Michael Shimniok / Mbed OS DataBus2018

2018 revision to classic DataBus AVC code.

Dependencies:   LSM303DLM Servo SerialGraphicLCD L3G4200D IncrementalEncoder SimpleShell

main.cpp@42:8d99f64f5898, 2019-01-03 (annotated)

Committer:
shimniok
Date:
Thu Jan 03 17:50:44 2019 +0000
Revision:
42:8d99f64f5898
Parent:
39:465213249f71
Child:
43:9a285515f33a
Implemented uart2 bridge for testing

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 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 42:8d99f64f5898 26
shimniok 24:a7f92dfc5310 27 ///////////////////////////////////////////////////////////////////////////////
shimniok 24:a7f92dfc5310 28 // Devices
shimniok 30:ed791f1f7f7d 29 DigitalOut led1(LED1);
shimniok 30:ed791f1f7f7d 30 DigitalOut led2(LED2);
shimniok 30:ed791f1f7f7d 31 DigitalOut led3(LED3);
shimniok 30:ed791f1f7f7d 32 DigitalOut led4(LED4);
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 19:0d1728091519 44
shimniok 24:a7f92dfc5310 45 ///////////////////////////////////////////////////////////////////////////////
shimniok 24:a7f92dfc5310 46 // Logging
shimniok 29:cb2f55fbfe9c 47 EventQueue logQueue(16 * EVENTS_EVENT_SIZE);
shimniok 31:20a95043adb0 48 Logger logger;
shimniok 25:b8176ebb96c6 49
shimniok 42:8d99f64f5898 50
shimniok 42:8d99f64f5898 51 ///////////////////////////////////////////////////////////////////////////////
shimniok 42:8d99f64f5898 52 // Display
shimniok 42:8d99f64f5898 53 EventQueue lcdQueue(8 * EVENTS_EVENT_SIZE);
shimniok 42:8d99f64f5898 54 Display display(UART3TX, UART3RX);
shimniok 42:8d99f64f5898 55
shimniok 42:8d99f64f5898 56 const uint64_t sample_time_ms = 50;
shimniok 42:8d99f64f5898 57
shimniok 42:8d99f64f5898 58 void compute_cpu_stats()
shimniok 42:8d99f64f5898 59 {
shimniok 42:8d99f64f5898 60 static uint64_t prev_idle_time = 0;
shimniok 42:8d99f64f5898 61 mbed_stats_cpu_t cpu_stats;
shimniok 42:8d99f64f5898 62
shimniok 42:8d99f64f5898 63 // Collect and print cpu stats
shimniok 42:8d99f64f5898 64 mbed_stats_cpu_get(&cpu_stats);
shimniok 42:8d99f64f5898 65
shimniok 42:8d99f64f5898 66 uint64_t diff = (cpu_stats.idle_time - prev_idle_time);
shimniok 42:8d99f64f5898 67 uint8_t idle = (diff * 100) / (sample_time_ms * 1000); // usec;
shimniok 42:8d99f64f5898 68 prev_idle_time = cpu_stats.idle_time;
shimniok 42:8d99f64f5898 69 display.cpu(idle);
shimniok 42:8d99f64f5898 70 }
shimniok 42:8d99f64f5898 71
shimniok 25:b8176ebb96c6 72 ///////////////////////////////////////////////////////////////////////////////
shimniok 25:b8176ebb96c6 73 // Updater
shimniok 25:b8176ebb96c6 74 Updater *u = Updater::instance();
shimniok 26:2dc31a801cc8 75 EventQueue updaterQueue(8 * EVENTS_EVENT_SIZE);
shimniok 25:b8176ebb96c6 76
shimniok 25:b8176ebb96c6 77 void updater_callback() {
shimniok 30:ed791f1f7f7d 78 SensorData d;
shimniok 30:ed791f1f7f7d 79 float dt;
shimniok 42:8d99f64f5898 80 static int count = 0;
