![](/media/cache/profiles/2012_sf_avc_095.jpg.50x50_q85.jpg)
2018 revision to classic DataBus AVC code.
Dependencies: LSM303DLM Servo SerialGraphicLCD L3G4200D IncrementalEncoder SimpleShell
main.cpp@39:465213249f71, 2019-01-02 (annotated)
- Committer:
- shimniok
- Date:
- Wed Jan 02 18:41:52 2019 +0000
- Revision:
- 39:465213249f71
- Parent:
- 38:6fec81f85221
- Child:
- 42:8d99f64f5898
display gps data via eventqueue
Who changed what in which revision?
User | Revision | Line number | New 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 | 35:c42e7e29c3bd | 13 | #include "Servo.h" |
shimniok | 0:7e98bbfd102a | 14 | #include "SimpleShell.h" |
shimniok | 4:de7feb458652 | 15 | #include "Config.h" |
shimniok | 11:8ec858b7c6d1 | 16 | #include "Updater.h" |
shimniok | 16:eb28d0f64a9b | 17 | #include "Ublox6.h" |
shimniok | 24:a7f92dfc5310 | 18 | #include "Logger.h" |
shimniok | 24:a7f92dfc5310 | 19 | #include "SystemState.h" |
shimniok | 37:b8259500dbd3 | 20 | #include "Display.h" |
shimniok | 0:7e98bbfd102a | 21 | |
shimniok | 24:a7f92dfc5310 | 22 | /////////////////////////////////////////////////////////////////////////////// |
shimniok | 24:a7f92dfc5310 | 23 | // Config |
shimniok | 24:a7f92dfc5310 | 24 | Config config; |
shimniok | 24:a7f92dfc5310 | 25 | |
shimniok | 24:a7f92dfc5310 | 26 | /////////////////////////////////////////////////////////////////////////////// |
shimniok | 24:a7f92dfc5310 | 27 | // Devices |
shimniok | 30:ed791f1f7f7d | 28 | DigitalOut led1(LED1); |
shimniok | 30:ed791f1f7f7d | 29 | DigitalOut led2(LED2); |
shimniok | 30:ed791f1f7f7d | 30 | DigitalOut led3(LED3); |
shimniok | 30:ed791f1f7f7d | 31 | DigitalOut led4(LED4); |
shimniok | 37:b8259500dbd3 | 32 | Display display(UART3TX, UART3RX); |
shimniok | 0:7e98bbfd102a | 33 | LocalFileSystem lfs("etc"); |
shimniok | 24:a7f92dfc5310 | 34 | SDBlockDevice bd(p5, p6, p7, p8); // MOSI, MISO, CLK, CS |
shimniok | 24:a7f92dfc5310 | 35 | FATFileSystem ffs("log", &bd); |
shimniok | 24:a7f92dfc5310 | 36 | Serial pc(USBTX, USBRX); |
shimniok | 20:043987d06f8d | 37 | RawSerial s(UART1TX, UART1RX, 38400); |
shimniok | 33:74c514aea0a1 | 38 | InterruptIn lbutton(LBUTTON, PullUp); // button interrupts |
shimniok | 33:74c514aea0a1 | 39 | InterruptIn cbutton(CBUTTON, PullUp); |
shimniok | 33:74c514aea0a1 | 40 | InterruptIn rbutton(RBUTTON, PullUp); |
shimniok | 35:c42e7e29c3bd | 41 | Servo steer(STEERING); |
shimniok | 35:c42e7e29c3bd | 42 | Servo esc(THROTTLE); |
shimniok | 20:043987d06f8d | 43 | |
shimniok | 24:a7f92dfc5310 | 44 | /////////////////////////////////////////////////////////////////////////////// |
shimniok | 24:a7f92dfc5310 | 45 | // Idle hook |
shimniok | 24:a7f92dfc5310 | 46 | void idler() { |
shimniok | 24:a7f92dfc5310 | 47 | while(1) { |
shimniok | 24:a7f92dfc5310 | 48 | led1 = !led1; |
