Revision 10:716484b1ddb5, committed 2016-04-05

Comitter:

vsutardja

Date:

Tue Apr 05 18:30:41 2016 +0000

Parent:

9:10fcf3d0ec2d

Child:

11:4348bba086a4

Commit message:

latest

Changed in this revision

--- a/main.cpp	Fri Apr 01 23:47:07 2016 +0000
+++ b/main.cpp	Tue Apr 05 18:30:41 2016 +0000
@@ -6,31 +6,29 @@
 #include "QEI.h"
 #include "telemetry.h"
 
+//extern "C" { extern int printfNB(const char *format, ...); }
+//extern "C" { extern int putcharNB(int);}
+
 // =========
 // Telemetry
 // =========
-MODSERIAL telemetry_serial(PTC4, PTC3);             // TX, RX
-telemetry::MbedHal telemetry_hal(telemetry_serial); // Hardware Abstraction Layer
-telemetry::Telemetry telemetry_obj(telemetry_hal);  // Telemetry
-
-int dec = 0;
-Timer t;
-telemetry::Numeric<uint32_t> tele_time_ms(telemetry_obj, "time", "Time", "ms", 0);
-telemetry::NumericArray<uint16_t, 128> tele_linescan(telemetry_obj, "linescan", "Linescan", "ADC", 0);
-telemetry::Numeric<float> tele_vel(telemetry_obj, "t_vel", "Velocity", "m/s", 0);
-telemetry::Numeric<uint32_t> tele_center(telemetry_obj, "t_center", "Center", "", 0);
+//MODSERIAL telemetry_serial(PTC4, PTC3);             // TX, RX
+//telemetry::MbedHal telemetry_hal(telemetry_serial); // Hardware Abstraction Layer
+//telemetry::Telemetry telemetry_obj(telemetry_hal);  // Telemetry
 
 
 // =============
 // Communication
 // =============
 Serial pc(USBTX, USBRX);                            // USB connection
-//Serial bt(PTC4, PTC3);                              // BlueSMiRF connection
+MODSERIAL bt(PTC4, PTC3);                              // BlueSMiRF connection
+//int idx = 0;
 char cmd;                                           // Command
 char ch;
 char in[5];
 
 void communication(void const *args);               // Communications
+int lock = 0;
 
 // =====
 // Motor
@@ -58,7 +56,7 @@
 float Kp = 6.0;                                     // Proportional factor
 float Ki = 0;                                       // Integral factor
 float Kd = 0;                                       // Derivative factor
-float interval = 0.1;                              // Sampling interval
+float interval = 0.01;                              // Sampling interval
 float ref_v = 1.0;
 PID motor_ctrl(Kp, Ki, Kd, interval);               // Motor controller
 
@@ -78,6 +76,7 @@
 Timeout camera_read;                                // Camera read timeout
 int t_int = 15000;                                  // Exposure time
 int img[128];                                       // Image data
+uint8_t img_out[128];
 
