2018 revision to classic DataBus AVC code.
Dependencies: LSM303DLM Servo SerialGraphicLCD L3G4200D IncrementalEncoder SimpleShell
main.cpp@29:cb2f55fbfe9c, 2018-12-22 (annotated)
- Committer:
- shimniok
- Date:
- Sat Dec 22 20:28:52 2018 +0000
- Revision:
- 29:cb2f55fbfe9c
- Parent:
- 27:bfe141fad082
- Child:
- 30:ed791f1f7f7d
Updates to shell. Implemented eventqueue-based data logging for gps. added start/stop/enabled functions to Logger and shell commands to start/stop/status logging
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 | 0:7e98bbfd102a | 13 | #include "SimpleShell.h" |
shimniok | 4:de7feb458652 | 14 | #include "Config.h" |
shimniok | 11:8ec858b7c6d1 | 15 | #include "Updater.h" |
shimniok | 16:eb28d0f64a9b | 16 | #include "Ublox6.h" |
shimniok | 24:a7f92dfc5310 | 17 | #include "Logger.h" |
shimniok | 24:a7f92dfc5310 | 18 | #include "SystemState.h" |
shimniok | 0:7e98bbfd102a | 19 | |
shimniok | 24:a7f92dfc5310 | 20 | /////////////////////////////////////////////////////////////////////////////// |
shimniok | 24:a7f92dfc5310 | 21 | // Config |
shimniok | 24:a7f92dfc5310 | 22 | Config config; |
shimniok | 24:a7f92dfc5310 | 23 | |
shimniok | 24:a7f92dfc5310 | 24 | /////////////////////////////////////////////////////////////////////////////// |
shimniok | 24:a7f92dfc5310 | 25 | // Devices |
shimniok | 0:7e98bbfd102a | 26 | LocalFileSystem lfs("etc"); |
shimniok | 24:a7f92dfc5310 | 27 | SDBlockDevice bd(p5, p6, p7, p8); // MOSI, MISO, CLK, CS |
shimniok | 24:a7f92dfc5310 | 28 | FATFileSystem ffs("log", &bd); |
shimniok | 24:a7f92dfc5310 | 29 | Serial pc(USBTX, USBRX); |
shimniok | 0:7e98bbfd102a | 30 | DigitalOut led1(LED1); |
shimniok | 25:b8176ebb96c6 | 31 | DigitalOut led2(LED2); |
shimniok | 20:043987d06f8d | 32 | RawSerial s(UART1TX, UART1RX, 38400); |
shimniok | 20:043987d06f8d | 33 | |
shimniok | 24:a7f92dfc5310 | 34 | /////////////////////////////////////////////////////////////////////////////// |
shimniok | 24:a7f92dfc5310 | 35 | // Idle hook |
shimniok | 24:a7f92dfc5310 | 36 | void idler() { |
shimniok | 24:a7f92dfc5310 | 37 | while(1) { |
shimniok | 24:a7f92dfc5310 | 38 | led1 = !led1; |
shimniok | 24:a7f92dfc5310 | 39 | wait(0.1); |
shimniok | 24:a7f92dfc5310 | 40 | } |
shimniok | 24:a7f92dfc5310 | 41 | } |
shimniok | 19:0d1728091519 | 42 | |
shimniok | 24:a7f92dfc5310 | 43 | /////////////////////////////////////////////////////////////////////////////// |
shimniok | 24:a7f92dfc5310 | 44 | // Logging |
shimniok | 29:cb2f55fbfe9c | 45 | EventQueue logQueue(16 * EVENTS_EVENT_SIZE); |
shimniok | 29:cb2f55fbfe9c | 46 | Logger logger("/log/test.csv"); |
shimniok | 25:b8176ebb96c6 | 47 | |
shimniok | 25:b8176ebb96c6 | 48 | /////////////////////////////////////////////////////////////////////////////// |
