Subversion Repositories ChibiGauge

/*

 ChibiOS/RT - Copyright (C) 2006,2007,2008,2009,2010,

 2011,2012 Giovanni Di Sirio.

 This file is part of ChibiOS/RT.

 ChibiOS/RT is free software; you can redistribute it and/or modify

 it under the terms of the GNU General Public License as published by

 the Free Software Foundation; either version 3 of the License, or

 (at your option) any later version.

 ChibiOS/RT is distributed in the hope that it will be useful,

 but WITHOUT ANY WARRANTY; without even the implied warranty of

 MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the

 GNU General Public License for more details.

 You should have received a copy of the GNU General Public License

 along with this program.  If not, see <http://www.gnu.org/licenses/>.

 ---

 A special exception to the GPL can be applied should you wish to distribute

 a combined work that includes ChibiOS/RT, without being obliged to provide

 the source code for any proprietary components. See the file exception.txt

 for full details of how and when the exception can be applied.

 */

#include <stdio.h>

#include <string.h>

#include "ch.h"

#include "hal.h"

//#include "test.h"

#include "shell.h"

#include "evtimer.h"

#include "chprintf.h"

#if (HAL_USE_SERIAL_USB == TRUE)

#include "usbcfg.h"

#endif

#include "useAdc.h"

#include "shellCmds.h"

#include "ap_math.h"

#include "spiInterface.h"

#include "SSD1306.h"

#include "font.h"

#include "vl53l0x_api.h"

#include "vl53l0x_platform.h"

#include "required_version.h"

static MUTEX_DECL( mutexDisplay);

unsigned lidar = 0;

/*===========================================================================*/

/* Command line related.                                                     */

/*===========================================================================*/

#define SHELL_WA_SIZE   THD_WORKING_AREA_SIZE(1024)

#define TEST_WA_SIZE    THD_WORKING_AREA_SIZE(256)

static const ShellConfig shell_cfg1 = {

#if (HAL_USE_SERIAL_USB == TRUE)

                (BaseSequentialStream*) &SDU1,

#else

  (BaseSequentialStream *)&SD1,

#endif

                shellCommands };

////////

// end of shell stuff

uint16_t sampIndex;

void setDriveA(uint8_t bit) {

        if (bit) {

                palSetPad(GPIOA, GPIOA_A1);

                palClearPad(GPIOA, GPIOA_A2);

        } else {

                palClearPad(GPIOA, GPIOA_A1);

                palSetPad(GPIOA, GPIOA_A2);

        }

}

void setDriveB(uint8_t bit) {

        if (bit) {

                palSetPad(GPIOA, GPIOA_B1);

                palClearPad(GPIOA, GPIOA_B2);

        } else {

                palClearPad(GPIOA, GPIOA_B1);

                palSetPad(GPIOA, GPIOA_B2);

        }

}

// dial settings

volatile int origin = 0;

;

volatile int target = 0;

volatile int count = 0;

volatile bool pause;

//

void setPause(bool p) {

        pause = p;

}

static THD_WORKING_AREA(waThread1, 512);

static void Thread1(void *arg) {

        (void) arg;

        unsigned const fast = 10;

        unsigned const slow = 30;

        unsigned const range = slow - fast;

        unsigned del = fast;

        int step = 1;

        chRegSetThreadName("Step");

        while (TRUE) {

                while (pause)

                        chThdSleep(1000);

                switch (count % 4) {

                case 0:

                        setDriveA(1);

                        setDriveB(0);

                        break;

                case 1:

                        setDriveA(1);

                        setDriveB(1);

                        break;

                case 2:

                        setDriveA(0);

                        setDriveB(1);

                        break;

                case 3:

                        setDriveA(0);

                        setDriveB(0);

                        break;

                }

                // all this calculates minimum distance from

                // target or origin

                int d1 = count - origin;

                if (d1 < 0)

                        d1 = -d1;

                int d2 = count - target;

                if (d2 < 0)

                        d2 = -d2;

                // finally, minimum distance

                int dist = d1 < d2 ? d1 : d2;

                del = fast;

                if (dist < range) // inside lower bound of distance

                                {

                        del = slow - dist;

                }

                chThdSleep(del);

                if (count < target) {

                        step = 1;

                }

                if (count > target) {

                        step = -1;

                }

                if (count == target) {

                        step = 0;

                }

                count = count + step;

        }

}

/*

 * Command Shell Thread

 */

static THD_WORKING_AREA(waThread2, 512);

static void Thread2(void *arg) {

        thread_t *shelltp = NULL;

        chRegSetThreadName("Shell ");

        /*

         * in this demo it just performs

         * a shell respawn upon its termination.

