2018 revision to classic DataBus AVC code.
Dependencies: LSM303DLM Servo SerialGraphicLCD L3G4200D IncrementalEncoder SimpleShell
main.cpp@15:35c40765f7c3, 2018-12-13 (annotated)
- Committer:
- shimniok
- Date:
- Thu Dec 13 00:30:59 2018 +0000
- Revision:
- 15:35c40765f7c3
- Parent:
- 14:1dd83e626153
- Child:
- 16:eb28d0f64a9b
start updater in its own thread
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 | 11:8ec858b7c6d1 | 14 | #include "Updater.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 | 0:7e98bbfd102a | 24 | |
shimniok | 9:fc3575d2cbbf | 25 | /******** SHELL COMMANDS ********/ |
shimniok | 9:fc3575d2cbbf | 26 | |
shimniok | 1:7019a60fd585 | 27 | void test() { |
shimniok | 1:7019a60fd585 | 28 | printf("Hello world!\n"); |
shimniok | 1:7019a60fd585 | 29 | } |
shimniok | 1:7019a60fd585 | 30 | |
shimniok | 9:fc3575d2cbbf | 31 | void read_gyro() |
shimniok | 9:fc3575d2cbbf | 32 | { |
shimniok | 12:3cd91e150d9c | 33 | int g[3]; |
shimniok | 13:5566df1250f1 | 34 | float dt; |
shimniok | 12:3cd91e150d9c | 35 | |
shimniok | 11:8ec858b7c6d1 | 36 | Updater *u = Updater::instance(); |
shimniok | 11:8ec858b7c6d1 | 37 | |
shimniok | 13:5566df1250f1 | 38 | u->gyro(g, dt); |
shimniok | 11:8ec858b7c6d1 | 39 | |
shimniok | 13:5566df1250f1 | 40 | printf("Gyro: %d, %d, %d - dt: %f\n", g[0], g[1], g[2], dt); |
shimniok | 12:3cd91e150d9c | 41 | } |
shimniok | 12:3cd91e150d9c | 42 | |
shimniok | 14:1dd83e626153 | 43 | void read_enc() |
shimniok | 14:1dd83e626153 | 44 | { |
shimniok | 14:1dd83e626153 | 45 | Updater *u = Updater::instance(); |
shimniok | 14:1dd83e626153 | 46 | |
shimniok | 14:1dd83e626153 | 47 | printf("Encoder: %d\n", u->encoder()); |
shimniok | 14:1dd83e626153 | 48 | } |
shimniok | 14:1dd83e626153 | 49 | |
shimniok | 12:3cd91e150d9c | 50 | void reset() |
shimniok | 12:3cd91e150d9c | 51 | { |
shimniok | 12:3cd91e150d9c | 52 | NVIC_SystemReset(); |
shimniok | 9:fc3575d2cbbf | 53 | } |
shimniok | 9:fc3575d2cbbf | 54 | |
shimniok | 9:fc3575d2cbbf | 55 | /******** MAIN ********/ |
shimniok | 1:7019a60fd585 | 56 | |
shimniok | 0:7e98bbfd102a | 57 | // main() runs in its own thread in the OS |
shimniok | 0:7e98bbfd102a | 58 | int main() |
shimniok | 11:8ec858b7c6d1 | 59 | { |
shimniok | 0:7e98bbfd102a | 60 | printf("Bootup...\n"); |
shimniok | 0:7e98bbfd102a | 61 | fflush(stdout); |
shimniok | 1:7019a60fd585 | 62 | |
shimniok | 4:de7feb458652 | 63 | printf("Loading config...\n"); |
shimniok | 7:1f2661b840ed | 64 | config.add("intercept_distance", Config::DOUBLE); |
shimniok | 7:1f2661b840ed | 65 | config.add("waypoint_threshold", Config::DOUBLE); |
shimniok | 7:1f2661b840ed | 66 | config.add("minimum_turning_radius", Config::DOUBLE); |
shimniok | 7:1f2661b840ed | 67 | config.add("wheelbase", Config::DOUBLE); |
shimniok | 7:1f2661b840ed | 68 | config.add("track_width", Config::DOUBLE); |
shimniok | 7:1f2661b840ed | 69 | config.add("tire_circumference", Config::DOUBLE); |
shimniok | 7:1f2661b840ed | 70 | config.add("encoder_stripes", Config::INT); |
shimniok | 7:1f2661b840ed | 71 | config.add("esc_brake", Config::INT); |
shimniok | 7:1f2661b840ed | 72 | config.add("esc_off", Config::INT); |
shimniok | 7:1f2661b840ed | 73 | config.add("esc_max", Config::INT); |
shimniok | 7:1f2661b840ed | 74 | config.add("turn_speed", Config::DOUBLE); |
shimniok | 7:1f2661b840ed | 75 | config.add("turn_distance", Config::DOUBLE); |
shimniok | 7:1f2661b840ed | 76 | config.add("start_speed", Config::DOUBLE); |
shimniok | 7:1f2661b840ed | 77 | config.add("cruise_speed", Config::DOUBLE); |
shimniok | 7:1f2661b840ed | 78 | config.add("speed_kp", Config::DOUBLE); |
shimniok | 7:1f2661b840ed | 79 | config.add("speed_ki", Config::DOUBLE); |
