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