Interface layer for the mbed boards ready for the JAVA library
Dependencies: C12832 LM75B MMA7660 mbed FXOS8700Q
Fork of frdm_serial by
main.cpp@4:39e949908fc5, 2015-12-01 (annotated)
- Committer:
- Condo2k4
- Date:
- Tue Dec 01 15:00:12 2015 +0000
- Revision:
- 4:39e949908fc5
- Parent:
- 3:990f8380da21
- Child:
- 5:d9f8c2f63323
Various updates.; - LEDs, LCD and Temp working.; - Interrupts cannot interfere with data transmits.; - Can read from mag and accel, but cannot confirm returned values are correct yet.
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
azazeal88 | 1:38f32fc3db2c | 1 | #include "mbed.h" |
co657_mjrb6 | 0:6891aea05ef2 | 2 | #include "C12832.h" |
co657_mjrb6 | 0:6891aea05ef2 | 3 | #include "LM75B.h" |
azazeal88 | 1:38f32fc3db2c | 4 | #include "MMA7660.h" |
Condo2k4 | 4:39e949908fc5 | 5 | #include "FXOS8700Q.h" |
Condo2k4 | 4:39e949908fc5 | 6 | #include "comms.h" |
Condo2k4 | 4:39e949908fc5 | 7 | #include "CalibrateMagneto.h" |
azazeal88 | 1:38f32fc3db2c | 8 | |
azazeal88 | 1:38f32fc3db2c | 9 | //OUTPUTS |
azazeal88 | 1:38f32fc3db2c | 10 | |
Condo2k4 | 4:39e949908fc5 | 11 | DigitalOut lr(PTB22), lg(PTE26), lb(PTB21), xr(D5), xg(D9), xb(PTC12); |
azazeal88 | 1:38f32fc3db2c | 12 | C12832 lcd(D11, D13, D12, D7, D10); |
co657_mjrb6 | 0:6891aea05ef2 | 13 | |
azazeal88 | 1:38f32fc3db2c | 14 | //INPUTS |
azazeal88 | 1:38f32fc3db2c | 15 | |
azazeal88 | 1:38f32fc3db2c | 16 | LM75B temp(D14, D15); |
Condo2k4 | 4:39e949908fc5 | 17 | MMA7660 sAcc(D14, D15); |
Condo2k4 | 4:39e949908fc5 | 18 | |
Condo2k4 | 4:39e949908fc5 | 19 | FXOS8700Q_acc bAcc( PTE25, PTE24, FXOS8700CQ_SLAVE_ADDR1); // Proper Ports and I2C Address for K64F Freedom board |
Condo2k4 | 4:39e949908fc5 | 20 | FXOS8700Q_mag bMag( PTE25, PTE24, FXOS8700CQ_SLAVE_ADDR1); // Proper Ports and I2C Address for K64F Freedom board |
Condo2k4 | 4:39e949908fc5 | 21 | CalibrateMagneto magCal; |
azazeal88 | 1:38f32fc3db2c | 22 | |
Condo2k4 | 3:990f8380da21 | 23 | InterruptIn sw2_int(SW2), sw3_int(SW3), up_int(A2), down_int(A3), left_int(A4), right_int(A5), fire_int(D4); |
Condo2k4 | 3:990f8380da21 | 24 | DigitalIn sw2(SW2), sw3(SW3), up(A2), down(A3), left(A4), right(A5), fire(D4); |
azazeal88 | 1:38f32fc3db2c | 25 | |
azazeal88 | 1:38f32fc3db2c | 26 | AnalogIn pot1(A0), pot2(A1); |
co657_mjrb6 | 0:6891aea05ef2 | 27 | |
Condo2k4 | 3:990f8380da21 | 28 | //INTERRUPT FLAGS |
co657_mjrb6 | 0:6891aea05ef2 | 29 | |
azazeal88 | 1:38f32fc3db2c | 30 | uint16_t flags; |
azazeal88 | 1:38f32fc3db2c | 31 | #define SW2_DOWN 0x0001 |
azazeal88 | 1:38f32fc3db2c | 32 | #define SW2_UP 0x0002 |
azazeal88 | 1:38f32fc3db2c | 33 | #define SW3_UP 0x0004 |
