![](/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@10:9fb3feb38746, 2018-12-10 (annotated)
- Committer:
- shimniok
- Date:
- Mon Dec 10 20:12:41 2018 +0000
- Revision:
- 10:9fb3feb38746
- Parent:
- 9:fc3575d2cbbf
- Child:
- 11:8ec858b7c6d1
Implemented periodic gyro and dt update
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 | 0:7e98bbfd102a | 9 | #include "stats_report.h" |
shimniok | 0:7e98bbfd102a | 10 | #include "SDBlockDevice.h" |
shimniok | 0:7e98bbfd102a | 11 | #include "FATFileSystem.h" |
shimniok | 0:7e98bbfd102a | 12 | #include "SimpleShell.h" |
shimniok | 4:de7feb458652 | 13 | #include "Config.h" |
shimniok | 9:fc3575d2cbbf | 14 | #include "L3G4200D.h" |
shimniok | 0:7e98bbfd102a | 15 | |
shimniok | 0:7e98bbfd102a | 16 | Serial pc(USBTX, USBRX); |
shimniok | 0:7e98bbfd102a | 17 | //SDBlockDevice bd(p5, p6, p7, p8); // MOSI, MISO, CLK, CS |
shimniok | 0:7e98bbfd102a | 18 | //FATFileSystem ffs("log", &bd); |
shimniok | 0:7e98bbfd102a | 19 | LocalFileSystem lfs("etc"); |
shimniok | 4:de7feb458652 | 20 | Config config; |
shimniok | 0:7e98bbfd102a | 21 | SimpleShell sh; |
shimniok | 0:7e98bbfd102a | 22 | |
shimniok | 0:7e98bbfd102a | 23 | DigitalOut led1(LED1); |
shimniok | 10:9fb3feb38746 | 24 | DigitalOut led2(LED2); |
shimniok | 10:9fb3feb38746 | 25 | Thread thread; |
shimniok | 0:7e98bbfd102a | 26 | |
shimniok | 10:9fb3feb38746 | 27 | typedef struct { |
shimniok | 10:9fb3feb38746 | 28 | int g[3]; // gyro |
shimniok | 10:9fb3feb38746 | 29 | float dt; // delta time |
shimniok | 10:9fb3feb38746 | 30 | } sensor_data_t; |
shimniok | 10:9fb3feb38746 | 31 | |
shimniok | 10:9fb3feb38746 | 32 | sensor_data_t data; |
shimniok | 0:7e98bbfd102a | 33 | |
shimniok | 9:fc3575d2cbbf | 34 | /******** SHELL COMMANDS ********/ |
shimniok | 9:fc3575d2cbbf | 35 | |
shimniok | 1:7019a60fd585 | 36 | void test() { |
shimniok | 1:7019a60fd585 | 37 | printf("Hello world!\n"); |
shimniok | 1:7019a60fd585 | 38 | } |
shimniok | 1:7019a60fd585 | 39 | |
shimniok | 9:fc3575d2cbbf | 40 | void read_gyro() |
shimniok | 9:fc3575d2cbbf | 41 | { |
shimniok | 10:9fb3feb38746 | 42 | printf("Gyro: %d, %d, %d %f\n", data.g[0], data.g[1], data.g[2], data.dt); |
shimniok | 9:fc3575d2cbbf | 43 | } |
shimniok | 9:fc3575d2cbbf | 44 | |
shimniok | 10:9fb3feb38746 | 45 | /********** PERIODIC FUNCTIONS ***********/ |
shimniok | 10:9fb3feb38746 | 46 | L3G4200D gyro(p9, p10); |
shimniok | 10:9fb3feb38746 | 47 | Timer timer; |
shimniok | 10:9fb3feb38746 | 48 | int thisTime = 0; |
shimniok | 10:9fb3feb38746 | 49 | int lastTime = -1; |
shimniok | 9:fc3575d2cbbf | 50 | |
shimniok | 10:9fb3feb38746 | 51 | void periodic() |
shimniok | 9:fc3575d2cbbf | 52 | { |
shimniok | 10:9fb3feb38746 | 53 | // Compute dt |
shimniok | 10:9fb3feb38746 | 54 | thisTime = timer.read_us(); |
shimniok | 10:9fb3feb38746 | 55 | data.dt = (lastTime < 0) ? 0 : ((float) thisTime - (float) lastTime) / 1000.0; // first pass let dt=0 |
shimniok | 10:9fb3feb38746 | 56 | lastTime = thisTime; |
shimniok | 10:9fb3feb38746 | 57 | |
shimniok | 10:9fb3feb38746 | 58 | // Read encoders |
shimniok | 10:9fb3feb38746 | 59 | // Read gyro |
shimniok | 10:9fb3feb38746 | 60 | gyro.read(data.g); |
shimniok | 10:9fb3feb38746 | 61 | //gyro[_z_] = (g_sign[_z_] * (g[_z_] - g_offset[_z_])) / g_scale[_z_]; |
shimniok | 10:9fb3feb38746 | 62 | |
