u_guessed_it / Mbed 2 deprecated red_rover

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Dependencies:   mbed MODSERIAL telemetry-master

main.cpp@3:39e6440ccd45, 2015-05-05 (annotated)

Committer:
cheryl_he
Date:
Tue May 05 21:44:06 2015 +0000
Revision:
3:39e6440ccd45
Parent:
1:ff0fc50372c8
Child:
4:8ee76f6d32b5
telemetry up

Who changed what in which revision?

UserRevisionLine numberNew contents of line
cheryl_he 0:453d27750ab3 1 #include "mbed.h"
cheryl_he 1:ff0fc50372c8 2 #include "telemetry.h"
cheryl_he 1:ff0fc50372c8 3 #include "telemetry-mbed.h"
cheryl_he 3:39e6440ccd45 4 #include "MODSERIAL.h"
cheryl_he 1:ff0fc50372c8 5
cheryl_he 3:39e6440ccd45 6 #include "stdlib.h"
cheryl_he 3:39e6440ccd45 7 #include <vector>
cheryl_he 3:39e6440ccd45 8
cheryl_he 3:39e6440ccd45 9 MODSERIAL telemetry_serial(USBTX, USBRX);
cheryl_he 1:ff0fc50372c8 10 telemetry::MbedHal telemetry_hal(telemetry_serial);
cheryl_he 1:ff0fc50372c8 11 telemetry::Telemetry telemetry_obj(telemetry_hal);
cheryl_he 1:ff0fc50372c8 12
cheryl_he 1:ff0fc50372c8 13 telemetry::Numeric<uint32_t> tele_time_ms(telemetry_obj, "time", "Time", "ms", 0);
cheryl_he 1:ff0fc50372c8 14 telemetry::NumericArray<uint16_t, 128> tele_linescan(telemetry_obj, "linescan", "Linescan", "ADC", 0);
cheryl_he 1:ff0fc50372c8 15 telemetry::Numeric<float> tele_motor_pwm(telemetry_obj, "motor", "Motor PWM", "%DC", 0);
cheryl_he 0:453d27750ab3 16
cheryl_he 3:39e6440ccd45 17 //Outputs
cheryl_he 0:453d27750ab3 18 DigitalOut myled(LED1);
cheryl_he 3:39e6440ccd45 19 DigitalOut clk(PTD5);
cheryl_he 3:39e6440ccd45 20 DigitalOut si(PTD4);
cheryl_he 3:39e6440ccd45 21 PwmOut motor1(PTA12);
cheryl_he 3:39e6440ccd45 22 PwmOut motor2(PTA4);
cheryl_he 3:39e6440ccd45 23 DigitalOut break1(PTC7);
cheryl_he 3:39e6440ccd45 24 DigitalOut break2(PTC0);
cheryl_he 3:39e6440ccd45 25 PwmOut servo(PTA5);
cheryl_he 3:39e6440ccd45 26
cheryl_he 3:39e6440ccd45 27 //Serial pc(USBTX, USBRX); // tx, rx
cheryl_he 3:39e6440ccd45 28
cheryl_he 3:39e6440ccd45 29 //Inputs
cheryl_he 3:39e6440ccd45 30 AnalogIn camData(PTC2);
cheryl_he 3:39e6440ccd45 31
cheryl_he 3:39e6440ccd45 32 //Encoder setup and variables
cheryl_he 3:39e6440ccd45 33 InterruptIn interrupt(PTA13);
cheryl_he 3:39e6440ccd45 34
cheryl_he 3:39e6440ccd45 35 Timer t;
cheryl_he 3:39e6440ccd45 36
cheryl_he 3:39e6440ccd45 37 float ADCdata [128];
cheryl_he 3:39e6440ccd45 38
cheryl_he 3:39e6440ccd45 39 void initADC(void){
cheryl_he 3:39e6440ccd45 40
cheryl_he 3:39e6440ccd45 41 ADC0->CFG1 = ADC0->CFG1 & (
cheryl_he 3:39e6440ccd45 42 ~(
cheryl_he 3:39e6440ccd45 43 0x80 // LDLPC = 0 ; no low-power mode
cheryl_he 3:39e6440ccd45 44 | 0x60 // ADIV = 1
cheryl_he 3:39e6440ccd45 45 | 0x10 // Sample time short
cheryl_he 3:39e6440ccd45 46 | 0x03 // input clock = BUS CLK
cheryl_he 3:39e6440ccd45 47 )
cheryl_he 3:39e6440ccd45 48 ) ; // clkdiv <= 1
cheryl_he 3:39e6440ccd45 49 ADC0->CFG2 = ADC0->CFG2
cheryl_he 3:39e6440ccd45 50 | 0x03 ; // Logsample Time 11 = 2 extra ADCK
cheryl_he 3:39e6440ccd45 51 ADC0->SC3 = ADC0->SC3
cheryl_he 3:39e6440ccd45 52 & (~(0x03)) ; // hardware avarage off
cheryl_he 3:39e6440ccd45 53 }
cheryl_he 0:453d27750ab3 54
cheryl_he 0:453d27750ab3 55 int main() {
cheryl_he 3:39e6440ccd45 56
cheryl_he 3:39e6440ccd45 57 telemetry_serial.baud(115200);
cheryl_he 1:ff0fc50372c8 58 telemetry_obj.transmit_header();
cheryl_he 3:39e6440ccd45 59 //uint16_t data [128] = {0};
cheryl_he 3:39e6440ccd45 60
cheryl_he 3:39e6440ccd45 61 //Alter reg values to speed up KL25Z
cheryl_he 3:39e6440ccd45 62 initADC();
cheryl_he 3:39e6440ccd45 63
cheryl_he 3:39e6440ccd45 64 t.start();
cheryl_he 1:ff0fc50372c8 65 //uint16_t* data = cam1.read();
cheryl_he 1:ff0fc50372c8 66
cheryl_he 0:453d27750ab3 67 while(1) {
cheryl_he 3:39e6440ccd45 68 /* myled = 1;
cheryl_he 0:453d27750ab3 69 wait(0.2);
cheryl_he 0:453d27750ab3 70 myled = 0;
cheryl_he 0:453d27750ab3 71 wait(0.2);
cheryl_he 3:39e6440ccd45 72 */
cheryl_he 1:ff0fc50372c8 73 /*for (uint16_t i=0; i<128; i++) {
cheryl_he 1:ff0fc50372c8 74 tele_linescan[i] = data[i];
cheryl_he 1:ff0fc50372c8 75 }
cheryl_he 1:ff0fc50372c8 76 */
cheryl_he 3:39e6440ccd45 77
cheryl_he 3:39e6440ccd45 78 tele_time_ms = t.read_ms();
cheryl_he 3:39e6440ccd45 79 for (uint16_t i=0; i<128; i++) {
cheryl_he 3:39e6440ccd45 80 tele_linescan[i] = ADCdata[i];
cheryl_he 3:39e6440ccd45 81 }
cheryl_he 3:39e6440ccd45 82
cheryl_he 1:ff0fc50372c8 83 telemetry_obj.do_io();
cheryl_he 1:ff0fc50372c8 84
cheryl_he 0:453d27750ab3 85 }
cheryl_he 0:453d27750ab3 86 }