shimniok | 7:1f2661b840ed | 80 | config.add("speed_kd", Config::DOUBLE); |
shimniok | 7:1f2661b840ed | 81 | config.add("steer_center", Config::DOUBLE); |
shimniok | 7:1f2661b840ed | 82 | config.add("steer_scale", Config::DOUBLE); |
shimniok | 7:1f2661b840ed | 83 | config.add("gyro_scale", Config::DOUBLE); |
shimniok | 7:1f2661b840ed | 84 | config.add("gps_valid_speed", Config::DOUBLE); |
shimniok | 7:1f2661b840ed | 85 | |
shimniok | 4:de7feb458652 | 86 | if (config.load("/etc/2018cfg.txt")) { |
shimniok | 4:de7feb458652 | 87 | printf("error loading config\n"); |
shimniok | 4:de7feb458652 | 88 | } |
shimniok | 10:9fb3feb38746 | 89 | |
shimniok | 13:5566df1250f1 | 90 | printf("Starting shell...\n"); |
shimniok | 1:7019a60fd585 | 91 | sh.attach(test, "test"); |
shimniok | 9:fc3575d2cbbf | 92 | sh.attach(read_gyro, "gyro"); |
shimniok | 14:1dd83e626153 | 93 | sh.attach(read_enc, "enc"); |
shimniok | 12:3cd91e150d9c | 94 | sh.attach(reset, "reset"); |
shimniok | 15:35c40765f7c3 | 95 | Thread shellThread; |
shimniok | 15:35c40765f7c3 | 96 | shellThread.start(callback(&sh, &SimpleShell::run)); |
shimniok | 0:7e98bbfd102a | 97 | |
shimniok | 13:5566df1250f1 | 98 | printf("Starting updater...\n"); |
shimniok | 11:8ec858b7c6d1 | 99 | Updater *u = Updater::instance(); |
shimniok | 15:35c40765f7c3 | 100 | u->setInterval(50); |
shimniok | 15:35c40765f7c3 | 101 | Thread updaterThread; |
shimniok | 15:35c40765f7c3 | 102 | updaterThread.set_priority(osPriorityRealtime); |
shimniok | 15:35c40765f7c3 | 103 | updaterThread.start(callback(u, &Updater::start)); |
shimniok | 10:9fb3feb38746 | 104 | |
shimniok | 0:7e98bbfd102a | 105 | /* |
shimniok | 0:7e98bbfd102a | 106 | FILE *fp; |
shimniok | 0:7e98bbfd102a | 107 | char buf[128]; |
shimniok | 0:7e98bbfd102a | 108 | printf("Initializing the block device... "); |
shimniok | 0:7e98bbfd102a | 109 | fflush(stdout); |
shimniok | 0:7e98bbfd102a | 110 | int err = bd.init(); |
shimniok | 0:7e98bbfd102a | 111 | printf("%s\n", (err ? "Fail :(" : "OK")); |
shimniok | 0:7e98bbfd102a | 112 | |
shimniok | 0:7e98bbfd102a | 113 | printf("Opening sdtest.txt..."); |
shimniok | 0:7e98bbfd102a | 114 | fp = fopen("/log/sdtest.txt", "r"); |
shimniok | 0:7e98bbfd102a | 115 | if(fp) { |
shimniok | 0:7e98bbfd102a | 116 | while (!feof(fp)) { |
shimniok | 0:7e98bbfd102a | 117 | fgets(buf, 127, fp); |
shimniok | 0:7e98bbfd102a | 118 | printf(buf); |
shimniok | 0:7e98bbfd102a | 119 | } |
shimniok | 0:7e98bbfd102a | 120 | fclose(fp); |
shimniok | 0:7e98bbfd102a | 121 | } |
shimniok | 0:7e98bbfd102a | 122 | |
shimniok | 0:7e98bbfd102a | 123 | printf("Opening config.txt..."); |
shimniok | 0:7e98bbfd102a | 124 | fp = fopen("/etc/config.txt", "r"); |
shimniok | 0:7e98bbfd102a | 125 | if(fp) { |
shimniok | 0:7e98bbfd102a | 126 | while (!feof(fp)) { |
shimniok | 0:7e98bbfd102a | 127 | fgets(buf, 127, fp); |
shimniok | 0:7e98bbfd102a | 128 | printf(buf); |
shimniok | 0:7e98bbfd102a | 129 | } |
shimniok | 0:7e98bbfd102a | 130 | fclose(fp); |
shimniok | 0:7e98bbfd102a | 131 | } |
shimniok | 0:7e98bbfd102a | 132 | */ |
shimniok | 0:7e98bbfd102a | 133 | |
shimniok | 0:7e98bbfd102a | 134 | //SystemReport sys_state(500); |
shimniok | 0:7e98bbfd102a | 135 | |
shimniok | 0:7e98bbfd102a | 136 | while (true) { |
shimniok | 0:7e98bbfd102a | 137 | // Blink LED and wait 0.5 seconds |
shimniok | 0:7e98bbfd102a | 138 | led1 = !led1; |
shimniok | 0:7e98bbfd102a | 139 | wait(0.5f); |
shimniok | 0:7e98bbfd102a | 140 | |
shimniok | 0:7e98bbfd102a | 141 | // Following the main thread wait, report on the current system status |
shimniok | 0:7e98bbfd102a | 142 | //sys_state.report_state(); |
shimniok | 0:7e98bbfd102a | 143 | } |
shimniok | 0:7e98bbfd102a | 144 | } |