scmRTOS_test - Program to control an accelerometer, motors and a…

Users » jberry » Code » scmRTOS_test

Greg Kuhn / Mbed 2 deprecated scmRTOS_test

Program to control an accelerometer, motors and a rangefinder using the ScmRTOS ported to mbed. (Work in progress and buggy)

Dependencies: mbed

Hexacopter/PING_rangefinder.h@0:9b057566f9ee, 2010-11-01 (annotated)

Committer:: jberry
Date:: Mon Nov 01 20:39:01 2010 +0000
Revision:: 0:9b057566f9ee

Who changed what in which revision?

User	Revision	Line number	New contents of line
jberry	0:9b057566f9ee	1	#pragma once
jberry	0:9b057566f9ee	2	#ifndef PING_RANGEFINDER_H
jberry	0:9b057566f9ee	3	#define PING_RANGEFINDER_H
jberry	0:9b057566f9ee	4
jberry	0:9b057566f9ee	5	#include <processes.h>
jberry	0:9b057566f9ee	6	#include <Mutexes.h>
jberry	0:9b057566f9ee	7	#include <channels.h>
jberry	0:9b057566f9ee	8	#define PINGPIN p22
jberry	0:9b057566f9ee	9
jberry	0:9b057566f9ee	10
jberry	0:9b057566f9ee	11	//DigitalOut led3(LED3); //these LEDs are used to indicate when an interrupt occurs.
jberry	0:9b057566f9ee	12	//DigitalOut led4(LED4);
jberry	0:9b057566f9ee	13	//byte count = 0;
jberry	0:9b057566f9ee	14
jberry	0:9b057566f9ee	15	class rangefinder {
jberry	0:9b057566f9ee	16	public:
jberry	0:9b057566f9ee	17	rangefinder()
jberry	0:9b057566f9ee	18	:Pinterrupt(PINGPIN), PingPin(PINGPIN)
jberry	0:9b057566f9ee	19	{
jberry	0:9b057566f9ee	20	//led3 = ~(led4 = 0);
jberry	0:9b057566f9ee	21
jberry	0:9b057566f9ee	22	time = 0;
jberry	0:9b057566f9ee	23	enable_flag = false;
jberry	0:9b057566f9ee	24	set_interrupts();
jberry	0:9b057566f9ee	25	PingPin.mode(PullDown);
jberry	0:9b057566f9ee	26	//Pinterrupt.mode(PullDown);
jberry	0:9b057566f9ee	27	// Pinterrupt.mode(PullUp);
jberry	0:9b057566f9ee	28	PingPin.output(); //set pingpin as output
jberry	0:9b057566f9ee	29	PingPin = 0;
jberry	0:9b057566f9ee	30	}
jberry	0:9b057566f9ee	31
jberry	0:9b057566f9ee	32	void ping() {
jberry	0:9b057566f9ee	33	T.reset(); //reset the timer to 0
jberry	0:9b057566f9ee	34	set_interrupts();
jberry	0:9b057566f9ee	35	enable_flag = false;
jberry	0:9b057566f9ee	36	PingPin.output(); //set as output
jberry	0:9b057566f9ee	37	PingPin = 0; //output initiation sequence of 0 1 0 to the rangefinder
jberry	0:9b057566f9ee	38	wait_us(2);
jberry	0:9b057566f9ee	39	PingPin = 1;
jberry	0:9b057566f9ee	40	wait_us(5);
jberry	0:9b057566f9ee	41	PingPin = 0;
jberry	0:9b057566f9ee	42	wait_us(1);
jberry	0:9b057566f9ee	43	//printf("now waiting for input.\n");
jberry	0:9b057566f9ee	44	PingPin.input(); //set as input
jberry	0:9b057566f9ee	45	wait_us(10);
jberry	0:9b057566f9ee	46	//set_interrupts();
jberry	0:9b057566f9ee	47	enable_flag = true;
jberry	0:9b057566f9ee	48	wait_ms(25); //more than required for maximum distance measurement
jberry	0:9b057566f9ee	49
jberry	0:9b057566f9ee	50
jberry	0:9b057566f9ee	51
jberry	0:9b057566f9ee	52	//T.start(); //begin timing the length of time for an interrupt to occur
jberry	0:9b057566f9ee	53	}
jberry	0:9b057566f9ee	54	void set_interrupts()
jberry	0:9b057566f9ee	55	{
jberry	0:9b057566f9ee	56	Pinterrupt.fall(this, &rangefinder::set_time);
jberry	0:9b057566f9ee	57	Pinterrupt.rise(this, &rangefinder::start_timing);
jberry	0:9b057566f9ee	58	}
jberry	0:9b057566f9ee	59	void disable_interrupts()
