Michael Shimniok / Mbed OS DataBus2018

2018 revision to classic DataBus AVC code.

Dependencies:   LSM303DLM Servo SerialGraphicLCD L3G4200D IncrementalEncoder SimpleShell

main.cpp@7:1f2661b840ed, 2018-12-05 (annotated)

Committer:
shimniok
Date:
Wed Dec 05 17:53:06 2018 +0000
Revision:
7:1f2661b840ed
Parent:
4:de7feb458652
Child:
9:fc3575d2cbbf
Implemented keyword add and value assignment to Config. Testing keywords in main.

Who changed what in which revision?

UserRevisionLine numberNew contents of line
shimniok 0:7e98bbfd102a 1 /* mbed Microcontroller Library
shimniok 0:7e98bbfd102a 2 * Copyright (c) 2018 ARM Limited
shimniok 0:7e98bbfd102a 3 * SPDX-License-Identifier: Apache-2.0
shimniok 0:7e98bbfd102a 4 */
shimniok 0:7e98bbfd102a 5
shimniok 0:7e98bbfd102a 6 #include "mbed.h"
shimniok 0:7e98bbfd102a 7 #include <stdio.h>
shimniok 0:7e98bbfd102a 8 #include <errno.h>
shimniok 0:7e98bbfd102a 9 #include "stats_report.h"
shimniok 0:7e98bbfd102a 10 #include "SDBlockDevice.h"
shimniok 0:7e98bbfd102a 11 #include "FATFileSystem.h"
shimniok 0:7e98bbfd102a 12 #include "SimpleShell.h"
shimniok 4:de7feb458652 13 #include "Config.h"
shimniok 0:7e98bbfd102a 14
shimniok 0:7e98bbfd102a 15 Serial pc(USBTX, USBRX);
shimniok 0:7e98bbfd102a 16 //SDBlockDevice bd(p5, p6, p7, p8); // MOSI, MISO, CLK, CS
shimniok 0:7e98bbfd102a 17 //FATFileSystem ffs("log", &bd);
shimniok 0:7e98bbfd102a 18 LocalFileSystem lfs("etc");
shimniok 4:de7feb458652 19 Config config;
shimniok 0:7e98bbfd102a 20 SimpleShell sh;
shimniok 0:7e98bbfd102a 21
shimniok 0:7e98bbfd102a 22 DigitalOut led1(LED1);
shimniok 0:7e98bbfd102a 23
shimniok 0:7e98bbfd102a 24 Thread thread;
shimniok 0:7e98bbfd102a 25
shimniok 1:7019a60fd585 26 void test() {
shimniok 1:7019a60fd585 27 printf("Hello world!\n");
shimniok 1:7019a60fd585 28 }
shimniok 1:7019a60fd585 29
shimniok 1:7019a60fd585 30
shimniok 0:7e98bbfd102a 31 // main() runs in its own thread in the OS
shimniok 0:7e98bbfd102a 32 int main()
shimniok 0:7e98bbfd102a 33 {
shimniok 0:7e98bbfd102a 34 printf("Bootup...\n");
shimniok 0:7e98bbfd102a 35 fflush(stdout);
shimniok 1:7019a60fd585 36
shimniok 4:de7feb458652 37 printf("Loading config...\n");
shimniok 7:1f2661b840ed 38
shimniok 7:1f2661b840ed 39 // Add valid keywords
shimniok 7:1f2661b840ed 40 config.add("intercept_distance", Config::DOUBLE);
shimniok 7:1f2661b840ed 41 config.add("waypoint_threshold", Config::DOUBLE);
shimniok 7:1f2661b840ed 42 config.add("minimum_turning_radius", Config::DOUBLE);
shimniok 7:1f2661b840ed 43 config.add("wheelbase", Config::DOUBLE);
shimniok 7:1f2661b840ed 44 config.add("track_width", Config::DOUBLE);
shimniok 7:1f2661b840ed 45 config.add("tire_circumference", Config::DOUBLE);
shimniok 7:1f2661b840ed 46 config.add("encoder_stripes", Config::INT);
shimniok 7:1f2661b840ed 47 config.add("esc_brake", Config::INT);
shimniok 7:1f2661b840ed 48 config.add("esc_off", Config::INT);
shimniok 7:1f2661b840ed 49 config.add("esc_max", Config::INT);