shimniok | 25:b8176ebb96c6 | 49 | // Updater |
shimniok | 25:b8176ebb96c6 | 50 | Updater *u = Updater::instance(); |
shimniok | 26:2dc31a801cc8 | 51 | EventQueue updaterQueue(8 * EVENTS_EVENT_SIZE); |
shimniok | 25:b8176ebb96c6 | 52 | |
shimniok | 25:b8176ebb96c6 | 53 | void updater_callback() { |
shimniok | 25:b8176ebb96c6 | 54 | led1 = !led1; |
shimniok | 25:b8176ebb96c6 | 55 | } |
shimniok | 25:b8176ebb96c6 | 56 | |
shimniok | 24:a7f92dfc5310 | 57 | /////////////////////////////////////////////////////////////////////////////// |
shimniok | 24:a7f92dfc5310 | 58 | // GPS |
shimniok | 24:a7f92dfc5310 | 59 | Ublox6 ublox; |
shimniok | 24:a7f92dfc5310 | 60 | EventQueue gpsQueue(8 * EVENTS_EVENT_SIZE); |
shimniok | 23:5e61cf4a8c34 | 61 | |
shimniok | 23:5e61cf4a8c34 | 62 | // Callback for gps parse data ready |
shimniok | 23:5e61cf4a8c34 | 63 | void gps_callback() { |
shimniok | 24:a7f92dfc5310 | 64 | GpsData d; |
shimniok | 24:a7f92dfc5310 | 65 | |
shimniok | 25:b8176ebb96c6 | 66 | led2 = !led2; |
shimniok | 24:a7f92dfc5310 | 67 | ublox.read(d.latitude, d.longitude, d.course, d.speed, d.hdop, d.svcount); |
shimniok | 29:cb2f55fbfe9c | 68 | logQueue.call(&logger, &Logger::log_gps, d); |
shimniok | 23:5e61cf4a8c34 | 69 | } |
shimniok | 29:cb2f55fbfe9c | 70 | |
shimniok | 22:4d62bd16f037 | 71 | // ISR for GPS serial, passes off to thread |
shimniok | 20:043987d06f8d | 72 | void gps_handler() { |
shimniok | 22:4d62bd16f037 | 73 | while (s.readable()) { |
shimniok | 22:4d62bd16f037 | 74 | int c = s.getc(); |
shimniok | 22:4d62bd16f037 | 75 | gpsQueue.call(&ublox, &Ublox6::parse, c); |
shimniok | 16:eb28d0f64a9b | 76 | } |
shimniok | 19:0d1728091519 | 77 | } |
shimniok | 16:eb28d0f64a9b | 78 | |
shimniok | 24:a7f92dfc5310 | 79 | /////////////////////////////////////////////////////////////////////////////// |
shimniok | 24:a7f92dfc5310 | 80 | // Shell |
shimniok | 24:a7f92dfc5310 | 81 | SimpleShell sh; |
shimniok | 9:fc3575d2cbbf | 82 | |
shimniok | 24:a7f92dfc5310 | 83 | void test(int argc, char **argv) { |
shimniok | 1:7019a60fd585 | 84 | printf("Hello world!\n"); |
shimniok | 1:7019a60fd585 | 85 | } |
shimniok | 1:7019a60fd585 | 86 | |
shimniok | 24:a7f92dfc5310 | 87 | void stats(int argc, char **argv) { |
shimniok | 24:a7f92dfc5310 | 88 | SystemReport r(200); |
shimniok | 24:a7f92dfc5310 | 89 | r.report_state(); |
shimniok | 24:a7f92dfc5310 | 90 | return; |
shimniok | 24:a7f92dfc5310 | 91 | } |
shimniok | 24:a7f92dfc5310 | 92 | |
shimniok | 24:a7f92dfc5310 | 93 | void read_gps(int argc, char **argv) |
shimniok | 18:3f8a8f6e3cc1 | 94 | { |
shimniok | 18:3f8a8f6e3cc1 | 95 | double lat=0; |
shimniok | 18:3f8a8f6e3cc1 | 96 | double lon=0; |
shimniok | 18:3f8a8f6e3cc1 | 97 | float course=0; |
shimniok | 18:3f8a8f6e3cc1 | 98 | float speed=0; |
