2018 revision to classic DataBus AVC code.
Dependencies: LSM303DLM Servo SerialGraphicLCD L3G4200D IncrementalEncoder SimpleShell
main.cpp
- Committer:
- shimniok
- Date:
- 2018-12-12
- Revision:
- 13:5566df1250f1
- Parent:
- 12:3cd91e150d9c
- Child:
- 14:1dd83e626153
File content as of revision 13:5566df1250f1:
/* mbed Microcontroller Library * Copyright (c) 2018 ARM Limited * SPDX-License-Identifier: Apache-2.0 */ #include "mbed.h" #include <stdio.h> #include <errno.h> #include "stats_report.h" #include "SDBlockDevice.h" #include "FATFileSystem.h" #include "SimpleShell.h" #include "Config.h" #include "Updater.h" Serial pc(USBTX, USBRX); //SDBlockDevice bd(p5, p6, p7, p8); // MOSI, MISO, CLK, CS //FATFileSystem ffs("log", &bd); LocalFileSystem lfs("etc"); Config config; SimpleShell sh; DigitalOut led1(LED1); Thread thread; /******** SHELL COMMANDS ********/ void test() { printf("Hello world!\n"); } void read_gyro() { int g[3]; float dt; Updater *u = Updater::instance(); u->gyro(g, dt); printf("Gyro: %d, %d, %d - dt: %f\n", g[0], g[1], g[2], dt); } void reset() { NVIC_SystemReset(); } /******** MAIN ********/ // main() runs in its own thread in the OS int main() { printf("Bootup...\n"); fflush(stdout); printf("Loading config...\n"); config.add("intercept_distance", Config::DOUBLE); config.add("waypoint_threshold", Config::DOUBLE); config.add("minimum_turning_radius", Config::DOUBLE); config.add("wheelbase", Config::DOUBLE); config.add("track_width", Config::DOUBLE); config.add("tire_circumference", Config::DOUBLE); config.add("encoder_stripes", Config::INT); config.add("esc_brake", Config::INT); config.add("esc_off", Config::INT); config.add("esc_max", Config::INT); config.add("turn_speed", Config::DOUBLE); config.add("turn_distance", Config::DOUBLE); config.add("start_speed", Config::DOUBLE); config.add("cruise_speed", Config::DOUBLE); config.add("speed_kp", Config::DOUBLE); config.add("speed_ki", Config::DOUBLE); config.add("speed_kd", Config::DOUBLE); config.add("steer_center", Config::DOUBLE); config.add("steer_scale", Config::DOUBLE); config.add("gyro_scale", Config::DOUBLE); config.add("gps_valid_speed", Config::DOUBLE); if (config.load("/etc/2018cfg.txt")) { printf("error loading config\n"); } printf("Starting shell...\n"); sh.attach(test, "test"); sh.attach(read_gyro, "gyro"); sh.attach(reset, "reset"); thread.start(callback(&sh, &SimpleShell::run)); printf("Starting updater...\n"); Updater *u = Updater::instance(); u->start(50); /* FILE *fp; char buf[128]; printf("Initializing the block device... "); fflush(stdout); int err = bd.init(); printf("%s\n", (err ? "Fail :(" : "OK")); printf("Opening sdtest.txt..."); fp = fopen("/log/sdtest.txt", "r"); if(fp) { while (!feof(fp)) { fgets(buf, 127, fp); printf(buf); } fclose(fp); } printf("Opening config.txt..."); fp = fopen("/etc/config.txt", "r"); if(fp) { while (!feof(fp)) { fgets(buf, 127, fp); printf(buf); } fclose(fp); } */ //SystemReport sys_state(500); while (true) { // Blink LED and wait 0.5 seconds led1 = !led1; wait(0.5f); // Following the main thread wait, report on the current system status //sys_state.report_state(); } }