Michael Shimniok / Mbed OS DataBus2018

2018 revision to classic DataBus AVC code.

Dependencies:   LSM303DLM Servo SerialGraphicLCD L3G4200D IncrementalEncoder SimpleShell

main.cpp@26:2dc31a801cc8, 2018-12-21 (annotated)

Committer:
shimniok
Date:
Fri Dec 21 21:23:53 2018 +0000
Revision:
26:2dc31a801cc8
Parent:
25:b8176ebb96c6
Child:
27:bfe141fad082
replaced shared hi prio event queue (which starts its own thread). Attempt to fix timer overflow

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 16:eb28d0f64a9b 9 #include "pinouts.h"
shimniok 0:7e98bbfd102a 10 #include "stats_report.h"
shimniok 0:7e98bbfd102a 11 #include "SDBlockDevice.h"
shimniok 0:7e98bbfd102a 12 #include "FATFileSystem.h"
shimniok 0:7e98bbfd102a 13 #include "SimpleShell.h"
shimniok 4:de7feb458652 14 #include "Config.h"
shimniok 11:8ec858b7c6d1 15 #include "Updater.h"
shimniok 16:eb28d0f64a9b 16 #include "Ublox6.h"
shimniok 24:a7f92dfc5310 17 #include "Logger.h"
shimniok 24:a7f92dfc5310 18 #include "SystemState.h"
shimniok 0:7e98bbfd102a 19
shimniok 24:a7f92dfc5310 20 ///////////////////////////////////////////////////////////////////////////////
shimniok 24:a7f92dfc5310 21 // Config
shimniok 24:a7f92dfc5310 22 Config config;
shimniok 24:a7f92dfc5310 23
shimniok 24:a7f92dfc5310 24 ///////////////////////////////////////////////////////////////////////////////
shimniok 24:a7f92dfc5310 25 // Devices
shimniok 0:7e98bbfd102a 26 LocalFileSystem lfs("etc");
shimniok 24:a7f92dfc5310 27 SDBlockDevice bd(p5, p6, p7, p8); // MOSI, MISO, CLK, CS
shimniok 24:a7f92dfc5310 28 FATFileSystem ffs("log", &bd);
shimniok 24:a7f92dfc5310 29 Serial pc(USBTX, USBRX);
shimniok 0:7e98bbfd102a 30 DigitalOut led1(LED1);
shimniok 25:b8176ebb96c6 31 DigitalOut led2(LED2);
shimniok 20:043987d06f8d 32 RawSerial s(UART1TX, UART1RX, 38400);
shimniok 20:043987d06f8d 33
shimniok 24:a7f92dfc5310 34 ///////////////////////////////////////////////////////////////////////////////
shimniok 24:a7f92dfc5310 35 // Idle hook
shimniok 24:a7f92dfc5310 36 void idler() {
shimniok 24:a7f92dfc5310 37 while(1) {
shimniok 24:a7f92dfc5310 38 led1 = !led1;
shimniok 24:a7f92dfc5310 39 wait(0.1);
shimniok 24:a7f92dfc5310 40 }
shimniok 24:a7f92dfc5310 41 }
shimniok 19:0d1728091519 42
shimniok 24:a7f92dfc5310 43 ///////////////////////////////////////////////////////////////////////////////
shimniok 24:a7f92dfc5310 44 // Logging
shimniok 24:a7f92dfc5310 45 EventQueue logQueue(8 * EVENTS_EVENT_SIZE);
shimniok 24:a7f92dfc5310 46 Logger logger("/etc/test.log");
shimniok 24:a7f92dfc5310 47
shimniok 25:b8176ebb96c6 48
shimniok 25:b8176ebb96c6 49 ///////////////////////////////////////////////////////////////////////////////
shimniok 25:b8176ebb96c6 50 // Updater
shimniok 25:b8176ebb96c6 51 Updater *u = Updater::instance();
shimniok 26:2dc31a801cc8 52 EventQueue updaterQueue(8 * EVENTS_EVENT_SIZE);
shimniok 25:b8176ebb96c6 53
shimniok 25:b8176ebb96c6 54 void updater_callback() {
shimniok 25:b8176ebb96c6 55 led1 = !led1;
shimniok 25:b8176ebb96c6 56 }
shimniok 25:b8176ebb96c6 57
shimniok 24:a7f92dfc5310 58 ///////////////////////////////////////////////////////////////////////////////
shimniok 24:a7f92dfc5310 59 // GPS