shimniok | 18:3f8a8f6e3cc1 | 99 | float hdop=0.0; |
shimniok | 18:3f8a8f6e3cc1 | 100 | int svcount=0; |
shimniok | 18:3f8a8f6e3cc1 | 101 | |
shimniok | 18:3f8a8f6e3cc1 | 102 | ublox.read(lat, lon, course, speed, hdop, svcount); |
shimniok | 18:3f8a8f6e3cc1 | 103 | printf("%3.7f %3.7f\n", lat, lon); |
shimniok | 18:3f8a8f6e3cc1 | 104 | printf("hdg=%03.1f deg spd=%3.1f m/s\n", course, speed); |
shimniok | 18:3f8a8f6e3cc1 | 105 | printf("%d %f\n", svcount, hdop); |
shimniok | 18:3f8a8f6e3cc1 | 106 | } |
shimniok | 18:3f8a8f6e3cc1 | 107 | |
shimniok | 24:a7f92dfc5310 | 108 | void read_gyro(int argc, char **argv) |
shimniok | 9:fc3575d2cbbf | 109 | { |
shimniok | 12:3cd91e150d9c | 110 | int g[3]; |
shimniok | 13:5566df1250f1 | 111 | float dt; |
shimniok | 12:3cd91e150d9c | 112 | |
shimniok | 11:8ec858b7c6d1 | 113 | Updater *u = Updater::instance(); |
shimniok | 11:8ec858b7c6d1 | 114 | |
shimniok | 13:5566df1250f1 | 115 | u->gyro(g, dt); |
shimniok | 11:8ec858b7c6d1 | 116 | |
shimniok | 13:5566df1250f1 | 117 | printf("Gyro: %d, %d, %d - dt: %f\n", g[0], g[1], g[2], dt); |
shimniok | 12:3cd91e150d9c | 118 | } |
shimniok | 12:3cd91e150d9c | 119 | |
shimniok | 24:a7f92dfc5310 | 120 | void read_enc(int argc, char **argv) |
shimniok | 14:1dd83e626153 | 121 | { |
shimniok | 14:1dd83e626153 | 122 | Updater *u = Updater::instance(); |
shimniok | 14:1dd83e626153 | 123 | |
shimniok | 14:1dd83e626153 | 124 | printf("Encoder: %d\n", u->encoder()); |
shimniok | 14:1dd83e626153 | 125 | } |
shimniok | 14:1dd83e626153 | 126 | |
shimniok | 29:cb2f55fbfe9c | 127 | void log(int argc, char **argv) |
shimniok | 29:cb2f55fbfe9c | 128 | { |
shimniok | 29:cb2f55fbfe9c | 129 | char *usage = "usage: log [start|stop]"; |
shimniok | 29:cb2f55fbfe9c | 130 | |
shimniok | 29:cb2f55fbfe9c | 131 | if (argc == 1) { |
shimniok | 29:cb2f55fbfe9c | 132 | printf("logging "); |
shimniok | 29:cb2f55fbfe9c | 133 | if (logger.enabled()) |
shimniok | 29:cb2f55fbfe9c | 134 | printf("enabled"); |
shimniok | 29:cb2f55fbfe9c | 135 | else |
shimniok | 29:cb2f55fbfe9c | 136 | printf("disabled"); |
shimniok | 29:cb2f55fbfe9c | 137 | printf("\n"); |
shimniok | 29:cb2f55fbfe9c | 138 | } else if (argc == 2) { |
shimniok | 29:cb2f55fbfe9c | 139 | if (!strcmp("start", argv[1])) { |
shimniok | 29:cb2f55fbfe9c | 140 | logger.start(); |
shimniok | 29:cb2f55fbfe9c | 141 | } else if (!strcmp("stop", argv[1])) { |
shimniok | 29:cb2f55fbfe9c | 142 | logger.stop(); |
shimniok | 29:cb2f55fbfe9c | 143 | } else { |
shimniok | 29:cb2f55fbfe9c | 144 | puts(usage); |
shimniok | 29:cb2f55fbfe9c | 145 | } |
shimniok | 29:cb2f55fbfe9c | 146 | } else { |
shimniok | 29:cb2f55fbfe9c | 147 | puts(usage); |
shimniok | 29:cb2f55fbfe9c | 148 | } |
shimniok | 29:cb2f55fbfe9c | 149 | } |
shimniok | 29:cb2f55fbfe9c | 150 | |