 void readCamera();                                  // Read data from camera
 
@@ -98,102 +97,105 @@
 // Functions
 // ================
 
-void tele_comm(void const *args) {
-    telemetry_serial.baud(115200);
-    telemetry_obj.transmit_header();
+// Communications
+void communication(void const *args) {
     while (true) {
-        tele_time_ms = t.read_ms();
-        telemetry_obj.do_io();
-        Thread::wait(100);
+        bt.printf("\r\nPress q to return to this prompt.\r\n");
+        bt.printf("Available diagnostics:\r\n");
+        bt.printf("  [0] Velocity\r\n");
+        bt.printf("  [1] Steering\r\n");
+        bt.printf("  [2] Change Kp\r\n");
+        bt.printf("  [3] Change Ki\r\n");
+        bt.printf("  [4] Change Kd\r\n");
+        bt.printf("  [5] Change Ks\r\n");
+        bt.printf("  [6] Change reference velocity\r\n");
+        bt.printf("  [7] Checkpoint telemetry\r\n");
+        cmd = bt.getc();
+        while (cmd != 'q') {
+            switch(atoi(&cmd)){
+                case 0:
+                    bt.printf("Duty cycle: %f, Pulse count: %d, Velocity: %f, Kp: %f, Ki: %f, Kd: %f\r\n", d, curr_pulses, velocity, Kp, Ki, Kd);
+                    break;
+                case 1:
+                    bt.printf("Servo angle: %f, Track center: %d, t_int: %d\r\n", a, center, t_int);
+                    break;
+                case 2:
+                    bt.printf("Current: %f, New (5 digits): ", Kp);
+                    for (int i = 0; i < 5; i++) {
+                        in[i] = bt.getc();
+                        bt.putc(in[i]);
+                    }
+                    bt.printf("\r\n");
+                    Kp = atof(in);
+                    motor_ctrl.setTunings(Kp, Ki, Kd);
+                    cmd = 'q';
+                    break;
+                case 3:
+                    bt.printf("Current: %f, New (5 digits): ", Ki);
+                    for (int i = 0; i < 5; i++) {
+                        in[i] = bt.getc();
+                        bt.putc(in[i]);
+                    }
+                    bt.printf("\r\n");
+                    Ki = atof(in);
+                    motor_ctrl.setTunings(Kp, Ki, Kd);
+                    cmd = 'q';
+                    break;
+                case 4:
+                    bt.printf("Current: %f, New (5 digits): ", Kd);
+                    for (int i = 0; i < 5; i++) {
+                        in[i] = bt.getc();
+                        bt.putc(in[i]);
+                    }
+                    bt.printf("\r\n");
+                    Kd = atof(in);
+                    motor_ctrl.setTunings(Kp, Ki, Kd);
+                    cmd = 'q';
+                    break;
+                case 5:
+                    bt.printf("Current: %f, New (5 digits): ", Ks);
+                    for (int i = 0; i < 5; i++) {
+                        in[i] = bt.getc();
+                        bt.putc(in[i]);
+                    }
+                    bt.printf("\r\n");
+                    Ks = atof(in);
+                    cmd = 'q';
+                    break;
+                case 6:
+                    bt.printf("Current: %f, New (5 digits): ", ref_v);
+                    for (int i = 0; i < 5; i++) {
+                        in[i] = bt.getc();
+                        bt.putc(in[i]);
+                    }
+                    bt.printf("\r\n");
+                    ref_v = atof(in);
+                    motor_ctrl.setSetPoint(ref_v);
+                    cmd = 'q';
+                    break;
+//                case 7:
+//                    while (lock == 0);
+//                    for (int i = 0; i < 128; i++) {
+//                        bt.printf("%d, ", img[i]);
+//                    }
+//                    bt.printf("%d\r\n", center);
+//                    lock = 0;
+//                    break;
+            }
+            if (bt.readable()) {
+                cmd = bt.getc();
+            }
+        }
     }
 }
 