shimniok | 24:a7f92dfc5310 | 49 | wait(0.1); |
shimniok | 24:a7f92dfc5310 | 50 | } |
shimniok | 24:a7f92dfc5310 | 51 | } |
shimniok | 19:0d1728091519 | 52 | |
shimniok | 24:a7f92dfc5310 | 53 | /////////////////////////////////////////////////////////////////////////////// |
shimniok | 24:a7f92dfc5310 | 54 | // Logging |
shimniok | 29:cb2f55fbfe9c | 55 | EventQueue logQueue(16 * EVENTS_EVENT_SIZE); |
shimniok | 31:20a95043adb0 | 56 | Logger logger; |
shimniok | 25:b8176ebb96c6 | 57 | |
shimniok | 25:b8176ebb96c6 | 58 | /////////////////////////////////////////////////////////////////////////////// |
shimniok | 25:b8176ebb96c6 | 59 | // Updater |
shimniok | 25:b8176ebb96c6 | 60 | Updater *u = Updater::instance(); |
shimniok | 26:2dc31a801cc8 | 61 | EventQueue updaterQueue(8 * EVENTS_EVENT_SIZE); |
shimniok | 25:b8176ebb96c6 | 62 | |
shimniok | 25:b8176ebb96c6 | 63 | void updater_callback() { |
shimniok | 30:ed791f1f7f7d | 64 | SensorData d; |
shimniok | 30:ed791f1f7f7d | 65 | float dt; |
shimniok | 30:ed791f1f7f7d | 66 | |
shimniok | 25:b8176ebb96c6 | 67 | led1 = !led1; |
shimniok | 30:ed791f1f7f7d | 68 | d.timestamp = Kernel::get_ms_count(); |
shimniok | 30:ed791f1f7f7d | 69 | d.encoder = u->encoder(); |
shimniok | 32:eb673f6f5734 | 70 | u->imu(d.gyro, d.accel, d.mag, dt); |
shimniok | 30:ed791f1f7f7d | 71 | logQueue.call(&logger, &Logger::log_sensors, d); |
shimniok | 37:b8259500dbd3 | 72 | //lcdQueue.call ... |
shimniok | 25:b8176ebb96c6 | 73 | } |
shimniok | 25:b8176ebb96c6 | 74 | |
shimniok | 24:a7f92dfc5310 | 75 | /////////////////////////////////////////////////////////////////////////////// |
shimniok | 30:ed791f1f7f7d | 76 | // Buttons |
shimniok | 30:ed791f1f7f7d | 77 | |
shimniok | 30:ed791f1f7f7d | 78 | //enum button_mask { LEFT = 0x01, CENTER = 0x02, RIGHT = 0x04 }; |
shimniok | 30:ed791f1f7f7d | 79 | EventQueue buttonQueue(16 * EVENTS_EVENT_SIZE); |
shimniok | 33:74c514aea0a1 | 80 | const int BUTTON_DEBOUNCE_SAMPLES = 20; |
shimniok | 33:74c514aea0a1 | 81 | const int BUTTON_DEBOUNCE_THRESH = 8; |
shimniok | 33:74c514aea0a1 | 82 | const int BUTTON_SAMPLE_MS = 0.005; |
shimniok | 30:ed791f1f7f7d | 83 | |
shimniok | 30:ed791f1f7f7d | 84 | void button_event() { |
shimniok | 33:74c514aea0a1 | 85 | int samples = 0; |
shimniok | 33:74c514aea0a1 | 86 | |
shimniok | 33:74c514aea0a1 | 87 | // disable subsequent interrupts |
shimniok | 33:74c514aea0a1 | 88 | lbutton.fall(NULL); |
shimniok | 33:74c514aea0a1 | 89 | |
shimniok | 33:74c514aea0a1 | 90 | // sample repeatedly to debounce |
shimniok | 33:74c514aea0a1 | 91 | for (int i=0; i < BUTTON_DEBOUNCE_SAMPLES; i++) { |
shimniok | 33:74c514aea0a1 | 92 | if (lbutton == 0) samples++; |
shimniok | 33:74c514aea0a1 | 93 | wait(BUTTON_SAMPLE_MS); |
shimniok | 33:74c514aea0a1 | 94 | } |
shimniok | 33:74c514aea0a1 | 95 | |