shimniok | 29:cb2f55fbfe9c | 151 | |
shimniok | 24:a7f92dfc5310 | 152 | void bridge_uart1(int argc, char **argv) { |
shimniok | 20:043987d06f8d | 153 | RawSerial s(UART1TX, UART1RX, 38400); |
shimniok | 20:043987d06f8d | 154 | while (1) { |
shimniok | 20:043987d06f8d | 155 | if (pc.readable()) s.putc(pc.getc()); |
shimniok | 20:043987d06f8d | 156 | if (s.readable()) pc.putc(s.getc()); |
shimniok | 20:043987d06f8d | 157 | } |
shimniok | 20:043987d06f8d | 158 | } |
shimniok | 20:043987d06f8d | 159 | |
shimniok | 24:a7f92dfc5310 | 160 | void reset(int argc, char **argv) |
shimniok | 12:3cd91e150d9c | 161 | { |
shimniok | 12:3cd91e150d9c | 162 | NVIC_SystemReset(); |
shimniok | 9:fc3575d2cbbf | 163 | } |
shimniok | 9:fc3575d2cbbf | 164 | |
shimniok | 24:a7f92dfc5310 | 165 | /////////////////////////////////////////////////////////////////////////////// |
shimniok | 24:a7f92dfc5310 | 166 | // MAIN |
shimniok | 1:7019a60fd585 | 167 | |
shimniok | 0:7e98bbfd102a | 168 | // main() runs in its own thread in the OS |
shimniok | 0:7e98bbfd102a | 169 | int main() |
shimniok | 11:8ec858b7c6d1 | 170 | { |
shimniok | 20:043987d06f8d | 171 | //bridge_uart1(); |
shimniok | 24:a7f92dfc5310 | 172 | |
shimniok | 25:b8176ebb96c6 | 173 | //Kernel::attach_idle_hook(idler); |
shimniok | 20:043987d06f8d | 174 | |
shimniok | 0:7e98bbfd102a | 175 | printf("Bootup...\n"); |
shimniok | 0:7e98bbfd102a | 176 | fflush(stdout); |
shimniok | 1:7019a60fd585 | 177 | |
shimniok | 4:de7feb458652 | 178 | printf("Loading config...\n"); |
shimniok | 7:1f2661b840ed | 179 | config.add("intercept_distance", Config::DOUBLE); |
shimniok | 7:1f2661b840ed | 180 | config.add("waypoint_threshold", Config::DOUBLE); |
shimniok | 7:1f2661b840ed | 181 | config.add("minimum_turning_radius", Config::DOUBLE); |
shimniok | 7:1f2661b840ed | 182 | config.add("wheelbase", Config::DOUBLE); |
shimniok | 7:1f2661b840ed | 183 | config.add("track_width", Config::DOUBLE); |
shimniok | 7:1f2661b840ed | 184 | config.add("tire_circumference", Config::DOUBLE); |
shimniok | 7:1f2661b840ed | 185 | config.add("encoder_stripes", Config::INT); |
shimniok | 7:1f2661b840ed | 186 | config.add("esc_brake", Config::INT); |
shimniok | 7:1f2661b840ed | 187 | config.add("esc_off", Config::INT); |
shimniok | 7:1f2661b840ed | 188 | config.add("esc_max", Config::INT); |
shimniok | 7:1f2661b840ed | 189 | config.add("turn_speed", Config::DOUBLE); |
shimniok | 7:1f2661b840ed | 190 | config.add("turn_distance", Config::DOUBLE); |
shimniok | 7:1f2661b840ed | 191 | config.add("start_speed", Config::DOUBLE); |
shimniok | 7:1f2661b840ed | 192 | config.add("cruise_speed", Config::DOUBLE); |
shimniok | 7:1f2661b840ed | 193 | config.add("speed_kp", Config::DOUBLE); |
shimniok | 7:1f2661b840ed | 194 | config.add("speed_ki", Config::DOUBLE); |
