File content as of revision 15:56b25cffa523:

/*******************************************************************************
This software is especially designed for Solarboat Twente for the use in their Solarboat v1.0

Written by:
Niels Leijen, Jesse van Rhijn, Bram Seinhorst

Thanks to:
Jasper Admiraal, Hidde Pik (hihihihi), Lisa Postma, Heleen Jeurink, Ruben Peters,
Martijn Groot Jebbink, Martijn Wilpshaar, Bram Seinhorst, Robert Geels, Arnoud Meutstege,
Jeroen te Braake, Ids de Vos, Jesse van Rhijn, Sam Benou, Niels Leijen and Mark Bruijn

DISCLAIMER:
THIS SOFTWARE IS SUPPLIED "AS IS" WITHOUT ANY WARRANTIES AND SUPPORT. 
SOLARBOATTWENTE ASSUMES NO RESPONSIBILITY OR LIABILITY FOR THE USE OF THE SOFTWARE.
*******************************************************************************/

// uncomment to send debug information
#define DEBUG

//include 3rd party libraries
#include "mbed.h" //needs to be revision 136 else SD filesystem will not work
#include "rtos.h"

// include Solarboat libraries
#include "pinout.h"
#include "CAN_IDs.h"
#include "PowerControl.h"

#define SPEED_THRESH 0.02 //threshold for setting speed to prevent CAN spam

// initialize serial connection for debug
#ifdef DEBUG
RawSerial pc(SERIAL_TX, SERIAL_RX);
#endif

// initialize canbus
CAN can(CAN_RD, CAN_TD);

//init throttle
AnalogIn analogThrottle(STEER_THROTTLE);

// initialze onboard leds
DigitalOut ledError(LED3);
DigitalOut ledSD(LED1);
DigitalOut ledFona(LED5);
DigitalOut led24V(LED4);

DigitalOut buckXSens(BUCK3);
DigitalOut buckScreen(BUCK4);
DigitalOut buck24V(BUCK5);


// Thread 1 - Power
void power(){
    PowerControl powercontrol(PUSH_GREEN); 
    
#ifdef DEBUG
    pc.printf("Thread 1 - Power started\r\n ");
#endif

    Thread::wait(osWaitForever);
}

// Thread X - Test
void test(){
    ledError = 0;
    ledSD = 0;
    ledFona = 0 ;
    led24V=1;

//DigitalOut buckCan(BUCK2);
    buckXSens = 0;
    buckScreen = 0;
    buck24V = 1;
}

//global var for speed; ugly solution but works
float speed = 0;
//send motor command
void sendMotorSpeed(float throttle) {
    if ((abs(throttle - speed)) > SPEED_THRESH) {
        union {
            char msg[4];
            float value;
        } packet;
        packet.value = throttle;
        can.write(CANMessage(MOTOR_COMMAND, packet.msg));
        printf("Sent motor speed: %f\r\n", packet.value);
        speed = throttle;
    }
}

//throttle thread
void readThrottle() {
    float throttleread;
    while(1) {
        throttleread = 2*(0.5 - analogThrottle.read());
        sendMotorSpeed(throttleread);
        Thread::wait(10);   
    }
}  

// Thread 0 - DO NOT CHANGE THIS!
int main() {  
#ifdef DEBUG
    pc.baud(115200);
    pc.printf("Starting SOS V1.0\n");
#endif
    // change CAN frequency
    can.frequency(250000);
    
    // initialze threads
    Thread threadpower;
    Thread threadtest;
    Thread threadthrottle;
    
    // start threads
    threadpower.start(&power);
    threadtest.start(&test);
    threadthrottle.start(&readThrottle);
    
    //stop this thread while keeping the other threads running
    CANMessage msg;
    while(1) {
        if(can.read(msg)) {
            pc.printf("Message received: 0x %x; %u %u%u %d%d %c %u %u\n", msg.id, msg.data[0], msg.data[1], msg.data[2], msg.data[3], msg.data[4], msg.data[5], msg.data[6], msg.data[7]);
        } 
    }
    Thread::wait(osWaitForever);
}