azazeal88 | 1:38f32fc3db2c | 34 | #define SW3_DOWN 0x0008 |
azazeal88 | 1:38f32fc3db2c | 35 | #define UP_UP 0x0010 |
azazeal88 | 1:38f32fc3db2c | 36 | #define UP_DOWN 0x0020 |
azazeal88 | 1:38f32fc3db2c | 37 | #define DOWN_UP 0x0040 |
azazeal88 | 1:38f32fc3db2c | 38 | #define DOWN_DOWN 0x0080 |
azazeal88 | 1:38f32fc3db2c | 39 | #define LEFT_UP 0x0100 |
azazeal88 | 1:38f32fc3db2c | 40 | #define LEFT_DOWN 0x0200 |
azazeal88 | 1:38f32fc3db2c | 41 | #define RIGHT_UP 0x0400 |
azazeal88 | 1:38f32fc3db2c | 42 | #define RIGHT_DOWN 0x0800 |
azazeal88 | 1:38f32fc3db2c | 43 | #define FIRE_UP 0x1000 |
azazeal88 | 1:38f32fc3db2c | 44 | #define FIRE_DOWN 0x2000 |
co657_mjrb6 | 0:6891aea05ef2 | 45 | |
azazeal88 | 1:38f32fc3db2c | 46 | //COMMS |
co657_mjrb6 | 0:6891aea05ef2 | 47 | |
Condo2k4 | 4:39e949908fc5 | 48 | DataSerial pc(USBTX, USBRX); |
co657_mjrb6 | 0:6891aea05ef2 | 49 | |
Condo2k4 | 2:2dcdbb85cae0 | 50 | //INTERRUPT HANDLERS |
Condo2k4 | 2:2dcdbb85cae0 | 51 | |
azazeal88 | 1:38f32fc3db2c | 52 | void sw2Down(){ flags |= SW2_DOWN; } |
azazeal88 | 1:38f32fc3db2c | 53 | void sw2Up() { flags |= SW2_UP; } |
azazeal88 | 1:38f32fc3db2c | 54 | |
azazeal88 | 1:38f32fc3db2c | 55 | void sw3Down(){ flags |= SW3_DOWN; } |
azazeal88 | 1:38f32fc3db2c | 56 | void sw3Up() { flags |= SW3_UP; } |
azazeal88 | 1:38f32fc3db2c | 57 | |
azazeal88 | 1:38f32fc3db2c | 58 | void upDown(){ flags |= UP_DOWN; } |
azazeal88 | 1:38f32fc3db2c | 59 | void upUp() { flags |= UP_UP; } |
azazeal88 | 1:38f32fc3db2c | 60 | |
azazeal88 | 1:38f32fc3db2c | 61 | void downDown(){ flags |= DOWN_DOWN; } |
azazeal88 | 1:38f32fc3db2c | 62 | void downUp() { flags |= DOWN_UP; } |
azazeal88 | 1:38f32fc3db2c | 63 | |
azazeal88 | 1:38f32fc3db2c | 64 | void leftDown(){ flags |= LEFT_DOWN; } |
azazeal88 | 1:38f32fc3db2c | 65 | void leftUp() { flags |= LEFT_UP; } |
azazeal88 | 1:38f32fc3db2c | 66 | |
azazeal88 | 1:38f32fc3db2c | 67 | void rightDown(){ flags |= RIGHT_DOWN; } |
azazeal88 | 1:38f32fc3db2c | 68 | void rightUp() { flags |= RIGHT_UP; } |
azazeal88 | 1:38f32fc3db2c | 69 | |
azazeal88 | 1:38f32fc3db2c | 70 | void fireDown(){ flags |= FIRE_DOWN; } |
azazeal88 | 1:38f32fc3db2c | 71 | void fireUp() { flags |= FIRE_UP; } |
azazeal88 | 1:38f32fc3db2c | 72 | |
Condo2k4 | 4:39e949908fc5 | 73 | //PRETTY WAITING LEDS (Modified from Fred Barnes) |
Condo2k4 | 4:39e949908fc5 | 74 | |
Condo2k4 | 4:39e949908fc5 | 75 | Ticker waitTicker; |
Condo2k4 | 4:39e949908fc5 | 76 | int ctr; |
Condo2k4 | 4:39e949908fc5 | 77 | |
Condo2k4 | 4:39e949908fc5 | 78 | void waitTick() { |
Condo2k4 | 4:39e949908fc5 | 79 | switch(ctr) { |
Condo2k4 | 4:39e949908fc5 | 80 | case 0: |
