Michael Shimniok / Mbed OS DataBus2018

2018 revision to classic DataBus AVC code.

Dependencies:   LSM303DLM Servo SerialGraphicLCD L3G4200D IncrementalEncoder SimpleShell

main.cpp@9:fc3575d2cbbf, 2018-12-07 (annotated)

Committer:
shimniok
Date:
Fri Dec 07 15:58:41 2018 +0000
Revision:
9:fc3575d2cbbf
Parent:
7:1f2661b840ed
Child:
10:9fb3feb38746
Test gyro reading from shell.

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 9:fc3575d2cbbf 14 #include "L3G4200D.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 9:fc3575d2cbbf 23 L3G4200D gyro(p9, p10);
shimniok 0:7e98bbfd102a 24 DigitalOut led1(LED1);
shimniok 0:7e98bbfd102a 25
shimniok 0:7e98bbfd102a 26 Thread thread;
shimniok 0:7e98bbfd102a 27
shimniok 9:fc3575d2cbbf 28 /******** SHELL COMMANDS ********/
shimniok 9:fc3575d2cbbf 29
shimniok 1:7019a60fd585 30 void test() {
shimniok 1:7019a60fd585 31 printf("Hello world!\n");
shimniok 1:7019a60fd585 32 }
shimniok 1:7019a60fd585 33
shimniok 9:fc3575d2cbbf 34 void read_gyro()
shimniok 9:fc3575d2cbbf 35 {
shimniok 9:fc3575d2cbbf 36 int g[3];
shimniok 9:fc3575d2cbbf 37 gyro.read(g);
shimniok 9:fc3575d2cbbf 38 printf("Gyro: %d, %d, %d\n", g[0], g[1], g[2]);
shimniok 9:fc3575d2cbbf 39 }
shimniok 9:fc3575d2cbbf 40
shimniok 9:fc3575d2cbbf 41
shimniok 9:fc3575d2cbbf 42 /******** GYRO UPDATER ********/
shimniok 9:fc3575d2cbbf 43 void gyro_update()
shimniok 9:fc3575d2cbbf 44 {
shimniok 9:fc3575d2cbbf 45 int g[3];
shimniok 9:fc3575d2cbbf 46
shimniok 9:fc3575d2cbbf 47 while (1) {
shimniok 9:fc3575d2cbbf 48 gyro.read(g);
shimniok 9:fc3575d2cbbf 49 // send message / add to status fifo?
shimniok 9:fc3575d2cbbf 50 }
shimniok 9:fc3575d2cbbf 51 }
shimniok 9:fc3575d2cbbf 52
shimniok 9:fc3575d2cbbf 53
shimniok 9:fc3575d2cbbf 54 /******** MAIN ********/
shimniok 1:7019a60fd585 55
shimniok 0:7e98bbfd102a 56 // main() runs in its own thread in the OS
shimniok 0:7e98bbfd102a 57 int main()
shimniok 0:7e98bbfd102a 58 {
shimniok 0:7e98bbfd102a 59 printf("Bootup...\n");
shimniok 0:7e98bbfd102a 60 fflush(stdout);
shimniok 1:7019a60fd585 61
shimniok 4:de7feb458652 62 printf("Loading config...\n");
shimniok 7:1f2661b840ed 63
shimniok 7:1f2661b840ed 64 // Add valid keywords
shimniok 7:1f2661b840ed 65 config.add("intercept_distance", Config::DOUBLE);
shimniok 7:1f2661b840ed 66 config.add("waypoint_threshold", Config::DOUBLE);
shimniok 7:1f2661b840ed 67 config.add("minimum_turning_radius", Config::DOUBLE);
shimniok 7:1f2661b840ed 68 config.add("wheelbase", Config::DOUBLE);
shimniok 7:1f2661b840ed 69 config.add("track_width", Config::DOUBLE);
shimniok 7:1f2661b840ed 70 config.add("tire_circumference", Config::DOUBLE);
shimniok 7:1f2661b840ed 71 config.add("encoder_stripes", Config::INT);
shimniok 7:1f2661b840ed 72 config.add("esc_brake", Config::INT);
shimniok 7:1f2661b840ed 73 config.add("esc_off", Config::INT);
shimniok 7:1f2661b840ed 74 config.add("esc_max", Config::INT);
shimniok 7:1f2661b840ed 75 config.add("turn_speed", Config::DOUBLE);