-// Communications
-//void communication(void const *args) {
-//    while (true) {
-//        bt.printf("\r\nPress q to return to this prompt.\r\n");
-//        bt.printf("Available diagnostics:\r\n");
-//        bt.printf("  [0] Velocity\r\n");
-//        bt.printf("  [1] Steering\r\n");
-//        bt.printf("  [2] Change Kp\r\n");
-//        bt.printf("  [3] Change Ki\r\n");
-//        bt.printf("  [4] Change Kd\r\n");
-//        bt.printf("  [5] Change Ks\r\n");
-//        bt.printf("  [6] Change reference velocity\r\n");
-//        cmd = bt.getc();
-//        while (cmd != 'q') {
-//            switch(atoi(&cmd)){
-//                case 0:
-//                    bt.printf("Duty cycle: %f, Pulse count: %d, Velocity: %f, Kp: %f, Ki: %f, Kd: %f\r\n", d, curr_pulses, velocity, Kp, Ki, Kd);
-//                    break;
-//                case 1:
-//                    bt.printf("Servo angle: %f, Track center: %d, t_int: %d\r\n", a, center, t_int);
-//                    break;
-//                case 2:
-//                    bt.printf("Current: %f, New (5 digits): ", Kp);
-//                    for (int i = 0; i < 5; i++) {
-//                        in[i] = bt.getc();
-//                        bt.putc(in[i]);
-//                    }
-//                    bt.printf("\r\n");
-//                    Kp = atof(in);
-//                    motor_ctrl.setTunings(Kp, Ki, Kd);
-//                    cmd = 'q';
-//                    break;
-//                case 3:
-//                    bt.printf("Current: %f, New (5 digits): ", Ki);
-//                    for (int i = 0; i < 5; i++) {
-//                        in[i] = bt.getc();
-//                        bt.putc(in[i]);
-//                    }
-//                    bt.printf("\r\n");
-//                    Ki = atof(in);
-//                    motor_ctrl.setTunings(Kp, Ki, Kd);
-//                    cmd = 'q';
-//                    break;
-//                case 4:
-//                    bt.printf("Current: %f, New (5 digits): ", Kd);
-//                    for (int i = 0; i < 5; i++) {
-//                        in[i] = bt.getc();
-//                        bt.putc(in[i]);
-//                    }
-//                    bt.printf("\r\n");
-//                    Kd = atof(in);
-//                    motor_ctrl.setTunings(Kp, Ki, Kd);
-//                    cmd = 'q';
-//                    break;
-//                case 5:
-//                    bt.printf("Current: %f, New (5 digits): ", Ks);
-//                    for (int i = 0; i < 5; i++) {
-//                        in[i] = bt.getc();
-//                        bt.putc(in[i]);
-//                    }
-//                    bt.printf("\r\n");
-//                    Ks = atof(in);
-//                    cmd = 'q';
-//                    break;
-//                case 6:
-//                    bt.printf("Current: %f, New (5 digits): ", ref_v);
-//                    for (int i = 0; i < 5; i++) {
-//                        in[i] = bt.getc();
-//                        bt.putc(in[i]);
-//                    }
-//                    bt.printf("\r\n");
-//                    ref_v = atof(in);
-//                    motor_ctrl.setSetPoint(ref_v);
-//                    cmd = 'q';
-//                    break;
-//            }
-//            if (bt.readable()) {
-//                cmd = bt.getc();
-//            }
-//        }
-//    }
-//}
-
 // Read data from camera
 void read_camera() {
     // Start data transfer
+    //if (lock == 1) {
+//        camera_read.attach_us(&read_camera, t_int);
+//        return;
+//    }
     si = 1;
     wait_us(1);
     clk = 1;
@@ -205,7 +207,6 @@
     for (int i = 0; i < 128; i++) {
         clk = 0;
         img[i] = ao.read_u16();
-        tele_linescan[i] = img[i];
         clk = 1;
         wait_us(1);
     }
@@ -272,20 +273,18 @@
     
     if (max > 43253) {
         center = (argmax + argmin + 2 + 11) / 2;
-        tele_center = center;
         a = 88 + (64 - center) * Ks;
         servo = a / 180;
     }
     
     camera_read.attach_us(&read_camera, t_int);
+//    lock = 1;
 }
 
 // ====
 // Main
 // ====
 int main() {
-    osThreadSetPriority(osThreadGetId(), osPriorityRealTime);
-    t.start();
     
     // Initialize motor
     motor.period_us(T);
@@ -307,31 +306,19 @@
     motor_ctrl.setMode(1);
     
     // Initialize bluetooth
-//    bt.baud(115200);
-
-//    osThreadSetPriority(osThreadGetId(), osPriorityAboveNormal);
+    bt.baud(115200);
     
     // Initialize communications thread
-//    Thread communication_thread(communication);
-    Thread tele_comm_thread(tele_comm);
-//    tele_comm_thread.set_priority(osPriorityBelowNormal);
+    Thread communication_thread(communication);
     
