Bayley Wang / Mbed 2 deprecated SDLogger

Slow SD Logger

Dependencies:   Adafruit_RTCLib BNO055 SDFileSystem_SlowLogger analoghalls mbed

Fork of analoghalls by Bayley Wang

main.cpp@4:f18f6bc5e1fd, 2015-02-26 (annotated)

Committer:
bwang
Date:
Thu Feb 26 04:49:21 2015 +0000
Revision:
4:f18f6bc5e1fd
Parent:
3:86ccde39f61b
Child:
5:6da98f3faf33
latest;

Who changed what in which revision?

UserRevisionLine numberNew contents of line
nki 0:9753f3c2e5ca 1 #include "mbed.h"
bwang 2:b5c19d4eddcc 2
bwang 2:b5c19d4eddcc 3
nki 0:9753f3c2e5ca 4 #include "constants.h"
nki 0:9753f3c2e5ca 5 #include "shared.h"
nki 0:9753f3c2e5ca 6 #include "util.h"
nki 0:9753f3c2e5ca 7 #include "math.h"
bwang 1:70eed554399b 8 #include "isr.h"
nki 0:9753f3c2e5ca 9
nki 0:9753f3c2e5ca 10 Serial pc(SERIAL_TX, SERIAL_RX);
nki 0:9753f3c2e5ca 11
nki 0:9753f3c2e5ca 12 PwmOut pha(_PH_A);
nki 0:9753f3c2e5ca 13 PwmOut phb(_PH_B);
nki 0:9753f3c2e5ca 14 PwmOut phc(_PH_C);
nki 0:9753f3c2e5ca 15
nki 0:9753f3c2e5ca 16 DigitalOut en(_EN);
nki 0:9753f3c2e5ca 17
bwang 2:b5c19d4eddcc 18 DigitalIn dummy(D5);
bwang 2:b5c19d4eddcc 19
nki 0:9753f3c2e5ca 20 AnalogIn throttle(_THROTTLE);
nki 0:9753f3c2e5ca 21 AnalogIn analoga(_ANALOGA);
nki 0:9753f3c2e5ca 22 AnalogIn analogb(_ANALOGB);
nki 0:9753f3c2e5ca 23
nki 0:9753f3c2e5ca 24 Motor* motor;
nki 0:9753f3c2e5ca 25
bwang 3:86ccde39f61b 26 #ifdef __DEBUG
bwang 3:86ccde39f61b 27 float *fbuffer;
bwang 3:86ccde39f61b 28 int bufidx = 0;
bwang 4:f18f6bc5e1fd 29 int skipidx = 0;
bwang 3:86ccde39f61b 30 #endif
bwang 2:b5c19d4eddcc 31 #ifdef __USE_THROTTLE
bwang 2:b5c19d4eddcc 32 Ticker dtc_upd_ticker;
bwang 2:b5c19d4eddcc 33 Ticker throttle_upd_ticker;
bwang 2:b5c19d4eddcc 34 #endif
nki 0:9753f3c2e5ca 35
bwang 1:70eed554399b 36 float throttle_read;
nki 0:9753f3c2e5ca 37
bwang 4:f18f6bc5e1fd 38 int main() {
bwang 4:f18f6bc5e1fd 39 #ifdef __DEBUG
bwang 4:f18f6bc5e1fd 40 pc.printf("%s\n", "Debug mode ON");
bwang 4:f18f6bc5e1fd 41 #endif
nki 0:9753f3c2e5ca 42 en = 1;
bwang 3:86ccde39f61b 43 #ifdef __DEBUG
bwang 4:f18f6bc5e1fd 44 fbuffer = (float*)malloc(DBG_BUF_SZ*sizeof(float));
bwang 3:86ccde39f61b 45 #endif
nki 0:9753f3c2e5ca 46 initTimers();
nki 0:9753f3c2e5ca 47 initPins();
nki 0:9753f3c2e5ca 48 initData();
nki 0:9753f3c2e5ca 49
nki 0:9753f3c2e5ca 50 while(1) {
bwang 2:b5c19d4eddcc 51 #ifdef __USE_THROTTLE
bwang 1:70eed554399b 52 throttle_read = throttle;
bwang 2:b5c19d4eddcc 53 #endif
bwang 1:70eed554399b 54 pos_update();
bwang 2:b5c19d4eddcc 55 #ifndef __USE_THROTTLE
bwang 2:b5c19d4eddcc 56 dtc_update();
bwang 2:b5c19d4eddcc 57 #endif
bwang 3:86ccde39f61b 58 #ifdef __DEBUG
bwang 3:86ccde39f61b 59 if (motor->debug_stop) break;
bwang 3:86ccde39f61b 60 #endif
nki 0:9753f3c2e5ca 61 }
bwang 3:86ccde39f61b 62 #ifdef __DEBUG
bwang 4:f18f6bc5e1fd 63 for (int i = 0; i < DBG_BUF_SZ; i++) {
bwang 3:86ccde39f61b 64 pc.printf("%f,", fbuffer[i]);
bwang 3:86ccde39f61b 65 }
bwang 3:86ccde39f61b 66 #endif
nki 0:9753f3c2e5ca 67 }