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/accelerometer.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 ACCELEROMETER_H
jberry	0:9b057566f9ee	3	#define ACCELEROMETER_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 X_axis p28
jberry	0:9b057566f9ee	9	#define Y_axis p27
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
jberry	0:9b057566f9ee	14
jberry	0:9b057566f9ee	15	class accelerometer {
jberry	0:9b057566f9ee	16	public:
jberry	0:9b057566f9ee	17	accelerometer()
jberry	0:9b057566f9ee	18	:X_int(X_axis),
jberry	0:9b057566f9ee	19	Y_int(Y_axis)
jberry	0:9b057566f9ee	20	//X_input(X_axis),
jberry	0:9b057566f9ee	21	//Y_input(Y_axis)
jberry	0:9b057566f9ee	22	{
jberry	0:9b057566f9ee	23	//led3 = led4 = 0;
jberry	0:9b057566f9ee	24	X_time = Y_time = 0;
jberry	0:9b057566f9ee	25	//enable_flag = false;
jberry	0:9b057566f9ee	26	enable_X_rising_flag = enable_X_falling_flag = enable_Y_rising_flag = enable_Y_falling_flag = false;
jberry	0:9b057566f9ee	27	X_int.mode(PullDown);
jberry	0:9b057566f9ee	28	Y_int.mode(PullDown);
jberry	0:9b057566f9ee	29	//Y_input.mode(PullDown);
jberry	0:9b057566f9ee	30	//X_input.mode(PullDown);
jberry	0:9b057566f9ee	31	X_timer.reset();
jberry	0:9b057566f9ee	32	Y_timer.reset();
jberry	0:9b057566f9ee	33	set_interrupts();
jberry	0:9b057566f9ee	34	enable_X_rising_flag = enable_Y_rising_flag = true;
jberry	0:9b057566f9ee	35	}
jberry	0:9b057566f9ee	36
jberry	0:9b057566f9ee	37
jberry	0:9b057566f9ee	38	void set_interrupts()
jberry	0:9b057566f9ee	39	{
jberry	0:9b057566f9ee	40	X_int.fall(this, &accelerometer::set_X_time);
jberry	0:9b057566f9ee	41	X_int.rise(this, &accelerometer::start_X_timing);
jberry	0:9b057566f9ee	42	Y_int.fall(this, &accelerometer::set_Y_time);
jberry	0:9b057566f9ee	43	Y_int.rise(this, &accelerometer::start_Y_timing);
jberry	0:9b057566f9ee	44	}
jberry	0:9b057566f9ee	45
jberry	0:9b057566f9ee	46	void start_X_timing()
jberry	0:9b057566f9ee	47	{
jberry	0:9b057566f9ee	48	OS::TISRW ISRW;
jberry	0:9b057566f9ee	49	if(enable_X_rising_flag == true)
jberry	0:9b057566f9ee	50	{
jberry	0:9b057566f9ee	51	X_timer.start();
jberry	0:9b057566f9ee	52	enable_X_falling_flag = true;
jberry	0:9b057566f9ee	53	//printf("In start_x_time().\n");
jberry	0:9b057566f9ee	54
jberry	0:9b057566f9ee	55	}
jberry	0:9b057566f9ee	56
jberry	0:9b057566f9ee	57
jberry	0:9b057566f9ee	58	}
jberry	0:9b057566f9ee	59	void start_Y_timing()
jberry	0:9b057566f9ee	60	{
jberry	0:9b057566f9ee	61	OS::TISRW ISRW;
jberry	0:9b057566f9ee	62	if(enable_Y_rising_flag == true)
jberry	0:9b057566f9ee	63	{
jberry	0:9b057566f9ee	64	Y_timer.start();
jberry	0:9b057566f9ee	65	enable_Y_falling_flag = true;
jberry	0:9b057566f9ee	66
jberry	0:9b057566f9ee	67	}
jberry	0:9b057566f9ee	68
