AutoLiDAR
Scanning LiDAR firmware for the Sprite project
Revision 0:58b89c025007, committed 2019-03-24
- Comitter:
- abraha2d
- Date:
- Sun Mar 24 20:25:43 2019 +0000
- Commit message:
- Initial boilerplate commit
Changed in this revision
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/.gitignore Sun Mar 24 20:25:43 2019 +0000 @@ -0,0 +1,4 @@ +.build +.mbed +projectfiles +*.py*
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/config.h Sun Mar 24 20:25:43 2019 +0000 @@ -0,0 +1,10 @@ +#ifndef CONFIG_H +#define CONFIG_H + +// ESC PWM period (seconds) +#define CONF_ESC_PERIOD 20e-3 + +// ESC PWM pulsewidth (seconds) +#define CONF_ESC_PULSEWIDTH 1748e-6 + +#endif \ No newline at end of file
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp Sun Mar 24 20:25:43 2019 +0000
@@ -0,0 +1,135 @@
+#include "mbed.h"
+#include "pindefs.h"
+#include "config.h"
+
+
+
+/**
+ * Devices
+ */
+
+// Encoder
+InterruptIn enc_idx (PIN_ENC_IDX);
+InterruptIn enc_cha (PIN_ENC_CHA);
+
+// ESC
+PwmOut esc_pwm (PIN_ESC_PWM);
+
+// Rangefinder
+InterruptIn rgf_sync (PIN_RGF_SYNC);
+Serial rgf_serial (PIN_RGF_RXD, PIN_RGF_TXD);
+
+// LEDs
+DigitalOut led1 (LED1);
+DigitalOut led2 (LED2);
+DigitalOut led3 (LED3);
+DigitalOut led4 (LED4);
+
+
+
+/**
+ * Global variables
+ */
+
+// Rangefinder data acquisition state
+int rgf_state = 0;
+
+// Encoder data acquisition state
+int enc_state = 0;
+
+
+
+/**
+ * Interrupt service routines
+ */
+
+// Encoder index pulse
+void isr_enc_idx()
+{
+ led2 = !led2;
+}
+
+// Encoder channel A pulse
+void isr_enc_cha()
+{
+ led3 = !led3;
+}
+
+// Rangefinder sync pulse
+void isr_rgf_sync()
+{
+ led4 = !led4;
+}
+
+
+
+/**
+ * Threads
+ */
+
+// Blink thread
+Thread blink;
+void thread_blink()
+{
+ for(;;) {
+ led1 = !led1;
+ wait(1);
+ }
+}
+
+
+
+/**
+ * Setup functions
+ */
+
+// Encoder
+void setup_enc()
+{
+ enc_idx.rise(&isr_enc_idx);
+ enc_cha.rise(&isr_enc_cha);
+}
+
+// ESC
+void setup_esc()
+{
+ esc_pwm.period(CONF_ESC_PERIOD); // 20 ms
+ esc_pwm.pulsewidth(CONF_ESC_PULSEWIDTH); // 1748 µs
+}
+
+// Rangefinder
+void setup_rgf()
+{
+ rgf_sync.fall(&isr_rgf_sync);
+}
+
+// Threads
+void setup_threads()
+{
+ blink.start(thread_blink);
+}
+
+
+
+/**
+ * Main
+ */
+
+int main()
+{
+ /* Setup */
+
+ setup_enc();
+ setup_esc();
+ setup_rgf();
+ setup_threads();
+
+ /* Loop */
+
+ for (;;) {
+
+ wait(0);
+
+ }
+
+}
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/mbed-os.lib Sun Mar 24 20:25:43 2019 +0000 @@ -0,0 +1,1 @@ +https://github.com/ARMmbed/mbed-os/#51d55508e8400b60af467005646c4e2164738d48
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/pindefs.h Sun Mar 24 20:25:43 2019 +0000 @@ -0,0 +1,18 @@ +#ifndef PINDEFS_H +#define PINDEFS_H + +// Encoder index, channel A +#define PIN_ENC_IDX p23 +#define PIN_ENC_CHA p24 + +// ESC PWM +#define PIN_ESC_PWM p25 + +// Rangefinder synchronization +#define PIN_RGF_SYNC p26 + +// Rangefinder serial +#define PIN_RGF_TXD p27 +#define PIN_RGF_RXD p28 + +#endif \ No newline at end of file