Condo2k4 | 4:39e949908fc5 | 81 | xr=xg=0; xb=1; break; |
Condo2k4 | 4:39e949908fc5 | 82 | case 1: |
Condo2k4 | 4:39e949908fc5 | 83 | xr=0; xg=xb=1; break; |
Condo2k4 | 4:39e949908fc5 | 84 | case 2: |
Condo2k4 | 4:39e949908fc5 | 85 | xr=xb=0; xg=1; break; |
Condo2k4 | 4:39e949908fc5 | 86 | case 3: |
Condo2k4 | 4:39e949908fc5 | 87 | xb=0; xr=xg=1; break; |
Condo2k4 | 4:39e949908fc5 | 88 | case 4: |
Condo2k4 | 4:39e949908fc5 | 89 | xg=xb=0; xr=1; break; |
Condo2k4 | 4:39e949908fc5 | 90 | case 5: |
Condo2k4 | 4:39e949908fc5 | 91 | xg=0; xr=xb=1; ctr=0; return; |
Condo2k4 | 4:39e949908fc5 | 92 | } |
Condo2k4 | 4:39e949908fc5 | 93 | ctr++; |
Condo2k4 | 4:39e949908fc5 | 94 | } |
Condo2k4 | 4:39e949908fc5 | 95 | |
Condo2k4 | 4:39e949908fc5 | 96 | void cleanup() { |
Condo2k4 | 4:39e949908fc5 | 97 | lr = lg = lb = 1; |
Condo2k4 | 4:39e949908fc5 | 98 | xr = xg = xb = 1.0; |
Condo2k4 | 4:39e949908fc5 | 99 | temp.read(); |
Condo2k4 | 4:39e949908fc5 | 100 | lcd.cls(); |
Condo2k4 | 4:39e949908fc5 | 101 | |
Condo2k4 | 4:39e949908fc5 | 102 | bAcc.enable(); |
Condo2k4 | 4:39e949908fc5 | 103 | bMag.enable(); |
Condo2k4 | 4:39e949908fc5 | 104 | |
Condo2k4 | 4:39e949908fc5 | 105 | pc.sendChar('+'); |
Condo2k4 | 4:39e949908fc5 | 106 | } |
Condo2k4 | 4:39e949908fc5 | 107 | |
Condo2k4 | 2:2dcdbb85cae0 | 108 | /* |
Condo2k4 | 2:2dcdbb85cae0 | 109 | Return the state of a requested pin |
Condo2k4 | 2:2dcdbb85cae0 | 110 | */ |
azazeal88 | 1:38f32fc3db2c | 111 | void readDigitalIn() { |
azazeal88 | 1:38f32fc3db2c | 112 | bool val; |
azazeal88 | 1:38f32fc3db2c | 113 | switch(pc.getc()) { |
azazeal88 | 1:38f32fc3db2c | 114 | case '2': val=sw2; break; |
Condo2k4 | 2:2dcdbb85cae0 | 115 | case '3': val=sw3; break; |
azazeal88 | 1:38f32fc3db2c | 116 | case 'u': val=up; break; |
azazeal88 | 1:38f32fc3db2c | 117 | case 'd': val=down; break; |
azazeal88 | 1:38f32fc3db2c | 118 | case 'l': val=left; break; |
azazeal88 | 1:38f32fc3db2c | 119 | case 'r': val=right; break; |
azazeal88 | 1:38f32fc3db2c | 120 | case 'f': val=fire; break; |
azazeal88 | 1:38f32fc3db2c | 121 | default: return; |
co657_mjrb6 | 0:6891aea05ef2 | 122 | } |
Condo2k4 | 4:39e949908fc5 | 123 | char c = val?'t':'f'; |
Condo2k4 | 4:39e949908fc5 | 124 | pc.sendChar(c); |
co657_mjrb6 | 0:6891aea05ef2 | 125 | } |
co657_mjrb6 | 0:6891aea05ef2 | 126 | |
Condo2k4 | 2:2dcdbb85cae0 | 127 | /* |
Condo2k4 | 2:2dcdbb85cae0 | 128 | Return the state of a requested potentiometer |
Condo2k4 | 2:2dcdbb85cae0 | 129 | */ |
azazeal88 | 1:38f32fc3db2c | 130 | void readPot() { |
azazeal88 | 1:38f32fc3db2c | 131 | float val; |
azazeal88 | 1:38f32fc3db2c | 132 | switch(pc.getc()) { |