shimniok 30:ed791f1f7f7d 81
shimniok 25:b8176ebb96c6 82 led1 = !led1;
shimniok 30:ed791f1f7f7d 83 d.timestamp = Kernel::get_ms_count();
shimniok 30:ed791f1f7f7d 84 d.encoder = u->encoder();
shimniok 32:eb673f6f5734 85 u->imu(d.gyro, d.accel, d.mag, dt);
shimniok 30:ed791f1f7f7d 86 logQueue.call(&logger, &Logger::log_sensors, d);
shimniok 42:8d99f64f5898 87 if (count++ > 10) {
shimniok 42:8d99f64f5898 88 lcdQueue.call(&display, &Display::imu, d);
shimniok 42:8d99f64f5898 89 count = 0;
shimniok 42:8d99f64f5898 90 }
shimniok 25:b8176ebb96c6 91 }
shimniok 25:b8176ebb96c6 92
shimniok 42:8d99f64f5898 93
shimniok 24:a7f92dfc5310 94 ///////////////////////////////////////////////////////////////////////////////
shimniok 30:ed791f1f7f7d 95 // Buttons
shimniok 30:ed791f1f7f7d 96 EventQueue buttonQueue(16 * EVENTS_EVENT_SIZE);
shimniok 33:74c514aea0a1 97 const int BUTTON_DEBOUNCE_SAMPLES = 20;
shimniok 33:74c514aea0a1 98 const int BUTTON_DEBOUNCE_THRESH = 8;
shimniok 33:74c514aea0a1 99 const int BUTTON_SAMPLE_MS = 0.005;
shimniok 30:ed791f1f7f7d 100
shimniok 30:ed791f1f7f7d 101 void button_event() {
shimniok 33:74c514aea0a1 102 int samples = 0;
shimniok 33:74c514aea0a1 103
shimniok 33:74c514aea0a1 104 // disable subsequent interrupts
shimniok 33:74c514aea0a1 105 lbutton.fall(NULL);
shimniok 33:74c514aea0a1 106
shimniok 33:74c514aea0a1 107 // sample repeatedly to debounce
shimniok 33:74c514aea0a1 108 for (int i=0; i < BUTTON_DEBOUNCE_SAMPLES; i++) {
shimniok 33:74c514aea0a1 109 if (lbutton == 0) samples++;
shimniok 33:74c514aea0a1 110 wait(BUTTON_SAMPLE_MS);
shimniok 33:74c514aea0a1 111 }
shimniok 33:74c514aea0a1 112
shimniok 33:74c514aea0a1 113 if (samples > BUTTON_DEBOUNCE_THRESH) {
shimniok 30:ed791f1f7f7d 114 if (logger.enabled()) {
shimniok 30:ed791f1f7f7d 115 logQueue.call(&logger, &Logger::stop);
shimniok 30:ed791f1f7f7d 116 led3 = 0;
shimniok 30:ed791f1f7f7d 117 } else {
shimniok 30:ed791f1f7f7d 118 logQueue.call(&logger, &Logger::start);
shimniok 30:ed791f1f7f7d 119 led3 = 1;
shimniok 30:ed791f1f7f7d 120 }
shimniok 30:ed791f1f7f7d 121 }
shimniok 33:74c514aea0a1 122
shimniok 33:74c514aea0a1 123 lbutton.fall(buttonQueue.event(button_event));
shimniok 30:ed791f1f7f7d 124 }
shimniok 30:ed791f1f7f7d 125
shimniok 30:ed791f1f7f7d 126
shimniok 30:ed791f1f7f7d 127 ///////////////////////////////////////////////////////////////////////////////
shimniok 24:a7f92dfc5310 128 // GPS
shimniok 24:a7f92dfc5310 129 Ublox6 ublox;
shimniok 24:a7f92dfc5310 130 EventQueue gpsQueue(8 * EVENTS_EVENT_SIZE);
shimniok 23:5e61cf4a8c34 131
shimniok 23:5e61cf4a8c34 132 // Callback for gps parse data ready
shimniok 23:5e61cf4a8c34 133 void gps_callback() {
shimniok 24:a7f92dfc5310 134 GpsData d;
shimniok 24:a7f92dfc5310 135
shimniok 25:b8176ebb96c6 136 led2 = !led2;
shimniok 24:a7f92dfc5310 137 ublox.read(d.latitude, d.longitude, d.course, d.speed, d.hdop, d.svcount);
