File content as of revision 4:4ea0f6305fa3:

//헤더파일 선언
#include "mbed.h"
#include "mavlink.h"
#include "motordriver.h"
#include "Map.hpp"
#include "rtos.h"
#include "IncrementalEncoder.h"
#include "VL53L1X.h"

//모빌리티 상태 정의 (정지,앞,백,왼쪽,오른쪽)
#define FRONT 1
#define NORMAL 0
#define BACK 2
#define LEFT 3
#define RIGHT 4

DigitalOut led (LED2);

//Xbee (Serial)선언
RawSerial xbee(PC_10, PC_11, 115200);

//Thread 선언 (read, write)
Thread thread;
Thread thread2;
//Mutex mutex;

// MAVLINK 관련 함수 선언
char buf[MAVLINK_MAX_PACKET_LEN];

mavlink_message_t message;
mavlink_message_t r_message;
mavlink_status_t status;
mavlink_status_t r_status;

mavlink_heartbeat_t heartbeat;
mavlink_joystick_t joystick;

unsigned len = 0;
//MAVLINK ID 선언
uint8_t system_id = 10;
uint8_t component_id = 15;

//Motor 선언 (Motordriver)
Motor motor_left(PA_9,PA_8,PB_15,1);
Motor motor_right(PC_9,PC_6,PC_8,1);

//joystick 값 선언
float joystick_percent_x = 0;
float joystick_percent_y = 0;

//Input (0~1024) Output (-0.3~0.3)
Map map_x (0, 1024, -0.3, 0.3);
Map map_y (0, 1024, -0.3, 0.3);

//Encoder 선언(IncrementalEncoder)
IncrementalEncoder right_encoder(PD_2);
IncrementalEncoder left_encoder(PC_4);

//tof 선언
VL53L1X tof1 (PB_9, PB_8);

/////////////////////////////////////////////
/////////////////write///////////////////////
/////////////////////////////////////////////
int write_data (char *data)
{
}

//Xbee(Serial)로 값을 내보내기
void write_data(char* buf, unsigned int len)
{
    for(int i = 0; i<len; i++) {
        xbee.putc(buf[i]);
    }
}

//heartbeat(Mavlik) 속성 설정
void heartbeat_info()
{
    //Thread 주기 설정
    Thread::wait(2000);

    heartbeat.type = 0;
    heartbeat.mode = 1;

    mavlink_msg_heartbeat_encode (system_id, component_id, &message, &heartbeat);
    len = mavlink_msg_to_send_buffer((uint8_t*)buf, &message);

    write_data(buf, len);
}

//motor (Mavlink) 속성 설정
mavlink_motor_t motor;
void Motor_message_send()
{
    Thread::wait(500);
    motor.encoder_left = (uint16_t)left_encoder.readTotal();
    motor.encoder_right = (uint16_t)right_encoder.readTotal();

    mavlink_msg_motor_encode (system_id, component_id, &message, &motor);
    len = mavlink_msg_to_send_buffer((uint8_t*)buf, &message);

    write_data(buf, len);
}

//pwm (Mavlink) 속성 설정
mavlink_pwm_t pwm;
void pwm_message_send()
{
    Thread::wait(500);

    pwm.motor_left_pwm = (uint16_t)joystick_percent_x;
    pwm.motor_right_pwm = (uint16_t)joystick_percent_y;

    mavlink_msg_pwm_encode (system_id, component_id, &message, &pwm);
    len=mavlink_msg_to_send_buffer((uint8_t*)buf, &message);

    write_data(buf,len);
}

//write보낼 (heartbeat,motor,pwm) message send (loop)
void write_message()
{
    while(1) {
        heartbeat_info();
        Motor_message_send();
        pwm_message_send();
    }
}

/////////////////////////////////
////////////read/////////////////
/////////////////////////////////

//물체감지 함수
void object_detection()
{
    //Tof 거리값 read
    uint16_t distance = tof1.getDistance();

    //물체감지 후 정지
    if(distance < 400) {
        motor_left.speed (0);
        motor_right.speed(0);
    }
}

//Encoder (왼쪽,오른쪽) 계산 : 초기상태 정지
int state = NORMAL;
float sens = 1;
void speedGap()
{
    int gap = (right_encoder.readTotal()) - (left_encoder.readTotal());