shimniok 7:1f2661b840ed 76 config.add("turn_distance", Config::DOUBLE);
shimniok 7:1f2661b840ed 77 config.add("start_speed", Config::DOUBLE);
shimniok 7:1f2661b840ed 78 config.add("cruise_speed", Config::DOUBLE);
shimniok 7:1f2661b840ed 79 config.add("speed_kp", Config::DOUBLE);
shimniok 7:1f2661b840ed 80 config.add("speed_ki", Config::DOUBLE);
shimniok 7:1f2661b840ed 81 config.add("speed_kd", Config::DOUBLE);
shimniok 7:1f2661b840ed 82 config.add("steer_center", Config::DOUBLE);
shimniok 7:1f2661b840ed 83 config.add("steer_scale", Config::DOUBLE);
shimniok 7:1f2661b840ed 84 config.add("gyro_scale", Config::DOUBLE);
shimniok 7:1f2661b840ed 85 config.add("gps_valid_speed", Config::DOUBLE);
shimniok 7:1f2661b840ed 86
shimniok 4:de7feb458652 87 if (config.load("/etc/2018cfg.txt")) {
shimniok 4:de7feb458652 88 printf("error loading config\n");
shimniok 4:de7feb458652 89 }
shimniok 4:de7feb458652 90
shimniok 1:7019a60fd585 91 sh.attach(test, "test");
shimniok 9:fc3575d2cbbf 92 sh.attach(read_gyro, "gyro");
shimniok 1:7019a60fd585 93
shimniok 0:7e98bbfd102a 94 thread.start(callback(&sh, &SimpleShell::run));
shimniok 0:7e98bbfd102a 95
shimniok 0:7e98bbfd102a 96 /*
shimniok 0:7e98bbfd102a 97 FILE *fp;
shimniok 0:7e98bbfd102a 98 char buf[128];
shimniok 0:7e98bbfd102a 99 printf("Initializing the block device... ");
shimniok 0:7e98bbfd102a 100 fflush(stdout);
shimniok 0:7e98bbfd102a 101 int err = bd.init();
shimniok 0:7e98bbfd102a 102 printf("%s\n", (err ? "Fail :(" : "OK"));
shimniok 0:7e98bbfd102a 103
shimniok 0:7e98bbfd102a 104 printf("Opening sdtest.txt...");
shimniok 0:7e98bbfd102a 105 fp = fopen("/log/sdtest.txt", "r");
shimniok 0:7e98bbfd102a 106 if(fp) {
shimniok 0:7e98bbfd102a 107 while (!feof(fp)) {
shimniok 0:7e98bbfd102a 108 fgets(buf, 127, fp);
shimniok 0:7e98bbfd102a 109 printf(buf);
shimniok 0:7e98bbfd102a 110 }
shimniok 0:7e98bbfd102a 111 fclose(fp);
shimniok 0:7e98bbfd102a 112 }
shimniok 0:7e98bbfd102a 113
shimniok 0:7e98bbfd102a 114 printf("Opening config.txt...");
shimniok 0:7e98bbfd102a 115 fp = fopen("/etc/config.txt", "r");
shimniok 0:7e98bbfd102a 116 if(fp) {
shimniok 0:7e98bbfd102a 117 while (!feof(fp)) {
shimniok 0:7e98bbfd102a 118 fgets(buf, 127, fp);
shimniok 0:7e98bbfd102a 119 printf(buf);
shimniok 0:7e98bbfd102a 120 }
shimniok 0:7e98bbfd102a 121 fclose(fp);
shimniok 0:7e98bbfd102a 122 }
shimniok 0:7e98bbfd102a 123 */
shimniok 0:7e98bbfd102a 124
shimniok 0:7e98bbfd102a 125 //SystemReport sys_state(500);
shimniok 0:7e98bbfd102a 126
shimniok 0:7e98bbfd102a 127 while (true) {
shimniok 0:7e98bbfd102a 128 // Blink LED and wait 0.5 seconds
shimniok 0:7e98bbfd102a 129 led1 = !led1;
shimniok 0:7e98bbfd102a 130 wait(0.5f);
shimniok 0:7e98bbfd102a 131
shimniok 0:7e98bbfd102a 132 // Following the main thread wait, report on the current system status
shimniok 0:7e98bbfd102a 133 //sys_state.report_state();
shimniok 0:7e98bbfd102a 134 }
shimniok 0:7e98bbfd102a 135 }