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car_test
Dependencies: APDS_9960 AutomationElements ESP8266 HALLFX_ENCODER HCSR04 MotorDriver PID
Revision 2:35738c77d454, committed 2017-11-25
- Comitter:
- tgw
- Date:
- Sat Nov 25 02:04:08 2017 +0000
- Parent:
- 1:5938bdb7b0bb
- Commit message:
- test
Changed in this revision
diff -r 5938bdb7b0bb -r 35738c77d454 APDS_9960.lib --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/APDS_9960.lib Sat Nov 25 02:04:08 2017 +0000 @@ -0,0 +1,1 @@ +http://os.mbed.com/users/kbhagat6/code/APDS_9960/#ba051af6731a
diff -r 5938bdb7b0bb -r 35738c77d454 AutomationElements.lib --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/AutomationElements.lib Sat Nov 25 02:04:08 2017 +0000 @@ -0,0 +1,1 @@ +https://os.mbed.com/users/tgw/code/AutomationElements/#a45cbb512c99
diff -r 5938bdb7b0bb -r 35738c77d454 ESP8266.lib --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/ESP8266.lib Sat Nov 25 02:04:08 2017 +0000 @@ -0,0 +1,1 @@ +http://mbed.org/teams/NetworkSocketAPI/code/ESP8266/#eb00dd185c7f
diff -r 5938bdb7b0bb -r 35738c77d454 HALLFX_ENCODER.lib --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/HALLFX_ENCODER.lib Sat Nov 25 02:04:08 2017 +0000 @@ -0,0 +1,1 @@ +https://developer.mbed.org/users/electromotivated/code/HALLFX_ENCODER/#f10558519825
diff -r 5938bdb7b0bb -r 35738c77d454 HCSR04.lib --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/HCSR04.lib Sat Nov 25 02:04:08 2017 +0000 @@ -0,0 +1,1 @@ +https://os.mbed.com/users/tgw/code/HCSR04/#e53b2476821e
diff -r 5938bdb7b0bb -r 35738c77d454 MotorDriver.lib --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/MotorDriver.lib Sat Nov 25 02:04:08 2017 +0000 @@ -0,0 +1,1 @@ +https://os.mbed.com/users/tgw/code/MotorDriver/#19476b49822b
diff -r 5938bdb7b0bb -r 35738c77d454 PID.lib --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/PID.lib Sat Nov 25 02:04:08 2017 +0000 @@ -0,0 +1,1 @@ +http://developer.mbed.org/users/electromotivated/code/PID/#0cf2f6d13c71
diff -r 5938bdb7b0bb -r 35738c77d454 main.cpp
--- a/main.cpp Fri Jun 23 14:21:38 2017 -0500
+++ b/main.cpp Sat Nov 25 02:04:08 2017 +0000
@@ -1,3 +1,286 @@
+#include "mbed.h"
+
+#include "HALLFX_ENCODER.h"
+#include "MotorDriver.h"
+
+#include "HCSR04.h"
+#include "AutomationElements.h"
+
+#include "glibr.h"
+
+Thread thread;
+DigitalOut led1(LED1);
+volatile bool running = true;
+
+//----------------------motor
+MotorDriver mtrR(PA_0, PA_4, PA_1, 10000.0, true); // in1, in2, pwm, pwmFreq, isBrakeable
+MotorDriver mtrL(PC_1, PC_0, PB_0, 10000.0, true); // in1, in2, pwm, pwmFreq, isBrakeable
+HALLFX_ENCODER encR(PB_3);
+HALLFX_ENCODER encL(PB_5);
+
+//------------------------hc-sr04
+Serial pc(USBTX, USBRX);
+HCSR04 sensor(PA_6, PA_7);
+float sampleTime = 0.1;
+PT1 filter(1, 2, sampleTime);
+Timer timer;
+float distance;
+float filteredDistance;
+
+//----------------------------GSensor APDS-9960
+glibr GSensor(PB_9,PB_8);//i2c
+int ge_diff;//gesture differentiate
+
+Thread thread_sonar;
+Thread thread_motor;
+Thread thread_gsensor;
+
+int txlength_sonar;
+int txlength_motor;
+int txlength_gsensor;
+
+char txbuf_sonar[256];
+char txbuf_motor[256];
+char txbuf_gsensor[256];
+
+Thread thread_pc_send;
+void pc_send_Thread(){
+ while(true)
+ {
+ if(txlength_sonar>0)
+ {
