Michael Shimniok / Mbed OS DataBus2018

2018 revision to classic DataBus AVC code.

Dependencies:   LSM303DLM Servo SerialGraphicLCD L3G4200D IncrementalEncoder SimpleShell

main.cpp@22:4d62bd16f037, 2018-12-17 (annotated)

Committer:
shimniok
Date:
Mon Dec 17 22:26:34 2018 +0000
Revision:
22:4d62bd16f037
Parent:
21:020f4ebbb13a
Child:
23:5e61cf4a8c34
gps parse into separate thread via EventQueue

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 0:7e98bbfd102a 17
shimniok 0:7e98bbfd102a 18 Serial pc(USBTX, USBRX);
shimniok 0:7e98bbfd102a 19 //SDBlockDevice bd(p5, p6, p7, p8); // MOSI, MISO, CLK, CS
shimniok 0:7e98bbfd102a 20 //FATFileSystem ffs("log", &bd);
shimniok 0:7e98bbfd102a 21 LocalFileSystem lfs("etc");
shimniok 4:de7feb458652 22 Config config;
shimniok 0:7e98bbfd102a 23 SimpleShell sh;
shimniok 18:3f8a8f6e3cc1 24 Ublox6 ublox;
shimniok 0:7e98bbfd102a 25
shimniok 0:7e98bbfd102a 26 DigitalOut led1(LED1);
shimniok 16:eb28d0f64a9b 27 DigitalOut led3(LED3);
shimniok 16:eb28d0f64a9b 28
shimniok 20:043987d06f8d 29 RawSerial s(UART1TX, UART1RX, 38400);
shimniok 20:043987d06f8d 30
shimniok 22:4d62bd16f037 31 EventQueue gpsQueue(32 * EVENTS_EVENT_SIZE);
shimniok 19:0d1728091519 32
shimniok 22:4d62bd16f037 33 // thread / eventqueue wrapper for gps parse
shimniok 22:4d62bd16f037 34 void gps_parse(int c) {
shimniok 22:4d62bd16f037 35 if (ublox.parse(c)) {
shimniok 22:4d62bd16f037 36 led3 = !led3;
shimniok 22:4d62bd16f037 37 }
shimniok 22:4d62bd16f037 38 }
shimniok 22:4d62bd16f037 39
shimniok 22:4d62bd16f037 40 // ISR for GPS serial, passes off to thread
shimniok 20:043987d06f8d 41 void gps_handler() {
shimniok 22:4d62bd16f037 42 while (s.readable()) {
shimniok 22:4d62bd16f037 43 int c = s.getc();
shimniok 22:4d62bd16f037 44 //gpsQueue.call(gps_parse, c);
shimniok 22:4d62bd16f037 45 gpsQueue.call(&ublox, &Ublox6::parse, c);
shimniok 16:eb28d0f64a9b 46 }
shimniok 19:0d1728091519 47 }
shimniok 16:eb28d0f64a9b 48
shimniok 9:fc3575d2cbbf 49 /******** SHELL COMMANDS ********/
shimniok 9:fc3575d2cbbf 50
shimniok 1:7019a60fd585 51 void test() {
shimniok 1:7019a60fd585 52 printf("Hello world!\n");
shimniok 1:7019a60fd585 53 }
shimniok 1:7019a60fd585 54
shimniok 18:3f8a8f6e3cc1 55 void read_gps()
shimniok 18:3f8a8f6e3cc1 56 {
shimniok 18:3f8a8f6e3cc1 57 double lat=0;
shimniok 18:3f8a8f6e3cc1 58 double lon=0;
shimniok 18:3f8a8f6e3cc1 59 float course=0;
shimniok 18:3f8a8f6e3cc1 60 float speed=0;
shimniok 18:3f8a8f6e3cc1 61 float hdop=0.0;
shimniok 18:3f8a8f6e3cc1 62 int svcount=0;
shimniok 18:3f8a8f6e3cc1 63
shimniok 18:3f8a8f6e3cc1 64 ublox.read(lat, lon, course, speed, hdop, svcount);
shimniok 18:3f8a8f6e3cc1 65 printf("%3.7f %3.7f\n", lat, lon);
shimniok 18:3f8a8f6e3cc1 66 printf("hdg=%03.1f deg spd=%3.1f m/s\n", course, speed);
shimniok 18:3f8a8f6e3cc1 67 printf("%d %f\n", svcount, hdop);
shimniok 18:3f8a8f6e3cc1 68 }
shimniok 18:3f8a8f6e3cc1 69
shimniok 9:fc3575d2cbbf 70 void read_gyro()
shimniok 9:fc3575d2cbbf 71 {
shimniok 12:3cd91e150d9c 72 int g[3];
shimniok 13:5566df1250f1 73 float dt;
shimniok 12:3cd91e150d9c 74
shimniok 11:8ec858b7c6d1 75 Updater *u = Updater::instance();
