Diff: main.cpp

Revision:

0:9c8b3fc1ada3

Child:

1:a817566e1bb3

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Wed Nov 25 16:33:39 2020 +0000
@@ -0,0 +1,330 @@
+#include "mbed.h"
+#include "rtos.h"
+#include "LM75B.h"
+#include "C12832.h"
+
+CANMessage msg;
+
+// STEP 1/////////////////////////////////////////////////////
+//baseboard address
+#define BASE_ADDRESS 150
+
+
+
+// STEP 2//////////////////////////////////////////////////////
+// phyiscal inputs
+DigitalIn joy_up(p15);
+DigitalIn joy_down(p12);
+DigitalIn joy_left(p13);
+DigitalIn joy_right(p16);
+DigitalIn joy_fire(p14);
+
+LM75B sensor(p28,p27);
+
+
+
+//STEP 3///////////////////////////////////////////////////////
+//physical outputs
+DigitalOut led1(LED1);
+DigitalOut led2(LED2);
+PwmOut spkr(p26);
+
+//STEP 4///////////////////////////////////////////////////////
+// message structure can
+
+///////////////////////////////////////////////////////
+typedef struct {
+
+    int   id;      /* can id */
+    char  data[8]; /*can data */
+
+} can_message_t;
+
+
+
+
+
+//STEP 4///////////////////////////////////////////////////////
+// ipc for can write thread
+///////////////////////////////////////////////////////
+MemoryPool<can_message_t, 8> can_write_mpool;
+Queue<can_message_t, 8> can_write_queue;
+
+//STEP 5///////////////////////////////////////////////////////
+// ipc for digital output thread
+
+////////////////////////////////////////////////////////
+MemoryPool<can_message_t, 8> digital_output_mpool;
+Queue<can_message_t, 8> digital_output_queue;
+
+
+//STEP 6///////////////////////////////////////////////////////
+// ipc for analog output thread
+
+////////////////////////////////////////////////////////
+MemoryPool<can_message_t, 8> analog_output_mpool;
+Queue<can_message_t, 8> analog_output_queue;
+
+//STEP 7///////////////////////////////////////////////////////
+// set up canbus
+///////////////////////////////////////////////////////
+CAN can1(p30, p29);
+//CAN can1(p9, p10);
+
+//STEP 8///////////////////////////////////////////////////////
+/* digital input Thread */
+//////////////////////////////////////////////////////
+void digital_input_thread (void const *args) {
+
+    while (true) {
+
+        can_message_t *message = can_write_mpool.alloc();
+        message->id = BASE_ADDRESS + 0; 
+        message->data[0] = joy_up;
+        message->data[1] = joy_down;
+        message->data[2] = joy_left;
+        message->data[3] = joy_right;
+        message->data[4] = joy_fire;
+  
+
+
+        can_write_queue.put(message);
+        
+        //fun bit nod yes on fire
+        if(joy_fire == 1)
+            {
+            can_message_t *message = can_write_mpool.alloc();
+            message->id = 142; 
+            message->data[0] = 5;
+
+            can_write_queue.put(message);   
+            }
+        else if(joy_left == 1)
+            {
+            can_message_t *message = can_write_mpool.alloc();
+            message->id = 141; 
+            message->data[0] = 1;
+
+            can_write_queue.put(message);                 
+            }
+        else if(joy_right == 1)
+            {
+            can_message_t *message = can_write_mpool.alloc();
+            message->id = 141; 
+            message->data[0] = 2;
+
+            can_write_queue.put(message);      
+            }
+        else if(joy_up == 1)
+            {
+            can_message_t *message = can_write_mpool.alloc();
+            message->id = 141; 
+            message->data[0] = 4;
+
+            can_write_queue.put(message);      
+            }
+        else if(joy_down == 1)
+            {
+            can_message_t *message = can_write_mpool.alloc();
+            message->id = 141; 
+            message->data[0] = 3;
+
+            can_write_queue.put(message);      
+            }
+     
+        Thread::wait(500);
+    }
+
+}
+
+//STEP 9///////////////////////////////////////////////////////
+/* analog input Thread */
+//////////////////////////////////////////////////////
+void analog_input_thread (void const *args) {
+
+//if (sensor.open()) {
+
+       // printf("Device detected!\n");