jberry	0:9b057566f9ee	60	{
jberry	0:9b057566f9ee	61	Pinterrupt.fall(NULL);
jberry	0:9b057566f9ee	62	Pinterrupt.rise(NULL);
jberry	0:9b057566f9ee	63
jberry	0:9b057566f9ee	64	}
jberry	0:9b057566f9ee	65	void start_timing() { OS::TISRW ISRW;
jberry	0:9b057566f9ee	66	if(enable_flag == true)
jberry	0:9b057566f9ee	67	{
jberry	0:9b057566f9ee	68	T.start();
jberry	0:9b057566f9ee	69	//led3 = !led3;
jberry	0:9b057566f9ee	70	//count++;
jberry	0:9b057566f9ee	71	}
jberry	0:9b057566f9ee	72
jberry	0:9b057566f9ee	73	//printf("start_timing called.\n");
jberry	0:9b057566f9ee	74	}
jberry	0:9b057566f9ee	75
jberry	0:9b057566f9ee	76	void set_time() { OS::TISRW ISRW;
jberry	0:9b057566f9ee	77	if(enable_flag == true)
jberry	0:9b057566f9ee	78	{
jberry	0:9b057566f9ee	79	T.stop();
jberry	0:9b057566f9ee	80	//led4 = !led4;
jberry	0:9b057566f9ee	81	//disable_interrupts();
jberry	0:9b057566f9ee	82	//enable_flag = false;
jberry	0:9b057566f9ee	83	//printf("set_time being called...\n");
jberry	0:9b057566f9ee	84	time = T.read_us();
jberry	0:9b057566f9ee	85	//count++;
jberry	0:9b057566f9ee	86	}
jberry	0:9b057566f9ee	87	//printf("value stored in time %f: \n", time);
jberry	0:9b057566f9ee	88
jberry	0:9b057566f9ee	89	//PingPin.output();
jberry	0:9b057566f9ee	90	//PingPin = 0;
jberry	0:9b057566f9ee	91	//printf("PING:%f\n",get_time());
jberry	0:9b057566f9ee	92
jberry	0:9b057566f9ee	93	}
jberry	0:9b057566f9ee	94
jberry	0:9b057566f9ee	95
jberry	0:9b057566f9ee	96
jberry	0:9b057566f9ee	97	float get_time() {
jberry	0:9b057566f9ee	98	//disable_interrupts();
jberry	0:9b057566f9ee	99	return time/2.0;
jberry	0:9b057566f9ee	100
jberry	0:9b057566f9ee	101	}
jberry	0:9b057566f9ee	102
jberry	0:9b057566f9ee	103
jberry	0:9b057566f9ee	104	private:
jberry	0:9b057566f9ee	105	Timer T;
jberry	0:9b057566f9ee	106	float time; //time in us
jberry	0:9b057566f9ee	107	InterruptIn Pinterrupt;
jberry	0:9b057566f9ee	108	DigitalInOut PingPin;
jberry	0:9b057566f9ee	109	bool enable_flag;
jberry	0:9b057566f9ee	110	//Ticker TICKER;// send_ticker;
jberry	0:9b057566f9ee	111
jberry	0:9b057566f9ee	112
jberry	0:9b057566f9ee	113	};
jberry	0:9b057566f9ee	114
jberry	0:9b057566f9ee	115
jberry	0:9b057566f9ee	116
jberry	0:9b057566f9ee	117
jberry	0:9b057566f9ee	118
jberry	0:9b057566f9ee	119
jberry	0:9b057566f9ee	120
jberry	0:9b057566f9ee	121
jberry	0:9b057566f9ee	122
jberry	0:9b057566f9ee	123
jberry	0:9b057566f9ee	124	extern BusOut leds;
jberry	0:9b057566f9ee	125
jberry	0:9b057566f9ee	126	template<> OS_PROCESS void PING_PROC::Exec() //Output stream handling process
jberry	0:9b057566f9ee	127	{
jberry	0:9b057566f9ee	128	byte M = 0;
jberry	0:9b057566f9ee	129	rangefinder PING;
jberry	0:9b057566f9ee	130
jberry	0:9b057566f9ee	131
jberry	0:9b057566f9ee	132	char PIN_Return_chars[100]; //defined in accelerometer.h
jberry	0:9b057566f9ee	133
jberry	0:9b057566f9ee	134	for(;;)
jberry	0:9b057566f9ee	135	{
jberry	0:9b057566f9ee	136	if(PING_MESSAGE.wait(80)) //length of time to wait also determines how rapidly to ticker ping
jberry	0:9b057566f9ee	137	{ leds = 0x2;
jberry	0:9b057566f9ee	138	M = PING_MESSAGE; //read the message that was destined for this process
jberry	0:9b057566f9ee	139	PING_MESSAGE.reset();
jberry	0:9b057566f9ee	140
