Michael Shimniok / Mbed OS DataBus2018

2018 revision to classic DataBus AVC code.

Dependencies:   LSM303DLM Servo SerialGraphicLCD L3G4200D IncrementalEncoder SimpleShell

main.cpp@13:5566df1250f1, 2018-12-12 (annotated)

Committer:
shimniok
Date:
Wed Dec 12 17:38:02 2018 +0000
Revision:
13:5566df1250f1
Parent:
12:3cd91e150d9c
Child:
14:1dd83e626153
compute and pass back dt from updater

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 11:8ec858b7c6d1 14 #include "Updater.h"
shimniok 0:7e98bbfd102a 15
shimniok 0:7e98bbfd102a 16 Serial pc(USBTX, USBRX);
shimniok 0:7e98bbfd102a 17 //SDBlockDevice bd(p5, p6, p7, p8); // MOSI, MISO, CLK, CS
shimniok 0:7e98bbfd102a 18 //FATFileSystem ffs("log", &bd);
shimniok 0:7e98bbfd102a 19 LocalFileSystem lfs("etc");
shimniok 4:de7feb458652 20 Config config;
shimniok 0:7e98bbfd102a 21 SimpleShell sh;
shimniok 0:7e98bbfd102a 22
shimniok 0:7e98bbfd102a 23 DigitalOut led1(LED1);
shimniok 10:9fb3feb38746 24 Thread thread;
shimniok 0:7e98bbfd102a 25
shimniok 9:fc3575d2cbbf 26 /******** SHELL COMMANDS ********/
shimniok 9:fc3575d2cbbf 27
shimniok 1:7019a60fd585 28 void test() {
shimniok 1:7019a60fd585 29 printf("Hello world!\n");
shimniok 1:7019a60fd585 30 }
shimniok 1:7019a60fd585 31
shimniok 9:fc3575d2cbbf 32 void read_gyro()
shimniok 9:fc3575d2cbbf 33 {
shimniok 12:3cd91e150d9c 34 int g[3];
shimniok 13:5566df1250f1 35 float dt;
shimniok 12:3cd91e150d9c 36
shimniok 11:8ec858b7c6d1 37 Updater *u = Updater::instance();
shimniok 11:8ec858b7c6d1 38
shimniok 13:5566df1250f1 39 u->gyro(g, dt);
shimniok 11:8ec858b7c6d1 40
shimniok 13:5566df1250f1 41 printf("Gyro: %d, %d, %d - dt: %f\n", g[0], g[1], g[2], dt);
shimniok 12:3cd91e150d9c 42 }
shimniok 12:3cd91e150d9c 43
shimniok 12:3cd91e150d9c 44 void reset()
shimniok 12:3cd91e150d9c 45 {
shimniok 12:3cd91e150d9c 46 NVIC_SystemReset();
shimniok 9:fc3575d2cbbf 47 }
shimniok 9:fc3575d2cbbf 48
shimniok 9:fc3575d2cbbf 49 /******** MAIN ********/
shimniok 1:7019a60fd585 50
shimniok 0:7e98bbfd102a 51 // main() runs in its own thread in the OS
shimniok 0:7e98bbfd102a 52 int main()
shimniok 11:8ec858b7c6d1 53 {
shimniok 0:7e98bbfd102a 54 printf("Bootup...\n");
shimniok 0:7e98bbfd102a 55 fflush(stdout);
shimniok 1:7019a60fd585 56
shimniok 4:de7feb458652 57 printf("Loading config...\n");
shimniok 7:1f2661b840ed 58 config.add("intercept_distance", Config::DOUBLE);
shimniok 7:1f2661b840ed 59 config.add("waypoint_threshold", Config::DOUBLE);
shimniok 7:1f2661b840ed 60 config.add("minimum_turning_radius", Config::DOUBLE);
shimniok 7:1f2661b840ed 61 config.add("wheelbase", Config::DOUBLE);
shimniok 7:1f2661b840ed 62 config.add("track_width", Config::DOUBLE);
shimniok 7:1f2661b840ed 63 config.add("tire_circumference", Config::DOUBLE);
shimniok 7:1f2661b840ed 64 config.add("encoder_stripes", Config::INT);
shimniok 7:1f2661b840ed 65 config.add("esc_brake", Config::INT);
shimniok 7:1f2661b840ed 66 config.add("esc_off", Config::INT);
shimniok 7:1f2661b840ed 67 config.add("esc_max", Config::INT);
shimniok 7:1f2661b840ed 68 config.add("turn_speed", Config::DOUBLE);
shimniok 7:1f2661b840ed 69 config.add("turn_distance", Config::DOUBLE);