shimniok 30:ed791f1f7f7d 138 d.timestamp = Kernel::get_ms_count();
shimniok 29:cb2f55fbfe9c 139 logQueue.call(&logger, &Logger::log_gps, d);
shimniok 39:465213249f71 140 lcdQueue.call(&display, &Display::gps, d);
shimniok 23:5e61cf4a8c34 141 }
shimniok 29:cb2f55fbfe9c 142
shimniok 22:4d62bd16f037 143 // ISR for GPS serial, passes off to thread
shimniok 20:043987d06f8d 144 void gps_handler() {
shimniok 22:4d62bd16f037 145 while (s.readable()) {
shimniok 22:4d62bd16f037 146 int c = s.getc();
shimniok 22:4d62bd16f037 147 gpsQueue.call(&ublox, &Ublox6::parse, c);
shimniok 16:eb28d0f64a9b 148 }
shimniok 19:0d1728091519 149 }
shimniok 16:eb28d0f64a9b 150
shimniok 42:8d99f64f5898 151
shimniok 24:a7f92dfc5310 152 ///////////////////////////////////////////////////////////////////////////////
shimniok 24:a7f92dfc5310 153 // Shell
shimniok 30:ed791f1f7f7d 154 SimpleShell sh("/log");
shimniok 9:fc3575d2cbbf 155
shimniok 24:a7f92dfc5310 156 void test(int argc, char **argv) {
shimniok 35:c42e7e29c3bd 157 //printf("Hello world!\n");
shimniok 35:c42e7e29c3bd 158 char file[32];
shimniok 35:c42e7e29c3bd 159
shimniok 35:c42e7e29c3bd 160 for (int i=30; i < 40; i++) {
shimniok 35:c42e7e29c3bd 161 sprintf(file, "/log/%04d.csv", i);
shimniok 35:c42e7e29c3bd 162 printf("removing <%s>\n", file);
shimniok 35:c42e7e29c3bd 163 int stat = remove(file);
shimniok 35:c42e7e29c3bd 164 printf("return: %d\n", stat);
shimniok 35:c42e7e29c3bd 165 }
shimniok 1:7019a60fd585 166 }
shimniok 1:7019a60fd585 167
shimniok 24:a7f92dfc5310 168 void stats(int argc, char **argv) {
shimniok 24:a7f92dfc5310 169 SystemReport r(200);
shimniok 24:a7f92dfc5310 170 r.report_state();
shimniok 24:a7f92dfc5310 171 return;
shimniok 24:a7f92dfc5310 172 }
shimniok 24:a7f92dfc5310 173
shimniok 24:a7f92dfc5310 174 void read_gps(int argc, char **argv)
shimniok 18:3f8a8f6e3cc1 175 {
shimniok 18:3f8a8f6e3cc1 176 double lat=0;
shimniok 18:3f8a8f6e3cc1 177 double lon=0;
shimniok 18:3f8a8f6e3cc1 178 float course=0;
shimniok 18:3f8a8f6e3cc1 179 float speed=0;
shimniok 18:3f8a8f6e3cc1 180 float hdop=0.0;
shimniok 18:3f8a8f6e3cc1 181 int svcount=0;
shimniok 18:3f8a8f6e3cc1 182
shimniok 18:3f8a8f6e3cc1 183 ublox.read(lat, lon, course, speed, hdop, svcount);
shimniok 18:3f8a8f6e3cc1 184 printf("%3.7f %3.7f\n", lat, lon);
shimniok 18:3f8a8f6e3cc1 185 printf("hdg=%03.1f deg spd=%3.1f m/s\n", course, speed);
shimniok 18:3f8a8f6e3cc1 186 printf("%d %f\n", svcount, hdop);
shimniok 18:3f8a8f6e3cc1 187 }
shimniok 18:3f8a8f6e3cc1 188
shimniok 32:eb673f6f5734 189 void read_imu(int argc, char **argv)
shimniok 9:fc3575d2cbbf 190 {
shimniok 12:3cd91e150d9c 191 int g[3];
shimniok 32:eb673f6f5734 192 int a[3];
shimniok 32:eb673f6f5734 193 int m[3];
shimniok 13:5566df1250f1 194 float dt;
shimniok 12:3cd91e150d9c 195
shimniok 11:8ec858b7c6d1 196 Updater *u = Updater::instance();
shimniok 11:8ec858b7c6d1 197
shimniok 32:eb673f6f5734 198 u->imu(g, a, m, dt);
