(PD_6);
    DigitalOut led3(PD_2);
    DigitalOut led4(PD_7);
    DigitalOut led5(PD_5);
    
    led0 = 0;
    led1 = 0;
    led2 = 0;
    led3 = 0;
    led4 = 0;
    led5 = 0;
    
    enable_IRsens = 1;
    
    IRSensor irSensor0(distance, bit0, bit1, bit2, 0);
    IRSensor irSensor1(distance, bit0, bit1, bit2, 1);
    IRSensor irSensor2(distance, bit0, bit1, bit2, 2);
    IRSensor irSensor3(distance, bit0, bit1, bit2, 3);
    IRSensor irSensor4(distance, bit0, bit1, bit2, 4);
    IRSensor irSensor5(distance, bit0, bit1, bit2, 5);

    // enter main loop
    
    enable_motors = 1;
    pwmLeft.period(0.00005f);// 0.05ms 20KHz
    pwmLeft.write(0.5f);
    pwmRight.period(0.00005f);// 0.05ms 20KHz
    pwmRight.write(0.5f);
    pwmReserve.period(0.00005f);// 0.05ms 20KHz
    pwmReserve.write(0.5f);
    
    
    /*
    sd.init();
    fs.mount(&sd);
    mkdir("/sd/Measure", 0777);
    printf("Folder created, SD initialisation done\r\n");
    FILE *fp = fopen("/sd/Measure/sdBlockDeviceTest.txt", "w");
    fprintf(fp, "accelerometer %.5f %.5f %.5f\r\n",imu.readAccelerationX(),imu.readAccelerationY(),imu.readAccelerationZ());
    fclose(fp);
    // read from SD card
    fp = fopen("/sd/Measure/sdBlockDeviceTest.txt", "r");
    if (fp != NULL) {
        char c = fgetc(fp);
        if (c == 'a')
            printf("SD write/read success!\r\n");
        else
            printf("incorrect char (%c)!\n", c);
        fclose(fp);
    } else {
        printf("Reading failed!\n");
    }*/
    
    //pwmLeft.write(0.99f);
    
    printf("\r\ninit done\r\n");
    
    short previousValueCounterLeft = counterLeft.read();
    short previousValueCounterRight = counterRight.read();
    
    while (true) {
        
        led = !led;
        
        //printf("ax = %.3f ay = %.3f az = %.3f\r\n",imu.readAccelerationX(),imu.readAccelerationY(),imu.readAccelerationZ());
        
        //printf("counter right = %d counter left = %d counter res = %d\r\n",counterRight.read(),counterLeft.read(),counterRes.read());
        //printf("counter left = %.5f counter right = %.5f counter res = %.5f [uhmdreungen]\r\n",counterRight.read()/21504.0f,counterLeft.read()/21504.0f,counterRes.read()/21504.0f);
        //printf("din1 = %d din2 = %d din3 = %d\r\n",din1.read(),din2.read(),din3.read());
        //printf("ain1 = %.3f ain2 = %.3f ain3 = %.3f\r\n",ain1.read()*3.3f,ain2.read()*3.3f,ain3.read()*3.3f);
        //printf("%.3f | %.3f | %.3f\r\n %.3f | %.3f | %.3f\r\n\r\n",irSensor2.read(),irSensor0.read(),irSensor5.read(),irSensor3.read(),irSensor1.read(),irSensor4.read());
        //printf("angle right %.3f | angle left %.3f\r\n",controller.getangleRight(), controller.getangleLeft());
        
        //printf("servo1 = %.3f servo2 = %.3f\r\n",servo1.read(),servo2.read());
        
        printf("distance 0°=%d 90°=%d 180°=%d\r\n",lidar.getDistance(0),lidar.getDistance(90),lidar.getDistance(180));
        
        if(user_button){
            //pwmLeft.write(0.5f);
            //pwmRight.write(0.5f);
            //pwmReserve.write(0.5f);
            //servo1.write(0.09f);
            //servo2.write(0.09f);
            
            //uartGroove.printf("ciao\r\n");
            //i2c.write(0x48, 0x00, 1);
            //controller.setTranslationalVelocity(2.0f);
            //controller.startMeasure();
            
        } else {
            //pwmLeft.write(0.99f);
            //pwmRight.write(0.99f);
            //pwmReserve.write(0.99f);
            //servo1.write(0.1f);
            //servo2.write(0.1f);
            //controller.setTranslationalVelocity(0.0f);
        }
        
        
        
        float DISTANCE_THRESHOLD = 0.2f;
        
        led0 = irSensor0 < DISTANCE_THRESHOLD;
        led1 = irSensor1 < DISTANCE_THRESHOLD;
        led2 = irSensor2 < DISTANCE_THRESHOLD;
        led3 = irSensor3 < DISTANCE_THRESHOLD;
        led4 = irSensor4 < DISTANCE_THRESHOLD;
        led5 = irSensor5 < DISTANCE_THRESHOLD;
        
        
        /*
        led1 = 0;
        led3 = 0;
        led4 = 0;
        led5 = 0;
        led6 = 0;*/
        
        
        
        /*
        led1 = !led1;
        led2 = !led2;
        led3 = !led3;
        led4 = !led4;
        led5 = !led5;
        led6 = !led6;*/
        
        /*
        
        short valueCounterLeft = counterLeft.read();
        short valueCounterRight = counterRight.read();

        short countsInPastPeriodLeft = valueCounterLeft-previousValueCounterLeft;
        short countsInPastPeriodRight = valueCounterRight-previousValueCounterRight;

        previousValueCounterLeft = valueCounterLeft;
        previousValueCounterRight = valueCounterRight;
        
        countsRight = countsRight + countsInPastPeriodRight;
        countsLeft = countsLeft + countsInPastPeriodLeft;
        
        printf("counter right = %d counter left = %d\r\n",countsRight,countsLeft);*/
        
        /*
        FILE *fp = fopen("/sd/Measure/sdBlockDeviceTest.txt", "a");
        fprintf(fp, "accelerometer %.5f %.5f %.5f\r\n",imu.readAccelerationX(),imu.readAccelerationY(),imu.readAccelerationZ());
        fclose(fp);*/
        
        
            
        Thread::wait(200);
    }
}

/**
 * This main method is the entry point of the controller software.
 * The code in this method is running within a thread of the rtos.
 */
int main() {
    
    Main main;
    
    Thread::wait(osWaitForever);
}