Sille Van Landschoot / Mbed 2 deprecated m3Dpi-helloworld

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Dependencies:   m3Dpi mbed-rtos mbed MbedJSONValue

main.cpp@14:06576ab99415, 2016-01-20 (annotated)

Committer:
sillevl
Date:
Wed Jan 20 17:21:31 2016 +0000
Revision:
14:06576ab99415
Parent:
13:d6374484b953
Child:
16:0043244f8a61
adding RTOS to manage tasks

Who changed what in which revision?

UserRevisionLine numberNew contents of line
sillevl 7:9068fc754a0b 1 #include "mbed.h"
sillevl 14:06576ab99415 2 #include "rtos.h"
sillevl 1:6f620263c9f8 3 #include "M3Dpi.h"
sillevl 7:9068fc754a0b 4 #include "jsonReporter.h"
sillevl 13:d6374484b953 5 #include "binaryReporter.h"
sillevl 6:414e1fea64f3 6
sillevl 14:06576ab99415 7 const char M3DPI_ID[] = "1234567890";
sillevl 6:414e1fea64f3 8
sillevl 7:9068fc754a0b 9 M3Dpi robot;
sillevl 7:9068fc754a0b 10 Serial pc(USBTX,USBRX);
sillevl 14:06576ab99415 11 Reporter* report = new JsonReporter(&pc, M3DPI_ID);
sillevl 11:ccb8653e285f 12
sillevl 11:ccb8653e285f 13 m3dpi::Distance distance;
sillevl 11:ccb8653e285f 14 m3dpi::Direction direction;
sillevl 11:ccb8653e285f 15 m3dpi::Rotation rotation;
sillevl 11:ccb8653e285f 16 m3dpi::Acceleration acceleration;
sillevl 6:414e1fea64f3 17
sillevl 6:414e1fea64f3 18
sillevl 6:414e1fea64f3 19 void setLeds(m3dpi::Distance distance)
sillevl 6:414e1fea64f3 20 {
sillevl 6:414e1fea64f3 21 int colors[8] = {distance.front, distance.front_right, distance.right, distance.back_right, distance.back, distance.back_left, distance.left, distance.front_left};
sillevl 6:414e1fea64f3 22 // shift distance value to get red colors
sillevl 6:414e1fea64f3 23 for(int i = 0; i < 8; i++){
sillevl 14:06576ab99415 24 colors[i] = ((~(colors[i]*2)) & 0xFF) << 16;
sillevl 6:414e1fea64f3 25 }
sillevl 6:414e1fea64f3 26 robot.setLeds(colors);
sillevl 6:414e1fea64f3 27 }
sillevl 6:414e1fea64f3 28
sillevl 14:06576ab99415 29 void read_sensors_task(void const *name)
sillevl 6:414e1fea64f3 30 {
sillevl 14:06576ab99415 31 //Timer t; t.start();
sillevl 7:9068fc754a0b 32 robot.setStatus(Color::GREEN);
sillevl 11:ccb8653e285f 33 ::distance = robot.getDistance();
sillevl 11:ccb8653e285f 34 direction = robot.getDirection();
sillevl 11:ccb8653e285f 35 rotation = robot.getRotation();
sillevl 11:ccb8653e285f 36 acceleration = robot.getAcceleration();
sillevl 11:ccb8653e285f 37 setLeds(::distance);
sillevl 11:ccb8653e285f 38 robot.setStatus(Color::BLACK);
sillevl 14:06576ab99415 39 //t.stop();pc.printf("*** Sensor acquisition time: %d us\r\n", t.read_us());
sillevl 14:06576ab99415 40 }
sillevl 14:06576ab99415 41
sillevl 14:06576ab99415 42 void report_task(void const *name)
sillevl 14:06576ab99415 43 {
sillevl 14:06576ab99415 44 //Timer t; t.start();
sillevl 14:06576ab99415 45 report->distance(::distance);
sillevl 14:06576ab99415 46 report->direction(direction);
sillevl 14:06576ab99415 47 report->rotation(rotation);
sillevl 14:06576ab99415 48 report->acceleration(acceleration);
sillevl 14:06576ab99415 49 //t.stop();pc.printf("*** Report time: %d us\r\n", t.read_us());
sillevl 14:06576ab99415 50 }
sillevl 14:06576ab99415 51
sillevl 14:06576ab99415 52 void receive_task(void const *name)
sillevl 14:06576ab99415 53 {
sillevl 14:06576ab99415 54
sillevl 14:06576ab99415 55 }
sillevl 14:06576ab99415 56
sillevl 14:06576ab99415 57 void idle_task(void const *name)
sillevl 14:06576ab99415 58 {
sillevl 14:06576ab99415 59
sillevl 6:414e1fea64f3 60 }
sillevl 0:ab0ce9ab81bf 61
sillevl 1:6f620263c9f8 62 int main()
sillevl 6:414e1fea64f3 63 {
sillevl 1:6f620263c9f8 64 pc.baud(115200);
sillevl 14:06576ab99415 65
sillevl 14:06576ab99415 66 RtosTimer read_sensors_timer(read_sensors_task, osTimerPeriodic);
sillevl 14:06576ab99415 67 read_sensors_timer.start(50);
sillevl 14:06576ab99415 68
sillevl 14:06576ab99415 69 RtosTimer report_timer(report_task, osTimerPeriodic);
sillevl 14:06576ab99415 70 report_timer.start(500);
sillevl 14:06576ab99415 71
sillevl 14:06576ab99415 72 Thread receive_thread(receive_task);
sillevl 14:06576ab99415 73 Thread idle_thread(idle_task, NULL, osPriorityLow);
sillevl 14:06576ab99415 74
sillevl 14:06576ab99415 75 Thread::wait(osWaitForever);
sillevl 0:ab0ce9ab81bf 76 }