         */

        while (true) {

                if (!shelltp) {

#if (HAL_USE_SERIAL_USB == TRUE)

                        if (SDU1.config->usbp->state == USB_ACTIVE) {

                                /* Spawns a new shell.*/

                                shelltp = chThdCreateFromHeap(NULL, SHELL_WA_SIZE, "shell",

                                                NORMALPRIO, shellThread, (void*) &shell_cfg1);

                        }

#else

                shelltp = chThdCreateFromHeap(NULL, SHELL_WA_SIZE, "shell", NORMALPRIO, shellThread, (void *) &shell_cfg1);

        #endif

                } else {

                        /* If the previous shell exited.*/

                        if (chThdTerminatedX(shelltp)) {

                                /* Recovers memory of the previous shell.*/

                                chThdRelease(shelltp);

                                shelltp = NULL;

                        }

                }

                chThdSleepMilliseconds(500);

        }

}

static THD_WORKING_AREA(waThread3, 1024);

static void Thread3(void *arg) {

    VL53L0X_Dev_t MyDevice;

    VL53L0X_Dev_t *pMyDevice = &MyDevice;

    setPause(true);

    int Status = VL53L0XdeviceSetup(pMyDevice);

    setPause(false);

      VL53L0X_RangingMeasurementData_t RangingMeasurementData;

        while(1){

                chThdSleep(chTimeMS2I(100));

                setPause(true);

        Status = VL53L0X_PerformSingleRangingMeasurement(pMyDevice,

                        &RangingMeasurementData);

        setPause(false);

         if (Status != VL53L0X_ERROR_NONE) continue;

         lidar  =  RangingMeasurementData.RangeMilliMeter;

        }

}

/*

 * Application entry point.

 */

int main(void) {

//  struct EventListener el0, el1;

        /*

         * System initializations.

         * - HAL initialization, this also initializes the configured device drivers

         *   and performs the board-specific initializations.

         * - Kernel initialization, the main() function becomes a thread and the

         *   RTOS is active.

         */

        halInit();

        chSysInit();

#if (HAL_USE_SERIAL_USB == TRUE)

        /*

         * Initializes a serial-over-USB CDC driver.

         */

        sduObjectInit(&SDU1);

        sduStart(&SDU1, &serusbcfg);

#if  HAL_USE_USB_DUAL_CDC == TRUE

        sduObjectInit(&SDU2);

        sduStart(&SDU2, &serusbcfg2);

#endif

        /*

         * Activates the USB driver and then the USB bus pull-up on D+.

         * Note, a delay is inserted in order to not have to disconnect the cable

         * after a reset.

         */

        usbDisconnectBus(serusbcfg.usbp);

        chThdSleepMilliseconds(1000);

        usbStart(serusbcfg.usbp, &usbcfg);

        usbConnectBus(serusbcfg.usbp);

#else

  /*

   * Initializes serial port.

   */

  sdStart(&SD2, NULL);

#endif /* HAL_USE_SERIAL_USB */

        useAdc();

        /*

         * Shell manager initialization.

         */

//      shellInit();

        /*

         * initialise approximate maths

         */

        ap_init();

        chMtxLock(&mutexDisplay);

        /* start the SPI hardware for display */

        ssd1306spiInit();

        ssd1306_begin( SSD1306_SWITCHCAPVCC, 0) ;

        clearDisplay();

        display();

         chMtxUnlock(&mutexDisplay);

        /*

         * Creates the PLL thread

         */

        chThdCreateStatic(waThread1, sizeof(waThread1), NORMALPRIO, Thread1, NULL);

        chThdCreateStatic(waThread2, sizeof(waThread2), NORMALPRIO, Thread2, NULL);

//      chThdCreateStatic(waThread3, sizeof(waThread3), NORMALPRIO, Thread3, NULL);

    // reset gauge

        origin = 540;

        count  = 540;

        target = 0;

        chThdSleepMilliseconds(1000);

        target = 0;

        int frac = 0;

        /* start the SPI hardware for display */

        while (1) {

           chThdSleepMilliseconds(100);

        unsigned const SCALE = frac * 32 + 16;

                frac = ++frac %10;

                // read the dial

                 adcSample();

                origin = count;

                target = target +1;

                // target = lidar * 630L / 2000L;

        if (target > 540) target = 0;

                chMtxLock(&mutexDisplay);

            font_gotoxy(0,0);

            clearDisplay();

        //    print_scaled_string("cm:",0,16,4,SCALE);

            print_digits(0, 0, 4, 1, target,SCALE);

            chMtxUnlock(&mutexDisplay);

            display();

        }

}