shimniok | 33:74c514aea0a1 | 96 | if (samples > BUTTON_DEBOUNCE_THRESH) { |
shimniok | 30:ed791f1f7f7d | 97 | if (logger.enabled()) { |
shimniok | 30:ed791f1f7f7d | 98 | logQueue.call(&logger, &Logger::stop); |
shimniok | 30:ed791f1f7f7d | 99 | led3 = 0; |
shimniok | 30:ed791f1f7f7d | 100 | } else { |
shimniok | 30:ed791f1f7f7d | 101 | logQueue.call(&logger, &Logger::start); |
shimniok | 30:ed791f1f7f7d | 102 | led3 = 1; |
shimniok | 30:ed791f1f7f7d | 103 | } |
shimniok | 30:ed791f1f7f7d | 104 | } |
shimniok | 33:74c514aea0a1 | 105 | |
shimniok | 33:74c514aea0a1 | 106 | lbutton.fall(buttonQueue.event(button_event)); |
shimniok | 30:ed791f1f7f7d | 107 | } |
shimniok | 30:ed791f1f7f7d | 108 | |
shimniok | 30:ed791f1f7f7d | 109 | |
shimniok | 30:ed791f1f7f7d | 110 | /////////////////////////////////////////////////////////////////////////////// |
shimniok | 24:a7f92dfc5310 | 111 | // GPS |
shimniok | 24:a7f92dfc5310 | 112 | Ublox6 ublox; |
shimniok | 24:a7f92dfc5310 | 113 | EventQueue gpsQueue(8 * EVENTS_EVENT_SIZE); |
shimniok | 38:6fec81f85221 | 114 | EventQueue lcdQueue(8 * EVENTS_EVENT_SIZE); |
shimniok | 23:5e61cf4a8c34 | 115 | |
shimniok | 23:5e61cf4a8c34 | 116 | // Callback for gps parse data ready |
shimniok | 23:5e61cf4a8c34 | 117 | void gps_callback() { |
shimniok | 24:a7f92dfc5310 | 118 | GpsData d; |
shimniok | 24:a7f92dfc5310 | 119 | |
shimniok | 25:b8176ebb96c6 | 120 | led2 = !led2; |
shimniok | 24:a7f92dfc5310 | 121 | ublox.read(d.latitude, d.longitude, d.course, d.speed, d.hdop, d.svcount); |
shimniok | 30:ed791f1f7f7d | 122 | d.timestamp = Kernel::get_ms_count(); |
shimniok | 29:cb2f55fbfe9c | 123 | logQueue.call(&logger, &Logger::log_gps, d); |
shimniok | 39:465213249f71 | 124 | lcdQueue.call(&display, &Display::gps, d); |
shimniok | 23:5e61cf4a8c34 | 125 | } |
shimniok | 29:cb2f55fbfe9c | 126 | |
shimniok | 22:4d62bd16f037 | 127 | // ISR for GPS serial, passes off to thread |
shimniok | 20:043987d06f8d | 128 | void gps_handler() { |
shimniok | 22:4d62bd16f037 | 129 | while (s.readable()) { |
shimniok | 22:4d62bd16f037 | 130 | int c = s.getc(); |
shimniok | 22:4d62bd16f037 | 131 | gpsQueue.call(&ublox, &Ublox6::parse, c); |
shimniok | 16:eb28d0f64a9b | 132 | } |
shimniok | 19:0d1728091519 | 133 | } |
shimniok | 16:eb28d0f64a9b | 134 | |
shimniok | 24:a7f92dfc5310 | 135 | /////////////////////////////////////////////////////////////////////////////// |
shimniok | 24:a7f92dfc5310 | 136 | // Shell |
shimniok | 30:ed791f1f7f7d | 137 | SimpleShell sh("/log"); |
shimniok | 9:fc3575d2cbbf | 138 | |
shimniok | 24:a7f92dfc5310 | 139 | void test(int argc, char **argv) { |
shimniok | 35:c42e7e29c3bd | 140 | //printf("Hello world!\n"); |
shimniok | 35:c42e7e29c3bd | 141 | char file[32]; |
shimniok | 35:c42e7e29c3bd | 142 | |
shimniok | 35:c42e7e29c3bd | 143 | for (int i=30; i < 40; i++) { |