+ puts(txbuf_sonar);
+ memset(&txbuf_sonar,0,256);
+ txlength_sonar=0;
+ }
+ else if(txlength_motor>0)
+ {
+ puts(txbuf_motor);
+ memset(&txbuf_motor,0,256);
+ txlength_motor=0;
+ }
+ else if(txlength_gsensor>0)
+ {
+ puts(txbuf_gsensor);
+ memset(&txbuf_gsensor,0,256);
+ txlength_gsensor=0;
+ led1=!led1;
+ }
+ //wait_ms(50);
+ }
+}
+//void motorThread(void const *argument){
+void motorThread(){
+ pc.printf("motor : start.....\r\n");
+ encL.reset();
+ encR.reset();
+ while(true)
+ {
+ switch ( ge_diff )
+ { // gesture differentiate
+ case DIR_UP:
+ mtrL.forceSetSpeed(0.1);
+ mtrR.forceSetSpeed(0.1);
+ break;
+ case DIR_DOWN:
+ mtrL.forceSetSpeed(-0.1);
+ mtrR.forceSetSpeed(-0.1);
+ break;
+ case DIR_LEFT:
+ mtrL.forceSetSpeed(-0.1);
+ mtrR.forceSetSpeed(0.1);
+ break;
+ case DIR_RIGHT:
+ mtrL.forceSetSpeed(0.1);
+ mtrR.forceSetSpeed(-0.1);
+ break;
+ case DIR_NEAR:
+ mtrL.forceSetSpeed(0);
+ mtrR.forceSetSpeed(0);
+ break;
+ case DIR_FAR:
+ mtrL.forceSetSpeed(0.1);
+ mtrR.forceSetSpeed(0.1);
+ break;
+ default:
+ if(filteredDistance>2 && filteredDistance <=25)
+ {
+ mtrL.forceSetSpeed(-0.1);
+ mtrR.forceSetSpeed(0.1);
+ }
+ else if( filteredDistance>2 && filteredDistance <400)
+ {
+ mtrL.forceSetSpeed(0.1);
+ mtrR.forceSetSpeed(0.1);
+ }
+ else
+ {
+ mtrL.forceSetSpeed(0);
+ mtrR.forceSetSpeed(0);
+ }
+ break;
+ }
+
+ /*
+ // Set motor speed in open loop mode
+ // Motor direction based on working setpoint var
+ int dirL, dirR;
+ if(working_setpoint < 0.0){
+ dirL = -1; dirR = -1;
+ }
+ else{
+ dirL = 1; dirR = 1;
+ }
+ float speed = abs(working_setpoint) / 90.0; // Normalize based on 90 RPM
+ mtrL.forceSetSpeed(speed * dirL);
+ mtrR.forceSetSpeed(speed * dirR);
+ */
+ wait(0.1);
+ if(ge_diff!=DIR_NEAR)ge_diff=DIR_NONE;
+ }
+}
+
+//void sonarThread(void const *argument){
+void sonarThread(){
+//int t_ms=0;
+ sensor.setRanges(2, 400);
+ pc.printf("Minimum sensor range = %g cm\n\rMaximum sensor range = %g cm\n\r", sensor.getMinRange(), sensor.getMaxRange());
+ pc.printf("Sensor: Filtered:\n\r");
+ while(true) {
+ led1=1;
+ timer.reset();
+ timer.start();
+ sensor.startMeasurement();
+
+ /*
+ while(!sensor.isNewDataReady()) {
+ // waiting time depends on the distance
+ // wait for new data
+ }
+ */
+ wait_ms(50);
+
+ distance = sensor.getDistance_cm();
+ filter.in(distance);
+ filteredDistance = filter.out();
+ //pc.printf("%7.1f cm %7.1f cm\n\r", distance, filteredDistance);
+ sprintf(txbuf_sonar,"sensor : %7.1f cm %7.1f cm\n\r", distance, filteredDistance);
+ txlength_sonar=8;
+ //timer.stop();
+ //t_ms=timer.read_ms();
+ //if(t_ms<100)wait_ms(sampleTime * 1000 - timer.read_ms()); // time the loop
+ led1=0;
+ }
+}
+
+//void gsensorThread(void const *argument){
+void gsensorThread(){
+ // Initialize Sensor with I2C
+ if ( GSensor.ginit() ) {
+ pc.printf("APDS-9960 initialization complete\r\n");
+ } else {
+ pc.printf("Something went wrong during APDS-9960 init\r\n");
+ }
+
+ // Start running the APDS-9960 gesture sensor engine
+ if ( GSensor.enableGestureSensor(true) ) {
+ pc.printf("Gesture sensor is now running\r\n");
+ } else {
+ pc.printf("Something went wrong during gesture sensor init!\r\n");
+ }
+
+ while(1) {
+ if ( GSensor.isGestureAvailable() ) { // gesture detect
+
+ switch ( GSensor.readGesture() ) { // gesture differentiate
