Diff: main.cpp

Revision:

0:4b02060af95b

Child:

1:562a583eb77c

Child:

2:ee9896ee7a7a

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Fri Aug 02 14:15:07 2019 +0000
@@ -0,0 +1,58 @@
+#include "mbed.h"
+#include "PX4Flow.h"
+
+#define INTEGRAL
+
+DigitalOut myled(LED1);
+I2C i2c(PA_10,PA_9);
+Serial pc(SERIAL_TX, SERIAL_RX);
+PX4Flow PX4(i2c,pc);
+
+
+
+int main()
+{
+    i2c.frequency(400000);
+    pc.baud(2000000);
+    while(1) {
+
+#ifndef INTEGRAL
+        if(PX4.update()) {
+            pc.printf("Frame Count: %4.0d\t", PX4.frame_count());
+            pc.printf("Pixel Flow X Sum: %d\t", PX4.pixel_flow_x_sum());
+            pc.printf("Pixel Flow Y Sum: %d\t", PX4.pixel_flow_y_sum());
+            pc.printf("Flow Comp. M X.: %4.0d\t", PX4.flow_comp_m_x());
+            pc.printf("Flow Comp. M Y.: %4.0d\t", PX4.flow_comp_m_y());
+            pc.printf("Quality: %3.1d\t", PX4.qual());
+            pc.printf("Gyro X Rate: %4.0d\t", PX4.gyro_x_rate());
+            pc.printf("Gyro Y Rate: %4.0d\t", PX4.gyro_y_rate());
+            pc.printf("Gyro Z Rate: %4.0d\t", PX4.gyro_z_rate());
+            pc.printf("Sonar Timestamp: %3.d\t", PX4.sonar_timestamp());
+            pc.printf("Ground Distance: %.3f\t", float(PX4.ground_distance())/1000);
+            pc.printf("\r\n");
+        } else {
+            pc.printf("TimeOut\r\n");
+        }
+#else
+        if(PX4.update_integral()) {
+            pc.printf("Frame Count: %3.0d\t", PX4.frame_count_since_last_readout());
+            pc.printf("Pixel Flow X Integral: %3.0d\t", PX4.pixel_flow_x_integral());
+            pc.printf("Pixel Flow Y Integral: %3.0d\t", PX4.pixel_flow_y_integral());
+            pc.printf("Gyro X Rate: %3.0d\t", PX4.gyro_x_rate_integral());
+            pc.printf("Gyro Y Rate: %3.0d\t", PX4.gyro_y_rate_integral());
+            pc.printf("Gyro Z Rate: %3.0d\t", PX4.gyro_z_rate_integral());
+            pc.printf("Quality: %3.0d\t", PX4.quality_integral());
+            pc.printf("Sonar Timestamp: %10.d\t", PX4.sonar_timestamp_integral());
+            pc.printf("Ground Distance: %3.d\t", PX4.ground_distance_integral());
+            pc.printf("Gyro Temperature: %3.d\t", PX4.gyro_temperature());
+            pc.printf("Integration Timespan: %8.0d\t", PX4.integration_timespan());
+            pc.printf("\r\n");
+
+        } else {
+            pc.printf("TimeOut\r\n");
+        }
+#endif
+        wait(0.1);
+    }
+}
+