main.cpp

00001 #include "mbed.h"
00002 #include "Telemetry.hpp"
00003 #include "tsi_sensor.h"
00004 #include "MMA8451Q.h"
00005  
00006 #define MMA8451_I2C_ADDRESS (0x1d<<1)
00007 
00008 /*
00009     Example of the 'Telemetry' library, a portable communication library for embedded devices.
00010     
00011     This code fetches all the data from the KL25Z bord and publishes it on different topics :
00012     
00013     The available data is the following :
00014     * Accelerometer X
00015     * Accelerometer Y
00016     * Accelerometer Z
00017     * Capacitive slider
00018     
00019     You can use the Pytelemetry Command Line Interface to open plots, visualize the received data,
00020     and communicate with the car.
00021     See https://github.com/Overdrivr/pytelemetrycli
00022 */
00023 
00024 
00025 DigitalOut led(LED1);
00026 
00027 int main()
00028 {   
00029     Telemetry TM(115200);
00030 
00031     // Some sensors to read
00032     TSIAnalogSlider tsi(PTB16,PTB17,40);
00033     MMA8451Q acc(PTE25, PTE24);
00034     
00035     led = 1;
00036     
00037     // Some timers
00038     Timer tm_timer;
00039     Timer print_timer;
00040     Timer led_timer;
00041     
00042     tm_timer.start();
00043     print_timer.start();
00044     led_timer.start();
00045     
00046     // To store accelerometer values
00047     int16_t axis[3];
00048     
00049     for(;;)
00050     {       
00051         // update telemetry
00052         if(tm_timer.read_ms() > 50)
00053         {
00054             tm_timer.reset();
00055             TM.update();   
00056         }
00057         
00058        
00059         // publish accelerometer data
00060         if(print_timer.read_ms() > 50)
00061         {
00062             print_timer.reset();
00063             TM.pub_f32("touch",tsi.readPercentage());
00064             
00065             acc.getAccAllAxis(axis);
00066             
00067             TM.pub_i16("acc/x",axis[0]);
00068             TM.pub_i16("acc/y",axis[1]);
00069             TM.pub_i16("acc/z",axis[2]);            
00070         }
00071         
00072         if(led_timer.read_ms() > 500)
00073         {
00074             led_timer.reset();
00075             led = (led == 0) ? 1 : 0;  
00076         }
00077     }
00078 }