Revision 4:dc844fde64d7, committed 2019-11-22

Comitter:

Kiwicjam

Date:

Fri Nov 22 08:40:26 2019 +0000

Parent:

3:bc24fee36ba3

Commit message:

Workin set, not running,

Changed in this revision

diff -r bc24fee36ba3 -r dc844fde64d7 Threads_and_main/main.cpp
--- a/Threads_and_main/main.cpp	Mon Oct 28 07:54:10 2019 +0000
+++ b/Threads_and_main/main.cpp	Fri Nov 22 08:40:26 2019 +0000
@@ -23,6 +23,10 @@
 #include "Data_Logger.h"
 #include "Read_Xtern_Sensors.h"
 
+#include "RST265.h"
+RawSerial rsUart(PA_2, PA_3, 115200);
+RST265 rsdev(&rsUart);
+
 
 // ----------------------------------------------------------------------------
 // define IOs
@@ -51,7 +55,7 @@
 // ------  THREADS  ---  THREADS  ---  THREADS  ---  THREADS  ---  THREADS  ---  
 Controller_Loops controller(TsCntrl,4,4,true);  // run ahrs within the controller Thread
                                                 // controllers are not properly initialized at this point (esp limits)!!!
-//AHRS ahrs(1,Ts100,true);
+AHRS ahrs(1,Ts100,true);
 Read_Xtern_Sensors xternal_sensors(Ts50,&uart4lidar,&i2c);          // read external sensors (OF, Lidar etc.
 QK_StateMachine main_statemachine(Ts50);        // the main state machine
 Data_Logger my_datalogger(37,Ts50);             // the data logger
@@ -59,7 +63,28 @@
 //          MAIN     MAIN     MAIN     MAIN     MAIN     MAIN     MAIN     MAIN 
 // -----------------------------------------------------------------------------
 int main() {
-    copter.calc_copter();                       // calc the copter (length, etc)
+    // T265 test
+    pc.printf("\n\rSerial Test...%d\n", 115200);
+    DigitalIn button(USER_BUTTON);
+    
+    bool pushed = false; 
+    while(1) {
+        // register button pressed and request data
+        if(!button && !pushed){
+            pc.printf("\r\nsending request..");
+            pushed = true;
+            rsdev.request();    
+        }else if (button && pushed){
+            // reset button
+            pushed = false;    
+        } 
+        
+        if(rsdev.run()){
+            // new data ready 
+            pc.printf("\r\n received response"); 
+        }
+    }      
+    /*copter.calc_copter();                       // calc the copter (length, etc)
     controller.set_controller_limits(copter);   // finalize init function for controllers
     wait(.1);
     for(uint8_t k=0;k < copter.nb_motors;k++)
@@ -87,6 +112,6 @@
     //ahrs.start_loop();        // not needed if ahrs is called in controller (see Thread init of controller)
     wait(0.1);
     while(1)
-        wait(1);
+        wait(1);*/
             
 }

diff -r bc24fee36ba3 -r dc844fde64d7 mbed.bld
--- a/mbed.bld	Mon Oct 28 07:54:10 2019 +0000
+++ /dev/null	Thu Jan 01 00:00:00 1970 +0000
@@ -1,1 +0,0 @@
-https://os.mbed.com/users/mbed_official/code/mbed/builds/65be27845400
\ No newline at end of file