main.cpp

00001 /**********************************************************************
00002 * Copyright (C) 2016 Maxim Integrated Products, Inc., All Rights Reserved.
00003 *
00004 * Permission is hereby granted, free of charge, to any person obtaining a
00005 * copy of this software and associated documentation files (the "Software"),
00006 * to deal in the Software without restriction, including without limitation
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00009 * Software is furnished to do so, subject to the following conditions:
00010 *
00011 * The above copyright notice and this permission notice shall be included
00012 * in all copies or substantial portions of the Software.
00013 *
00014 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS
00015 * OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
00016 * MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.
00017 * IN NO EVENT SHALL MAXIM INTEGRATED BE LIABLE FOR ANY CLAIM, DAMAGES
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00020 * OTHER DEALINGS IN THE SOFTWARE.
00021 *
00022 * Except as contained in this notice, the name of Maxim Integrated
00023 * Products, Inc. shall not be used except as stated in the Maxim Integrated
00024 * Products, Inc. Branding Policy.
00025 *
00026 * The mere transfer of this software does not imply any licenses
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00031 **********************************************************************/
00032 #include "mbed.h"
00033 #include "bmi160.h"
00034 
00035 #include "max32630fthr.h"
00036 #include "USBSerial.h"
00037 #include "stdlib.h"
00038 #include "math.h"
00039 #include "Orientation.h"
00040 
00041 //MAX32630HSP icarus(MAX32630HSP::VIO_3V3);
00042 MAX32630FTHR pegasus(MAX32630FTHR::VIO_3V3);
00043 
00044 Serial daplink(P2_1, P2_0);
00045 
00046 DigitalOut rLED(P2_4, LED_ON);
00047 DigitalOut gLED(P2_5, LED_ON);
00048 DigitalOut bLED(P2_6, LED_ON);
00049 
00050 DigitalOut M_1(P3_5);
00051 DigitalOut M_2(P3_4);
00052 
00053 Orientation orient1;
00054 
00055 int main()
00056 {
00057     gLED = 1;
00058     bLED = 0;
00059     wait(1);
00060     
00061     
00062     daplink.printf("Start...");
00063     orient1.init();
00064     
00065     wait(1);
00066     gLED = 0;
00067     bLED = 0;
00068 
00069     uint32_t failures = 0;
00070 
00071      
00072     while(1)
00073     {
00074         orient1.updatePitch();
00075         daplink.printf("Forward: %s%4.3f\r\n", "\033[K", orient1.getPitch());
00076     }
00077 }     
00078