Michael Shimniok / Mbed OS DataBus2018

2018 revision to classic DataBus AVC code.

Dependencies:   LSM303DLM Servo SerialGraphicLCD L3G4200D IncrementalEncoder SimpleShell

Updater.cpp@13:5566df1250f1, 2018-12-12 (annotated)

Committer:
shimniok
Date:
Wed Dec 12 17:38:02 2018 +0000
Revision:
13:5566df1250f1
Parent:
12:3cd91e150d9c
Child:
14:1dd83e626153
compute and pass back dt from updater

Who changed what in which revision?

UserRevisionLine numberNew contents of line
shimniok 11:8ec858b7c6d1 1 #include "Updater.h"
shimniok 11:8ec858b7c6d1 2
shimniok 11:8ec858b7c6d1 3
shimniok 13:5566df1250f1 4 void Updater::gyro(int g[3], float& dt)
shimniok 12:3cd91e150d9c 5 {
shimniok 12:3cd91e150d9c 6 for (int i=0; i < 3; i++) {
shimniok 12:3cd91e150d9c 7 g[i] = _gyro[i];
shimniok 12:3cd91e150d9c 8 }
shimniok 12:3cd91e150d9c 9
shimniok 13:5566df1250f1 10 dt = _dt;
shimniok 13:5566df1250f1 11
shimniok 12:3cd91e150d9c 12 return;
shimniok 12:3cd91e150d9c 13 }
shimniok 12:3cd91e150d9c 14
shimniok 12:3cd91e150d9c 15
shimniok 12:3cd91e150d9c 16 Updater *Updater::instance()
shimniok 12:3cd91e150d9c 17 {
shimniok 11:8ec858b7c6d1 18 static Updater instance;
shimniok 11:8ec858b7c6d1 19
shimniok 11:8ec858b7c6d1 20 return &instance;
shimniok 11:8ec858b7c6d1 21 }
shimniok 11:8ec858b7c6d1 22
shimniok 11:8ec858b7c6d1 23
shimniok 11:8ec858b7c6d1 24 void Updater::start(int interval_ms)
shimniok 11:8ec858b7c6d1 25 {
shimniok 11:8ec858b7c6d1 26 Timer timer;
shimniok 11:8ec858b7c6d1 27
shimniok 11:8ec858b7c6d1 28 thisTime = 0;
shimniok 11:8ec858b7c6d1 29 lastTime = 0;
shimniok 11:8ec858b7c6d1 30 t = &timer;
shimniok 11:8ec858b7c6d1 31 t->start();
shimniok 11:8ec858b7c6d1 32
shimniok 11:8ec858b7c6d1 33 EventQueue *queue = mbed_highprio_event_queue();
shimniok 11:8ec858b7c6d1 34 Event<void()> event(queue, callback(this, &Updater::update));
shimniok 11:8ec858b7c6d1 35 event.period(interval_ms);
shimniok 11:8ec858b7c6d1 36 event.post();
shimniok 11:8ec858b7c6d1 37 queue->dispatch_forever();
shimniok 11:8ec858b7c6d1 38 }
shimniok 11:8ec858b7c6d1 39
shimniok 11:8ec858b7c6d1 40
shimniok 11:8ec858b7c6d1 41 void Updater::update()
shimniok 11:8ec858b7c6d1 42 {
shimniok 11:8ec858b7c6d1 43 static DigitalOut led2(LED2);
shimniok 11:8ec858b7c6d1 44 static L3G4200D gyro(p9, p10); // TODO parameterize
shimniok 11:8ec858b7c6d1 45
shimniok 11:8ec858b7c6d1 46 // Compute dt
shimniok 11:8ec858b7c6d1 47 thisTime = t->read_us();
shimniok 13:5566df1250f1 48 _dt = (lastTime < 0) ? 0 : ((float) thisTime - (float) lastTime) / 1000.0; // first pass let dt=0
shimniok 11:8ec858b7c6d1 49 lastTime = thisTime;
shimniok 11:8ec858b7c6d1 50
shimniok 11:8ec858b7c6d1 51 // Read encoders
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 11:8ec858b7c6d1 70 }