shimniok 24:a7f92dfc5310 60 Ublox6 ublox;
shimniok 24:a7f92dfc5310 61 EventQueue gpsQueue(8 * EVENTS_EVENT_SIZE);
shimniok 23:5e61cf4a8c34 62
shimniok 23:5e61cf4a8c34 63 // Callback for gps parse data ready
shimniok 23:5e61cf4a8c34 64 void gps_callback() {
shimniok 24:a7f92dfc5310 65 GpsData d;
shimniok 24:a7f92dfc5310 66
shimniok 25:b8176ebb96c6 67 led2 = !led2;
shimniok 24:a7f92dfc5310 68 ublox.read(d.latitude, d.longitude, d.course, d.speed, d.hdop, d.svcount);
shimniok 24:a7f92dfc5310 69 //logQueue.call(&logger, &Logger::log_gps, d);
shimniok 23:5e61cf4a8c34 70 }
shimniok 23:5e61cf4a8c34 71
shimniok 22:4d62bd16f037 72 // ISR for GPS serial, passes off to thread
shimniok 20:043987d06f8d 73 void gps_handler() {
shimniok 22:4d62bd16f037 74 while (s.readable()) {
shimniok 22:4d62bd16f037 75 int c = s.getc();
shimniok 22:4d62bd16f037 76 gpsQueue.call(&ublox, &Ublox6::parse, c);
shimniok 16:eb28d0f64a9b 77 }
shimniok 19:0d1728091519 78 }
shimniok 16:eb28d0f64a9b 79
shimniok 24:a7f92dfc5310 80 ///////////////////////////////////////////////////////////////////////////////
shimniok 24:a7f92dfc5310 81 // Shell
shimniok 24:a7f92dfc5310 82 SimpleShell sh;
shimniok 9:fc3575d2cbbf 83
shimniok 24:a7f92dfc5310 84 void test(int argc, char **argv) {
shimniok 1:7019a60fd585 85 printf("Hello world!\n");
shimniok 1:7019a60fd585 86 }
shimniok 1:7019a60fd585 87
shimniok 24:a7f92dfc5310 88 void stats(int argc, char **argv) {
shimniok 24:a7f92dfc5310 89 SystemReport r(200);
shimniok 24:a7f92dfc5310 90 r.report_state();
shimniok 24:a7f92dfc5310 91 return;
shimniok 24:a7f92dfc5310 92 }
shimniok 24:a7f92dfc5310 93
shimniok 24:a7f92dfc5310 94 void read_gps(int argc, char **argv)
shimniok 18:3f8a8f6e3cc1 95 {
shimniok 18:3f8a8f6e3cc1 96 double lat=0;
shimniok 18:3f8a8f6e3cc1 97 double lon=0;
shimniok 18:3f8a8f6e3cc1 98 float course=0;
shimniok 18:3f8a8f6e3cc1 99 float speed=0;
shimniok 18:3f8a8f6e3cc1 100 float hdop=0.0;
shimniok 18:3f8a8f6e3cc1 101 int svcount=0;
shimniok 18:3f8a8f6e3cc1 102
shimniok 18:3f8a8f6e3cc1 103 ublox.read(lat, lon, course, speed, hdop, svcount);
shimniok 18:3f8a8f6e3cc1 104 printf("%3.7f %3.7f\n", lat, lon);
shimniok 18:3f8a8f6e3cc1 105 printf("hdg=%03.1f deg spd=%3.1f m/s\n", course, speed);
shimniok 18:3f8a8f6e3cc1 106 printf("%d %f\n", svcount, hdop);
shimniok 18:3f8a8f6e3cc1 107 }
shimniok 18:3f8a8f6e3cc1 108
shimniok 24:a7f92dfc5310 109 void read_gyro(int argc, char **argv)
shimniok 9:fc3575d2cbbf 110 {
shimniok 12:3cd91e150d9c 111 int g[3];
shimniok 13:5566df1250f1 112 float dt;
shimniok 12:3cd91e150d9c 113
shimniok 11:8ec858b7c6d1 114 Updater *u = Updater::instance();
shimniok 11:8ec858b7c6d1 115
shimniok 13:5566df1250f1 116 u->gyro(g, dt);
shimniok 11:8ec858b7c6d1 117
shimniok 13:5566df1250f1 118 printf("Gyro: %d, %d, %d - dt: %f\n", g[0], g[1], g[2], dt);
shimniok 12:3cd91e150d9c 119 }
shimniok 12:3cd91e150d9c 120
shimniok 24:a7f92dfc5310 121 void read_enc(int argc, char **argv)
shimniok 14:1dd83e626153 122 {
shimniok 14:1dd83e626153 123 Updater *u = Updater::instance();
shimniok 14:1dd83e626153 124
shimniok 14:1dd83e626153 125 printf("Encoder: %d\n", u->encoder());
shimniok 14:1dd83e626153 126 }
