Diff: main.cpp

Revision:

2:516dd8a72972

Parent:

1:aeb42bbdac27

--- a/main.cpp	Wed Mar 01 06:01:10 2017 +0000
+++ b/main.cpp	Sun Apr 30 18:09:43 2017 +0000
@@ -1,6 +1,5 @@
 #include "mbed.h"
 #include "LSM9DS1.h"
-#include "uLCD_4DGL.h"
 #define PI 3.14159
 // Earth's magnetic field varies by location. Add or subtract
 // a declination to get a more accurate heading. Calculate
@@ -8,9 +7,12 @@
 // http://www.ngdc.noaa.gov/geomag-web/#declination
 #define DECLINATION -4.94 // Declination (degrees) in Atlanta,GA.
 
+//Serial pc(USBTX, USBRX);
+RawSerial  pc(USBTX, USBRX);
+RawSerial  dev(p28,p27); //tx, rx
 DigitalOut myled(LED1);
-Serial pc(USBTX, USBRX);
-uLCD_4DGL uLCD(p28,p27,p29);
+DigitalOut led2(LED2);
+DigitalOut led4(LED4);
 // Calculate pitch, roll, and heading.
 // Pitch/roll calculations taken from this app note:
 // http://cache.freescale.com/files/sensors/doc/app_note/AN3461.pdf?fpsp=1
@@ -39,44 +41,58 @@
     pitch *= 180.0 / PI;
     roll  *= 180.0 / PI;
 
-    pc.printf("Pitch: %f,    Roll: %f degress\n\r",pitch,roll);
-    pc.printf("Magnetic Heading: %f degress\n\r",heading);
+    //~pc.printf("Pitch: %f,    Roll: %f degress\n\r",pitch,roll);
+    //~pc.printf("Magnetic Heading: %f degress\n\r",heading);
 }
 
-float tempX = 0.0;
-float tempY = 0.0;
-float oldtempX;
-float oldtempY;
+/*
+void dev_recv()
+{
+    led2 = !led2;
+    while(dev.readable()) {
+        pc.putc(dev.getc());
+    }
+}
+
+void pc_recv()
+{
+    led4 = !led4;
+    while(pc.readable()) {
+        dev.putc(pc.getc());
+    }
+}*/
 
 int main()
 {
+    //IMU setup
     LSM9DS1 IMU(p9, p10, 0xd6, 0x3c);
-    //LSM9DS1 IMU(p28, p27, 0xD6, 0x3C);
     IMU.begin();
     if (!IMU.begin()) {
         pc.printf("Failed to communicate with LSM9DS1.\n");
     }
     IMU.calibrate(1);
     IMU.calibrateMag(0);
+    
+    //bluetooth setup
+    pc.baud(9600);
+    dev.baud(9600);
+
+    /*pc.attach(&pc_recv, Serial::RxIrq);
+    dev.attach(&dev_recv, Serial::RxIrq);*/
+    
     while(1) {
-        
-        uLCD.locate(25,25);
-    //uLCD.color(WHITE);
-    uLCD.circle(64,64,60,0xFFFFFF);
     
-        while(!IMU.tempAvailable());
-        IMU.readTemp();
         while(!IMU.magAvailable(X_AXIS));
         IMU.readMag();
         while(!IMU.accelAvailable());
         IMU.readAccel();
         while(!IMU.gyroAvailable());
         IMU.readGyro();
-        pc.printf("\nIMU Temperature = %f C\n\r",25.0 + IMU.temperature/16.0);
-        pc.printf("        X axis    Y axis    Z axis\n\r");
-        pc.printf("gyro:  %9f %9f %9f in deg/s\n\r", IMU.calcGyro(IMU.gx), IMU.calcGyro(IMU.gy), IMU.calcGyro(IMU.gz));
-        pc.printf("accel: %9f %9f %9f in Gs\n\r", IMU.calcAccel(IMU.ax), IMU.calcAccel(IMU.ay), IMU.calcAccel(IMU.az));
-        pc.printf("mag:   %9f %9f %9f in gauss\n\r", IMU.calcMag(IMU.mx), IMU.calcMag(IMU.my), IMU.calcMag(IMU.mz));
+        pc.puts("        X axis    Y axis    Z axis\n\r");
+        dev.puts("        X axis    Y axis    Z axis\n\r");
+        //pc.printf("gyro:  %9f %9f %9f in deg/s\n\r", IMU.calcGyro(IMU.gx), IMU.calcGyro(IMU.gy), IMU.calcGyro(IMU.gz));
+        //pc.printf("accel: %9f %9f %9f in Gs\n\r", IMU.calcAccel(IMU.ax), IMU.calcAccel(IMU.ay), IMU.calcAccel(IMU.az));
+        //pc.printf("mag:   %9f %9f %9f in gauss\n\r", IMU.calcMag(IMU.mx), IMU.calcMag(IMU.my), IMU.calcMag(IMU.mz));
         printAttitude(IMU.calcAccel(IMU.ax), IMU.calcAccel(IMU.ay), IMU.calcAccel(IMU.az), IMU.calcMag(IMU.mx),
                       IMU.calcMag(IMU.my), IMU.calcMag(IMU.mz));
         myled = 1;
@@ -84,16 +100,12 @@
         myled = 0;
         wait(0.5);
         
-        oldtempX = tempX;
-        oldtempY = tempY;
-        uLCD.filled_circle(floor(128*oldtempX), floor(128*oldtempY), 6, 0x000000);    // erase old bubble
-        tempX = IMU.calcAccel(IMU.ax);
-        tempX = (tempX+1.0)/2.0;
-        tempY = IMU.calcAccel(IMU.ay);
-        tempY = (tempY+1.0)/2.0;
+
+        //uLCD.filled_circle(floor(128*oldtempX), floor(128*oldtempY), 6, 0x000000);    // erase old bubble
+
         //draw filled circle based on info from IMU
         //draw new bubble
-        uLCD.filled_circle(floor(128*tempX), floor(128*tempY), 6, 0xFFFFFF);
+        //uLCD.filled_circle(floor(128*tempX), floor(128*tempY), 6, 0xFFFFFF);
         
     }
 }