Diff: main.cpp

Revision:

3:3157e61f2bfd

Parent:

2:02175845b24c

Child:

4:b741278722c1

--- a/main.cpp	Sun Oct 15 18:24:03 2017 +0000
+++ b/main.cpp	Tue Oct 17 20:55:04 2017 +0000
@@ -10,10 +10,9 @@
 MPU9250 mpu = MPU9250(p26, p27);
 
 // Configuration
-bool testMPUConnection = true;
-bool doSensorInitialization = false;
-bool printAccelerometer = false;
-bool printGyroscope = false;
+bool doSensorInitialization = true;
+bool printAccelerometer = true;
+bool printGyroscope = true;
 
 DigitalOut  led1(LED1);
 InterruptIn button(BUTTON1);
@@ -27,24 +26,8 @@
     IDLE
 };
 
-static uint8_t buttonState = IDLE;
-
 static ButtonService *buttonServicePtr;
 
-void buttonPressedCallback(void)
-{
-    /* Note that the buttonPressedCallback() executes in interrupt context, so it is safer to access
-     * BLE device API from the main thread. */
-    buttonState = PRESSED;
-}
-
-void buttonReleasedCallback(void)
-{
-    /* Note that the buttonReleasedCallback() executes in interrupt context, so it is safer to access
-     * BLE device API from the main thread. */
-    buttonState = RELEASED;
-}
-
 void disconnectionCallback(const Gap::DisconnectionCallbackParams_t *params)
 {
     BLE::Instance().gap().startAdvertising();
@@ -106,9 +89,7 @@
 
     //Attach a function to be called by the Ticker, specifiying the interval in seconds.
     Ticker ticker;
-    ticker.attach(periodicFunctionCallback, 1);
-    button.fall(buttonPressedCallback);
-    button.rise(buttonReleasedCallback);
+    ticker.attach(periodicFunctionCallback, 1);    
 
     BLE &ble = BLE::Instance();
     ble.init(bleInitComplete);
@@ -119,13 +100,6 @@
         /* spin loop */
     }
 
-    if (testMPUConnection) {
-        uint8_t whoami = mpu.readByte(MPU9250_ADDRESS, WHO_AM_I_MPU9250);  // Read WHO_AM_I register for MPU-9250
-        pc.printf("I AM 0x%x\n\r", whoami);
-        pc.printf("I SHOULD BE 0x71\n\r");
-        wait(1);
-    }
-
     if (doSensorInitialization) {
         // Initialise sensor board
         pc.printf("Initializing sensor\n\r");
@@ -136,53 +110,26 @@
 
     while(1) {
 
-        //pc.printf("Starting to stream data");
         if(printAccelerometer && printGyroscope) {
             mpu.readAccelData(accelerometer);
             float ax = accelerometer[0] * 2.0 / 32768.0;
             float ay = accelerometer[1] * 2.0 / 32768.0;
             float az = accelerometer[2] * 2.0 / 32768.0;
 
-            //pc.printf("Acelerometer information, AX, AY, AZ \n");
-            //pc.printf("(%f, %f, %f)\n", ax,ay,az);
-
             float roll = float(atan2(ay, az) * 180/3.1416f);
             float pitch = float(atan2(-ax, sqrt(ay*ay + az*az)) * 180/3.1416f);
             float yaw = atan(ax/-ay);
 
-            //pc.printf("Roll/Pitch/Yaw: (%f, %f, %f)\n", roll, pitch, yaw);
-
             mpu.readGyroData(gyroscope);
             float gx = gyroscope[0] * 250.0 / 32768.0;
             float gy = gyroscope[1] * 250.0 / 32768.0;
             float gz = gyroscope[2] * 250.0 / 32768.0;
-
-
-            pc.printf("(%f, %f, %f, %f, %f, %f)\n", roll, pitch, yaw, gx, gy, gz);
-
+                                                            
+            buttonServicePtr->updateButtonState(roll, pitch, yaw, gx, gy, gz);       
 
         }
-        if (buttonState != IDLE) {
-            //buttonServicePtr->updateButtonState(buttonState);
-            //char myword[] = { 'H', 'e', 'l', 'l', 'o', '\0' };          
-            uint8_t sensorValues[12] = {0};
-            sensorValues[0] = 12;
-            sensorValues[1] = 12;
-            sensorValues[2] = 12;
-            sensorValues[3] = 12;
-            sensorValues[4] = 12;
-            sensorValues[5] = 12;
-            sensorValues[6] = 12;
-            sensorValues[7] = 12;
-            sensorValues[8] = 12;
-            sensorValues[9] = 12;
-            sensorValues[10] = 12;
-            sensorValues[11] = 12;
-            buttonServicePtr->updateButtonState(sensorValues);
-            buttonState = IDLE;
-        }
         ble.waitForEvent();
 
-        //wait(0.3);
+        wait(0.3);
     }
 }
\ No newline at end of file