     // Start motor controller
     while (true) {
-//        telemetry_serial.printf("%d\r\n", t.read_ms());
-//        if (dec == 100) {
-            //tele_time_ms = t.read_ms();
-//            telemetry_obj.do_io();
-//            dec = 0;
-//        }
-//        dec = dec + 1;
         curr_pulses = qei.getPulses();
         //for (int i = 0; i < MVG_AVG - 1; i++) {
 //            v_prev[i] = abs(1.5 - 0.5 * (1.5 - v_prev[i+1]));
 //        }
 //        v_prev[MVG_AVG-1] = velocity;
         velocity = (curr_pulses - prev_pulses)/ interval / ppr * c / 2.5;
-        tele_vel = velocity;
         //vel = velocity;
 //        for (int i = 0; i < MVG_AVG; i++) {
 //            velocity = velocity + v_prev[i];
@@ -341,7 +328,7 @@
         motor_ctrl.setProcessValue(velocity);
         d = motor_ctrl.compute();
         motor = 1.0 - d;
-        Thread::wait(interval*1000);
-//        pc.printf("Exposure: %d, Center: %d, Angle: %f\r\n", t_int, center, a);
+        wait(interval);
+        pc.printf("Exposure: %d, Center: %d, Angle: %f\r\n", t_int, center, a);
     }
 }
\ No newline at end of file

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/printbuf.c	Tue Apr 05 18:30:41 2016 +0000
@@ -0,0 +1,65 @@
+/***********************************************************************/
+/*                                                                     */
+/*  printbuf.c:  Low Level print ring buffer  Routines                               */
+/*                                                                     */
+/***********************************************************************/
+#include <stdio.h>
+#include <stdarg.h>
+
+#define CR     0x0D
+#define TEMT 0x40	/* serial COMTX empty */
+extern int write (int file, char * ptr, int len);
+int putchar_buf(int);
+int putcharNB(int);
+
+
+/* Background non-blocking print using ring buffer */
+#define PRNBUFSZ 0x100
+char printbuffer[PRNBUFSZ];
+int prnbuf_count = 0;   /* number of characters in buffer */
+int prnbuf_pos = 0;   /* location to store characters */
+
+
+int printfNB(const char *format, ...)
+{  char buffer[128]; int i;
+	char c;
+	int val;
+  va_list args;     
+  va_start( args, format );
+  val = vsprintf(buffer, format, args );   // print to string using variable arguments
+	for(i = 0; i < 128 && buffer[i]!= '\0'; i++)    // copy string to print buffer
+	{ putcharNB((int)buffer[i]); }
+	return(val);
+}
+
+
+// overload putchar to use non-blocking print to ring buffer instead
+int putcharNB(int c)  {
+  	if (c == '\n') putchar_buf(CR);
+	putchar_buf(c);
+	return(c);	} 
+
+	
+/* routine to print using print ring buffer */
+/* does not block - allows over runs */
+int putchar_buf(int c)
+{
+  if(prnbuf_count >= PRNBUFSZ) return(0);   /* no room - drop character */
+  printbuffer[prnbuf_pos] = c;
+  prnbuf_pos++;
+  prnbuf_count++;   /* need to make uninterruptable? */
+  if(prnbuf_pos > (PRNBUFSZ-1))  prnbuf_pos = 0;   /* wrap index to beginning of
+ buffer */
+  return(c);
+}
+
+
+
+
+int write (int file, char * ptr, int len) {
+  int i;
+
+  for (i = 0; i < len; i++) putcharNB(*ptr++);
+  return len;
+}
+

