Michael Shimniok / Mbed OS DataBus2018

2018 revision to classic DataBus AVC code.

Dependencies:   LSM303DLM Servo SerialGraphicLCD L3G4200D IncrementalEncoder SimpleShell

Updater.h@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 #ifndef __UPDATER_H
shimniok 11:8ec858b7c6d1 2 #define __UPDATER_H
shimniok 11:8ec858b7c6d1 3
shimniok 11:8ec858b7c6d1 4 #include "mbed.h"
shimniok 11:8ec858b7c6d1 5 #include "L3G4200D.h"
shimniok 11:8ec858b7c6d1 6
shimniok 15:35c40765f7c3 7 /** Periodically reads sensor data
shimniok 15:35c40765f7c3 8 * This class executes an update function at a configurable interval to read
shimniok 15:35c40765f7c3 9 * and update sensor data. The class makes use of EventQueue and Event for
shimniok 15:35c40765f7c3 10 * task scheduling and runs events on the mbed_highprio_event_queue
shimniok 15:35c40765f7c3 11 */
shimniok 12:3cd91e150d9c 12 class Updater: private mbed::NonCopyable<Updater> {
shimniok 11:8ec858b7c6d1 13 public:
shimniok 14:1dd83e626153 14 /// Return singleton instance
shimniok 11:8ec858b7c6d1 15 static Updater *instance();
shimniok 14:1dd83e626153 16
shimniok 15:35c40765f7c3 17 /** Sets the interval for running updater()
shimniok 15:35c40765f7c3 18 * @param interval_ms is the interval in milliseconds
shimniok 15:35c40765f7c3 19 */
shimniok 15:35c40765f7c3 20 void setInterval(int interval_ms);
shimniok 15:35c40765f7c3 21
shimniok 15:35c40765f7c3 22 /** Start the updater running
shimniok 15:35c40765f7c3 23 * @note Makes use of RTOS EventQueue and Event. The function runs in an
shimniok 15:35c40765f7c3 24 * infinite loop so best to start in a separate thread or from main thread
shimniok 15:35c40765f7c3 25 * when done with everything else.
shimniok 15:35c40765f7c3 26 */
shimniok 15:35c40765f7c3 27 void start();
shimniok 15:35c40765f7c3 28
shimniok 14:1dd83e626153 29 /** Get gyro values
shimniok 14:1dd83e626153 30 * @return g array of x, y, and z gyro values
shimniok 14:1dd83e626153 31 * @return dt time since data last updated
shimniok 14:1dd83e626153 32 */
shimniok 13:5566df1250f1 33 void gyro(int g[3], float& dt);
shimniok 14:1dd83e626153 34
shimniok 14:1dd83e626153 35 /** Get encoder count
shimniok 14:1dd83e626153 36 * @return encoder count since last call
shimniok 14:1dd83e626153 37 */
shimniok 14:1dd83e626153 38 int encoder();
shimniok 14:1dd83e626153 39
shimniok 11:8ec858b7c6d1 40 private:
shimniok 14:1dd83e626153 41 /// Basic constructor (singleton)
shimniok 14:1dd83e626153 42 Updater() {}
shimniok 14:1dd83e626153 43
shimniok 14:1dd83e626153 44 /// Update all sensors
shimniok 14:1dd83e626153 45 void update();
shimniok 14:1dd83e626153 46
shimniok 14:1dd83e626153 47 Timer *t; // timer used to measure dt
shimniok 14:1dd83e626153 48 int _gyro[3]; // gyro raw
shimniok 14:1dd83e626153 49 int _ecount; // encoder count
shimniok 13:5566df1250f1 50 float _dt;
shimniok 15:35c40765f7c3 51 int _interval;
shimniok 11:8ec858b7c6d1 52 int thisTime;
shimniok 11:8ec858b7c6d1 53 int lastTime;
shimniok 11:8ec858b7c6d1 54 };
shimniok 11:8ec858b7c6d1 55
shimniok 11:8ec858b7c6d1 56 #endif