jberry	0:9b057566f9ee	141	if(M == 0) //then ping! command was sent
jberry	0:9b057566f9ee	142	{
jberry	0:9b057566f9ee	143	{
jberry	0:9b057566f9ee	144	//OS::TISRW ISRW; //this is a critical section as timing is involved
jberry	0:9b057566f9ee	145	//this will not work though as it disables interrupts.
jberry	0:9b057566f9ee	146	PING.ping();
jberry	0:9b057566f9ee	147	}
jberry	0:9b057566f9ee	148
jberry	0:9b057566f9ee	149	{
jberry	0:9b057566f9ee	150	//TCritSect cs;
jberry	0:9b057566f9ee	151	sprintf(PIN_Return_chars, "PING:%f\n", PING.get_time()); //
jberry	0:9b057566f9ee	152	}
jberry	0:9b057566f9ee	153	//Ser_out_Mutex.Lock();
jberry	0:9b057566f9ee	154	//if(TX_Channel.get_free_size() > strlen(Return_chars)+1)
jberry	0:9b057566f9ee	155	TX_channel.write(PIN_Return_chars, strlen(PIN_Return_chars)+1); //output the ping result
jberry	0:9b057566f9ee	156	//Ser_out_Mutex.Unlock();
jberry	0:9b057566f9ee	157
jberry	0:9b057566f9ee	158
jberry	0:9b057566f9ee	159	}
jberry	0:9b057566f9ee	160	}
jberry	0:9b057566f9ee	161	if(M == 1) //ticker ping
jberry	0:9b057566f9ee	162	{
jberry	0:9b057566f9ee	163	{
jberry	0:9b057566f9ee	164	//OS::TISRW ISRW; //this is a critical section as timing is involved
jberry	0:9b057566f9ee	165	PING.ping();
jberry	0:9b057566f9ee	166	}
jberry	0:9b057566f9ee	167	//Sleep(2);
jberry	0:9b057566f9ee	168	{
jberry	0:9b057566f9ee	169	//TCritSect cs;
jberry	0:9b057566f9ee	170	sprintf(PIN_Return_chars, "PING:%f\n", PING.get_time()); //"PING:%f\n"
jberry	0:9b057566f9ee	171	}
jberry	0:9b057566f9ee	172	//Ser_out_Mutex.Lock();
jberry	0:9b057566f9ee	173	//if(TX_Channel.get_free_size() > strlen(Return_chars)+1)
jberry	0:9b057566f9ee	174	TX_channel.write(PIN_Return_chars, strlen(PIN_Return_chars)+1); //output the result
jberry	0:9b057566f9ee	175	//Ser_out_Mutex.Unlock();
jberry	0:9b057566f9ee	176	//TX_flag.Signal();
jberry	0:9b057566f9ee	177
jberry	0:9b057566f9ee	178	}
jberry	0:9b057566f9ee	179
jberry	0:9b057566f9ee	180	//PING_MESSAGE.reset();
jberry	0:9b057566f9ee	181
jberry	0:9b057566f9ee	182	leds = 0x2;
jberry	0:9b057566f9ee	183
jberry	0:9b057566f9ee	184	}
jberry	0:9b057566f9ee	185	}
jberry	0:9b057566f9ee	186
jberry	0:9b057566f9ee	187
jberry	0:9b057566f9ee	188	#endif
jberry	0:9b057566f9ee	189
jberry	0:9b057566f9ee	190	//void enable_ticker() {
jberry	0:9b057566f9ee	191	// TICKER.attach_us(this, &rangefinder::ping, TX_RATE); //call ping() every 40 ms
jberry	0:9b057566f9ee	192	//send_ticker.attach_us(this, &rangefinder::send_data, TX_RATE); //send the data out every 40 ms
jberry	0:9b057566f9ee	193	//}
jberry	0:9b057566f9ee	194	//void disable_ticker() {
jberry	0:9b057566f9ee	195	//printf("ticker should now be detached.\n");
jberry	0:9b057566f9ee	196	// TICKER.detach();
jberry	0:9b057566f9ee	197	//send_ticker.detach();
jberry	0:9b057566f9ee	198	//}
jberry	0:9b057566f9ee	199
jberry	0:9b057566f9ee	200
jberry	0:9b057566f9ee	201
jberry	0:9b057566f9ee	202
jberry	0:9b057566f9ee	203

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Type:	Program
Mbed OS support:	Mbed 2 deprecated
Created:	01 Nov 2010
Imports:	6
Forks:	0
Commits:	1
Dependents:	0
Dependencies:	1
Followers:	1

Hexacopter/PING_rangefinder.h@0:9b057566f9ee, 2010-11-01 (annotated)

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