shimniok 32:eb673f6f5734 199
shimniok 32:eb673f6f5734 200 printf(" Gyro: %d, %d, %d\n", g[0], g[1], g[2]);
shimniok 32:eb673f6f5734 201 printf(" Accel: %d, %d, %d\n", a[0], a[1], a[2]);
shimniok 32:eb673f6f5734 202 printf(" Mag: %d, %d, %d\n", m[0], m[1], m[2]);
shimniok 32:eb673f6f5734 203 printf(" dt: %f\n", dt);
shimniok 12:3cd91e150d9c 204 }
shimniok 12:3cd91e150d9c 205
shimniok 24:a7f92dfc5310 206 void read_enc(int argc, char **argv)
shimniok 14:1dd83e626153 207 {
shimniok 14:1dd83e626153 208 Updater *u = Updater::instance();
shimniok 14:1dd83e626153 209
shimniok 14:1dd83e626153 210 printf("Encoder: %d\n", u->encoder());
shimniok 14:1dd83e626153 211 }
shimniok 14:1dd83e626153 212
shimniok 29:cb2f55fbfe9c 213 void log(int argc, char **argv)
shimniok 29:cb2f55fbfe9c 214 {
shimniok 29:cb2f55fbfe9c 215 char *usage = "usage: log [start|stop]";
shimniok 29:cb2f55fbfe9c 216
shimniok 29:cb2f55fbfe9c 217 if (argc == 1) {
shimniok 29:cb2f55fbfe9c 218 printf("logging ");
shimniok 29:cb2f55fbfe9c 219 if (logger.enabled())
shimniok 29:cb2f55fbfe9c 220 printf("enabled");
shimniok 29:cb2f55fbfe9c 221 else
shimniok 29:cb2f55fbfe9c 222 printf("disabled");
shimniok 29:cb2f55fbfe9c 223 printf("\n");
shimniok 29:cb2f55fbfe9c 224 } else if (argc == 2) {
shimniok 29:cb2f55fbfe9c 225 if (!strcmp("start", argv[1])) {
shimniok 29:cb2f55fbfe9c 226 logger.start();
shimniok 29:cb2f55fbfe9c 227 } else if (!strcmp("stop", argv[1])) {
shimniok 29:cb2f55fbfe9c 228 logger.stop();
shimniok 29:cb2f55fbfe9c 229 } else {
shimniok 29:cb2f55fbfe9c 230 puts(usage);
shimniok 29:cb2f55fbfe9c 231 }
shimniok 29:cb2f55fbfe9c 232 } else {
shimniok 29:cb2f55fbfe9c 233 puts(usage);
shimniok 29:cb2f55fbfe9c 234 }
shimniok 29:cb2f55fbfe9c 235 }
shimniok 29:cb2f55fbfe9c 236
shimniok 29:cb2f55fbfe9c 237
shimniok 24:a7f92dfc5310 238 void bridge_uart1(int argc, char **argv) {
shimniok 20:043987d06f8d 239 RawSerial s(UART1TX, UART1RX, 38400);
shimniok 20:043987d06f8d 240 while (1) {
shimniok 20:043987d06f8d 241 if (pc.readable()) s.putc(pc.getc());
shimniok 20:043987d06f8d 242 if (s.readable()) pc.putc(s.getc());
shimniok 20:043987d06f8d 243 }
shimniok 20:043987d06f8d 244 }
shimniok 20:043987d06f8d 245
shimniok 42:8d99f64f5898 246
shimniok 42:8d99f64f5898 247 void bridge_uart2() {
shimniok 42:8d99f64f5898 248 RawSerial s(UART2TX, UART2RX, 19200);
shimniok 42:8d99f64f5898 249 while (1) {
shimniok 42:8d99f64f5898 250 if (pc.readable()) s.putc(pc.getc());
shimniok 42:8d99f64f5898 251 if (s.readable()) pc.putc(s.getc());
shimniok 42:8d99f64f5898 252 }
shimniok 42:8d99f64f5898 253 }
shimniok 42:8d99f64f5898 254
shimniok 42:8d99f64f5898 255
shimniok 24:a7f92dfc5310 256 void reset(int argc, char **argv)
shimniok 12:3cd91e150d9c 257 {
shimniok 12:3cd91e150d9c 258 NVIC_SystemReset();
shimniok 9:fc3575d2cbbf 259 }
shimniok 9:fc3575d2cbbf 260
shimniok 24:a7f92dfc5310 261 ///////////////////////////////////////////////////////////////////////////////