    //left over
    if (gap > 0 && sens < 1.5) {
        sens -= 0.01;
    }
    if (gap < 0 && sens > 0.5) {
        sens += 0.01;
    }

}

//GCS로 부터 joystick값 (0~1024)을 받은후 (-0.3,0.3)의 pwm로 변환 후 motordriver 전송 -> 'mobility move'
mavlink_joystick_t local_joystick;
void rc_move()
{
    local_joystick = joystick;

    joystick_percent_x = map_x.Calculate(local_joystick.joystick_x);
    joystick_percent_y = map_y.Calculate(local_joystick.joystick_y);

    //button 클릭 시 모빌리티 정지
    if ( local_joystick.joystick_click == 0 ) {
        motor_left.speed (0);
        motor_right.speed (0);
    }
    //joystick 중립상태
    if( joystick_percent_y >= -0.1 && joystick_percent_y <= 0.1 && joystick_percent_x >= -0.1 && joystick_percent_x <=0.1) {
        motor_left.speed (0);
        motor_right.speed (0);
        state = NORMAL;
    }

    //forward and right
    else if ( joystick_percent_x > 0.1 && joystick_percent_y > 0.1) {
        motor_left.speed (joystick_percent_y+joystick_percent_x);
        motor_right.speed (joystick_percent_y*sens);
    }

    //forward and left
    else if (joystick_percent_x < -0.1 && joystick_percent_y >0.1) {
        motor_left.speed (joystick_percent_y);
        motor_right.speed ((joystick_percent_y +(-1*joystick_percent_x))*sens);
    }

    //left and back
    else if (joystick_percent_x < -0.1 && joystick_percent_y < -0.1) {
        motor_left.speed (joystick_percent_y );
        motor_right.speed ((joystick_percent_y + joystick_percent_x)*sens);
    }

    //forward and back
    else if (joystick_percent_x > 0.1 && joystick_percent_y < - 0.1) {
        motor_left.speed ((joystick_percent_y - joystick_percent_x));
        motor_right.speed (joystick_percent_y*sens);
    }

    //forward
    else if (joystick_percent_x < 0.1 && joystick_percent_x >-0.1 && joystick_percent_y>0.1) {
        motor_left.speed (joystick_percent_y);
        motor_right.speed (joystick_percent_y*sens);
        state = BACK;
    }

    //back
    else if (joystick_percent_x < 0.1 && joystick_percent_x >-0.1 && joystick_percent_y < -0.1) {
        motor_left.speed (joystick_percent_y);
        motor_right.speed (joystick_percent_y*sens);
        state = FRONT;
    }

    //left
    else if (joystick_percent_y < 0.1 && joystick_percent_y > -0.1 && joystick_percent_x < -0.1) {
        motor_right.speed(-joystick_percent_x*sens);
        state = LEFT;
    }

    //right
    else if (joystick_percent_y < 0.1 && joystick_percent_y > -0.1 && joystick_percent_x > 0.1) {
        motor_left.speed(joystick_percent_x);
        state = RIGHT;
    }

    //앞으로 움직일 때 encoder 차이값 계산, 물체감지 작동
    if(state == FRONT) {
        speedGap();
        object_detection();
    }

    //앞으로 움직이지 않을 때 encoder 값 실시간 reset
    else if(state == BACK || state == LEFT || state == RIGHT) {
        left_encoder.reset();
        right_encoder.reset();
    }
}


//Xbee (Serial)로 받은 mavlink 데이터 처리
void read_data()
{
    led = 1;
    uint8_t msgReceived = 0;

    while(1) {
        if(xbee.readable()) {
            
            //xbee 데이터 read
            uint8_t c = xbee.getc();

            msgReceived = mavlink_parse_char(MAVLINK_COMM_1, c, &r_message, &r_status);

            if(msgReceived > 0) {
                led = 0;

                //id 검사
                if (r_message.sysid == 60|| r_message.sysid == 62) {
                    switch (r_message.msgid) {
                        case 3: { //JOYSTICK
                            mavlink_msg_joystick_decode(&r_message, &joystick);
                            rc_move();
                            break;
                        }
                    }
                }
            }
        } else {
            led = 1;
        }
    }
}

int main()
{
    //tof i2c setting
    tof1.begin();
    tof1.setDistanceMode();

    //write part thread start
    thread.start(write_message);
    //read part (while)
    read_data();
}