jberry	0:9b057566f9ee	69
jberry	0:9b057566f9ee	70	}
jberry	0:9b057566f9ee	71
jberry	0:9b057566f9ee	72	void set_X_time() {
jberry	0:9b057566f9ee	73	if(enable_X_falling_flag == true)
jberry	0:9b057566f9ee	74	{
jberry	0:9b057566f9ee	75	OS::TISRW ISRW;
jberry	0:9b057566f9ee	76	X_timer.stop();
jberry	0:9b057566f9ee	77	X_time = X_timer.read_us();
jberry	0:9b057566f9ee	78	X_timer.reset();
jberry	0:9b057566f9ee	79	// led3 = !led3;
jberry	0:9b057566f9ee	80	//printf("In set_x_time().\n");
jberry	0:9b057566f9ee	81
jberry	0:9b057566f9ee	82
jberry	0:9b057566f9ee	83	}
jberry	0:9b057566f9ee	84	}
jberry	0:9b057566f9ee	85
jberry	0:9b057566f9ee	86
jberry	0:9b057566f9ee	87	void set_Y_time() {
jberry	0:9b057566f9ee	88	if(enable_Y_falling_flag == true)
jberry	0:9b057566f9ee	89	{
jberry	0:9b057566f9ee	90	OS::TISRW ISRW;
jberry	0:9b057566f9ee	91	Y_timer.stop();
jberry	0:9b057566f9ee	92	Y_time = Y_timer.read_us();
jberry	0:9b057566f9ee	93	Y_timer.reset();
jberry	0:9b057566f9ee	94	// led4 = !led4;
jberry	0:9b057566f9ee	95
jberry	0:9b057566f9ee	96
jberry	0:9b057566f9ee	97	}
jberry	0:9b057566f9ee	98	}
jberry	0:9b057566f9ee	99
jberry	0:9b057566f9ee	100	float get_X_time()
jberry	0:9b057566f9ee	101	{
jberry	0:9b057566f9ee	102	return X_time;
jberry	0:9b057566f9ee	103	}
jberry	0:9b057566f9ee	104
jberry	0:9b057566f9ee	105	float get_Y_time()
jberry	0:9b057566f9ee	106	{
jberry	0:9b057566f9ee	107	return Y_time;
jberry	0:9b057566f9ee	108	}
jberry	0:9b057566f9ee	109
jberry	0:9b057566f9ee	110
jberry	0:9b057566f9ee	111	private:
jberry	0:9b057566f9ee	112	Timer X_timer;
jberry	0:9b057566f9ee	113	Timer Y_timer;
jberry	0:9b057566f9ee	114	float X_time; //time in us
jberry	0:9b057566f9ee	115	float Y_time;
jberry	0:9b057566f9ee	116	InterruptIn X_int;
jberry	0:9b057566f9ee	117	InterruptIn Y_int;
jberry	0:9b057566f9ee	118	//DigitalIn X_input;
jberry	0:9b057566f9ee	119	//DigitalIn Y_input;
jberry	0:9b057566f9ee	120	bool enable_X_rising_flag;
jberry	0:9b057566f9ee	121	bool enable_X_falling_flag;
jberry	0:9b057566f9ee	122	bool enable_Y_rising_flag;
jberry	0:9b057566f9ee	123	bool enable_Y_falling_flag;
jberry	0:9b057566f9ee	124	};
jberry	0:9b057566f9ee	125
jberry	0:9b057566f9ee	126
jberry	0:9b057566f9ee	127
jberry	0:9b057566f9ee	128
jberry	0:9b057566f9ee	129
jberry	0:9b057566f9ee	130
jberry	0:9b057566f9ee	131
jberry	0:9b057566f9ee	132
jberry	0:9b057566f9ee	133	extern BusOut leds;
jberry	0:9b057566f9ee	134
jberry	0:9b057566f9ee	135	char ACC_Return_chars[100] = "";
jberry	0:9b057566f9ee	136
jberry	0:9b057566f9ee	137
jberry	0:9b057566f9ee	138	//typedef OS::process<OS::pr2, 1400> Accelo_proc;
jberry	0:9b057566f9ee	139	template<> OS_PROCESS void Accelo_proc::Exec() //Output stream handling process
jberry	0:9b057566f9ee	140	{