shimniok | 35:c42e7e29c3bd | 144 | sprintf(file, "/log/%04d.csv", i); |
shimniok | 35:c42e7e29c3bd | 145 | printf("removing <%s>\n", file); |
shimniok | 35:c42e7e29c3bd | 146 | int stat = remove(file); |
shimniok | 35:c42e7e29c3bd | 147 | printf("return: %d\n", stat); |
shimniok | 35:c42e7e29c3bd | 148 | } |
shimniok | 1:7019a60fd585 | 149 | } |
shimniok | 1:7019a60fd585 | 150 | |
shimniok | 24:a7f92dfc5310 | 151 | void stats(int argc, char **argv) { |
shimniok | 24:a7f92dfc5310 | 152 | SystemReport r(200); |
shimniok | 24:a7f92dfc5310 | 153 | r.report_state(); |
shimniok | 24:a7f92dfc5310 | 154 | return; |
shimniok | 24:a7f92dfc5310 | 155 | } |
shimniok | 24:a7f92dfc5310 | 156 | |
shimniok | 24:a7f92dfc5310 | 157 | void read_gps(int argc, char **argv) |
shimniok | 18:3f8a8f6e3cc1 | 158 | { |
shimniok | 18:3f8a8f6e3cc1 | 159 | double lat=0; |
shimniok | 18:3f8a8f6e3cc1 | 160 | double lon=0; |
shimniok | 18:3f8a8f6e3cc1 | 161 | float course=0; |
shimniok | 18:3f8a8f6e3cc1 | 162 | float speed=0; |
shimniok | 18:3f8a8f6e3cc1 | 163 | float hdop=0.0; |
shimniok | 18:3f8a8f6e3cc1 | 164 | int svcount=0; |
shimniok | 18:3f8a8f6e3cc1 | 165 | |
shimniok | 18:3f8a8f6e3cc1 | 166 | ublox.read(lat, lon, course, speed, hdop, svcount); |
shimniok | 18:3f8a8f6e3cc1 | 167 | printf("%3.7f %3.7f\n", lat, lon); |
shimniok | 18:3f8a8f6e3cc1 | 168 | printf("hdg=%03.1f deg spd=%3.1f m/s\n", course, speed); |
shimniok | 18:3f8a8f6e3cc1 | 169 | printf("%d %f\n", svcount, hdop); |
shimniok | 18:3f8a8f6e3cc1 | 170 | } |
shimniok | 18:3f8a8f6e3cc1 | 171 | |
shimniok | 32:eb673f6f5734 | 172 | void read_imu(int argc, char **argv) |
shimniok | 9:fc3575d2cbbf | 173 | { |
shimniok | 12:3cd91e150d9c | 174 | int g[3]; |
shimniok | 32:eb673f6f5734 | 175 | int a[3]; |
shimniok | 32:eb673f6f5734 | 176 | int m[3]; |
shimniok | 13:5566df1250f1 | 177 | float dt; |
shimniok | 12:3cd91e150d9c | 178 | |
shimniok | 11:8ec858b7c6d1 | 179 | Updater *u = Updater::instance(); |
shimniok | 11:8ec858b7c6d1 | 180 | |
shimniok | 32:eb673f6f5734 | 181 | u->imu(g, a, m, dt); |
shimniok | 32:eb673f6f5734 | 182 | |
shimniok | 32:eb673f6f5734 | 183 | printf(" Gyro: %d, %d, %d\n", g[0], g[1], g[2]); |
shimniok | 32:eb673f6f5734 | 184 | printf(" Accel: %d, %d, %d\n", a[0], a[1], a[2]); |
shimniok | 32:eb673f6f5734 | 185 | printf(" Mag: %d, %d, %d\n", m[0], m[1], m[2]); |
shimniok | 32:eb673f6f5734 | 186 | printf(" dt: %f\n", dt); |
shimniok | 12:3cd91e150d9c | 187 | } |
shimniok | 12:3cd91e150d9c | 188 | |
shimniok | 24:a7f92dfc5310 | 189 | void read_enc(int argc, char **argv) |
shimniok | 14:1dd83e626153 | 190 | { |
shimniok | 14:1dd83e626153 | 191 | Updater *u = Updater::instance(); |
shimniok | 14:1dd83e626153 | 192 | |
shimniok | 14:1dd83e626153 | 193 | printf("Encoder: %d\n", u->encoder()); |
shimniok | 14:1dd83e626153 | 194 | } |
shimniok | 14:1dd83e626153 | 195 | |