azazeal88 | 1:38f32fc3db2c | 133 | case '1': val=pot1; break; |
azazeal88 | 1:38f32fc3db2c | 134 | case '2': val=pot2; break; |
azazeal88 | 1:38f32fc3db2c | 135 | default: return; |
azazeal88 | 1:38f32fc3db2c | 136 | } |
Condo2k4 | 4:39e949908fc5 | 137 | |
Condo2k4 | 4:39e949908fc5 | 138 | pc.sendFloat(val); |
Condo2k4 | 3:990f8380da21 | 139 | } |
Condo2k4 | 3:990f8380da21 | 140 | |
Condo2k4 | 4:39e949908fc5 | 141 | float getHeading() { |
Condo2k4 | 4:39e949908fc5 | 142 | MotionSensorDataUnits mag; |
Condo2k4 | 4:39e949908fc5 | 143 | bMag.getAxis(mag); |
Condo2k4 | 4:39e949908fc5 | 144 | float cal[3]; |
Condo2k4 | 4:39e949908fc5 | 145 | cal[0]=mag.x; |
Condo2k4 | 4:39e949908fc5 | 146 | cal[1]=mag.y; |
Condo2k4 | 4:39e949908fc5 | 147 | cal[2]=mag.z; |
Condo2k4 | 4:39e949908fc5 | 148 | magCal.run(cal,cal); |
Condo2k4 | 4:39e949908fc5 | 149 | return atan2(-cal[1],cal[0])-0.4333f; |
Condo2k4 | 3:990f8380da21 | 150 | } |
Condo2k4 | 3:990f8380da21 | 151 | |
Condo2k4 | 3:990f8380da21 | 152 | int main() { |
azazeal88 | 1:38f32fc3db2c | 153 | //SETUP |
Condo2k4 | 3:990f8380da21 | 154 | pc.baud(9600); |
azazeal88 | 1:38f32fc3db2c | 155 | |
Condo2k4 | 3:990f8380da21 | 156 | lr = lg = lb = 1; |
Condo2k4 | 4:39e949908fc5 | 157 | xr = xg = xb = 1.0; |
co657_mjrb6 | 0:6891aea05ef2 | 158 | |
co657_mjrb6 | 0:6891aea05ef2 | 159 | sw2_int.mode (PullUp); |
co657_mjrb6 | 0:6891aea05ef2 | 160 | sw2_int.fall(&sw2Down); |
co657_mjrb6 | 0:6891aea05ef2 | 161 | sw2_int.rise(&sw2Up); |
co657_mjrb6 | 0:6891aea05ef2 | 162 | |
co657_mjrb6 | 0:6891aea05ef2 | 163 | sw3_int.mode (PullUp); |
co657_mjrb6 | 0:6891aea05ef2 | 164 | sw3_int.fall(&sw3Down); |
co657_mjrb6 | 0:6891aea05ef2 | 165 | sw3_int.rise(&sw3Up); |
co657_mjrb6 | 0:6891aea05ef2 | 166 | |
azazeal88 | 1:38f32fc3db2c | 167 | up_int.mode (PullUp); |
Condo2k4 | 4:39e949908fc5 | 168 | up_int.rise(&upDown); |
Condo2k4 | 4:39e949908fc5 | 169 | up_int.fall(&upUp); |
azazeal88 | 1:38f32fc3db2c | 170 | |
azazeal88 | 1:38f32fc3db2c | 171 | down_int.mode (PullUp); |
Condo2k4 | 4:39e949908fc5 | 172 | down_int.rise(&downDown); |
Condo2k4 | 4:39e949908fc5 | 173 | down_int.fall(&downUp); |
azazeal88 | 1:38f32fc3db2c | 174 | |
azazeal88 | 1:38f32fc3db2c | 175 | left_int.mode (PullUp); |
Condo2k4 | 4:39e949908fc5 | 176 | left_int.rise(&leftDown); |
Condo2k4 | 4:39e949908fc5 | 177 | left_int.fall(&leftUp); |
azazeal88 | 1:38f32fc3db2c | 178 | |
azazeal88 | 1:38f32fc3db2c | 179 | right_int.mode (PullUp); |
Condo2k4 | 4:39e949908fc5 | 180 | right_int.rise(&rightDown); |
Condo2k4 | 4:39e949908fc5 | 181 | right_int.fall(&rightUp); |
azazeal88 | 1:38f32fc3db2c | 182 | |
