Michael Shimniok / Mbed OS DataBus2018

2018 revision to classic DataBus AVC code.

Dependencies:   LSM303DLM Servo SerialGraphicLCD L3G4200D IncrementalEncoder SimpleShell

main.cpp@21:020f4ebbb13a, 2018-12-16 (annotated)

Committer:
shimniok
Date:
Sun Dec 16 04:19:47 2018 +0000
Revision:
21:020f4ebbb13a
Parent:
20:043987d06f8d
Child:
22:4d62bd16f037
Increased gyro update rate

Who changed what in which revision?

UserRevisionLine numberNew contents of line
shimniok 0:7e98bbfd102a 1 /* mbed Microcontroller Library
shimniok 0:7e98bbfd102a 2 * Copyright (c) 2018 ARM Limited
shimniok 0:7e98bbfd102a 3 * SPDX-License-Identifier: Apache-2.0
shimniok 0:7e98bbfd102a 4 */
shimniok 0:7e98bbfd102a 5
shimniok 0:7e98bbfd102a 6 #include "mbed.h"
shimniok 0:7e98bbfd102a 7 #include <stdio.h>
shimniok 0:7e98bbfd102a 8 #include <errno.h>
shimniok 16:eb28d0f64a9b 9 #include "pinouts.h"
shimniok 0:7e98bbfd102a 10 #include "stats_report.h"
shimniok 0:7e98bbfd102a 11 #include "SDBlockDevice.h"
shimniok 0:7e98bbfd102a 12 #include "FATFileSystem.h"
shimniok 0:7e98bbfd102a 13 #include "SimpleShell.h"
shimniok 4:de7feb458652 14 #include "Config.h"
shimniok 11:8ec858b7c6d1 15 #include "Updater.h"
shimniok 16:eb28d0f64a9b 16 #include "Ublox6.h"
shimniok 0:7e98bbfd102a 17
shimniok 0:7e98bbfd102a 18 Serial pc(USBTX, USBRX);
shimniok 0:7e98bbfd102a 19 //SDBlockDevice bd(p5, p6, p7, p8); // MOSI, MISO, CLK, CS
shimniok 0:7e98bbfd102a 20 //FATFileSystem ffs("log", &bd);
shimniok 0:7e98bbfd102a 21 LocalFileSystem lfs("etc");
shimniok 4:de7feb458652 22 Config config;
shimniok 0:7e98bbfd102a 23 SimpleShell sh;
shimniok 18:3f8a8f6e3cc1 24 Ublox6 ublox;
shimniok 0:7e98bbfd102a 25
shimniok 0:7e98bbfd102a 26 DigitalOut led1(LED1);
shimniok 16:eb28d0f64a9b 27 DigitalOut led3(LED3);
shimniok 16:eb28d0f64a9b 28
shimniok 20:043987d06f8d 29 RawSerial s(UART1TX, UART1RX, 38400);
shimniok 20:043987d06f8d 30
shimniok 19:0d1728091519 31 void read_gps();
shimniok 19:0d1728091519 32
shimniok 20:043987d06f8d 33 void gps_handler() {
shimniok 20:043987d06f8d 34 if (s.readable()) {
shimniok 20:043987d06f8d 35 if (ublox.parse(s.getc())) {
shimniok 19:0d1728091519 36 led3 = !led3;
shimniok 19:0d1728091519 37 }
shimniok 16:eb28d0f64a9b 38 }
shimniok 19:0d1728091519 39 }
shimniok 16:eb28d0f64a9b 40
shimniok 9:fc3575d2cbbf 41 /******** SHELL COMMANDS ********/
shimniok 9:fc3575d2cbbf 42
shimniok 1:7019a60fd585 43 void test() {
shimniok 1:7019a60fd585 44 printf("Hello world!\n");
shimniok 1:7019a60fd585 45 }
shimniok 1:7019a60fd585 46
shimniok 18:3f8a8f6e3cc1 47 void read_gps()
shimniok 18:3f8a8f6e3cc1 48 {
shimniok 18:3f8a8f6e3cc1 49 double lat=0;
shimniok 18:3f8a8f6e3cc1 50 double lon=0;
shimniok 18:3f8a8f6e3cc1 51 float course=0;
shimniok 18:3f8a8f6e3cc1 52 float speed=0;
shimniok 18:3f8a8f6e3cc1 53 float hdop=0.0;
shimniok 18:3f8a8f6e3cc1 54 int svcount=0;
shimniok 18:3f8a8f6e3cc1 55
shimniok 18:3f8a8f6e3cc1 56 ublox.read(lat, lon, course, speed, hdop, svcount);
shimniok 18:3f8a8f6e3cc1 57 printf("%3.7f %3.7f\n", lat, lon);
shimniok 18:3f8a8f6e3cc1 58 printf("hdg=%03.1f deg spd=%3.1f m/s\n", course, speed);
shimniok 18:3f8a8f6e3cc1 59 printf("%d %f\n", svcount, hdop);
shimniok 18:3f8a8f6e3cc1 60 }
shimniok 18:3f8a8f6e3cc1 61
shimniok 9:fc3575d2cbbf 62 void read_gyro()
shimniok 9:fc3575d2cbbf 63 {
