Diff: main.cpp

Revision:

25:86137c182a17

Parent:

24:eed68c95160c

Child:

26:4bc56ce08d15

--- a/main.cpp	Fri Oct 27 09:59:32 2017 +0000
+++ b/main.cpp	Fri Oct 27 23:49:44 2017 +0000
@@ -16,10 +16,10 @@
 
 //-----------------------------------------------------------------
 // Includes
-#include "mbed.h"
 // #include "rtos.h"
 // #include "mbed_events.h"
 
+#include "mbed.h"
 #include "configuration.h"
 #include "pin.h"
 
@@ -32,18 +32,29 @@
 
 //-----------------------------------------------------------------
 // Declarations
-Timer time_stamp;   //Timer µS time-stamp
-EventQueue queue(32 * EVENTS_EVENT_SIZE);   //Event
+FILE *fp;                                   // FILE Type for SD-Card
+Timer time_stamp;                           // Timer µS time-stamp
+
+// Global Variables
 const char DeviceNr[6] = "DEV01";
 char Data_Buffer[10] = "";
-// uint16_t data_len;
+
+// Events
+EventQueue queue(32 * EVENTS_EVENT_SIZE);   // Event Setup
+EventQueue Event1;
+
+// Tickers
+Ticker Ticker1;
+
+// Threads
+Thread Thread1;
 
 // PC Serial (Debug)
 Serial PC(USBTX, USBRX);
 XBeeLib::XBeeZB XBee = XBeeLib::XBeeZB(RADIO_TX, RADIO_RX, RADIO_RESET, NC, NC, 115200);
 
 int task1_id = queue.call_every(200, CheckInputBuffer);
-int task2_id = queue.call_every(100, ReadIMUData);
+int task2_id = queue.call_every(1, ReadIMUData);
 
 // Create an SDFileSystem object
 SDFileSystem sd(SD_MOSI, SD_MISO, SD_CLK, SD_CS, "sd");
@@ -81,35 +92,31 @@
 //-----------------------------------------------------------------
 void Setup()
 {
-    PC.baud(9600);
+    // Initialize PC Serial Connection
+    PC.baud(115200);
     PC.printf("\r\n------------- Booting! -------------\r\n");
     PC.printf("CPU SystemCoreClock is %d Hz", SystemCoreClock);
 
+    // Initialize XBee Serial Connection
     XBee.init();
-    XBee.register_receive_cb(&receive_cb);      // Register Callbacks
-    // time_stamp.start();     // Start Timer
+    XBee.register_receive_cb(&receive_cb);       // Register Callbacks
 
-    if(imu.init(1, BITS_DLPF_CFG_188HZ)){        // Initialize the MPU9250
+    // Initialize IMU SPI Connection
+    if(imu.init(1, BITS_DLPF_CFG_188HZ))         // Initialize the MPU9250
         PC.printf("\nCouldn't initialize MPU9250 via SPI!");
-    }
-    PC.printf("\nWHOAMI = 0x%2x", imu.whoami());    // Output I2C address to know if SPI is working, it should be 104
-    PC.printf("\nAcc_Scale = %u\n", imu.set_acc_scale(BITS_FS_16G));   // Set Full Range for Acc.
+    PC.printf("\nWHOAMI = 0x%2x", imu.whoami());                        // Output I2C Address to check SPI (correct: 104)
+    PC.printf("\nAcc_Scale = %u\n", imu.set_acc_scale(BITS_FS_16G));    // Set Full Range for Acc.
 
-    // Task queue
-    // int task1_id = queue.call_every(200, CheckInputBuffer);
-    // int task2_id = queue.call_every(50, ReadIMUData);
-    // int task3_id = queue.call_every(3000, &print_event, (void *)"called every 3 seconds\n", (int) time_stamp.read());
-    // int task4_id = queue.call_every(50, blink_event, led1);
-    // int task5_id = queue.call_every(500, println_event);
-    // int task6_id = queue.call_every(500, readIMU);
-    // int task7_id = queue.call_every(500, gayEvent);
+    // Initialize SD-Card SPI Connection
+
+
 }
 
 void SDTest()
 {
     mkdir("/sd/Log", 0777);
 
-    FILE *fp = fopen("/sd/Log/Data_Log.txt", "w");
+    fp = fopen("/sd/Log/Data_Log.txt", "w");
     if(fp == NULL) {
         error("File Writing Failed!\n");
     }
@@ -142,15 +149,19 @@
     Setup();    // Initial Setups
 
     led1 = 1;
-    PC.printf("\r\n-------------- Ready! --------------\r\n");
+    PC.printf("\r\n----------- Ready! --------------\r\n");
     SDTest();
-    
+
+    Thread1.start(callback(&Event1, &EventQueue::dispatch_forever));
+    Ticker1.attach(Event1.event(&ReadIMUData), 0.1);
+
+    fp = fopen("/sd/Log/Data_Log.txt", "w");
     time_stamp.reset();
     time_stamp.start();
-    queue.dispatch();   
+    queue.dispatch();
     while (true) {
-        
-        
+
+
     }
 }
 //-----------------------------------------------------------------
\ No newline at end of file