shimniok | 29:cb2f55fbfe9c | 196 | void log(int argc, char **argv) |
shimniok | 29:cb2f55fbfe9c | 197 | { |
shimniok | 29:cb2f55fbfe9c | 198 | char *usage = "usage: log [start|stop]"; |
shimniok | 29:cb2f55fbfe9c | 199 | |
shimniok | 29:cb2f55fbfe9c | 200 | if (argc == 1) { |
shimniok | 29:cb2f55fbfe9c | 201 | printf("logging "); |
shimniok | 29:cb2f55fbfe9c | 202 | if (logger.enabled()) |
shimniok | 29:cb2f55fbfe9c | 203 | printf("enabled"); |
shimniok | 29:cb2f55fbfe9c | 204 | else |
shimniok | 29:cb2f55fbfe9c | 205 | printf("disabled"); |
shimniok | 29:cb2f55fbfe9c | 206 | printf("\n"); |
shimniok | 29:cb2f55fbfe9c | 207 | } else if (argc == 2) { |
shimniok | 29:cb2f55fbfe9c | 208 | if (!strcmp("start", argv[1])) { |
shimniok | 29:cb2f55fbfe9c | 209 | logger.start(); |
shimniok | 29:cb2f55fbfe9c | 210 | } else if (!strcmp("stop", argv[1])) { |
shimniok | 29:cb2f55fbfe9c | 211 | logger.stop(); |
shimniok | 29:cb2f55fbfe9c | 212 | } else { |
shimniok | 29:cb2f55fbfe9c | 213 | puts(usage); |
shimniok | 29:cb2f55fbfe9c | 214 | } |
shimniok | 29:cb2f55fbfe9c | 215 | } else { |
shimniok | 29:cb2f55fbfe9c | 216 | puts(usage); |
shimniok | 29:cb2f55fbfe9c | 217 | } |
shimniok | 29:cb2f55fbfe9c | 218 | } |
shimniok | 29:cb2f55fbfe9c | 219 | |
shimniok | 29:cb2f55fbfe9c | 220 | |
shimniok | 24:a7f92dfc5310 | 221 | void bridge_uart1(int argc, char **argv) { |
shimniok | 20:043987d06f8d | 222 | RawSerial s(UART1TX, UART1RX, 38400); |
shimniok | 20:043987d06f8d | 223 | while (1) { |
shimniok | 20:043987d06f8d | 224 | if (pc.readable()) s.putc(pc.getc()); |
shimniok | 20:043987d06f8d | 225 | if (s.readable()) pc.putc(s.getc()); |
shimniok | 20:043987d06f8d | 226 | } |
shimniok | 20:043987d06f8d | 227 | } |
shimniok | 20:043987d06f8d | 228 | |
shimniok | 24:a7f92dfc5310 | 229 | void reset(int argc, char **argv) |
shimniok | 12:3cd91e150d9c | 230 | { |
shimniok | 12:3cd91e150d9c | 231 | NVIC_SystemReset(); |
shimniok | 9:fc3575d2cbbf | 232 | } |
shimniok | 9:fc3575d2cbbf | 233 | |
shimniok | 24:a7f92dfc5310 | 234 | /////////////////////////////////////////////////////////////////////////////// |
shimniok | 24:a7f92dfc5310 | 235 | // MAIN |
shimniok | 1:7019a60fd585 | 236 | |
shimniok | 0:7e98bbfd102a | 237 | // main() runs in its own thread in the OS |
shimniok | 0:7e98bbfd102a | 238 | int main() |
shimniok | 11:8ec858b7c6d1 | 239 | { |
shimniok | 20:043987d06f8d | 240 | //bridge_uart1(); |
shimniok | 24:a7f92dfc5310 | 241 | |
shimniok | 25:b8176ebb96c6 | 242 | //Kernel::attach_idle_hook(idler); |
shimniok | 20:043987d06f8d | 243 | |
shimniok | 37:b8259500dbd3 | 244 | display.status("Bootup..."); |
shimniok | 0:7e98bbfd102a | 245 | printf("Bootup...\n"); |
shimniok | 0:7e98bbfd102a | 246 | fflush(stdout); |
shimniok | 1:7019a60fd585 | 247 | |
shimniok | 35:c42e7e29c3bd | 248 | steer = 0.50; |