shimniok 24:a7f92dfc5310 262 // MAIN
shimniok 1:7019a60fd585 263
shimniok 0:7e98bbfd102a 264 // main() runs in its own thread in the OS
shimniok 0:7e98bbfd102a 265 int main()
shimniok 11:8ec858b7c6d1 266 {
shimniok 20:043987d06f8d 267 //bridge_uart1();
shimniok 42:8d99f64f5898 268 bridge_uart2();
shimniok 24:a7f92dfc5310 269
shimniok 25:b8176ebb96c6 270 //Kernel::attach_idle_hook(idler);
shimniok 20:043987d06f8d 271
shimniok 37:b8259500dbd3 272 display.status("Bootup...");
shimniok 0:7e98bbfd102a 273 printf("Bootup...\n");
shimniok 0:7e98bbfd102a 274 fflush(stdout);
shimniok 1:7019a60fd585 275
shimniok 35:c42e7e29c3bd 276 steer = 0.50;
shimniok 35:c42e7e29c3bd 277 esc = 0.00;
shimniok 35:c42e7e29c3bd 278
shimniok 4:de7feb458652 279 printf("Loading config...\n");
shimniok 37:b8259500dbd3 280 display.status("Loading config");
shimniok 7:1f2661b840ed 281 config.add("intercept_distance", Config::DOUBLE);
shimniok 7:1f2661b840ed 282 config.add("waypoint_threshold", Config::DOUBLE);
shimniok 7:1f2661b840ed 283 config.add("minimum_turning_radius", Config::DOUBLE);
shimniok 7:1f2661b840ed 284 config.add("wheelbase", Config::DOUBLE);
shimniok 7:1f2661b840ed 285 config.add("track_width", Config::DOUBLE);
shimniok 7:1f2661b840ed 286 config.add("tire_circumference", Config::DOUBLE);
shimniok 7:1f2661b840ed 287 config.add("encoder_stripes", Config::INT);
shimniok 7:1f2661b840ed 288 config.add("esc_brake", Config::INT);
shimniok 7:1f2661b840ed 289 config.add("esc_off", Config::INT);
shimniok 7:1f2661b840ed 290 config.add("esc_max", Config::INT);
shimniok 7:1f2661b840ed 291 config.add("turn_speed", Config::DOUBLE);
shimniok 7:1f2661b840ed 292 config.add("turn_distance", Config::DOUBLE);
shimniok 7:1f2661b840ed 293 config.add("start_speed", Config::DOUBLE);
shimniok 7:1f2661b840ed 294 config.add("cruise_speed", Config::DOUBLE);
shimniok 7:1f2661b840ed 295 config.add("speed_kp", Config::DOUBLE);
shimniok 7:1f2661b840ed 296 config.add("speed_ki", Config::DOUBLE);
shimniok 7:1f2661b840ed 297 config.add("speed_kd", Config::DOUBLE);
shimniok 7:1f2661b840ed 298 config.add("steer_center", Config::DOUBLE);
shimniok 7:1f2661b840ed 299 config.add("steer_scale", Config::DOUBLE);
shimniok 7:1f2661b840ed 300 config.add("gyro_scale", Config::DOUBLE);
shimniok 7:1f2661b840ed 301 config.add("gps_valid_speed", Config::DOUBLE);
shimniok 35:c42e7e29c3bd 302
shimniok 4:de7feb458652 303 if (config.load("/etc/2018cfg.txt")) {
shimniok 4:de7feb458652 304 printf("error loading config\n");
shimniok 37:b8259500dbd3 305 display.status("config load error");
shimniok 4:de7feb458652 306 }
shimniok 10:9fb3feb38746 307
shimniok 38:6fec81f85221 308 printf("Starting display...\n");
shimniok 39:465213249f71 309 Thread lcdThread(osPriorityNormal, 2048, 0, "lcd");
shimniok 38:6fec81f85221 310 lcdThread.start(callback(&lcdQueue, &EventQueue::dispatch_forever));