+ case DIR_UP:
+ ge_diff=DIR_UP;
+ //pc.printf("UP\r\n");
+ sprintf(txbuf_gsensor,"GSensor : UP\r\n");
+ txlength_gsensor=16;
+ break;
+ case DIR_DOWN:
+ ge_diff=DIR_DOWN;
+ //pc.printf("DOWN\r\n");
+ sprintf(txbuf_gsensor,"GSensor : DOWN\r\n");
+ txlength_gsensor=18;
+ break;
+ case DIR_LEFT:
+ ge_diff=DIR_LEFT;
+ //pc.printf("LEFT\r\n");
+ sprintf(txbuf_gsensor,"GSensor : LEFT\r\n");
+ txlength_gsensor=18;
+ break;
+ case DIR_RIGHT:
+ ge_diff=DIR_RIGHT;
+ //pc.printf("RIGHT\r\n");
+ sprintf(txbuf_gsensor,"GSensor : RIGHT\r\n");
+ txlength_gsensor=19;
+ break;
+ case DIR_NEAR:
+ ge_diff=DIR_NEAR;
+ //pc.printf("NEAR\r\n");
+ sprintf(txbuf_gsensor,"GSensor : NEAR\r\n");
+ txlength_gsensor=18;
+ break;
+ case DIR_FAR:
+ ge_diff=DIR_FAR;
+ //pc.printf("FAR\r\n");
+ sprintf(txbuf_gsensor,"GSensor : FAR\r\n");
+ txlength_gsensor=17;
+ break;
+ default:
+ //ge_diff=DIR_NONE;
+ //pc.printf("NONE\r\n");
+ break;
+ }
+ }
+ }
+}
+// Blink function toggles the led in a long running loop
+void blink(DigitalOut *led) {
+ while (running) {
+ *led = !*led;
+ wait(1);
+ }
+}
+void callback_ex() {
+ // Note: you need to actually read from the serial to clear the RX interrupt
+ int tmp=pc.getc();
+ //printf("%c\n", tmp);
+}
+// Spawns a thread to run blink for 5 seconds
+int main() {
+ pc.baud(9600);
+ pc.attach(&callback_ex);
+ thread_pc_send.start(callback(pc_send_Thread));
+
+ thread.start(callback(blink, &led1));
+
+ wait(5);
+ running = false;
+ thread.join();
+
+ thread_gsensor.start(callback(gsensorThread));
+ wait(1);
+ thread_motor.start(callback(motorThread));
+ wait(1);
+ //thread_sonar.start(callback(sonarThread));
+
+ //Thread thread_sonar(sonarThread);
+}
+
+/*
+主程序指定中断函数
+flipper.attach(&flip, 2.0); // the address of the function to be attached (flip) and the interval (2 seconds)
+
+主程序指定 类 的 方法
+t.attach(callback(&f, &Flipper::flip), 2.0); // the address of the object, member function, and interval
+
+
+1、线程
+需加载mbed-os
+
#include "mbed.h"
Thread thread;
@@ -18,4 +301,188 @@
wait(5);
running = false;
thread.join();
-}
\ No newline at end of file
+}
+
+
+2、休眠+按键中断唤醒
+需更新mbed
+使用F401板时，IDD电流测试，运行时:18mA，灯亮时21 .2mA，睡眠时：6.26 mA，深度睡眠时：0.68 mA，
+
+RTC唤醒使用第三方类（未测试）
+
+#include "mbed.h"
+
+InterruptIn event(USER_BUTTON);
+DigitalOut myled(LED1);
+
+int go_to_sleep = 0;
+
+void pressed()
+{
+ printf("Button pressed\n");
+ go_to_sleep = go_to_sleep + 1;
+ if (go_to_sleep > 3) go_to_sleep = 0;
+
+}
+
+int main()
+{
+ int i = 0;
+
+ printf("\nPress Button to enter/exit sleep & deepsleep\n");
+
+ event.fall(&pressed);
+
+ while (1) {
+
+ if ((go_to_sleep == 0) || (go_to_sleep == 2)) {
+ printf("%d: Running\n", i);
+ myled = !myled;
+ wait(1.0);
+ }
+
+ if (go_to_sleep == 1) {
+ myled = 0;
+ printf("%d: Entering sleep (press user button to resume)\n", i);
+ sleep();
+ }
+
+ if (go_to_sleep == 3) {
+ myled = 0;
+ printf("%d: Entering deepsleep (press user button to resume)\n", i);
+ deepsleep();
+ }
+
+ i++;
+ }
+}
+
+
+3、系统定时器中断
+#include "mbed.h"
+
+Ticker toggle_led_ticker;
+
+DigitalOut led1(LED1);
+
+void toggle_led() {
+ led1 = !led1;
+}
+
+int main() {
+ // Init the ticker with the address of the function (toggle_led) to be attached and the interval (100 ms)
+ toggle_led_ticker.attach(&toggle_led, 0.1);
+ while (true) {
+ // Do other things...