shimniok | 35:c42e7e29c3bd | 249 | esc = 0.00; |
shimniok | 35:c42e7e29c3bd | 250 | |
shimniok | 4:de7feb458652 | 251 | printf("Loading config...\n"); |
shimniok | 37:b8259500dbd3 | 252 | display.status("Loading config"); |
shimniok | 7:1f2661b840ed | 253 | config.add("intercept_distance", Config::DOUBLE); |
shimniok | 7:1f2661b840ed | 254 | config.add("waypoint_threshold", Config::DOUBLE); |
shimniok | 7:1f2661b840ed | 255 | config.add("minimum_turning_radius", Config::DOUBLE); |
shimniok | 7:1f2661b840ed | 256 | config.add("wheelbase", Config::DOUBLE); |
shimniok | 7:1f2661b840ed | 257 | config.add("track_width", Config::DOUBLE); |
shimniok | 7:1f2661b840ed | 258 | config.add("tire_circumference", Config::DOUBLE); |
shimniok | 7:1f2661b840ed | 259 | config.add("encoder_stripes", Config::INT); |
shimniok | 7:1f2661b840ed | 260 | config.add("esc_brake", Config::INT); |
shimniok | 7:1f2661b840ed | 261 | config.add("esc_off", Config::INT); |
shimniok | 7:1f2661b840ed | 262 | config.add("esc_max", Config::INT); |
shimniok | 7:1f2661b840ed | 263 | config.add("turn_speed", Config::DOUBLE); |
shimniok | 7:1f2661b840ed | 264 | config.add("turn_distance", Config::DOUBLE); |
shimniok | 7:1f2661b840ed | 265 | config.add("start_speed", Config::DOUBLE); |
shimniok | 7:1f2661b840ed | 266 | config.add("cruise_speed", Config::DOUBLE); |
shimniok | 7:1f2661b840ed | 267 | config.add("speed_kp", Config::DOUBLE); |
shimniok | 7:1f2661b840ed | 268 | config.add("speed_ki", Config::DOUBLE); |
shimniok | 7:1f2661b840ed | 269 | config.add("speed_kd", Config::DOUBLE); |
shimniok | 7:1f2661b840ed | 270 | config.add("steer_center", Config::DOUBLE); |
shimniok | 7:1f2661b840ed | 271 | config.add("steer_scale", Config::DOUBLE); |
shimniok | 7:1f2661b840ed | 272 | config.add("gyro_scale", Config::DOUBLE); |
shimniok | 7:1f2661b840ed | 273 | config.add("gps_valid_speed", Config::DOUBLE); |
shimniok | 35:c42e7e29c3bd | 274 | |
shimniok | 4:de7feb458652 | 275 | if (config.load("/etc/2018cfg.txt")) { |
shimniok | 4:de7feb458652 | 276 | printf("error loading config\n"); |
shimniok | 37:b8259500dbd3 | 277 | display.status("config load error"); |
shimniok | 4:de7feb458652 | 278 | } |
shimniok | 10:9fb3feb38746 | 279 | |
shimniok | 38:6fec81f85221 | 280 | printf("Starting display...\n"); |
shimniok | 39:465213249f71 | 281 | Thread lcdThread(osPriorityNormal, 2048, 0, "lcd"); |
shimniok | 38:6fec81f85221 | 282 | lcdThread.start(callback(&lcdQueue, &EventQueue::dispatch_forever)); |
shimniok | 38:6fec81f85221 | 283 | |
shimniok | 30:ed791f1f7f7d | 284 | printf("Starting buttons...\n"); |
shimniok | 37:b8259500dbd3 | 285 | display.status("Starting buttons"); |
shimniok | 33:74c514aea0a1 | 286 | lbutton.fall(buttonQueue.event(button_event)); |
shimniok | 30:ed791f1f7f7d | 287 | //cbutton.rise(buttonQueue.event(button_event)); |