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/printf-stdarg.c	Tue Apr 05 18:30:41 2016 +0000
@@ -0,0 +1,266 @@
+/*
+	Copyright 2001, 2002 Georges Menie (www.menie.org)
+	stdarg version contributed by Christian Ettinger
+
+    This program is free software; you can redistribute it and/or modify
+    it under the terms of the GNU Lesser General Public License as published by
+    the Free Software Foundation; either version 2 of the License, or
+    (at your option) any later version.
+
+    This program is distributed in the hope that it will be useful,
+    but WITHOUT ANY WARRANTY; without even the implied warranty of
+    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+    GNU Lesser General Public License for more details.
+
+    You should have received a copy of the GNU Lesser General Public License
+    along with this program; if not, write to the Free Software
+    Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA
+*/
+
+/*
+	putchar is the only external dependency for this file,
+	if you have a working putchar, leave it commented out.
+	If not, uncomment the define below and
+	replace outbyte(c) by your own function call. */
+
+#define putchar(c) putcharNB(c)
+
+
+#include <stdarg.h>
+
+static void printchar(char **str, int c)
+{
+	extern int putchar(int c);
+	
+	if (str) {
+		**str = c;
+		++(*str);
+	}
+	else (void)putchar(c);
+}
+
+#define PAD_RIGHT 1
+#define PAD_ZERO 2
+
+static int prints(char **out, const char *string, int width, int pad)
+{
+	register int pc = 0, padchar = ' ';
+
+	if (width > 0) {
+		register int len = 0;
+		register const char *ptr;
+		for (ptr = string; *ptr; ++ptr) ++len;
+		if (len >= width) width = 0;
+		else width -= len;
+		if (pad & PAD_ZERO) padchar = '0';
+	}
+	if (!(pad & PAD_RIGHT)) {
+		for ( ; width > 0; --width) {
+			printchar (out, padchar);
+			++pc;
+		}
+	}
+	for ( ; *string ; ++string) {
+		printchar (out, *string);
+		++pc;
+	}
+	for ( ; width > 0; --width) {
+		printchar (out, padchar);
+		++pc;
+	}
+
+	return pc;
+}
+
+/* the following should be enough for 32 bit int */
+#define PRINT_BUF_LEN 12
+
+static int printi(char **out, int i, int b, int sg, int width, int pad, int letbase)
+{
+	char print_buf[PRINT_BUF_LEN];
+	register char *s;
+	register int t, neg = 0, pc = 0;
+	register unsigned int u = i;
+
+	if (i == 0) {
+		print_buf[0] = '0';
+		print_buf[1] = '\0';
+		return prints (out, print_buf, width, pad);
+	}
+
+	if (sg && b == 10 && i < 0) {
+		neg = 1;
+		u = -i;
+	}
+
+	s = print_buf + PRINT_BUF_LEN-1;
+	*s = '\0';
+
+	while (u) {
+		t = u % b;
+		if( t >= 10 )
+			t += letbase - '0' - 10;
+		*--s = t + '0';
+		u /= b;
+	}
+
+	if (neg) {
+		if( width && (pad & PAD_ZERO) ) {
+			printchar (out, '-');
+			++pc;
+			--width;
+		}
+		else {
+			*--s = '-';
+		}
+	}
+
+	return pc + prints (out, s, width, pad);
+}
+
+static int print(char **out, const char *format, va_list args )
+{
+	register int width, pad;
+	register int pc = 0;
+	char scr[2];
+
+	for (; *format != 0; ++format) {
+		if (*format == '%') {
+			++format;
+			width = pad = 0;
+			if (*format == '\0') break;
+			if (*format == '%') goto out;
+			if (*format == '-') {
+				++format;
+				pad = PAD_RIGHT;
+			}
+			while (*format == '0') {
+				++format;
+				pad |= PAD_ZERO;
+			}