+ }
+}
+
+4、超时定时器中断
+#include "mbed.h"
+
+// A class for flip()-ing a DigitalOut
+class Flipper {
+public:
+ Flipper(PinName pin) : _pin(pin) {
+ _pin = 0;
+ }
+ void flip() {
+ _pin = !_pin;
+ }
+private:
+ DigitalOut _pin;
+};
+
+DigitalOut led1(LED1);
+Flipper f(LED2);
+Timeout t;
+
+int main() {
+ // the address of the object, member function, and interval
+ t.attach(callback(&f, &Flipper::flip), 2.0);
+
+ // spin in a main loop. flipper will interrupt it to call flip
+ while(1) {
+ led1 = !led1;
+ wait(0.2);
+ }
+}
+
+
+5、通用定时器中断
+
+ // Count the time to toggle a LED
+
+ #include "mbed.h"
+
+ Timer timer;
+ DigitalOut led(LED1);
+ int begin, end;
+
+ int main() {
+ timer.start();
+ begin = timer.read_us();
+ led = !led;
+ end = timer.read_us();
+ printf("Toggle the led takes %d us", end - begin);
+ }
+
+6、外部中断附加事件
+需加载mbed-os
+
+#include "mbed.h"
+#include "mbed_events.h"
+
+DigitalOut led1(LED1);
+InterruptIn sw(SW2);
+EventQueue queue(32 * EVENTS_EVENT_SIZE);
+Thread t;
+
+void rise_handler(void) {
+ // Toggle LED
+ led1 = !led1;
+}
+
+void fall_handler(void) {
+ printf("fall_handler in context %p\r\n", Thread::gettid());
+ // Toggle LED
+ led1 = !led1;
+}
+
+int main() {
+ // Start the event queue
+ t.start(callback(&queue, &EventQueue::dispatch_forever));
+ printf("Starting in context %p\r\n", Thread::gettid());
+ // The 'rise' handler will execute in IRQ context
+ sw.rise(rise_handler);
+ // The 'fall' handler will execute in the context of thread 't'
+ sw.fall(queue.event(fall_handler));
+}
+
+
+7、线程间信号量的传递
+需加载mbed-os
+
+#include "mbed.h"
+
+Thread thread;
+DigitalOut led(LED1);
+
+void led_thread() {
+ while (true) {
+ // Signal flags that are reported as event are automatically cleared.
+ Thread::signal_wait(0x1);
+ led = !led;
+ }
+}
+
+int main (void) {
+ thread.start(callback(led_thread));
+
+ while (true) {
+ wait(1);
+ thread.signal_set(0x1);
+ }
+}
+
+*/
diff -r 5938bdb7b0bb -r 35738c77d454 mbed-os.lib --- a/mbed-os.lib Fri Jun 23 14:21:38 2017 -0500 +++ b/mbed-os.lib Sat Nov 25 02:04:08 2017 +0000 @@ -1,1 +1,1 @@ -https://github.com/ARMmbed/mbed-os/#c9e63f14085f5751ff5ead79a7c0382d50a813a2 +https://github.com/ARMmbed/mbed-os/#78474a5129e18e136cc7e872adbaa5b74fbb8f6a