ESE-519
RaheeNew nonblocking
Dependencies: RaheeNew LinkedList mbed-rpc mbed-rtos mbed
Revision 0:3054baadfda9, committed 2015-11-28
- Comitter:
- jatinsha
- Date:
- Sat Nov 28 10:08:18 2015 +0000
- Commit message:
- js
Changed in this revision
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/Adafruit9-DOf.lib Sat Nov 28 10:08:18 2015 +0000 @@ -0,0 +1,1 @@ +https://developer.mbed.org/users/jatinsha/code/RaheeNew/#c3381056a1c6
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/LinkedList.lib Sat Nov 28 10:08:18 2015 +0000 @@ -0,0 +1,1 @@ +http://developer.mbed.org/users/sam_grove/code/LinkedList/#4ed66162aaa8
--- /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();
+ }
+
+
+ }
+}
\ No newline at end of file
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/mbed-rpc.lib Sat Nov 28 10:08:18 2015 +0000 @@ -0,0 +1,1 @@ +https://mbed.org/teams/mbed/code/mbed-rpc/#4490a0d9cb2a
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/mbed-rtos.lib Sat Nov 28 10:08:18 2015 +0000 @@ -0,0 +1,1 @@ +http://mbed.org/users/mbed_official/code/mbed-rtos/#6d90423c236e
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/mbed.bld Sat Nov 28 10:08:18 2015 +0000 @@ -0,0 +1,1 @@ +http://mbed.org/users/mbed_official/code/mbed/builds/165afa46840b \ No newline at end of file