Michael Shimniok / Mbed OS DataBus2018

2018 revision to classic DataBus AVC code.

Dependencies:   LSM303DLM Servo SerialGraphicLCD L3G4200D IncrementalEncoder SimpleShell

Updater.cpp@15:35c40765f7c3, 2018-12-13 (annotated)

Committer:
shimniok
Date:
Thu Dec 13 00:30:59 2018 +0000
Revision:
15:35c40765f7c3
Parent:
14:1dd83e626153
Child:
25:b8176ebb96c6
start updater in its own thread

Who changed what in which revision?

UserRevisionLine numberNew contents of line
shimniok 11:8ec858b7c6d1 1 #include "Updater.h"
shimniok 14:1dd83e626153 2 #include "pinouts.h"
shimniok 14:1dd83e626153 3 #include "IncrementalEncoder.h"
shimniok 11:8ec858b7c6d1 4
shimniok 12:3cd91e150d9c 5 Updater *Updater::instance()
shimniok 12:3cd91e150d9c 6 {
shimniok 11:8ec858b7c6d1 7 static Updater instance;
shimniok 11:8ec858b7c6d1 8
shimniok 11:8ec858b7c6d1 9 return &instance;
shimniok 11:8ec858b7c6d1 10 }
shimniok 11:8ec858b7c6d1 11
shimniok 11:8ec858b7c6d1 12
shimniok 15:35c40765f7c3 13 void Updater::setInterval(int interval_ms)
shimniok 15:35c40765f7c3 14 {
shimniok 15:35c40765f7c3 15 _interval = interval_ms;
shimniok 15:35c40765f7c3 16 return;
shimniok 15:35c40765f7c3 17 }
shimniok 15:35c40765f7c3 18
shimniok 15:35c40765f7c3 19
shimniok 15:35c40765f7c3 20 void Updater::start()
shimniok 11:8ec858b7c6d1 21 {
shimniok 11:8ec858b7c6d1 22 Timer timer;
shimniok 11:8ec858b7c6d1 23
shimniok 11:8ec858b7c6d1 24 thisTime = 0;
shimniok 11:8ec858b7c6d1 25 lastTime = 0;
shimniok 11:8ec858b7c6d1 26 t = &timer;
shimniok 11:8ec858b7c6d1 27 t->start();
shimniok 15:35c40765f7c3 28
shimniok 11:8ec858b7c6d1 29 EventQueue *queue = mbed_highprio_event_queue();
shimniok 11:8ec858b7c6d1 30 Event<void()> event(queue, callback(this, &Updater::update));
shimniok 15:35c40765f7c3 31 event.period(_interval);
shimniok 11:8ec858b7c6d1 32 event.post();
shimniok 11:8ec858b7c6d1 33 queue->dispatch_forever();
shimniok 15:35c40765f7c3 34 return;
shimniok 11:8ec858b7c6d1 35 }
shimniok 11:8ec858b7c6d1 36
shimniok 11:8ec858b7c6d1 37
shimniok 11:8ec858b7c6d1 38 void Updater::update()
shimniok 11:8ec858b7c6d1 39 {
shimniok 11:8ec858b7c6d1 40 static DigitalOut led2(LED2);
shimniok 14:1dd83e626153 41 static L3G4200D gyro(I2CSDA, I2CSCL); // TODO parameterize
shimniok 14:1dd83e626153 42 static IncrementalEncoder enc(ALEFT);
shimniok 11:8ec858b7c6d1 43
shimniok 11:8ec858b7c6d1 44 // Compute dt
shimniok 11:8ec858b7c6d1 45 thisTime = t->read_us();
shimniok 13:5566df1250f1 46 _dt = (lastTime < 0) ? 0 : ((float) thisTime - (float) lastTime) / 1000.0; // first pass let dt=0
shimniok 11:8ec858b7c6d1 47 lastTime = thisTime;
shimniok 11:8ec858b7c6d1 48
shimniok 11:8ec858b7c6d1 49 // Read encoders
shimniok 14:1dd83e626153 50 _ecount += enc.read();
shimniok 14:1dd83e626153 51
shimniok 11:8ec858b7c6d1 52 // Read gyro
shimniok 12:3cd91e150d9c 53 gyro.read(_gyro);
shimniok 11:8ec858b7c6d1 54
shimniok 11:8ec858b7c6d1 55 //gyro[_z_] = (g_sign[_z_] * (g[_z_] - g_offset[_z_])) / g_scale[_z_];
shimniok 11:8ec858b7c6d1 56
shimniok 11:8ec858b7c6d1 57 // Save current data into history fifo to use 1 second from now
shimniok 11:8ec858b7c6d1 58 //history[now].dist = (sensors.lrEncDistance + sensors.rrEncDistance) / 2.0; // current distance traveled
shimniok 11:8ec858b7c6d1 59 //history[now].gyro = sensors.gyro[_z_]; // current raw gyro data
shimniok 11:8ec858b7c6d1 60 //history[now].dt = dt; // current dt, to address jitter
shimniok 11:8ec858b7c6d1 61 //history[now].hdg = clamp360( history[prev].hdg + dt*(history[now].gyro) ); // compute current heading from current gyro
shimniok 11:8ec858b7c6d1 62 //float r = PI/180 * history[now].hdg;
shimniok 11:8ec858b7c6d1 63 //history[now].x = history[prev].x + history[now].dist * sin(r); // update current position
shimniok 11:8ec858b7c6d1 64 //history[now].y = history[prev].y + history[now].dist * cos(r);
shimniok 11:8ec858b7c6d1 65
shimniok 11:8ec858b7c6d1 66 // Convert this into some kind of status message/event thingy
shimniok 11:8ec858b7c6d1 67 led2 = !led2;
shimniok 11:8ec858b7c6d1 68
shimniok 11:8ec858b7c6d1 69 return;
shimniok 15:35c40765f7c3 70 }
shimniok 15:35c40765f7c3 71
shimniok 15:35c40765f7c3 72
shimniok 15:35c40765f7c3 73 void Updater::gyro(int g[3], float& dt)
shimniok 15:35c40765f7c3 74 {
shimniok 15:35c40765f7c3 75 for (int i=0; i < 3; i++) {
shimniok 15:35c40765f7c3 76 g[i] = _gyro[i];
shimniok 15:35c40765f7c3 77 }
shimniok 15:35c40765f7c3 78 dt = _dt;
shimniok 15:35c40765f7c3 79
shimniok 15:35c40765f7c3 80 return;
shimniok 15:35c40765f7c3 81 }
shimniok 15:35c40765f7c3 82
shimniok 15:35c40765f7c3 83
shimniok 15:35c40765f7c3 84 int Updater::encoder()
shimniok 15:35c40765f7c3 85 {
shimniok 15:35c40765f7c3 86 int result=_ecount;
shimniok 15:35c40765f7c3 87 _ecount = 0;
shimniok 15:35c40765f7c3 88
shimniok 15:35c40765f7c3 89 return result;
shimniok 15:35c40765f7c3 90 }
shimniok 15:35c40765f7c3 91