shimniok 11:8ec858b7c6d1 76
shimniok 13:5566df1250f1 77 u->gyro(g, dt);
shimniok 11:8ec858b7c6d1 78
shimniok 13:5566df1250f1 79 printf("Gyro: %d, %d, %d - dt: %f\n", g[0], g[1], g[2], dt);
shimniok 12:3cd91e150d9c 80 }
shimniok 12:3cd91e150d9c 81
shimniok 14:1dd83e626153 82 void read_enc()
shimniok 14:1dd83e626153 83 {
shimniok 14:1dd83e626153 84 Updater *u = Updater::instance();
shimniok 14:1dd83e626153 85
shimniok 14:1dd83e626153 86 printf("Encoder: %d\n", u->encoder());
shimniok 14:1dd83e626153 87 }
shimniok 14:1dd83e626153 88
shimniok 20:043987d06f8d 89 void bridge_uart1() {
shimniok 20:043987d06f8d 90 RawSerial s(UART1TX, UART1RX, 38400);
shimniok 20:043987d06f8d 91 while (1) {
shimniok 20:043987d06f8d 92 if (pc.readable()) s.putc(pc.getc());
shimniok 20:043987d06f8d 93 if (s.readable()) pc.putc(s.getc());
shimniok 20:043987d06f8d 94 }
shimniok 20:043987d06f8d 95 }
shimniok 20:043987d06f8d 96
shimniok 20:043987d06f8d 97
shimniok 12:3cd91e150d9c 98 void reset()
shimniok 12:3cd91e150d9c 99 {
shimniok 12:3cd91e150d9c 100 NVIC_SystemReset();
shimniok 9:fc3575d2cbbf 101 }
shimniok 9:fc3575d2cbbf 102
shimniok 9:fc3575d2cbbf 103 /******** MAIN ********/
shimniok 1:7019a60fd585 104
shimniok 0:7e98bbfd102a 105 // main() runs in its own thread in the OS
shimniok 0:7e98bbfd102a 106 int main()
shimniok 11:8ec858b7c6d1 107 {
shimniok 20:043987d06f8d 108 //bridge_uart1();
shimniok 20:043987d06f8d 109
shimniok 0:7e98bbfd102a 110 printf("Bootup...\n");
shimniok 0:7e98bbfd102a 111 fflush(stdout);
shimniok 1:7019a60fd585 112
shimniok 4:de7feb458652 113 printf("Loading config...\n");
shimniok 7:1f2661b840ed 114 config.add("intercept_distance", Config::DOUBLE);
shimniok 7:1f2661b840ed 115 config.add("waypoint_threshold", Config::DOUBLE);
shimniok 7:1f2661b840ed 116 config.add("minimum_turning_radius", Config::DOUBLE);
shimniok 7:1f2661b840ed 117 config.add("wheelbase", Config::DOUBLE);
shimniok 7:1f2661b840ed 118 config.add("track_width", Config::DOUBLE);
shimniok 7:1f2661b840ed 119 config.add("tire_circumference", Config::DOUBLE);
shimniok 7:1f2661b840ed 120 config.add("encoder_stripes", Config::INT);
shimniok 7:1f2661b840ed 121 config.add("esc_brake", Config::INT);
shimniok 7:1f2661b840ed 122 config.add("esc_off", Config::INT);
shimniok 7:1f2661b840ed 123 config.add("esc_max", Config::INT);
shimniok 7:1f2661b840ed 124 config.add("turn_speed", Config::DOUBLE);
shimniok 7:1f2661b840ed 125 config.add("turn_distance", Config::DOUBLE);
shimniok 7:1f2661b840ed 126 config.add("start_speed", Config::DOUBLE);
shimniok 7:1f2661b840ed 127 config.add("cruise_speed", Config::DOUBLE);
shimniok 7:1f2661b840ed 128 config.add("speed_kp", Config::DOUBLE);
shimniok 7:1f2661b840ed 129 config.add("speed_ki", Config::DOUBLE);
shimniok 7:1f2661b840ed 130 config.add("speed_kd", Config::DOUBLE);
shimniok 7:1f2661b840ed 131 config.add("steer_center", Config::DOUBLE);
shimniok 7:1f2661b840ed 132 config.add("steer_scale", Config::DOUBLE);
shimniok 7:1f2661b840ed 133 config.add("gyro_scale", Config::DOUBLE);
shimniok 7:1f2661b840ed 134 config.add("gps_valid_speed", Config::DOUBLE);
shimniok 7:1f2661b840ed 135