+			for ( ; *format >= '0' && *format <= '9'; ++format) {
+				width *= 10;
+				width += *format - '0';
+			}
+			if( *format == 's' ) {
+				register char *s = (char *)va_arg( args, int );
+				pc += prints (out, s?s:"(null)", width, pad);
+				continue;
+			}
+			if( *format == 'd' ) {
+				pc += printi (out, va_arg( args, int ), 10, 1, width, pad, 'a');
+				continue;
+			}
+			if( *format == 'x' ) {
+				pc += printi (out, va_arg( args, int ), 16, 0, width, pad, 'a');
+				continue;
+			}
+			if( *format == 'X' ) {
+				pc += printi (out, va_arg( args, int ), 16, 0, width, pad, 'A');
+				continue;
+			}
+			if( *format == 'u' ) {
+				pc += printi (out, va_arg( args, int ), 10, 0, width, pad, 'a');
+				continue;
+			}
+			if( *format == 'c' ) {
+				/* char are converted to int then pushed on the stack */
+				scr[0] = (char)va_arg( args, int );
+				scr[1] = '\0';
+				pc += prints (out, scr, width, pad);
+				continue;
+			}
+		}
+		else {
+		out:
+			printchar (out, *format);
+			++pc;
+		}
+	}
+	if (out) **out = '\0';
+	va_end( args );
+	return pc;
+}
+
+int printfNB(const char *format, ...)
+{
+        va_list args;
+        
+        va_start( args, format );
+        return print( 0, format, args );
+}
+
+int sprintf(char *out, const char *format, ...)
+{
+        va_list args;
+        
+        va_start( args, format );
+        return print( &out, format, args );
+}
+
+#ifdef TEST_PRINTF
+int main(void)
+{
+	char *ptr = "Hello world!";
+	char *np = 0;
+	int i = 5;
+	unsigned int bs = sizeof(int)*8;
+	int mi;
+	char buf[80];
+
+	mi = (1 << (bs-1)) + 1;
+	printf("%s\n", ptr);
+	printf("printf test\n");
+	printf("%s is null pointer\n", np);
+	printf("%d = 5\n", i);
+	printf("%d = - max int\n", mi);
+	printf("char %c = 'a'\n", 'a');
+	printf("hex %x = ff\n", 0xff);
+	printf("hex %02x = 00\n", 0);
+	printf("signed %d = unsigned %u = hex %x\n", -3, -3, -3);
+	printf("%d %s(s)%", 0, "message");
+	printf("\n");
+	printf("%d %s(s) with %%\n", 0, "message");
+	sprintf(buf, "justif: \"%-10s\"\n", "left"); printf("%s", buf);
+	sprintf(buf, "justif: \"%10s\"\n", "right"); printf("%s", buf);
+	sprintf(buf, " 3: %04d zero padded\n", 3); printf("%s", buf);
+	sprintf(buf, " 3: %-4d left justif.\n", 3); printf("%s", buf);
+	sprintf(buf, " 3: %4d right justif.\n", 3); printf("%s", buf);
+	sprintf(buf, "-3: %04d zero padded\n", -3); printf("%s", buf);
+	sprintf(buf, "-3: %-4d left justif.\n", -3); printf("%s", buf);
+	sprintf(buf, "-3: %4d right justif.\n", -3); printf("%s", buf);
+
+	return 0;
+}
+
+/*
+ * if you compile this file with
+ *   gcc -Wall $(YOUR_C_OPTIONS) -DTEST_PRINTF -c printf.c
+ * you will get a normal warning:
+ *   printf.c:214: warning: spurious trailing `%' in format
+ * this line is testing an invalid % at the end of the format string.
+ *
+ * this should display (on 32bit int machine) :
+ *
+ * Hello world!
+ * printf test
+ * (null) is null pointer
+ * 5 = 5
+ * -2147483647 = - max int
+ * char a = 'a'
+ * hex ff = ff
+ * hex 00 = 00
+ * signed -3 = unsigned 4294967293 = hex fffffffd
+ * 0 message(s)
+ * 0 message(s) with %
+ * justif: "left      "
+ * justif: "     right"
+ *  3: 0003 zero padded
+ *  3: 3    left justif.
+ *  3:    3 right justif.
+ * -3: -003 zero padded
+ * -3: -3   left justif.
+ * -3:   -3 right justif.
+ */
+
+#endif