Diff: main.cpp

Revision:

0:3054baadfda9

diff -r 000000000000 -r 3054baadfda9 main.cpp
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Sat Nov 28 10:08:18 2015 +0000
@@ -0,0 +1,144 @@
+#include "mbed.h"
+#include "rtos.h"
+#include "mbed_rpc.h"
+#include "string.h"
+#define _MBED_
+#include "Adafruit_9DOF.h"
+#include "Serial_base.h"
+ 
+Serial pc(USBTX, USBRX); // tx, rx
+Serial bluetooth(p9, p10);  // tx, rx
+Ticker compassTicker;
+float compassValue;
+float *ax, *ay, *az, *mx, *my, *mz;
+
+DigitalOut led1(LED1), led2(LED2), led3(LED3);
+ 
+//Use the RPC enabled wrapped class  - see RpcClasses.h for more info
+RpcDigitalOut leftTop(p20,"leftTop");
+RpcDigitalOut leftBottom(p12,"leftBottom");
+RpcDigitalOut rightTop(p22,"rightTop");
+RpcDigitalOut rightBottom(p29,"rightBottom");
+ 
+char buf[256], outbuf[256];
+
+bool compassTriggered = false;
+bool bluetoothTriggered = false;
+
+
+
+
+/* Assign a unique ID to the sensors */
+
+Adafruit_9DOF                 dof   = Adafruit_9DOF();
+Adafruit_LSM303_Accel_Unified accel = Adafruit_LSM303_Accel_Unified(30301);
+Adafruit_LSM303_Mag_Unified   mag   = Adafruit_LSM303_Mag_Unified(30302);
+/* Update this with the correct SLP for accurate altitude measurements */
+float seaLevelPressure = SENSORS_PRESSURE_SEALEVELHPA;
+/**************************************************************************
+    @brief  Initialises all the sensors used by this example
+**************************************************************************/
+
+void initSensors(){
+  if(!accel.begin()){
+   /* There was a problem detecting the LSM303 ... check your connections */
+    s_com->println(("Ooops, no LSM303 detected ... Check your wiring!"));
+    while(1);
+  }
+  
+  if(!mag.begin()){
+    /* There was a problem detecting the LSM303 ... check your connections */
+    s_com->println("Ooops, no LSM303 detected ... Check your wiring!");
+    while(1);
+  }
+}
+
+void setup(void){
+    s_com->println(("Adafruit 9 DOF Pitch/Roll/Heading Example"));
+    s_com->println("");
+    
+    /* Initialise the sensors */
+    initSensors();
+}
+
+
+
+
+ 
+void compassTickerCallback() {
+    compassTriggered = true;
+}
+
+void bluetoothCallback() {
+    bluetoothTriggered = true;
+}
+
+
+
+void compassTickerHandler() {
+    led1 = 1;
+
+    sensors_event_t accel_event;
+    sensors_event_t mag_event;
+    sensors_vec_t   orientation;
+
+    /* Calculate pitch and roll from the raw accelerometer data */
+    accel.getEvent(&accel_event);
+    if (dof.accelGetOrientation(&accel_event, &orientation)){
+        /* 'orientation' should have valid .roll and .pitch fields */
+        s_com->print(("Roll: "));
+        s_com->print(orientation.roll);
+        s_com->print(("; "));
+        s_com->print(("Pitch: "));
+        s_com->print(orientation.pitch);
+        s_com->print(("; "));
+    }
+
+    /* Calculate the heading using the magnetometer */
+    mag.getEvent(&mag_event);
+    if (dof.magGetOrientation(SENSOR_AXIS_Z, &mag_event, &orientation)){
+        /* 'orientation' should have valid .heading data now */
+        s_com->print(("Heading: "));
+        s_com->print(orientation.heading);
+        s_com->print(("; "));
+    }
+    
+    s_com->println((""));
+
+    led1 = 0;
+    compassTriggered =  false;
+}
+
+void bluetoothHandler() {
+    bluetooth.gets(buf, 256);
+    //pc.puts(buf);
+    //Call the static call method on the RPC class
+    RPC::call(buf, outbuf); 
+    //bluetooth.printf("%s\n", outbuf);
+    bluetoothTriggered = false;
+}
+
+
+int main() {
+    
+    pc.baud(115200);
+    bluetooth.baud(115200);
+    
+    setup();
+    compassTicker.attach(&compassTickerCallback, 5); // the address of the function to be attached (flip) and the interval (2 seconds)
+    
+    while(1) {
+        if(pc.readable()) {
+            pc.putc(pc.getc());
+        }
+        if(bluetooth.readable()) {
+            bluetooth.gets(buf, 256);
+            RPC::call(buf, outbuf); 
+        }
+        if(compassTriggered){
+            compassTickerHandler();
+        }
+
+
+    }
+}
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