Juan Salazar / robotic_fish_7

All mbed code for control over dive planes, pump motor, valve motor, BCUs, UART interface, etc.

Dependencies:   mbed ESC mbed MODDMA

robotic_fish_6/SerialControl/SerialController.h@0:c3a329a5b05d, 2020-01-14 (annotated)

Committer:
juansal12
Date:
Tue Jan 14 19:17:05 2020 +0000
Revision:
0:c3a329a5b05d
Sofi7 mbed code;

Who changed what in which revision?

UserRevisionLine numberNew contents of line
juansal12 0:c3a329a5b05d 1 /*
juansal12 0:c3a329a5b05d 2 * JoystickController.h
juansal12 0:c3a329a5b05d 3 *
juansal12 0:c3a329a5b05d 4 * Author: Joseph DelPreto
juansal12 0:c3a329a5b05d 5 */
juansal12 0:c3a329a5b05d 6
juansal12 0:c3a329a5b05d 7 #define serialControl
juansal12 0:c3a329a5b05d 8
juansal12 0:c3a329a5b05d 9 #ifdef serialControl
juansal12 0:c3a329a5b05d 10
juansal12 0:c3a329a5b05d 11 #ifndef SERIALCONTROL_SERIALCONTROLLER_H_
juansal12 0:c3a329a5b05d 12 #define SERIALCONTROL_SERIALCONTROLLER_H_
juansal12 0:c3a329a5b05d 13
juansal12 0:c3a329a5b05d 14 #include "FishController.h"
juansal12 0:c3a329a5b05d 15 #include "mbed.h"
juansal12 0:c3a329a5b05d 16 #include "string"
juansal12 0:c3a329a5b05d 17 #include "SerialBase.h"
juansal12 0:c3a329a5b05d 18
juansal12 0:c3a329a5b05d 19 #define serialDefaultBaudUSB 115200
juansal12 0:c3a329a5b05d 20 #define serialDefaultBaud 115200
juansal12 0:c3a329a5b05d 21 #define serialDefaultTX p13
juansal12 0:c3a329a5b05d 22 #define serialDefaultRX p14
juansal12 0:c3a329a5b05d 23 // note lowBatteryVoltagePin is defined in FishController
juansal12 0:c3a329a5b05d 24
juansal12 0:c3a329a5b05d 25 //#define debugBCUControl // whether to print BCU control values (setDepth, curDepth, Vset, etc.)
juansal12 0:c3a329a5b05d 26 //#define debugSensor // whether to print sensor values being read
juansal12 0:c3a329a5b05d 27 //#define print2Pi // whether to print data to Pi serial monitor
juansal12 0:c3a329a5b05d 28 #define printStatusSerialController // whether to print what's going on (i.e. when it gets commands, etc.)
juansal12 0:c3a329a5b05d 29 //#define debugLEDsSerial // LED1: initialized LED2: running LED3: receiving a character LED4: done (others turn off)
juansal12 0:c3a329a5b05d 30 //#define runTimeSerial 10000 // how long to run for (in milliseconds) if infiniteLoopSerial is undefined
juansal12 0:c3a329a5b05d 31 #define infiniteLoopSerial // if defined, will run forever (or until stop() is called from another thread)
juansal12 0:c3a329a5b05d 32
juansal12 0:c3a329a5b05d 33 #define serialControllerControlFish // whether to start fishController to control the servos and motor
juansal12 0:c3a329a5b05d 34 #define enableAutoMode // whether to start automode (ignores commands, follows commands defined in FishController.cpp
juansal12 0:c3a329a5b05d 35
juansal12 0:c3a329a5b05d 36 // Map bytes sent over serial (1-255) to ranges for each fish property
juansal12 0:c3a329a5b05d 37 #define serialMinPitch fishMinPitch
juansal12 0:c3a329a5b05d 38 #define serialMaxPitch fishMaxPitch
juansal12 0:c3a329a5b05d 39 #define serialMinYaw fishMinYaw
juansal12 0:c3a329a5b05d 40 #define serialMaxYaw fishMaxYaw
juansal12 0:c3a329a5b05d 41 #define serialMinThrust fishMinThrust
juansal12 0:c3a329a5b05d 42 #define serialMaxThrust fishMaxThrust
juansal12 0:c3a329a5b05d 43 #define serialMinFrequency fishMinFrequency
juansal12 0:c3a329a5b05d 44 #define serialMaxFrequency fishMaxFrequency
juansal12 0:c3a329a5b05d 45 #define dataPeriod 1000
juansal12 0:c3a329a5b05d 46
juansal12 0:c3a329a5b05d 47 class SerialController
juansal12 0:c3a329a5b05d 48 {
juansal12 0:c3a329a5b05d 49 public:
juansal12 0:c3a329a5b05d 50 // Initialization
juansal12 0:c3a329a5b05d 51 SerialController(Serial* serialObject = NULL, Serial* usbSerialObject = NULL); // if objects are null, ones will be created
juansal12 0:c3a329a5b05d 52 void init(Serial* serialObject = NULL, Serial* usbSerialObject = NULL); // if serial objects are null, ones will be created
juansal12 0:c3a329a5b05d 53 // Execution control
juansal12 0:c3a329a5b05d 54 void run();
juansal12 0:c3a329a5b05d 55 void stop();
juansal12 0:c3a329a5b05d 56 void lowBatteryCallback();
juansal12 0:c3a329a5b05d 57 float printTime;
juansal12 0:c3a329a5b05d 58 private:
juansal12 0:c3a329a5b05d 59 Timer programTimer;
juansal12 0:c3a329a5b05d 60 bool terminated;
juansal12 0:c3a329a5b05d 61 Serial* usbSerial;
juansal12 0:c3a329a5b05d 62 Serial* serial;
juansal12 0:c3a329a5b05d 63
juansal12 0:c3a329a5b05d 64 void processSerialWord(uint8_t* word);
juansal12 0:c3a329a5b05d 65
juansal12 0:c3a329a5b05d 66 // Low battery monitor
juansal12 0:c3a329a5b05d 67 DigitalIn* lowBatteryVoltageInput;
juansal12 0:c3a329a5b05d 68 //InterruptIn* lowBatteryInterrupt;
juansal12 0:c3a329a5b05d 69 Ticker lowBatteryTicker;
juansal12 0:c3a329a5b05d 70 bool detectedLowBattery;
juansal12 0:c3a329a5b05d 71
juansal12 0:c3a329a5b05d 72 // Debug LEDs
juansal12 0:c3a329a5b05d 73 #ifdef debugLEDsSerial
juansal12 0:c3a329a5b05d 74 DigitalOut* serialLEDs[4];
juansal12 0:c3a329a5b05d 75 #endif
juansal12 0:c3a329a5b05d 76 };
juansal12 0:c3a329a5b05d 77
juansal12 0:c3a329a5b05d 78 // Create a static instance of SerialController to be used by anyone doing serial control
juansal12 0:c3a329a5b05d 79 extern SerialController serialController;
juansal12 0:c3a329a5b05d 80
juansal12 0:c3a329a5b05d 81 #endif /* SERIALCONTROL_SERIALCONTROLLER_H_ */
juansal12 0:c3a329a5b05d 82
juansal12 0:c3a329a5b05d 83 #endif // #ifdef serialControl