shimniok 12:3cd91e150d9c 64 int g[3];
shimniok 13:5566df1250f1 65 float dt;
shimniok 12:3cd91e150d9c 66
shimniok 11:8ec858b7c6d1 67 Updater *u = Updater::instance();
shimniok 11:8ec858b7c6d1 68
shimniok 13:5566df1250f1 69 u->gyro(g, dt);
shimniok 11:8ec858b7c6d1 70
shimniok 13:5566df1250f1 71 printf("Gyro: %d, %d, %d - dt: %f\n", g[0], g[1], g[2], dt);
shimniok 12:3cd91e150d9c 72 }
shimniok 12:3cd91e150d9c 73
shimniok 14:1dd83e626153 74 void read_enc()
shimniok 14:1dd83e626153 75 {
shimniok 14:1dd83e626153 76 Updater *u = Updater::instance();
shimniok 14:1dd83e626153 77
shimniok 14:1dd83e626153 78 printf("Encoder: %d\n", u->encoder());
shimniok 14:1dd83e626153 79 }
shimniok 14:1dd83e626153 80
shimniok 20:043987d06f8d 81 void bridge_uart1() {
shimniok 20:043987d06f8d 82 RawSerial s(UART1TX, UART1RX, 38400);
shimniok 20:043987d06f8d 83 while (1) {
shimniok 20:043987d06f8d 84 if (pc.readable()) s.putc(pc.getc());
shimniok 20:043987d06f8d 85 if (s.readable()) pc.putc(s.getc());
shimniok 20:043987d06f8d 86 }
shimniok 20:043987d06f8d 87 }
shimniok 20:043987d06f8d 88
shimniok 20:043987d06f8d 89
shimniok 12:3cd91e150d9c 90 void reset()
shimniok 12:3cd91e150d9c 91 {
shimniok 12:3cd91e150d9c 92 NVIC_SystemReset();
shimniok 9:fc3575d2cbbf 93 }
shimniok 9:fc3575d2cbbf 94
shimniok 9:fc3575d2cbbf 95 /******** MAIN ********/
shimniok 1:7019a60fd585 96
shimniok 0:7e98bbfd102a 97 // main() runs in its own thread in the OS
shimniok 0:7e98bbfd102a 98 int main()
shimniok 11:8ec858b7c6d1 99 {
shimniok 20:043987d06f8d 100 //bridge_uart1();
shimniok 20:043987d06f8d 101
shimniok 0:7e98bbfd102a 102 printf("Bootup...\n");
shimniok 0:7e98bbfd102a 103 fflush(stdout);
shimniok 1:7019a60fd585 104
shimniok 4:de7feb458652 105 printf("Loading config...\n");
shimniok 7:1f2661b840ed 106 config.add("intercept_distance", Config::DOUBLE);
shimniok 7:1f2661b840ed 107 config.add("waypoint_threshold", Config::DOUBLE);
shimniok 7:1f2661b840ed 108 config.add("minimum_turning_radius", Config::DOUBLE);
shimniok 7:1f2661b840ed 109 config.add("wheelbase", Config::DOUBLE);
shimniok 7:1f2661b840ed 110 config.add("track_width", Config::DOUBLE);
shimniok 7:1f2661b840ed 111 config.add("tire_circumference", Config::DOUBLE);
shimniok 7:1f2661b840ed 112 config.add("encoder_stripes", Config::INT);
shimniok 7:1f2661b840ed 113 config.add("esc_brake", Config::INT);
shimniok 7:1f2661b840ed 114 config.add("esc_off", Config::INT);
shimniok 7:1f2661b840ed 115 config.add("esc_max", Config::INT);
shimniok 7:1f2661b840ed 116 config.add("turn_speed", Config::DOUBLE);
shimniok 7:1f2661b840ed 117 config.add("turn_distance", Config::DOUBLE);
shimniok 7:1f2661b840ed 118 config.add("start_speed", Config::DOUBLE);
shimniok 7:1f2661b840ed 119 config.add("cruise_speed", Config::DOUBLE);
shimniok 7:1f2661b840ed 120 config.add("speed_kp", Config::DOUBLE);
shimniok 7:1f2661b840ed 121 config.add("speed_ki", Config::DOUBLE);
shimniok 7:1f2661b840ed 122 config.add("speed_kd", Config::DOUBLE);
shimniok 7:1f2661b840ed 123 config.add("steer_center", Config::DOUBLE);
shimniok 7:1f2661b840ed 124 config.add("steer_scale", Config::DOUBLE);
shimniok 7:1f2661b840ed 125 config.add("gyro_scale", Config::DOUBLE);
shimniok 7:1f2661b840ed 126 config.add("gps_valid_speed", Config::DOUBLE);
shimniok 7:1f2661b840ed 127