shimniok | 30:ed791f1f7f7d | 288 | //rbutton.rise(buttonQueue.event(button_event)); |
shimniok | 30:ed791f1f7f7d | 289 | Thread buttonThread(osPriorityNormal, 256, 0, "buttons"); |
shimniok | 30:ed791f1f7f7d | 290 | buttonThread.start(callback(&buttonQueue, &EventQueue::dispatch_forever)); |
shimniok | 30:ed791f1f7f7d | 291 | |
shimniok | 24:a7f92dfc5310 | 292 | printf("Starting updater...\n"); |
shimniok | 37:b8259500dbd3 | 293 | display.status("Starting updater"); |
shimniok | 25:b8176ebb96c6 | 294 | u->attach(updater_callback); |
shimniok | 24:a7f92dfc5310 | 295 | Thread updaterThread(osPriorityRealtime, 512, 0, "updater"); |
shimniok | 26:2dc31a801cc8 | 296 | updaterQueue.call_every(20, u, &Updater::update); |
shimniok | 26:2dc31a801cc8 | 297 | updaterThread.start(callback(&updaterQueue, &EventQueue::dispatch_forever)); |
shimniok | 24:a7f92dfc5310 | 298 | |
shimniok | 24:a7f92dfc5310 | 299 | printf("Starting gps...\n"); |
shimniok | 37:b8259500dbd3 | 300 | display.status("Starting gps"); |
shimniok | 29:cb2f55fbfe9c | 301 | Thread gpsThread(osPriorityHigh, 2048, 0, "gps"); |
shimniok | 24:a7f92dfc5310 | 302 | gpsThread.start(callback(&gpsQueue, &EventQueue::dispatch_forever)); |
shimniok | 24:a7f92dfc5310 | 303 | ublox.subscribe(gps_callback); |
shimniok | 24:a7f92dfc5310 | 304 | s.attach(gps_handler); |
shimniok | 24:a7f92dfc5310 | 305 | |
shimniok | 37:b8259500dbd3 | 306 | printf("Starting logging...\n"); |
shimniok | 37:b8259500dbd3 | 307 | display.status("Starting logging"); |
shimniok | 29:cb2f55fbfe9c | 308 | Thread logThread(osPriorityNormal, 2048, 0, "log"); |
shimniok | 24:a7f92dfc5310 | 309 | logThread.start(callback(&logQueue, &EventQueue::dispatch_forever)); |
shimniok | 24:a7f92dfc5310 | 310 | |
shimniok | 13:5566df1250f1 | 311 | printf("Starting shell...\n"); |
shimniok | 37:b8259500dbd3 | 312 | display.status("Starting shell"); |
shimniok | 30:ed791f1f7f7d | 313 | sh.command(test, "test"); |
shimniok | 32:eb673f6f5734 | 314 | sh.command(read_imu, "imu"); |
shimniok | 30:ed791f1f7f7d | 315 | sh.command(read_enc, "enc"); |
shimniok | 30:ed791f1f7f7d | 316 | sh.command(read_gps, "gps"); |
shimniok | 30:ed791f1f7f7d | 317 | sh.command(reset, "reset"); |
shimniok | 30:ed791f1f7f7d | 318 | sh.command(stats, "stats"); |
shimniok | 30:ed791f1f7f7d | 319 | sh.command(log, "log"); |
shimniok | 37:b8259500dbd3 | 320 | |
shimniok | 37:b8259500dbd3 | 321 | display.status("DataBus 2018"); |
shimniok | 24:a7f92dfc5310 | 322 | sh.run(); |
shimniok | 22:4d62bd16f037 | 323 | |
shimniok | 0:7e98bbfd102a | 324 | while (true) { |
shimniok | 0:7e98bbfd102a | 325 | // Blink LED and wait 0.5 seconds |
shimniok | 0:7e98bbfd102a | 326 | led1 = !led1; |
shimniok | 0:7e98bbfd102a | 327 | wait(0.5f); |
shimniok | 0:7e98bbfd102a | 328 | } |
shimniok | 0:7e98bbfd102a | 329 | } |