Michael Shimniok / Mbed OS DataBus2018

2018 revision to classic DataBus AVC code.

Dependencies:   LSM303DLM Servo SerialGraphicLCD L3G4200D IncrementalEncoder SimpleShell

main.cpp@16:eb28d0f64a9b, 2018-12-13 (annotated)

Committer:
shimniok
Date:
Thu Dec 13 17:35:29 2018 +0000
Revision:
16:eb28d0f64a9b
Parent:
15:35c40765f7c3
Child:
18:3f8a8f6e3cc1
Initial gps receive implementation

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 0:7e98bbfd102a 24
shimniok 0:7e98bbfd102a 25 DigitalOut led1(LED1);
shimniok 16:eb28d0f64a9b 26 DigitalOut led3(LED3);
shimniok 16:eb28d0f64a9b 27
shimniok 16:eb28d0f64a9b 28 void do_gps() {
shimniok 16:eb28d0f64a9b 29 Ublox6 ublox;
shimniok 16:eb28d0f64a9b 30 RawSerial s(UART1TX, UART1RX, 38400);
shimniok 16:eb28d0f64a9b 31 while (1) {
shimniok 16:eb28d0f64a9b 32 int c = s.getc();
shimniok 16:eb28d0f64a9b 33 //int c = 'a';
shimniok 16:eb28d0f64a9b 34 ublox.parse(c);
shimniok 16:eb28d0f64a9b 35 led3 = !led3;
shimniok 16:eb28d0f64a9b 36 }
shimniok 16:eb28d0f64a9b 37 }
shimniok 16:eb28d0f64a9b 38
shimniok 0:7e98bbfd102a 39
shimniok 9:fc3575d2cbbf 40 /******** SHELL COMMANDS ********/
shimniok 9:fc3575d2cbbf 41
shimniok 1:7019a60fd585 42 void test() {
shimniok 1:7019a60fd585 43 printf("Hello world!\n");
shimniok 1:7019a60fd585 44 }
shimniok 1:7019a60fd585 45
shimniok 9:fc3575d2cbbf 46 void read_gyro()
shimniok 9:fc3575d2cbbf 47 {
shimniok 12:3cd91e150d9c 48 int g[3];
shimniok 13:5566df1250f1 49 float dt;
shimniok 12:3cd91e150d9c 50
shimniok 11:8ec858b7c6d1 51 Updater *u = Updater::instance();
shimniok 11:8ec858b7c6d1 52
shimniok 13:5566df1250f1 53 u->gyro(g, dt);
shimniok 11:8ec858b7c6d1 54
shimniok 13:5566df1250f1 55 printf("Gyro: %d, %d, %d - dt: %f\n", g[0], g[1], g[2], dt);
shimniok 12:3cd91e150d9c 56 }
shimniok 12:3cd91e150d9c 57
shimniok 14:1dd83e626153 58 void read_enc()
shimniok 14:1dd83e626153 59 {
shimniok 14:1dd83e626153 60 Updater *u = Updater::instance();
shimniok 14:1dd83e626153 61
shimniok 14:1dd83e626153 62 printf("Encoder: %d\n", u->encoder());
shimniok 14:1dd83e626153 63 }
shimniok 14:1dd83e626153 64
shimniok 12:3cd91e150d9c 65 void reset()
shimniok 12:3cd91e150d9c 66 {
shimniok 12:3cd91e150d9c 67 NVIC_SystemReset();
shimniok 9:fc3575d2cbbf 68 }
shimniok 9:fc3575d2cbbf 69
shimniok 9:fc3575d2cbbf 70 /******** MAIN ********/
shimniok 1:7019a60fd585 71
shimniok 0:7e98bbfd102a 72 // main() runs in its own thread in the OS
shimniok 0:7e98bbfd102a 73 int main()
shimniok 11:8ec858b7c6d1 74 {
shimniok 0:7e98bbfd102a 75 printf("Bootup...\n");
shimniok 0:7e98bbfd102a 76 fflush(stdout);
shimniok 1:7019a60fd585 77
shimniok 4:de7feb458652 78 printf("Loading config...\n");
shimniok 7:1f2661b840ed 79 config.add("intercept_distance", Config::DOUBLE);
shimniok 7:1f2661b840ed 80 config.add("waypoint_threshold", Config::DOUBLE);
shimniok 7:1f2661b840ed 81 config.add("minimum_turning_radius", Config::DOUBLE);
shimniok 7:1f2661b840ed 82 config.add("wheelbase", Config::DOUBLE);
shimniok 7:1f2661b840ed 83 config.add("track_width", Config::DOUBLE);
shimniok 7:1f2661b840ed 84 config.add("tire_circumference", Config::DOUBLE);
shimniok 7:1f2661b840ed 85 config.add("encoder_stripes", Config::INT);
shimniok 7:1f2661b840ed 86 config.add("esc_brake", Config::INT);
shimniok 7:1f2661b840ed 87 config.add("esc_off", Config::INT);
shimniok 7:1f2661b840ed 88 config.add("esc_max", Config::INT);
shimniok 7:1f2661b840ed 89 config.add("turn_speed", Config::DOUBLE);
shimniok 7:1f2661b840ed 90 config.add("turn_distance", Config::DOUBLE);
shimniok 7:1f2661b840ed 91 config.add("start_speed", Config::DOUBLE);