shimniok 7:1f2661b840ed 50 config.add("turn_speed", Config::DOUBLE);
shimniok 7:1f2661b840ed 51 config.add("turn_distance", Config::DOUBLE);
shimniok 7:1f2661b840ed 52 config.add("start_speed", Config::DOUBLE);
shimniok 7:1f2661b840ed 53 config.add("cruise_speed", Config::DOUBLE);
shimniok 7:1f2661b840ed 54 config.add("speed_kp", Config::DOUBLE);
shimniok 7:1f2661b840ed 55 config.add("speed_ki", Config::DOUBLE);
shimniok 7:1f2661b840ed 56 config.add("speed_kd", Config::DOUBLE);
shimniok 7:1f2661b840ed 57 config.add("steer_center", Config::DOUBLE);
shimniok 7:1f2661b840ed 58 config.add("steer_scale", Config::DOUBLE);
shimniok 7:1f2661b840ed 59 config.add("gyro_scale", Config::DOUBLE);
shimniok 7:1f2661b840ed 60 config.add("gps_valid_speed", Config::DOUBLE);
shimniok 7:1f2661b840ed 61
shimniok 4:de7feb458652 62 if (config.load("/etc/2018cfg.txt")) {
shimniok 4:de7feb458652 63 printf("error loading config\n");
shimniok 4:de7feb458652 64 }
shimniok 4:de7feb458652 65
shimniok 1:7019a60fd585 66 sh.attach(test, "test");
shimniok 1:7019a60fd585 67
shimniok 0:7e98bbfd102a 68 thread.start(callback(&sh, &SimpleShell::run));
shimniok 0:7e98bbfd102a 69
shimniok 0:7e98bbfd102a 70 /*
shimniok 0:7e98bbfd102a 71 FILE *fp;
shimniok 0:7e98bbfd102a 72 char buf[128];
shimniok 0:7e98bbfd102a 73 printf("Initializing the block device... ");
shimniok 0:7e98bbfd102a 74 fflush(stdout);
shimniok 0:7e98bbfd102a 75 int err = bd.init();
shimniok 0:7e98bbfd102a 76 printf("%s\n", (err ? "Fail :(" : "OK"));
shimniok 0:7e98bbfd102a 77
shimniok 0:7e98bbfd102a 78 printf("Opening sdtest.txt...");
shimniok 0:7e98bbfd102a 79 fp = fopen("/log/sdtest.txt", "r");
shimniok 0:7e98bbfd102a 80 if(fp) {
shimniok 0:7e98bbfd102a 81 while (!feof(fp)) {
shimniok 0:7e98bbfd102a 82 fgets(buf, 127, fp);
shimniok 0:7e98bbfd102a 83 printf(buf);
shimniok 0:7e98bbfd102a 84 }
shimniok 0:7e98bbfd102a 85 fclose(fp);
shimniok 0:7e98bbfd102a 86 }
shimniok 0:7e98bbfd102a 87
shimniok 0:7e98bbfd102a 88 printf("Opening config.txt...");
shimniok 0:7e98bbfd102a 89 fp = fopen("/etc/config.txt", "r");
shimniok 0:7e98bbfd102a 90 if(fp) {
shimniok 0:7e98bbfd102a 91 while (!feof(fp)) {
shimniok 0:7e98bbfd102a 92 fgets(buf, 127, fp);
shimniok 0:7e98bbfd102a 93 printf(buf);
shimniok 0:7e98bbfd102a 94 }
shimniok 0:7e98bbfd102a 95 fclose(fp);
shimniok 0:7e98bbfd102a 96 }
shimniok 0:7e98bbfd102a 97 */
shimniok 0:7e98bbfd102a 98
shimniok 0:7e98bbfd102a 99 //SystemReport sys_state(500);
shimniok 0:7e98bbfd102a 100
shimniok 0:7e98bbfd102a 101 while (true) {
shimniok 0:7e98bbfd102a 102 // Blink LED and wait 0.5 seconds
shimniok 0:7e98bbfd102a 103 led1 = !led1;
shimniok 0:7e98bbfd102a 104 wait(0.5f);
shimniok 0:7e98bbfd102a 105
shimniok 0:7e98bbfd102a 106 // Following the main thread wait, report on the current system status
shimniok 0:7e98bbfd102a 107 //sys_state.report_state();
shimniok 0:7e98bbfd102a 108 }
shimniok 0:7e98bbfd102a 109 }