azazeal88 | 1:38f32fc3db2c | 183 | fire_int.mode (PullUp); |
Condo2k4 | 4:39e949908fc5 | 184 | fire_int.rise(&fireDown); |
Condo2k4 | 4:39e949908fc5 | 185 | fire_int.fall(&fireUp); |
co657_mjrb6 | 0:6891aea05ef2 | 186 | |
Condo2k4 | 3:990f8380da21 | 187 | //Pretty wait |
Condo2k4 | 3:990f8380da21 | 188 | ctr=0; |
Condo2k4 | 3:990f8380da21 | 189 | lcd.locate(0,0); |
Condo2k4 | 3:990f8380da21 | 190 | lcd.printf("Awaiting connection..."); |
Condo2k4 | 4:39e949908fc5 | 191 | waitTicker.attach(&waitTick,0.5); |
Condo2k4 | 4:39e949908fc5 | 192 | while((!pc.readable()) && (pc.getc()!='-')) sleep(); |
Condo2k4 | 3:990f8380da21 | 193 | waitTicker.detach(); |
Condo2k4 | 3:990f8380da21 | 194 | cleanup(); |
Condo2k4 | 3:990f8380da21 | 195 | |
azazeal88 | 1:38f32fc3db2c | 196 | for(;;) { |
Condo2k4 | 2:2dcdbb85cae0 | 197 | //Check if any interrupts fired |
azazeal88 | 1:38f32fc3db2c | 198 | if(flags&SW2_UP) { |
Condo2k4 | 3:990f8380da21 | 199 | flags&=!SW2_UP; |
Condo2k4 | 4:39e949908fc5 | 200 | pc.sendSpecialCommand('2','u'); |
azazeal88 | 1:38f32fc3db2c | 201 | } |
azazeal88 | 1:38f32fc3db2c | 202 | if(flags&SW2_DOWN) { |
Condo2k4 | 3:990f8380da21 | 203 | flags&=!SW2_DOWN; |
Condo2k4 | 4:39e949908fc5 | 204 | pc.sendSpecialCommand('2','d'); |
azazeal88 | 1:38f32fc3db2c | 205 | } |
azazeal88 | 1:38f32fc3db2c | 206 | if(flags&SW3_UP) { |
Condo2k4 | 3:990f8380da21 | 207 | flags&=!SW3_UP; |
Condo2k4 | 4:39e949908fc5 | 208 | pc.sendSpecialCommand('3','u'); |
azazeal88 | 1:38f32fc3db2c | 209 | } |
azazeal88 | 1:38f32fc3db2c | 210 | if(flags&SW3_DOWN) { |
Condo2k4 | 3:990f8380da21 | 211 | flags&=!SW3_DOWN; |
Condo2k4 | 4:39e949908fc5 | 212 | pc.sendSpecialCommand('3','d'); |
azazeal88 | 1:38f32fc3db2c | 213 | } |
azazeal88 | 1:38f32fc3db2c | 214 | if(flags&UP_UP) { |
Condo2k4 | 3:990f8380da21 | 215 | flags&=!UP_UP; |
Condo2k4 | 4:39e949908fc5 | 216 | pc.sendSpecialCommand('u','u'); |
azazeal88 | 1:38f32fc3db2c | 217 | } |
azazeal88 | 1:38f32fc3db2c | 218 | if(flags&UP_DOWN) { |
Condo2k4 | 3:990f8380da21 | 219 | flags&=!UP_DOWN; |
Condo2k4 | 4:39e949908fc5 | 220 | pc.sendSpecialCommand('u','d'); |
co657_mjrb6 | 0:6891aea05ef2 | 221 | } |
azazeal88 | 1:38f32fc3db2c | 222 | if(flags&DOWN_UP) { |
Condo2k4 | 3:990f8380da21 | 223 | flags&=!DOWN_UP; |
Condo2k4 | 4:39e949908fc5 | 224 | pc.sendSpecialCommand('d','u'); |
azazeal88 | 1:38f32fc3db2c | 225 | } |
azazeal88 | 1:38f32fc3db2c | 226 | if(flags&DOWN_DOWN) { |
Condo2k4 | 3:990f8380da21 | 227 | flags&=!DOWN_DOWN; |
Condo2k4 | 4:39e949908fc5 | 228 | pc.sendSpecialCommand('d','d'); |
azazeal88 | 1:38f32fc3db2c | 229 | } |
azazeal88 | 1:38f32fc3db2c | 230 | if(flags&LEFT_UP) { |