shimniok 4:de7feb458652 128 if (config.load("/etc/2018cfg.txt")) {
shimniok 4:de7feb458652 129 printf("error loading config\n");
shimniok 4:de7feb458652 130 }
shimniok 10:9fb3feb38746 131
shimniok 13:5566df1250f1 132 printf("Starting shell...\n");
shimniok 1:7019a60fd585 133 sh.attach(test, "test");
shimniok 9:fc3575d2cbbf 134 sh.attach(read_gyro, "gyro");
shimniok 14:1dd83e626153 135 sh.attach(read_enc, "enc");
shimniok 18:3f8a8f6e3cc1 136 sh.attach(read_gps, "gps");
shimniok 12:3cd91e150d9c 137 sh.attach(reset, "reset");
shimniok 15:35c40765f7c3 138 Thread shellThread;
shimniok 15:35c40765f7c3 139 shellThread.start(callback(&sh, &SimpleShell::run));
shimniok 0:7e98bbfd102a 140
shimniok 13:5566df1250f1 141 printf("Starting updater...\n");
shimniok 11:8ec858b7c6d1 142 Updater *u = Updater::instance();
shimniok 21:020f4ebbb13a 143 u->setInterval(20);
shimniok 15:35c40765f7c3 144 Thread updaterThread;
shimniok 15:35c40765f7c3 145 updaterThread.set_priority(osPriorityRealtime);
shimniok 15:35c40765f7c3 146 updaterThread.start(callback(u, &Updater::start));
shimniok 16:eb28d0f64a9b 147
shimniok 16:eb28d0f64a9b 148 printf("Starting gps...\n");
shimniok 20:043987d06f8d 149 s.attach(&gps_handler);
shimniok 20:043987d06f8d 150
shimniok 20:043987d06f8d 151 /*
shimniok 16:eb28d0f64a9b 152 Thread gpsThread;
shimniok 19:0d1728091519 153 gpsThread.set_priority(osPriorityHigh);
shimniok 16:eb28d0f64a9b 154 gpsThread.start(&do_gps);
shimniok 20:043987d06f8d 155 */
shimniok 10:9fb3feb38746 156
shimniok 20:043987d06f8d 157 /*
shimniok 0:7e98bbfd102a 158 FILE *fp;
shimniok 0:7e98bbfd102a 159 char buf[128];
shimniok 0:7e98bbfd102a 160 printf("Initializing the block device... ");
shimniok 0:7e98bbfd102a 161 fflush(stdout);
shimniok 0:7e98bbfd102a 162 int err = bd.init();
shimniok 0:7e98bbfd102a 163 printf("%s\n", (err ? "Fail :(" : "OK"));
shimniok 0:7e98bbfd102a 164
shimniok 0:7e98bbfd102a 165 printf("Opening sdtest.txt...");
shimniok 0:7e98bbfd102a 166 fp = fopen("/log/sdtest.txt", "r");
shimniok 0:7e98bbfd102a 167 if(fp) {
shimniok 0:7e98bbfd102a 168 while (!feof(fp)) {
shimniok 0:7e98bbfd102a 169 fgets(buf, 127, fp);
shimniok 0:7e98bbfd102a 170 printf(buf);
shimniok 0:7e98bbfd102a 171 }
shimniok 0:7e98bbfd102a 172 fclose(fp);
shimniok 0:7e98bbfd102a 173 }
shimniok 0:7e98bbfd102a 174
shimniok 0:7e98bbfd102a 175 printf("Opening config.txt...");
shimniok 0:7e98bbfd102a 176 fp = fopen("/etc/config.txt", "r");
shimniok 0:7e98bbfd102a 177 if(fp) {
shimniok 0:7e98bbfd102a 178 while (!feof(fp)) {
shimniok 0:7e98bbfd102a 179 fgets(buf, 127, fp);
shimniok 0:7e98bbfd102a 180 printf(buf);
shimniok 0:7e98bbfd102a 181 }
shimniok 0:7e98bbfd102a 182 fclose(fp);
shimniok 0:7e98bbfd102a 183 }
shimniok 0:7e98bbfd102a 184 */
shimniok 0:7e98bbfd102a 185
shimniok 0:7e98bbfd102a 186 //SystemReport sys_state(500);
shimniok 0:7e98bbfd102a 187
shimniok 0:7e98bbfd102a 188 while (true) {
shimniok 0:7e98bbfd102a 189 // Blink LED and wait 0.5 seconds
shimniok 0:7e98bbfd102a 190 led1 = !led1;
shimniok 0:7e98bbfd102a 191 wait(0.5f);
shimniok 0:7e98bbfd102a 192
shimniok 0:7e98bbfd102a 193 // Following the main thread wait, report on the current system status
shimniok 0:7e98bbfd102a 194 //sys_state.report_state();
shimniok 0:7e98bbfd102a 195 }
shimniok 0:7e98bbfd102a 196 }