jberry	0:9b057566f9ee	141
jberry	0:9b057566f9ee	142	accelerometer ACC;
jberry	0:9b057566f9ee	143
jberry	0:9b057566f9ee	144	byte M = 0;
jberry	0:9b057566f9ee	145	for(;;)
jberry	0:9b057566f9ee	146	{
jberry	0:9b057566f9ee	147	if(ACCELEROMETER_MESSAGE.wait(70)) //length of time to wait also determines how rapidly to return accelerometer data
jberry	0:9b057566f9ee	148	{ leds = 0x2;
jberry	0:9b057566f9ee	149	M = ACCELEROMETER_MESSAGE; //read the message that was destined for this process
jberry	0:9b057566f9ee	150	ACCELEROMETER_MESSAGE.reset();
jberry	0:9b057566f9ee	151
jberry	0:9b057566f9ee	152	if(M == 0) //then return x and y data once
jberry	0:9b057566f9ee	153	{
jberry	0:9b057566f9ee	154	sprintf(ACC_Return_chars, "ACC_X:%f\nACC_Y:%f\n", ACC.get_X_time(), ACC.get_Y_time()); // ready return string
jberry	0:9b057566f9ee	155	//if(!Ser_out_Mutex.IsLocked())
jberry	0:9b057566f9ee	156	{
jberry	0:9b057566f9ee	157	//Ser_out_Mutex.Lock();
jberry	0:9b057566f9ee	158	//if(TX_Channel.get_free_size() > strlen(Return_chars)+1)
jberry	0:9b057566f9ee	159	TX_channel.write(ACC_Return_chars, strlen(ACC_Return_chars)+1); //output the data!
jberry	0:9b057566f9ee	160	//Ser_out_Mutex.Unlock();
jberry	0:9b057566f9ee	161	}
jberry	0:9b057566f9ee	162
jberry	0:9b057566f9ee	163
jberry	0:9b057566f9ee	164
jberry	0:9b057566f9ee	165	}
jberry	0:9b057566f9ee	166	}
jberry	0:9b057566f9ee	167	if(M == 1) //ticker
jberry	0:9b057566f9ee	168	{
jberry	0:9b057566f9ee	169
jberry	0:9b057566f9ee	170	{
jberry	0:9b057566f9ee	171	//TCritSect cs;
jberry	0:9b057566f9ee	172	sprintf(ACC_Return_chars, "ACC_X:%f\nACC_Y:%f\n", ACC.get_X_time(), ACC.get_Y_time()); // ready return string //"ACC_X:%f\nACC_Y:%f\n"
jberry	0:9b057566f9ee	173	}
jberry	0:9b057566f9ee	174	//if(!Ser_out_Mutex.IsLocked())
jberry	0:9b057566f9ee	175	{
jberry	0:9b057566f9ee	176	//Ser_out_Mutex.Lock();
jberry	0:9b057566f9ee	177	//if(TX_Channel.get_free_size() > strlen(Return_chars)+1)
jberry	0:9b057566f9ee	178	TX_channel.write(ACC_Return_chars, strlen(ACC_Return_chars)+1); //output the data!
jberry	0:9b057566f9ee	179	//Ser_out_Mutex.Unlock();
jberry	0:9b057566f9ee	180	}
jberry	0:9b057566f9ee	181	//TX_flag.Signal();
jberry	0:9b057566f9ee	182
jberry	0:9b057566f9ee	183	}
jberry	0:9b057566f9ee	184
jberry	0:9b057566f9ee	185	leds = 0x2;
jberry	0:9b057566f9ee	186
jberry	0:9b057566f9ee	187
jberry	0:9b057566f9ee	188	}
jberry	0:9b057566f9ee	189	}
jberry	0:9b057566f9ee	190
jberry	0:9b057566f9ee	191
jberry	0:9b057566f9ee	192	#endif
jberry	0:9b057566f9ee	193
jberry	0:9b057566f9ee	194
jberry	0:9b057566f9ee	195
jberry	0:9b057566f9ee	196
jberry	0:9b057566f9ee	197

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

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