shimniok 7:1f2661b840ed 70 config.add("start_speed", Config::DOUBLE);
shimniok 7:1f2661b840ed 71 config.add("cruise_speed", Config::DOUBLE);
shimniok 7:1f2661b840ed 72 config.add("speed_kp", Config::DOUBLE);
shimniok 7:1f2661b840ed 73 config.add("speed_ki", Config::DOUBLE);
shimniok 7:1f2661b840ed 74 config.add("speed_kd", Config::DOUBLE);
shimniok 7:1f2661b840ed 75 config.add("steer_center", Config::DOUBLE);
shimniok 7:1f2661b840ed 76 config.add("steer_scale", Config::DOUBLE);
shimniok 7:1f2661b840ed 77 config.add("gyro_scale", Config::DOUBLE);
shimniok 7:1f2661b840ed 78 config.add("gps_valid_speed", Config::DOUBLE);
shimniok 7:1f2661b840ed 79
shimniok 4:de7feb458652 80 if (config.load("/etc/2018cfg.txt")) {
shimniok 4:de7feb458652 81 printf("error loading config\n");
shimniok 4:de7feb458652 82 }
shimniok 10:9fb3feb38746 83
shimniok 13:5566df1250f1 84 printf("Starting shell...\n");
shimniok 1:7019a60fd585 85 sh.attach(test, "test");
shimniok 9:fc3575d2cbbf 86 sh.attach(read_gyro, "gyro");
shimniok 12:3cd91e150d9c 87 sh.attach(reset, "reset");
shimniok 0:7e98bbfd102a 88 thread.start(callback(&sh, &SimpleShell::run));
shimniok 0:7e98bbfd102a 89
shimniok 13:5566df1250f1 90 printf("Starting updater...\n");
shimniok 11:8ec858b7c6d1 91 Updater *u = Updater::instance();
shimniok 11:8ec858b7c6d1 92 u->start(50);
shimniok 10:9fb3feb38746 93
shimniok 0:7e98bbfd102a 94 /*
shimniok 0:7e98bbfd102a 95 FILE *fp;
shimniok 0:7e98bbfd102a 96 char buf[128];
shimniok 0:7e98bbfd102a 97 printf("Initializing the block device... ");
shimniok 0:7e98bbfd102a 98 fflush(stdout);
shimniok 0:7e98bbfd102a 99 int err = bd.init();
shimniok 0:7e98bbfd102a 100 printf("%s\n", (err ? "Fail :(" : "OK"));
shimniok 0:7e98bbfd102a 101
shimniok 0:7e98bbfd102a 102 printf("Opening sdtest.txt...");
shimniok 0:7e98bbfd102a 103 fp = fopen("/log/sdtest.txt", "r");
shimniok 0:7e98bbfd102a 104 if(fp) {
shimniok 0:7e98bbfd102a 105 while (!feof(fp)) {
shimniok 0:7e98bbfd102a 106 fgets(buf, 127, fp);
shimniok 0:7e98bbfd102a 107 printf(buf);
shimniok 0:7e98bbfd102a 108 }
shimniok 0:7e98bbfd102a 109 fclose(fp);
shimniok 0:7e98bbfd102a 110 }
shimniok 0:7e98bbfd102a 111
shimniok 0:7e98bbfd102a 112 printf("Opening config.txt...");
shimniok 0:7e98bbfd102a 113 fp = fopen("/etc/config.txt", "r");
shimniok 0:7e98bbfd102a 114 if(fp) {
shimniok 0:7e98bbfd102a 115 while (!feof(fp)) {
shimniok 0:7e98bbfd102a 116 fgets(buf, 127, fp);
shimniok 0:7e98bbfd102a 117 printf(buf);
shimniok 0:7e98bbfd102a 118 }
shimniok 0:7e98bbfd102a 119 fclose(fp);
shimniok 0:7e98bbfd102a 120 }
shimniok 0:7e98bbfd102a 121 */
shimniok 0:7e98bbfd102a 122
shimniok 0:7e98bbfd102a 123 //SystemReport sys_state(500);
shimniok 0:7e98bbfd102a 124
shimniok 0:7e98bbfd102a 125 while (true) {
shimniok 0:7e98bbfd102a 126 // Blink LED and wait 0.5 seconds
shimniok 0:7e98bbfd102a 127 led1 = !led1;
shimniok 0:7e98bbfd102a 128 wait(0.5f);
shimniok 0:7e98bbfd102a 129
shimniok 0:7e98bbfd102a 130 // Following the main thread wait, report on the current system status
shimniok 0:7e98bbfd102a 131 //sys_state.report_state();
shimniok 0:7e98bbfd102a 132 }
shimniok 0:7e98bbfd102a 133 }