shimniok 4:de7feb458652 136 if (config.load("/etc/2018cfg.txt")) {
shimniok 4:de7feb458652 137 printf("error loading config\n");
shimniok 4:de7feb458652 138 }
shimniok 10:9fb3feb38746 139
shimniok 13:5566df1250f1 140 printf("Starting shell...\n");
shimniok 1:7019a60fd585 141 sh.attach(test, "test");
shimniok 9:fc3575d2cbbf 142 sh.attach(read_gyro, "gyro");
shimniok 14:1dd83e626153 143 sh.attach(read_enc, "enc");
shimniok 18:3f8a8f6e3cc1 144 sh.attach(read_gps, "gps");
shimniok 12:3cd91e150d9c 145 sh.attach(reset, "reset");
shimniok 15:35c40765f7c3 146 Thread shellThread;
shimniok 15:35c40765f7c3 147 shellThread.start(callback(&sh, &SimpleShell::run));
shimniok 0:7e98bbfd102a 148
shimniok 13:5566df1250f1 149 printf("Starting updater...\n");
shimniok 11:8ec858b7c6d1 150 Updater *u = Updater::instance();
shimniok 21:020f4ebbb13a 151 u->setInterval(20);
shimniok 22:4d62bd16f037 152 Thread updaterThread(osPriorityRealtime);
shimniok 15:35c40765f7c3 153 updaterThread.start(callback(u, &Updater::start));
shimniok 22:4d62bd16f037 154
shimniok 16:eb28d0f64a9b 155 printf("Starting gps...\n");
shimniok 22:4d62bd16f037 156 Thread gpsThread(osPriorityHigh);
shimniok 22:4d62bd16f037 157 gpsThread.start(callback(&gpsQueue, &EventQueue::dispatch_forever));
shimniok 22:4d62bd16f037 158 s.attach(gps_handler);
shimniok 10:9fb3feb38746 159
shimniok 20:043987d06f8d 160 /*
shimniok 0:7e98bbfd102a 161 FILE *fp;
shimniok 0:7e98bbfd102a 162 char buf[128];
shimniok 0:7e98bbfd102a 163 printf("Initializing the block device... ");
shimniok 0:7e98bbfd102a 164 fflush(stdout);
shimniok 0:7e98bbfd102a 165 int err = bd.init();
shimniok 0:7e98bbfd102a 166 printf("%s\n", (err ? "Fail :(" : "OK"));
shimniok 0:7e98bbfd102a 167
shimniok 0:7e98bbfd102a 168 printf("Opening sdtest.txt...");
shimniok 0:7e98bbfd102a 169 fp = fopen("/log/sdtest.txt", "r");
shimniok 0:7e98bbfd102a 170 if(fp) {
shimniok 0:7e98bbfd102a 171 while (!feof(fp)) {
shimniok 0:7e98bbfd102a 172 fgets(buf, 127, fp);
shimniok 0:7e98bbfd102a 173 printf(buf);
shimniok 0:7e98bbfd102a 174 }
shimniok 0:7e98bbfd102a 175 fclose(fp);
shimniok 0:7e98bbfd102a 176 }
shimniok 0:7e98bbfd102a 177
shimniok 0:7e98bbfd102a 178 printf("Opening config.txt...");
shimniok 0:7e98bbfd102a 179 fp = fopen("/etc/config.txt", "r");
shimniok 0:7e98bbfd102a 180 if(fp) {
shimniok 0:7e98bbfd102a 181 while (!feof(fp)) {
shimniok 0:7e98bbfd102a 182 fgets(buf, 127, fp);
shimniok 0:7e98bbfd102a 183 printf(buf);
shimniok 0:7e98bbfd102a 184 }
shimniok 0:7e98bbfd102a 185 fclose(fp);
shimniok 0:7e98bbfd102a 186 }
shimniok 0:7e98bbfd102a 187 */
shimniok 0:7e98bbfd102a 188
shimniok 0:7e98bbfd102a 189 //SystemReport sys_state(500);
shimniok 0:7e98bbfd102a 190
shimniok 0:7e98bbfd102a 191 while (true) {
shimniok 0:7e98bbfd102a 192 // Blink LED and wait 0.5 seconds
shimniok 0:7e98bbfd102a 193 led1 = !led1;
shimniok 0:7e98bbfd102a 194 wait(0.5f);
shimniok 0:7e98bbfd102a 195
shimniok 0:7e98bbfd102a 196 // Following the main thread wait, report on the current system status
shimniok 0:7e98bbfd102a 197 //sys_state.report_state();
shimniok 0:7e98bbfd102a 198 }
shimniok 0:7e98bbfd102a 199 }