shimniok | 10:9fb3feb38746 | 63 | // Save current data into history fifo to use 1 second from now |
shimniok | 10:9fb3feb38746 | 64 | //history[now].dist = (sensors.lrEncDistance + sensors.rrEncDistance) / 2.0; // current distance traveled |
shimniok | 10:9fb3feb38746 | 65 | //history[now].gyro = sensors.gyro[_z_]; // current raw gyro data |
shimniok | 10:9fb3feb38746 | 66 | //history[now].dt = dt; // current dt, to address jitter |
shimniok | 10:9fb3feb38746 | 67 | //history[now].hdg = clamp360( history[prev].hdg + dt*(history[now].gyro) ); // compute current heading from current gyro |
shimniok | 10:9fb3feb38746 | 68 | //float r = PI/180 * history[now].hdg; |
shimniok | 10:9fb3feb38746 | 69 | //history[now].x = history[prev].x + history[now].dist * sin(r); // update current position |
shimniok | 10:9fb3feb38746 | 70 | //history[now].y = history[prev].y + history[now].dist * cos(r); |
shimniok | 10:9fb3feb38746 | 71 | |
shimniok | 10:9fb3feb38746 | 72 | led2 = !led2; |
shimniok | 10:9fb3feb38746 | 73 | |
shimniok | 10:9fb3feb38746 | 74 | return; |
shimniok | 9:fc3575d2cbbf | 75 | } |
shimniok | 9:fc3575d2cbbf | 76 | |
shimniok | 9:fc3575d2cbbf | 77 | |
shimniok | 9:fc3575d2cbbf | 78 | /******** MAIN ********/ |
shimniok | 1:7019a60fd585 | 79 | |
shimniok | 0:7e98bbfd102a | 80 | // main() runs in its own thread in the OS |
shimniok | 0:7e98bbfd102a | 81 | int main() |
shimniok | 0:7e98bbfd102a | 82 | { |
shimniok | 10:9fb3feb38746 | 83 | EventQueue *queue = mbed_highprio_event_queue(); |
shimniok | 10:9fb3feb38746 | 84 | |
shimniok | 10:9fb3feb38746 | 85 | timer.start(); |
shimniok | 10:9fb3feb38746 | 86 | |
shimniok | 0:7e98bbfd102a | 87 | printf("Bootup...\n"); |
shimniok | 0:7e98bbfd102a | 88 | fflush(stdout); |
shimniok | 1:7019a60fd585 | 89 | |
shimniok | 4:de7feb458652 | 90 | printf("Loading config...\n"); |
shimniok | 7:1f2661b840ed | 91 | config.add("intercept_distance", Config::DOUBLE); |
shimniok | 7:1f2661b840ed | 92 | config.add("waypoint_threshold", Config::DOUBLE); |
shimniok | 7:1f2661b840ed | 93 | config.add("minimum_turning_radius", Config::DOUBLE); |
shimniok | 7:1f2661b840ed | 94 | config.add("wheelbase", Config::DOUBLE); |
shimniok | 7:1f2661b840ed | 95 | config.add("track_width", Config::DOUBLE); |
shimniok | 7:1f2661b840ed | 96 | config.add("tire_circumference", Config::DOUBLE); |
shimniok | 7:1f2661b840ed | 97 | config.add("encoder_stripes", Config::INT); |
shimniok | 7:1f2661b840ed | 98 | config.add("esc_brake", Config::INT); |
shimniok | 7:1f2661b840ed | 99 | config.add("esc_off", Config::INT); |
shimniok | 7:1f2661b840ed | 100 | config.add("esc_max", Config::INT); |
shimniok | 7:1f2661b840ed | 101 | config.add("turn_speed", Config::DOUBLE); |
shimniok | 7:1f2661b840ed | 102 | config.add("turn_distance", Config::DOUBLE); |
shimniok | 7:1f2661b840ed | 103 | config.add("start_speed", Config::DOUBLE); |
shimniok | 7:1f2661b840ed | 104 | config.add("cruise_speed", Config::DOUBLE); |
shimniok | 7:1f2661b840ed | 105 | config.add("speed_kp", Config::DOUBLE); |
shimniok | 7:1f2661b840ed | 106 | config.add("speed_ki", Config::DOUBLE); |
shimniok | 7:1f2661b840ed | 107 | config.add("speed_kd", Config::DOUBLE); |
shimniok | 7:1f2661b840ed | 108 | config.add("steer_center", Config::DOUBLE); |
shimniok | 7:1f2661b840ed | 109 | config.add("steer_scale", Config::DOUBLE); |