shimniok 7:1f2661b840ed 92 config.add("cruise_speed", Config::DOUBLE);
shimniok 7:1f2661b840ed 93 config.add("speed_kp", Config::DOUBLE);
shimniok 7:1f2661b840ed 94 config.add("speed_ki", Config::DOUBLE);
shimniok 7:1f2661b840ed 95 config.add("speed_kd", Config::DOUBLE);
shimniok 7:1f2661b840ed 96 config.add("steer_center", Config::DOUBLE);
shimniok 7:1f2661b840ed 97 config.add("steer_scale", Config::DOUBLE);
shimniok 7:1f2661b840ed 98 config.add("gyro_scale", Config::DOUBLE);
shimniok 7:1f2661b840ed 99 config.add("gps_valid_speed", Config::DOUBLE);
shimniok 7:1f2661b840ed 100
shimniok 4:de7feb458652 101 if (config.load("/etc/2018cfg.txt")) {
shimniok 4:de7feb458652 102 printf("error loading config\n");
shimniok 4:de7feb458652 103 }
shimniok 10:9fb3feb38746 104
shimniok 13:5566df1250f1 105 printf("Starting shell...\n");
shimniok 1:7019a60fd585 106 sh.attach(test, "test");
shimniok 9:fc3575d2cbbf 107 sh.attach(read_gyro, "gyro");
shimniok 14:1dd83e626153 108 sh.attach(read_enc, "enc");
shimniok 12:3cd91e150d9c 109 sh.attach(reset, "reset");
shimniok 15:35c40765f7c3 110 Thread shellThread;
shimniok 15:35c40765f7c3 111 shellThread.start(callback(&sh, &SimpleShell::run));
shimniok 0:7e98bbfd102a 112
shimniok 13:5566df1250f1 113 printf("Starting updater...\n");
shimniok 11:8ec858b7c6d1 114 Updater *u = Updater::instance();
shimniok 15:35c40765f7c3 115 u->setInterval(50);
shimniok 15:35c40765f7c3 116 Thread updaterThread;
shimniok 15:35c40765f7c3 117 updaterThread.set_priority(osPriorityRealtime);
shimniok 15:35c40765f7c3 118 updaterThread.start(callback(u, &Updater::start));
shimniok 16:eb28d0f64a9b 119
shimniok 16:eb28d0f64a9b 120 printf("Starting gps...\n");
shimniok 16:eb28d0f64a9b 121 Thread gpsThread;
shimniok 16:eb28d0f64a9b 122 gpsThread.start(&do_gps);
shimniok 10:9fb3feb38746 123
shimniok 0:7e98bbfd102a 124 /*
shimniok 0:7e98bbfd102a 125 FILE *fp;
shimniok 0:7e98bbfd102a 126 char buf[128];
shimniok 0:7e98bbfd102a 127 printf("Initializing the block device... ");
shimniok 0:7e98bbfd102a 128 fflush(stdout);
shimniok 0:7e98bbfd102a 129 int err = bd.init();
shimniok 0:7e98bbfd102a 130 printf("%s\n", (err ? "Fail :(" : "OK"));
shimniok 0:7e98bbfd102a 131
shimniok 0:7e98bbfd102a 132 printf("Opening sdtest.txt...");
shimniok 0:7e98bbfd102a 133 fp = fopen("/log/sdtest.txt", "r");
shimniok 0:7e98bbfd102a 134 if(fp) {
shimniok 0:7e98bbfd102a 135 while (!feof(fp)) {
shimniok 0:7e98bbfd102a 136 fgets(buf, 127, fp);
shimniok 0:7e98bbfd102a 137 printf(buf);
shimniok 0:7e98bbfd102a 138 }
shimniok 0:7e98bbfd102a 139 fclose(fp);
shimniok 0:7e98bbfd102a 140 }
shimniok 0:7e98bbfd102a 141
shimniok 0:7e98bbfd102a 142 printf("Opening config.txt...");
shimniok 0:7e98bbfd102a 143 fp = fopen("/etc/config.txt", "r");
shimniok 0:7e98bbfd102a 144 if(fp) {
shimniok 0:7e98bbfd102a 145 while (!feof(fp)) {
shimniok 0:7e98bbfd102a 146 fgets(buf, 127, fp);
shimniok 0:7e98bbfd102a 147 printf(buf);
shimniok 0:7e98bbfd102a 148 }
shimniok 0:7e98bbfd102a 149 fclose(fp);
shimniok 0:7e98bbfd102a 150 }
shimniok 0:7e98bbfd102a 151 */
shimniok 0:7e98bbfd102a 152
shimniok 0:7e98bbfd102a 153 //SystemReport sys_state(500);
shimniok 0:7e98bbfd102a 154
shimniok 0:7e98bbfd102a 155 while (true) {
shimniok 0:7e98bbfd102a 156 // Blink LED and wait 0.5 seconds
shimniok 0:7e98bbfd102a 157 led1 = !led1;
shimniok 0:7e98bbfd102a 158 wait(0.5f);
shimniok 0:7e98bbfd102a 159
shimniok 0:7e98bbfd102a 160 // Following the main thread wait, report on the current system status
shimniok 0:7e98bbfd102a 161 //sys_state.report_state();
shimniok 0:7e98bbfd102a 162 }
shimniok 0:7e98bbfd102a 163 }