hardware.h

00001 #ifndef HARDWARE_H
00002 #define HARDWARE_H
00003 
00004 #include "mbed.h"
00005 #include "PpmRegen.h"
00006 #include "PID.h"
00007 #include "hcsr04.h"
00008 #include "ConfigFile.h"
00009 
00010 
00011 void loadConfigFile(void);
00012 void writeSettingsToConfig(void);
00013 void writeErrorLog(char *message);
00014 void ConvertToCharArray(float number);
00015 void ConvertToCharArray(int number);
00016 
00017 Serial          pc(USBTX, USBRX); // tx, rx
00018 PID*            _groundDistance;
00019 //RtosTimer       *_groudRegulationUpdateTimer;
00020 HCSR04*         _sonic;
00021 uint8_t        _frontDistance;
00022 uint8_t        _leftDistance;
00023 uint8_t        _rightDistance;
00024 uint8_t        _backDistance;
00025 PpmRegen*       _ppmRegen;
00026 
00027 ConfigFile _configFile;
00028 LocalFileSystem local("local");
00029 
00030 Semaphore _semaphore(1);
00031 Thread  _serverThread;
00032 Thread  _frontSensorThread;
00033 Thread  _leftSensorThread;
00034 Thread  _rightSensorThread;
00035 Thread  _backSensorThread;
00036 Thread  *_distanceThread;
00037 
00038 
00039 InterruptIn*    _interruptPin =    new InterruptIn(p28);
00040 PwmOut*         _roll =             new PwmOut(p21);
00041 PwmOut*         _pitch =            new PwmOut(p22);
00042 PwmOut*         _throttle =         new PwmOut(p23);
00043 PwmOut*         _yaw =              new PwmOut(p24);
00044 PwmOut*         _aux1 =             new PwmOut(p25);
00045 PwmOut*         _aux2 =             new PwmOut(p26);
00046 
00047 
00048 char*  _str = new char[1024];
00049 char* _serverMessage = new char[1024];
00050 bool _configChanges = false;
00051 bool _onlyDistanChanged = false;
00052 // zero is default value
00053 float _P = 0;
00054 float _I = 0;
00055 float _D = 0;
00056 int _groundSetPoint = 0;
00057 int _bias = 0;
00058 int _groundPidMinOutput = 0;
00059 int _groundPidMaxOutput = 0;
00060 bool _groundRegulation = false;
00061 // Temporary values for Server to filter noise
00062 float _newP;
00063 float _newI;
00064 float _newD;
00065 int _newGroundSetPoint;
00066 bool _tempGroundRegulation = false;
00067 bool _goAhead = false;
00068 bool _backWall = true;
00069 bool _frontWall = false;
00070 
00071 
00072 
00073 
00074 
00075 
00076 
00077 void loadConfigFile(void){
00078     //reading configFile
00079     _configFile.read("/local/config.cfg");
00080     char value[BUFSIZ];
00081     if (_configFile.getValue("bias", &value[0], sizeof(value)))
00082         _bias = atof(value);
00083     if (_configFile.getValue("groundPidMinOutput", &value[0], sizeof(value)))
00084         _groundPidMinOutput = atof(value);
00085     if (_configFile.getValue("groundPidMaxOutput", &value[0], sizeof(value)))
00086         _groundPidMaxOutput = atof(value);
00087     if (_configFile.getValue("P", &value[0], sizeof(value)))
00088         _P = atof(value);
00089     if (_configFile.getValue("I", &value[0], sizeof(value)))
00090         _I = atof(value);
00091     if (_configFile.getValue("D", &value[0], sizeof(value)))
00092         _D = atof(value);
00093     if (_configFile.getValue("groundSetPoint", &value[0], sizeof(value)))
00094         _groundSetPoint = atof(value);
00095         
00096 }
00097 
00098 void writeSettingsToConfig(void){
00099     ConvertToCharArray(_bias);
00100     if(!_configFile.setValue("bias", _str))
00101         strcat(_serverMessage, "bias value could not be saved to configFile\n\r");
00102     ConvertToCharArray(_groundPidMinOutput);
00103     if(!_configFile.setValue("groundPidMinOutput", _str))
00104         strcat(_serverMessage, "groundPidMinOutput value could not be saved to configFile\n\r");
00105     ConvertToCharArray(_groundPidMaxOutput);
00106     if(!_configFile.setValue("groundPidMaxOutput", _str))
00107         strcat(_serverMessage, "groundPidMaxOutput value could not be saved to configFile\n\r");
00108     ConvertToCharArray(_P);
00109     if(!_configFile.setValue("P", _str))
00110         strcat(_serverMessage, "P value could not be saved to configFile\n\r");
00111     ConvertToCharArray(_I);
00112     if(!_configFile.setValue("I", _str))
00113         strcat(_serverMessage, "I value could not be saved to configFile\n\r");
00114     ConvertToCharArray(_D);
00115     if(!_configFile.setValue("D", _str))
00116         strcat(_serverMessage, "D value could not be saved to configFile\n\r");
00117     ConvertToCharArray(_groundSetPoint);
00118     if(!_configFile.setValue("groundSetPoint", _str)){
00119         strcat(_serverMessage, "groundSetPoint value could not be saved to configFile\n\r");
00120         pc.printf("groundSetPoint value could not be saved to configFile\n\r");
00121     }
00122     _configFile.write("/local/config.cfg");        
00123     
00124 }
00125 
00126 
00127 void writeErrorLog(char *message){
00128     FILE *fp = fopen("/local/errorlog.txt", "w");  
00129     fprintf(fp, message);
00130     fclose(fp);
00131     
00132 }
00133 
00134 
00135 //Converts float to char array
00136 void ConvertToCharArray(float number)
00137 {
00138     sprintf(_str, "%3.2f", number );  
00139 }
00140 
00141 //Converts integer to char array
00142 void ConvertToCharArray(int number)
00143 {
00144     sprintf(_str, "%d", number );  
00145 }
00146 
00147 
00148 #endif