shimniok 42:8d99f64f5898 311 //lcdQueue.call_every(sample_time_ms, callback(&compute_cpu_stats));
shimniok 38:6fec81f85221 312
shimniok 30:ed791f1f7f7d 313 printf("Starting buttons...\n");
shimniok 37:b8259500dbd3 314 display.status("Starting buttons");
shimniok 33:74c514aea0a1 315 lbutton.fall(buttonQueue.event(button_event));
shimniok 30:ed791f1f7f7d 316 //cbutton.rise(buttonQueue.event(button_event));
shimniok 30:ed791f1f7f7d 317 //rbutton.rise(buttonQueue.event(button_event));
shimniok 30:ed791f1f7f7d 318 Thread buttonThread(osPriorityNormal, 256, 0, "buttons");
shimniok 30:ed791f1f7f7d 319 buttonThread.start(callback(&buttonQueue, &EventQueue::dispatch_forever));
shimniok 30:ed791f1f7f7d 320
shimniok 24:a7f92dfc5310 321 printf("Starting updater...\n");
shimniok 37:b8259500dbd3 322 display.status("Starting updater");
shimniok 25:b8176ebb96c6 323 u->attach(updater_callback);
shimniok 24:a7f92dfc5310 324 Thread updaterThread(osPriorityRealtime, 512, 0, "updater");
shimniok 26:2dc31a801cc8 325 updaterQueue.call_every(20, u, &Updater::update);
shimniok 26:2dc31a801cc8 326 updaterThread.start(callback(&updaterQueue, &EventQueue::dispatch_forever));
shimniok 24:a7f92dfc5310 327
shimniok 24:a7f92dfc5310 328 printf("Starting gps...\n");
shimniok 37:b8259500dbd3 329 display.status("Starting gps");
shimniok 29:cb2f55fbfe9c 330 Thread gpsThread(osPriorityHigh, 2048, 0, "gps");
shimniok 24:a7f92dfc5310 331 gpsThread.start(callback(&gpsQueue, &EventQueue::dispatch_forever));
shimniok 24:a7f92dfc5310 332 ublox.subscribe(gps_callback);
shimniok 24:a7f92dfc5310 333 s.attach(gps_handler);
shimniok 24:a7f92dfc5310 334
shimniok 37:b8259500dbd3 335 printf("Starting logging...\n");
shimniok 37:b8259500dbd3 336 display.status("Starting logging");
shimniok 29:cb2f55fbfe9c 337 Thread logThread(osPriorityNormal, 2048, 0, "log");
shimniok 24:a7f92dfc5310 338 logThread.start(callback(&logQueue, &EventQueue::dispatch_forever));
shimniok 24:a7f92dfc5310 339
shimniok 13:5566df1250f1 340 printf("Starting shell...\n");
shimniok 37:b8259500dbd3 341 display.status("Starting shell");
shimniok 30:ed791f1f7f7d 342 sh.command(test, "test");
shimniok 32:eb673f6f5734 343 sh.command(read_imu, "imu");
shimniok 30:ed791f1f7f7d 344 sh.command(read_enc, "enc");
shimniok 30:ed791f1f7f7d 345 sh.command(read_gps, "gps");
shimniok 30:ed791f1f7f7d 346 sh.command(reset, "reset");
shimniok 30:ed791f1f7f7d 347 sh.command(stats, "stats");
shimniok 30:ed791f1f7f7d 348 sh.command(log, "log");
shimniok 37:b8259500dbd3 349
shimniok 37:b8259500dbd3 350 display.status("DataBus 2018");
shimniok 24:a7f92dfc5310 351 sh.run();
shimniok 22:4d62bd16f037 352
shimniok 0:7e98bbfd102a 353 while (true) {
shimniok 0:7e98bbfd102a 354 // Blink LED and wait 0.5 seconds
shimniok 0:7e98bbfd102a 355 led1 = !led1;
shimniok 0:7e98bbfd102a 356 wait(0.5f);
shimniok 0:7e98bbfd102a 357 }
shimniok 0:7e98bbfd102a 358 }