shimniok 14:1dd83e626153 127
shimniok 24:a7f92dfc5310 128 void bridge_uart1(int argc, char **argv) {
shimniok 20:043987d06f8d 129 RawSerial s(UART1TX, UART1RX, 38400);
shimniok 20:043987d06f8d 130 while (1) {
shimniok 20:043987d06f8d 131 if (pc.readable()) s.putc(pc.getc());
shimniok 20:043987d06f8d 132 if (s.readable()) pc.putc(s.getc());
shimniok 20:043987d06f8d 133 }
shimniok 20:043987d06f8d 134 }
shimniok 20:043987d06f8d 135
shimniok 24:a7f92dfc5310 136 void reset(int argc, char **argv)
shimniok 12:3cd91e150d9c 137 {
shimniok 12:3cd91e150d9c 138 NVIC_SystemReset();
shimniok 9:fc3575d2cbbf 139 }
shimniok 9:fc3575d2cbbf 140
shimniok 24:a7f92dfc5310 141 ///////////////////////////////////////////////////////////////////////////////
shimniok 24:a7f92dfc5310 142 // MAIN
shimniok 1:7019a60fd585 143
shimniok 0:7e98bbfd102a 144 // main() runs in its own thread in the OS
shimniok 0:7e98bbfd102a 145 int main()
shimniok 11:8ec858b7c6d1 146 {
shimniok 20:043987d06f8d 147 //bridge_uart1();
shimniok 24:a7f92dfc5310 148
shimniok 25:b8176ebb96c6 149 //Kernel::attach_idle_hook(idler);
shimniok 20:043987d06f8d 150
shimniok 0:7e98bbfd102a 151 printf("Bootup...\n");
shimniok 0:7e98bbfd102a 152 fflush(stdout);
shimniok 1:7019a60fd585 153
shimniok 4:de7feb458652 154 printf("Loading config...\n");
shimniok 7:1f2661b840ed 155 config.add("intercept_distance", Config::DOUBLE);
shimniok 7:1f2661b840ed 156 config.add("waypoint_threshold", Config::DOUBLE);
shimniok 7:1f2661b840ed 157 config.add("minimum_turning_radius", Config::DOUBLE);
shimniok 7:1f2661b840ed 158 config.add("wheelbase", Config::DOUBLE);
shimniok 7:1f2661b840ed 159 config.add("track_width", Config::DOUBLE);
shimniok 7:1f2661b840ed 160 config.add("tire_circumference", Config::DOUBLE);
shimniok 7:1f2661b840ed 161 config.add("encoder_stripes", Config::INT);
shimniok 7:1f2661b840ed 162 config.add("esc_brake", Config::INT);
shimniok 7:1f2661b840ed 163 config.add("esc_off", Config::INT);
shimniok 7:1f2661b840ed 164 config.add("esc_max", Config::INT);
shimniok 7:1f2661b840ed 165 config.add("turn_speed", Config::DOUBLE);
shimniok 7:1f2661b840ed 166 config.add("turn_distance", Config::DOUBLE);
shimniok 7:1f2661b840ed 167 config.add("start_speed", Config::DOUBLE);
shimniok 7:1f2661b840ed 168 config.add("cruise_speed", Config::DOUBLE);
shimniok 7:1f2661b840ed 169 config.add("speed_kp", Config::DOUBLE);
shimniok 7:1f2661b840ed 170 config.add("speed_ki", Config::DOUBLE);
shimniok 7:1f2661b840ed 171 config.add("speed_kd", Config::DOUBLE);
shimniok 7:1f2661b840ed 172 config.add("steer_center", Config::DOUBLE);
shimniok 7:1f2661b840ed 173 config.add("steer_scale", Config::DOUBLE);
shimniok 7:1f2661b840ed 174 config.add("gyro_scale", Config::DOUBLE);
shimniok 7:1f2661b840ed 175 config.add("gps_valid_speed", Config::DOUBLE);
shimniok 7:1f2661b840ed 176
shimniok 4:de7feb458652 177 if (config.load("/etc/2018cfg.txt")) {
shimniok 4:de7feb458652 178 printf("error loading config\n");
shimniok 4:de7feb458652 179 }
shimniok 10:9fb3feb38746 180
shimniok 24:a7f92dfc5310 181 printf("Starting updater...\n");
shimniok 25:b8176ebb96c6 182 u->attach(updater_callback);
