Bayley Wang / Mbed 2 deprecated flash_configuration

flash based config testing

Dependencies:   mbed

main.cpp@3:82c00c8e2cb4, 2017-03-07 (annotated)

Committer:
bwang
Date:
Tue Mar 07 08:06:39 2017 +0000
Revision:
3:82c00c8e2cb4
Parent:
2:cfc39b0843ae 
lot's more commands

Who changed what in which revision?

UserRevisionLine numberNew contents of line
bwang 0:941e150e78b6 1 #include "mbed.h"
bwang 3:82c00c8e2cb4 2 #include "math.h"
bwang 1:df6bbacb7bb9 3
bwang 0:941e150e78b6 4 #include "PreferenceWriter.h"
bwang 0:941e150e78b6 5 #include "FlashWriter.h"
bwang 1:df6bbacb7bb9 6 #include "CommandProcessor.h"
bwang 2:cfc39b0843ae 7 #include "config.h"
bwang 0:941e150e78b6 8
bwang 0:941e150e78b6 9 Serial pc(USBTX, USBRX);
bwang 0:941e150e78b6 10 PreferenceWriter pref(6);
bwang 3:82c00c8e2cb4 11 PwmOut led(LED1);
bwang 0:941e150e78b6 12
bwang 3:82c00c8e2cb4 13 int index = 0, loop_counter = 0;
bwang 1:df6bbacb7bb9 14 char linebuf[128];
bwang 3:82c00c8e2cb4 15 float p = 0.0f;
bwang 3:82c00c8e2cb4 16 float torque_pct = 0.0f, user_cmd = 0.0f;
bwang 3:82c00c8e2cb4 17 float vout = 0.0f;
bwang 1:df6bbacb7bb9 18
bwang 1:df6bbacb7bb9 19 void rxCallback() {
bwang 1:df6bbacb7bb9 20 while (pc.readable()) {
bwang 1:df6bbacb7bb9 21 char c = pc.getc();
bwang 1:df6bbacb7bb9 22 if (c != 127 && c != '\r' && c != '\t') {
bwang 1:df6bbacb7bb9 23 linebuf[index] = c;
bwang 1:df6bbacb7bb9 24 index++;
bwang 1:df6bbacb7bb9 25 pc.putc(c);
bwang 1:df6bbacb7bb9 26 } else if (c == 127) {
bwang 1:df6bbacb7bb9 27 if (index > 0) {
bwang 1:df6bbacb7bb9 28 index--;
bwang 1:df6bbacb7bb9 29 pc.putc(c);
bwang 1:df6bbacb7bb9 30 }
bwang 1:df6bbacb7bb9 31 } else if (c == '\r') {
bwang 1:df6bbacb7bb9 32 linebuf[index] = 0;
bwang 1:df6bbacb7bb9 33 pc.putc(c);
bwang 1:df6bbacb7bb9 34 processCmd(&pc, &pref, linebuf);
bwang 1:df6bbacb7bb9 35 index = 0;
bwang 1:df6bbacb7bb9 36 pc.putc('>');
bwang 1:df6bbacb7bb9 37 }
bwang 1:df6bbacb7bb9 38 }
bwang 1:df6bbacb7bb9 39 }
bwang 1:df6bbacb7bb9 40
bwang 3:82c00c8e2cb4 41 void slow_loop() {
bwang 3:82c00c8e2cb4 42 switch (BREMS_src) {
bwang 3:82c00c8e2cb4 43 case CMD_SRC_RC:
bwang 3:82c00c8e2cb4 44 //rc throttle code here;
bwang 3:82c00c8e2cb4 45 break;
bwang 3:82c00c8e2cb4 46 case CMD_SRC_ANALOG:
bwang 3:82c00c8e2cb4 47 //analog throttle code here;
bwang 3:82c00c8e2cb4 48 break;
bwang 3:82c00c8e2cb4 49 case CMD_SRC_SERIAL:
bwang 3:82c00c8e2cb4 50 case CMD_SRC_TERMINAL:
bwang 3:82c00c8e2cb4 51 case CMD_SRC_CAN:
bwang 3:82c00c8e2cb4 52 //we presume these are set by free-running interrupts;
bwang 3:82c00c8e2cb4 53 break;
bwang 3:82c00c8e2cb4 54 default:
bwang 3:82c00c8e2cb4 55 break;
bwang 2:cfc39b0843ae 56 }
bwang 2:cfc39b0843ae 57 }
bwang 2:cfc39b0843ae 58
bwang 3:82c00c8e2cb4 59 void commutate() {
bwang 3:82c00c8e2cb4 60 p += 0.001f;
bwang 3:82c00c8e2cb4 61 if (p >= 6.28318f) p = 0.0f;
bwang 3:82c00c8e2cb4 62
bwang 3:82c00c8e2cb4 63 loop_counter++;
bwang 3:82c00c8e2cb4 64 if (loop_counter % 50 == 0) {
bwang 3:82c00c8e2cb4 65 loop_counter = 0;
bwang 3:82c00c8e2cb4 66 slow_loop();
bwang 3:82c00c8e2cb4 67 }
bwang 3:82c00c8e2cb4 68
bwang 3:82c00c8e2cb4 69 switch (BREMS_op) {
bwang 3:82c00c8e2cb4 70 case OP_TORQUE:
bwang 3:82c00c8e2cb4 71 torque_pct = user_cmd;
bwang 3:82c00c8e2cb4 72 break;
bwang 3:82c00c8e2cb4 73 case OP_DRIVING:
bwang 3:82c00c8e2cb4 74 //driving mode here;
bwang 3:82c00c8e2cb4 75 break;
bwang 3:82c00c8e2cb4 76 case OP_SPEED:
bwang 3:82c00c8e2cb4 77 //speed loop here;
bwang 3:82c00c8e2cb4 78 break;
bwang 3:82c00c8e2cb4 79 case OP_POSITION:
bwang 3:82c00c8e2cb4 80 //position loop here;
bwang 3:82c00c8e2cb4 81 break;
bwang 3:82c00c8e2cb4 82 }
bwang 3:82c00c8e2cb4 83
bwang 3:82c00c8e2cb4 84 switch (BREMS_mode) {
bwang 3:82c00c8e2cb4 85 case MODE_RUN:
bwang 3:82c00c8e2cb4 86 vout = torque_pct * sinf(p);
bwang 3:82c00c8e2cb4 87 break;
bwang 3:82c00c8e2cb4 88 case MODE_CFG:
bwang 3:82c00c8e2cb4 89 vout = 0.0f;
bwang 3:82c00c8e2cb4 90 break;
bwang 3:82c00c8e2cb4 91 case MODE_ZERO:
bwang 3:82c00c8e2cb4 92 //zero'ing code here;
bwang 3:82c00c8e2cb4 93 break;
bwang 3:82c00c8e2cb4 94 case MODE_CHR:
bwang 3:82c00c8e2cb4 95 //wizarding code here;
bwang 3:82c00c8e2cb4 96 break;
bwang 3:82c00c8e2cb4 97 default:
bwang 3:82c00c8e2cb4 98 break;
bwang 3:82c00c8e2cb4 99 }
bwang 3:82c00c8e2cb4 100
bwang 3:82c00c8e2cb4 101 led = 0.5f + 0.5f * vout;
bwang 3:82c00c8e2cb4 102 }
bwang 3:82c00c8e2cb4 103
bwang 3:82c00c8e2cb4 104 int main() {
bwang 0:941e150e78b6 105 pc.baud(115200);
bwang 1:df6bbacb7bb9 106 pc.attach(rxCallback);
bwang 3:82c00c8e2cb4 107 pc.printf("%s\n", "FOC'ed in the bot version A");
bwang 3:82c00c8e2cb4 108 cmd_reload(&pc, &pref);
bwang 1:df6bbacb7bb9 109 pc.printf("%s", ">");
bwang 0:941e150e78b6 110
bwang 2:cfc39b0843ae 111 Ticker tick;
bwang 2:cfc39b0843ae 112 tick.attach_us(commutate, 200);
bwang 2:cfc39b0843ae 113
bwang 0:941e150e78b6 114 for(;;) {
bwang 0:941e150e78b6 115 }
bwang 0:941e150e78b6 116 }