Diff: main.cpp

Revision:

24:7fc204a3d013

Parent:

23:bf38d7d2255a

Child:

25:dbadea3c526d

--- a/main.cpp	Tue Apr 28 22:29:41 2015 +0000
+++ b/main.cpp	Tue May 05 21:31:55 2015 +0000
@@ -1,6 +1,19 @@
 #include "mbed.h"
+#include "telemetry.h"
+#include "telemetry-mbed.h"
+#include "MODSERIAL.h"
+
 #include "stdlib.h"
 #include <vector>
+
+MODSERIAL telemetry_serial(USBTX, USBRX);
+telemetry::MbedHal telemetry_hal(telemetry_serial);
+telemetry::Telemetry telemetry_obj(telemetry_hal);
+
+telemetry::Numeric<uint32_t> tele_time_ms(telemetry_obj, "time", "Time", "ms", 0);
+telemetry::NumericArray<uint16_t, 128> tele_linescan(telemetry_obj, "linescan", "Linescan", "ADC", 0);
+telemetry::Numeric<float> tele_motor_pwm(telemetry_obj, "motor", "Motor PWM", "%DC", 0);
+
 //Outputs
 DigitalOut led1(LED1);
 DigitalOut clk(PTD5);
@@ -11,7 +24,7 @@
 DigitalOut break2(PTC0);
 PwmOut servo(PTA5);
 
-Serial pc(USBTX, USBRX); // tx, rx
+//Serial pc(USBTX, USBRX); // tx, rx
 
 //Inputs
 AnalogIn camData(PTC2);
@@ -120,6 +133,9 @@
 
 int main() {
     
+    telemetry_serial.baud(115200);
+    telemetry_obj.transmit_header();
+    
     //Alter reg values to speed up KL25Z
     initADC();
     
@@ -146,13 +162,13 @@
     
     firstTime = true;
     
-    //t.start();
+    t.start();
     
     if(dataCol){
         loopCounterForModdingSoThatWeCanIncreaseTheRecordingTime = 0;
         printTimer.start();
     }
-
+    //uint16_t* data = camData.read();
     while(1) {
         if(dataCol){
             //break out of main loop if enough time has passed;    
@@ -328,8 +344,14 @@
             loopCounterForModdingSoThatWeCanIncreaseTheRecordingTime++;
         }
         //camData.
+        tele_time_ms = t.read_ms();
+        for (uint16_t i=0; i<128; i++) {
+            tele_linescan[i] = ADCdata[i];
+        }
+        telemetry_obj.do_io();
         
     }
+/*
     if (dataCol){
         //print frame data
         pc.printf("printing frame data\n\r");
@@ -343,5 +365,6 @@
         }
         pc.printf("]\n\r");
     }
+    */
 }