shimniok 24:a7f92dfc5310 183 Thread updaterThread(osPriorityRealtime, 512, 0, "updater");
shimniok 26:2dc31a801cc8 184 updaterQueue.call_every(20, u, &Updater::update);
shimniok 26:2dc31a801cc8 185 updaterThread.start(callback(&updaterQueue, &EventQueue::dispatch_forever));
shimniok 24:a7f92dfc5310 186
shimniok 24:a7f92dfc5310 187 printf("Starting gps...\n");
shimniok 24:a7f92dfc5310 188 Thread gpsThread(osPriorityHigh, 256, 0, "gps");
shimniok 24:a7f92dfc5310 189 gpsThread.start(callback(&gpsQueue, &EventQueue::dispatch_forever));
shimniok 24:a7f92dfc5310 190 ublox.subscribe(gps_callback);
shimniok 24:a7f92dfc5310 191 s.attach(gps_handler);
shimniok 24:a7f92dfc5310 192
shimniok 24:a7f92dfc5310 193 printf("Starting logging...\n");
shimniok 24:a7f92dfc5310 194 Thread logThread(osPriorityNormal, 256, 0, "log");
shimniok 24:a7f92dfc5310 195 logThread.start(callback(&logQueue, &EventQueue::dispatch_forever));
shimniok 24:a7f92dfc5310 196
shimniok 13:5566df1250f1 197 printf("Starting shell...\n");
shimniok 1:7019a60fd585 198 sh.attach(test, "test");
shimniok 9:fc3575d2cbbf 199 sh.attach(read_gyro, "gyro");
shimniok 14:1dd83e626153 200 sh.attach(read_enc, "enc");
shimniok 18:3f8a8f6e3cc1 201 sh.attach(read_gps, "gps");
shimniok 12:3cd91e150d9c 202 sh.attach(reset, "reset");
shimniok 24:a7f92dfc5310 203 sh.attach(stats, "stats");
shimniok 24:a7f92dfc5310 204 sh.run();
shimniok 22:4d62bd16f037 205
shimniok 20:043987d06f8d 206 /*
shimniok 0:7e98bbfd102a 207 FILE *fp;
shimniok 0:7e98bbfd102a 208 char buf[128];
shimniok 0:7e98bbfd102a 209 printf("Initializing the block device... ");
shimniok 0:7e98bbfd102a 210 fflush(stdout);
shimniok 0:7e98bbfd102a 211 int err = bd.init();
shimniok 0:7e98bbfd102a 212 printf("%s\n", (err ? "Fail :(" : "OK"));
shimniok 0:7e98bbfd102a 213
shimniok 0:7e98bbfd102a 214 printf("Opening sdtest.txt...");
shimniok 0:7e98bbfd102a 215 fp = fopen("/log/sdtest.txt", "r");
shimniok 0:7e98bbfd102a 216 if(fp) {
shimniok 0:7e98bbfd102a 217 while (!feof(fp)) {
shimniok 0:7e98bbfd102a 218 fgets(buf, 127, fp);
shimniok 0:7e98bbfd102a 219 printf(buf);
shimniok 0:7e98bbfd102a 220 }
shimniok 0:7e98bbfd102a 221 fclose(fp);
shimniok 0:7e98bbfd102a 222 }
shimniok 0:7e98bbfd102a 223
shimniok 0:7e98bbfd102a 224 printf("Opening config.txt...");
shimniok 0:7e98bbfd102a 225 fp = fopen("/etc/config.txt", "r");
shimniok 0:7e98bbfd102a 226 if(fp) {
shimniok 0:7e98bbfd102a 227 while (!feof(fp)) {
shimniok 0:7e98bbfd102a 228 fgets(buf, 127, fp);
shimniok 0:7e98bbfd102a 229 printf(buf);
shimniok 0:7e98bbfd102a 230 }
shimniok 0:7e98bbfd102a 231 fclose(fp);
shimniok 0:7e98bbfd102a 232 }
shimniok 0:7e98bbfd102a 233 */
shimniok 0:7e98bbfd102a 234
shimniok 0:7e98bbfd102a 235 //SystemReport sys_state(500);
shimniok 0:7e98bbfd102a 236
shimniok 0:7e98bbfd102a 237 while (true) {
shimniok 0:7e98bbfd102a 238 // Blink LED and wait 0.5 seconds
shimniok 0:7e98bbfd102a 239 led1 = !led1;
shimniok 0:7e98bbfd102a 240 wait(0.5f);
shimniok 0:7e98bbfd102a 241
shimniok 0:7e98bbfd102a 242 // Following the main thread wait, report on the current system status
shimniok 0:7e98bbfd102a 243 //sys_state.report_state();
shimniok 0:7e98bbfd102a 244 }
shimniok 0:7e98bbfd102a 245 }