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Dependencies:   mbed MODSERIAL telemetry-master

main.cpp

Committer:
cheryl_he
Date:
2015-05-05
Revision:
3:39e6440ccd45
Parent:
1:ff0fc50372c8
Child:
4:8ee76f6d32b5

File content as of revision 3:39e6440ccd45:

#include "mbed.h"
#include "telemetry.h"
#include "telemetry-mbed.h"
#include "MODSERIAL.h"

#include "stdlib.h"
#include <vector>

MODSERIAL telemetry_serial(USBTX, USBRX);
telemetry::MbedHal telemetry_hal(telemetry_serial);
telemetry::Telemetry telemetry_obj(telemetry_hal);

telemetry::Numeric<uint32_t> tele_time_ms(telemetry_obj, "time", "Time", "ms", 0);
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};
    
    //Alter reg values to speed up KL25Z
    initADC();
    
    t.start();
    //uint16_t* data = cam1.read();
    
    while(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();
        
    }
}