Diff: main.cpp

Revision:

3:39e6440ccd45

Parent:

1:ff0fc50372c8

Child:

4:8ee76f6d32b5

--- a/main.cpp	Tue May 05 00:43:51 2015 +0000
+++ b/main.cpp	Tue May 05 21:44:06 2015 +0000
@@ -1,8 +1,12 @@
 #include "mbed.h"
 #include "telemetry.h"
 #include "telemetry-mbed.h"
+#include "MODSERIAL.h"
 
-MODSERIAL telemetry_serial(PTA2, PTA1);
+#include "stdlib.h"
+#include <vector>
+
+MODSERIAL telemetry_serial(USBTX, USBRX);
 telemetry::MbedHal telemetry_hal(telemetry_serial);
 telemetry::Telemetry telemetry_obj(telemetry_hal);
 
@@ -10,24 +14,72 @@
 telemetry::NumericArray<uint16_t, 128> tele_linescan(telemetry_obj, "linescan", "Linescan", "ADC", 0);
 telemetry::Numeric<float> tele_motor_pwm(telemetry_obj, "motor", "Motor PWM", "%DC", 0);
 
+//Outputs
 DigitalOut myled(LED1);
+DigitalOut clk(PTD5);
+DigitalOut si(PTD4);
+PwmOut motor1(PTA12);
+PwmOut motor2(PTA4);
+DigitalOut break1(PTC7);
+DigitalOut break2(PTC0);
+PwmOut servo(PTA5);
+
+//Serial pc(USBTX, USBRX); // tx, rx
+
+//Inputs
+AnalogIn camData(PTC2);
+
+//Encoder setup and variables
+InterruptIn interrupt(PTA13);
+
+Timer t;
+
+float ADCdata [128];
+
+void initADC(void){
+ 
+    ADC0->CFG1 = ADC0->CFG1 & (
+        ~(
+          0x80 // LDLPC = 0 ; no low-power mode
+        | 0x60 // ADIV = 1
+        | 0x10 // Sample time short
+        | 0x03 // input clock = BUS CLK
+        )
+    ) ; // clkdiv <= 1
+    ADC0->CFG2 = ADC0->CFG2 
+        | 0x03 ; // Logsample Time 11 = 2 extra ADCK
+    ADC0->SC3 = ADC0->SC3 
+        & (~(0x03)) ; // hardware avarage off
+}
 
 int main() {
-
+    
+    telemetry_serial.baud(115200);
     telemetry_obj.transmit_header();
-    uint16_t data [128] = [0];
+    //uint16_t data [128] = {0};
+    
+    //Alter reg values to speed up KL25Z
+    initADC();
+    
+    t.start();
     //uint16_t* data = cam1.read();
     
     while(1) {
-        myled = 1;
+/*        myled = 1;
         wait(0.2);
         myled = 0;
         wait(0.2);
-        
+*/        
         /*for (uint16_t i=0; i<128; i++) {
             tele_linescan[i] = data[i];
         }
         */
+        
+        tele_time_ms = t.read_ms();
+        for (uint16_t i=0; i<128; i++) {
+            tele_linescan[i] = ADCdata[i];
+        }
+        
         telemetry_obj.do_io();
         
     }