Mario Bambagini / Mbed 2 deprecated car_chassis

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Dependencies:   Servo mbed-rtos mbed

main.cpp@1:79b1ee0f97ef, 2015-08-31 (annotated)

Committer:
mariob
Date:
Mon Aug 31 22:25:57 2015 +0000
Revision:
1:79b1ee0f97ef
Parent:
0:ce6055872f4e
Child:
2:7dfc8dd6aab3
first commit with the following features: CAN driver (it works), eeprom (it works but it is not used)

Who changed what in which revision?

UserRevisionLine numberNew contents of line
mariob 0:ce6055872f4e 1 #include "mbed.h"
mariob 0:ce6055872f4e 2 #include "car_config.hpp"
mariob 0:ce6055872f4e 3 #include "rtos.h"
mariob 0:ce6055872f4e 4
mariob 1:79b1ee0f97ef 5 #include "led.hpp"
mariob 1:79b1ee0f97ef 6 #include "body.hpp"
mariob 1:79b1ee0f97ef 7 #include "engine.hpp"
mariob 1:79b1ee0f97ef 8 #include "driver.hpp"
mariob 1:79b1ee0f97ef 9 #include "clock.hpp"
mariob 1:79b1ee0f97ef 10
mariob 0:ce6055872f4e 11 int init();
mariob 0:ce6055872f4e 12
mariob 0:ce6055872f4e 13 int main()
mariob 0:ce6055872f4e 14 {
mariob 0:ce6055872f4e 15 init();
mariob 0:ce6055872f4e 16
mariob 0:ce6055872f4e 17 while(1) {};
mariob 0:ce6055872f4e 18 }
mariob 0:ce6055872f4e 19
mariob 0:ce6055872f4e 20 void init_eeprom();
mariob 0:ce6055872f4e 21
mariob 0:ce6055872f4e 22 Thread *th_body;
mariob 0:ce6055872f4e 23 Thread *th_can;
mariob 1:79b1ee0f97ef 24 Thread *th_engine;
mariob 1:79b1ee0f97ef 25 Thread *th_driver;
mariob 1:79b1ee0f97ef 26 Thread *th_clock;
mariob 0:ce6055872f4e 27
mariob 0:ce6055872f4e 28 void init_threads ()
mariob 0:ce6055872f4e 29 {
mariob 0:ce6055872f4e 30 th_body = new Thread(thread_body);
mariob 1:79b1ee0f97ef 31 th_engine = new Thread(thread_engine);
mariob 0:ce6055872f4e 32 th_can = new Thread(thread_can);
mariob 1:79b1ee0f97ef 33 th_driver = new Thread(thread_driver);
mariob 1:79b1ee0f97ef 34 th_clock = new Thread(thread_clock);
mariob 0:ce6055872f4e 35 }
mariob 0:ce6055872f4e 36
mariob 0:ce6055872f4e 37 int init ()
mariob 0:ce6055872f4e 38 {
mariob 1:79b1ee0f97ef 39 init_body();
mariob 1:79b1ee0f97ef 40 init_clock();
mariob 1:79b1ee0f97ef 41 init_driver();
mariob 1:79b1ee0f97ef 42 init_engine();
mariob 0:ce6055872f4e 43
mariob 0:ce6055872f4e 44 printf("INIT LED\r\n");
mariob 0:ce6055872f4e 45 init_led();
mariob 1:79b1ee0f97ef 46
mariob 1:79b1ee0f97ef 47 /*
mariob 0:ce6055872f4e 48 printf("INIT EEPROM\r\n");
mariob 1:79b1ee0f97ef 49 init_eeprom();
mariob 1:79b1ee0f97ef 50 */
mariob 0:ce6055872f4e 51
mariob 0:ce6055872f4e 52 printf("INIT CAN\r\n");
mariob 0:ce6055872f4e 53 init_can();
mariob 0:ce6055872f4e 54
mariob 0:ce6055872f4e 55 printf("INIT THREAD\r\n");
mariob 0:ce6055872f4e 56 init_threads();
mariob 0:ce6055872f4e 57
mariob 0:ce6055872f4e 58 return true;
mariob 0:ce6055872f4e 59 }
mariob 0:ce6055872f4e 60
mariob 0:ce6055872f4e 61
mariob 0:ce6055872f4e 62 /****************** EEPROM ******************/
mariob 1:79b1ee0f97ef 63 /*
mariob 0:ce6055872f4e 64 eeprom_t eeprom(p7, p5, p6, p9, PAGENUMBER, PAGESIZE);
mariob 0:ce6055872f4e 65
mariob 0:ce6055872f4e 66 t_eeprom_data eeprom_data[] = {
mariob 0:ce6055872f4e 67 //SIZE, ADDR
mariob 0:ce6055872f4e 68 { 2, 0}, //SOFTWARE VERSION
mariob 0:ce6055872f4e 69 { 2, 2}, //DATA VERSION
mariob 0:ce6055872f4e 70 { 4, 4}, //NUMBER OF STARTS
mariob 0:ce6055872f4e 71 { 4, 20}, //T_MISSING
mariob 0:ce6055872f4e 72 { 4, 40}, //ENGINE_LAST_MISSING
mariob 0:ce6055872f4e 73 { 4, 44} //BODY_LAST_MISSING
mariob 0:ce6055872f4e 74 };
mariob 0:ce6055872f4e 75
mariob 0:ce6055872f4e 76 void init_eeprom ()
mariob 0:ce6055872f4e 77 {
mariob 0:ce6055872f4e 78 eeprom.init(eeprom_data, sizeof(eeprom_data)/sizeof(t_eeprom_data));
mariob 0:ce6055872f4e 79
mariob 0:ce6055872f4e 80 uint16 sw = 0;
mariob 0:ce6055872f4e 81 uint16 dd = 0;
mariob 0:ce6055872f4e 82 uint32 num = 0;
mariob 0:ce6055872f4e 83 if ((eeprom.read(EEPROM_DATA_SW_VERS, (uint8*)(&sw)) != 2) ||
mariob 0:ce6055872f4e 84 (eeprom.read(EEPROM_DATA_DD_VERS, (uint8*)(&dd)) != 2) ||
mariob 0:ce6055872f4e 85 (sw != SW_VERSION) || (dd != DD_VERSION))
mariob 0:ce6055872f4e 86 {
mariob 0:ce6055872f4e 87 //error
mariob 0:ce6055872f4e 88 eeprom.reset();
mariob 0:ce6055872f4e 89 sw = SW_VERSION;
mariob 0:ce6055872f4e 90 eeprom.write(EEPROM_DATA_SW_VERS, (uint8*)(&sw));
mariob 0:ce6055872f4e 91 dd = DD_VERSION;
mariob 0:ce6055872f4e 92 eeprom.write(EEPROM_DATA_DD_VERS, (uint8*)(&dd));
mariob 0:ce6055872f4e 93 }
mariob 0:ce6055872f4e 94
mariob 0:ce6055872f4e 95 if (eeprom.read(EEPROM_DATA_NSTARTS, (uint8*)(&num)) != 4)
mariob 0:ce6055872f4e 96 num = 0xffffffff;
mariob 0:ce6055872f4e 97 num++;
mariob 0:ce6055872f4e 98 eeprom.write(EEPROM_DATA_NSTARTS, (unsigned char*)(&num));
mariob 0:ce6055872f4e 99 }
mariob 1:79b1ee0f97ef 100 */