shimniok | 7:1f2661b840ed | 110 | config.add("gyro_scale", Config::DOUBLE); |
shimniok | 7:1f2661b840ed | 111 | config.add("gps_valid_speed", Config::DOUBLE); |
shimniok | 7:1f2661b840ed | 112 | |
shimniok | 4:de7feb458652 | 113 | if (config.load("/etc/2018cfg.txt")) { |
shimniok | 4:de7feb458652 | 114 | printf("error loading config\n"); |
shimniok | 4:de7feb458652 | 115 | } |
shimniok | 10:9fb3feb38746 | 116 | |
shimniok | 10:9fb3feb38746 | 117 | // Startup shell |
shimniok | 1:7019a60fd585 | 118 | sh.attach(test, "test"); |
shimniok | 9:fc3575d2cbbf | 119 | sh.attach(read_gyro, "gyro"); |
shimniok | 0:7e98bbfd102a | 120 | thread.start(callback(&sh, &SimpleShell::run)); |
shimniok | 0:7e98bbfd102a | 121 | |
shimniok | 10:9fb3feb38746 | 122 | //ticker.attach(callback(periodic), 0.010); // call periodic every 10ms |
shimniok | 10:9fb3feb38746 | 123 | |
shimniok | 10:9fb3feb38746 | 124 | // schedule calls to periodic at 20 Hz |
shimniok | 10:9fb3feb38746 | 125 | Event<void()> event(queue, periodic); |
shimniok | 10:9fb3feb38746 | 126 | event.period(50); |
shimniok | 10:9fb3feb38746 | 127 | event.post(); |
shimniok | 10:9fb3feb38746 | 128 | queue->dispatch_forever(); |
shimniok | 10:9fb3feb38746 | 129 | |
shimniok | 0:7e98bbfd102a | 130 | /* |
shimniok | 0:7e98bbfd102a | 131 | FILE *fp; |
shimniok | 0:7e98bbfd102a | 132 | char buf[128]; |
shimniok | 0:7e98bbfd102a | 133 | printf("Initializing the block device... "); |
shimniok | 0:7e98bbfd102a | 134 | fflush(stdout); |
shimniok | 0:7e98bbfd102a | 135 | int err = bd.init(); |
shimniok | 0:7e98bbfd102a | 136 | printf("%s\n", (err ? "Fail :(" : "OK")); |
shimniok | 0:7e98bbfd102a | 137 | |
shimniok | 0:7e98bbfd102a | 138 | printf("Opening sdtest.txt..."); |
shimniok | 0:7e98bbfd102a | 139 | fp = fopen("/log/sdtest.txt", "r"); |
shimniok | 0:7e98bbfd102a | 140 | if(fp) { |
shimniok | 0:7e98bbfd102a | 141 | while (!feof(fp)) { |
shimniok | 0:7e98bbfd102a | 142 | fgets(buf, 127, fp); |
shimniok | 0:7e98bbfd102a | 143 | printf(buf); |
shimniok | 0:7e98bbfd102a | 144 | } |
shimniok | 0:7e98bbfd102a | 145 | fclose(fp); |
shimniok | 0:7e98bbfd102a | 146 | } |
shimniok | 0:7e98bbfd102a | 147 | |
shimniok | 0:7e98bbfd102a | 148 | printf("Opening config.txt..."); |
shimniok | 0:7e98bbfd102a | 149 | fp = fopen("/etc/config.txt", "r"); |
shimniok | 0:7e98bbfd102a | 150 | if(fp) { |
shimniok | 0:7e98bbfd102a | 151 | while (!feof(fp)) { |
shimniok | 0:7e98bbfd102a | 152 | fgets(buf, 127, fp); |
shimniok | 0:7e98bbfd102a | 153 | printf(buf); |
shimniok | 0:7e98bbfd102a | 154 | } |
shimniok | 0:7e98bbfd102a | 155 | fclose(fp); |
shimniok | 0:7e98bbfd102a | 156 | } |
shimniok | 0:7e98bbfd102a | 157 | */ |
shimniok | 0:7e98bbfd102a | 158 | |
shimniok | 0:7e98bbfd102a | 159 | //SystemReport sys_state(500); |
shimniok | 0:7e98bbfd102a | 160 | |
shimniok | 0:7e98bbfd102a | 161 | while (true) { |
shimniok | 0:7e98bbfd102a | 162 | // Blink LED and wait 0.5 seconds |
shimniok | 0:7e98bbfd102a | 163 | led1 = !led1; |
shimniok | 0:7e98bbfd102a | 164 | wait(0.5f); |
shimniok | 0:7e98bbfd102a | 165 | |
shimniok | 0:7e98bbfd102a | 166 | // Following the main thread wait, report on the current system status |
shimniok | 0:7e98bbfd102a | 167 | //sys_state.report_state(); |
shimniok | 0:7e98bbfd102a | 168 | } |
shimniok | 0:7e98bbfd102a | 169 | } |