+    while (true) {
+        can_message_t *message = can_write_mpool.alloc();
+        message->id = BASE_ADDRESS + 1; 
+        message->data[0] = sensor.read();
+        can_write_queue.put(message);
+
+        Thread::wait(500);
+    }
+ //else{
+
+  //  printf("Device faulty!\n");
+
+    //}
+}
+
+//STEP 10///////////////////////////////////////////////////////
+// Can write thread
+//////////////////////////////////////////////////////
+void can_write_thread(void const *args) {
+
+  while (true) {
+        osEvent evt = can_write_queue.get();
+         if (evt.status == osEventMessage) {
+         can_message_t *message = (can_message_t*)evt.value.p;
+
+         //send canbus message
+         //can1.write(CANMessage(message->id, message->data, 8));
+         can1.write(CANMessage(message->id,message->data, 8));
+         can_write_mpool.free(message);
+        }
+
+  }
+
+}
+
+
+
+//STEP 11///////////////////////////////////////////////////////
+//Can read thread
+//////////////////////////////////////////////////////
+void can_read_thread (void const *args) {
+
+ while (true) {
+        printf("loop()\n");
+        if(can1.read(msg))  
+            {
+        
+         if(msg.id == BASE_ADDRESS + 5) // Then its an analog out message
+            {
+            //send to analog output ipc
+            can_message_t *message = analog_output_mpool.alloc();
+            message->id = msg.id; 
+            message->data[0] = msg.data[0];
+            analog_output_queue.put(message);
+
+            Thread::wait(500);
+            }
+   
+
+        else if(msg.id == BASE_ADDRESS + 6) //then its an do message
+            {
+            //send to digital output ipc
+            can_message_t *message = digital_output_mpool.alloc();
+
+            message->id = msg.id; 
+            message->data[0] = msg.data[0];
+
+            digital_output_queue.put(message);
+            Thread::wait(500);
+
+            } 
+
+      //  else {
+
+            //handler for other messages
+
+         //   }
+
+         Thread::wait(100);
+
+      }//end of if can.read
+
+ }//end of while(1)
+
+} //end of thread
+
+
+
+
+
+
+
+//STEP 12///////////////////////////////////////////////////////
+// Analog_ouptut_thread
+//////////////////////////////////////////////////////
+void Analog_ouptut_thread(void const *args) {
+
+  while (true) {
+
+        osEvent evt = analog_output_queue.get();
+       
+
+          if (evt.status == osEventMessage) {
+            can_message_t *message = (can_message_t*)evt.value.p;
+           
+
+           //drive the speaker based on can message
+           spkr.period(1/(2000 + (message->data[0]* 50))); //generate a tone based on data[0] value range from 2000 + 0*50 to 2000 + 255*50
+           spkr=0.5;
+               
+          analog_output_mpool.free(message);
+          }
+  }
+
+}
+
+
+
+//STEP 13///////////////////////////////////////////////////////
+// Digital_ouptut_thread
+//////////////////////////////////////////////////////
+void Digital_output_thread(void const *args) {
+
+  while (true) {
+
+        osEvent evt = digital_output_queue.get();
+       
+
+        if (evt.status == osEventMessage) {
+            can_message_t *message = (can_message_t*)evt.value.p;
+            
+        //drive the digital ouptut based on can message
+        
+            if (message->data[0] == 1 )  {   
+
+             led1 = 1;}
+
+            else {
+
+             led1 = 0;}
+
+             
+
+            digital_output_mpool.free(message);
+
+        } //end of if statement
+
+  }//end of while loop
+
+}
+
+
+
+//STEP 13///////////////////////////////////////////////////////
+// START THREADS
+//////////////////////////////////////////////////////
+int main() {
+Thread thread1(Digital_output_thread);
+
+Thread thread2(Analog_ouptut_thread);
+
+Thread thread3(can_read_thread);
+
+Thread thread4(can_write_thread);
+
+Thread thread5(analog_input_thread );
+
+Thread thread6(digital_input_thread);
+
+
+while(true)
+
+    {
+
+    led2 !=led2;
+
+    Thread::wait(500);
+
+    }
+
+
+
+}
\ No newline at end of file