shimniok | 7:1f2661b840ed | 195 | config.add("speed_kd", Config::DOUBLE); |
shimniok | 7:1f2661b840ed | 196 | config.add("steer_center", Config::DOUBLE); |
shimniok | 7:1f2661b840ed | 197 | config.add("steer_scale", Config::DOUBLE); |
shimniok | 7:1f2661b840ed | 198 | config.add("gyro_scale", Config::DOUBLE); |
shimniok | 7:1f2661b840ed | 199 | config.add("gps_valid_speed", Config::DOUBLE); |
shimniok | 7:1f2661b840ed | 200 | |
shimniok | 4:de7feb458652 | 201 | if (config.load("/etc/2018cfg.txt")) { |
shimniok | 4:de7feb458652 | 202 | printf("error loading config\n"); |
shimniok | 4:de7feb458652 | 203 | } |
shimniok | 10:9fb3feb38746 | 204 | |
shimniok | 24:a7f92dfc5310 | 205 | printf("Starting updater...\n"); |
shimniok | 25:b8176ebb96c6 | 206 | u->attach(updater_callback); |
shimniok | 24:a7f92dfc5310 | 207 | Thread updaterThread(osPriorityRealtime, 512, 0, "updater"); |
shimniok | 26:2dc31a801cc8 | 208 | updaterQueue.call_every(20, u, &Updater::update); |
shimniok | 26:2dc31a801cc8 | 209 | updaterThread.start(callback(&updaterQueue, &EventQueue::dispatch_forever)); |
shimniok | 24:a7f92dfc5310 | 210 | |
shimniok | 24:a7f92dfc5310 | 211 | printf("Starting gps...\n"); |
shimniok | 29:cb2f55fbfe9c | 212 | Thread gpsThread(osPriorityHigh, 2048, 0, "gps"); |
shimniok | 24:a7f92dfc5310 | 213 | gpsThread.start(callback(&gpsQueue, &EventQueue::dispatch_forever)); |
shimniok | 24:a7f92dfc5310 | 214 | ublox.subscribe(gps_callback); |
shimniok | 24:a7f92dfc5310 | 215 | s.attach(gps_handler); |
shimniok | 24:a7f92dfc5310 | 216 | |
shimniok | 24:a7f92dfc5310 | 217 | printf("Starting logging...\n"); |
shimniok | 29:cb2f55fbfe9c | 218 | Thread logThread(osPriorityNormal, 2048, 0, "log"); |
shimniok | 24:a7f92dfc5310 | 219 | logThread.start(callback(&logQueue, &EventQueue::dispatch_forever)); |
shimniok | 24:a7f92dfc5310 | 220 | |
shimniok | 13:5566df1250f1 | 221 | printf("Starting shell...\n"); |
shimniok | 1:7019a60fd585 | 222 | sh.attach(test, "test"); |
shimniok | 9:fc3575d2cbbf | 223 | sh.attach(read_gyro, "gyro"); |
shimniok | 14:1dd83e626153 | 224 | sh.attach(read_enc, "enc"); |
shimniok | 18:3f8a8f6e3cc1 | 225 | sh.attach(read_gps, "gps"); |
shimniok | 12:3cd91e150d9c | 226 | sh.attach(reset, "reset"); |
shimniok | 24:a7f92dfc5310 | 227 | sh.attach(stats, "stats"); |
shimniok | 29:cb2f55fbfe9c | 228 | sh.attach(log, "log"); |
shimniok | 24:a7f92dfc5310 | 229 | sh.run(); |
shimniok | 22:4d62bd16f037 | 230 | |
shimniok | 0:7e98bbfd102a | 231 | while (true) { |
shimniok | 0:7e98bbfd102a | 232 | // Blink LED and wait 0.5 seconds |
shimniok | 0:7e98bbfd102a | 233 | led1 = !led1; |
shimniok | 0:7e98bbfd102a | 234 | wait(0.5f); |
shimniok | 0:7e98bbfd102a | 235 | } |
shimniok | 0:7e98bbfd102a | 236 | } |