Condo2k4 | 3:990f8380da21 | 231 | flags&=!LEFT_UP; |
Condo2k4 | 4:39e949908fc5 | 232 | pc.sendSpecialCommand('l','u'); |
azazeal88 | 1:38f32fc3db2c | 233 | } |
azazeal88 | 1:38f32fc3db2c | 234 | if(flags&LEFT_DOWN) { |
Condo2k4 | 3:990f8380da21 | 235 | flags&=!LEFT_DOWN; |
Condo2k4 | 4:39e949908fc5 | 236 | pc.sendSpecialCommand('l','d'); |
co657_mjrb6 | 0:6891aea05ef2 | 237 | } |
azazeal88 | 1:38f32fc3db2c | 238 | if(flags&RIGHT_UP) { |
Condo2k4 | 3:990f8380da21 | 239 | flags&=!RIGHT_UP; |
Condo2k4 | 4:39e949908fc5 | 240 | pc.sendSpecialCommand('r','u'); |
azazeal88 | 1:38f32fc3db2c | 241 | } |
azazeal88 | 1:38f32fc3db2c | 242 | if(flags&RIGHT_DOWN) { |
Condo2k4 | 3:990f8380da21 | 243 | flags&=!RIGHT_DOWN; |
Condo2k4 | 4:39e949908fc5 | 244 | pc.sendSpecialCommand('r','d'); |
azazeal88 | 1:38f32fc3db2c | 245 | } |
azazeal88 | 1:38f32fc3db2c | 246 | if(flags&FIRE_UP) { |
Condo2k4 | 3:990f8380da21 | 247 | flags&=!FIRE_UP; |
Condo2k4 | 4:39e949908fc5 | 248 | pc.sendSpecialCommand('f','u'); |
azazeal88 | 1:38f32fc3db2c | 249 | } |
azazeal88 | 1:38f32fc3db2c | 250 | if(flags&FIRE_DOWN) { |
Condo2k4 | 3:990f8380da21 | 251 | flags&=!FIRE_DOWN; |
Condo2k4 | 4:39e949908fc5 | 252 | pc.sendSpecialCommand('f','d'); |
co657_mjrb6 | 0:6891aea05ef2 | 253 | } |
azazeal88 | 1:38f32fc3db2c | 254 | |
azazeal88 | 1:38f32fc3db2c | 255 | //Check for host requests |
co657_mjrb6 | 0:6891aea05ef2 | 256 | if(pc.readable()) { |
Condo2k4 | 3:990f8380da21 | 257 | char cmd = pc.getc(); |
Condo2k4 | 3:990f8380da21 | 258 | switch(cmd) { |
azazeal88 | 1:38f32fc3db2c | 259 | case 'R': { //read digital input |
azazeal88 | 1:38f32fc3db2c | 260 | readDigitalIn(); |
azazeal88 | 1:38f32fc3db2c | 261 | break; |
azazeal88 | 1:38f32fc3db2c | 262 | } |
azazeal88 | 1:38f32fc3db2c | 263 | case 'p': { |
azazeal88 | 1:38f32fc3db2c | 264 | readPot(); |
Condo2k4 | 3:990f8380da21 | 265 | break; |
azazeal88 | 1:38f32fc3db2c | 266 | } |
azazeal88 | 1:38f32fc3db2c | 267 | case 't': { //read temp |
Condo2k4 | 3:990f8380da21 | 268 | float t = temp.read(); |
Condo2k4 | 4:39e949908fc5 | 269 | pc.sendFloat(t); |
azazeal88 | 1:38f32fc3db2c | 270 | break; |
azazeal88 | 1:38f32fc3db2c | 271 | } |
azazeal88 | 1:38f32fc3db2c | 272 | case 'a': {//read shield accel |
Condo2k4 | 3:990f8380da21 | 273 | float x, y, z; |
Condo2k4 | 4:39e949908fc5 | 274 | x = sAcc.x(); |
Condo2k4 | 4:39e949908fc5 | 275 | y = sAcc.y(); |
Condo2k4 | 4:39e949908fc5 | 276 | z = sAcc.z(); |
Condo2k4 | 4:39e949908fc5 | 277 | pc.sendFloat(x); |
Condo2k4 | 4:39e949908fc5 | 278 | pc.sendFloat(y); |
Condo2k4 | 4:39e949908fc5 | 279 | pc.sendFloat(z); |
azazeal88 | 1:38f32fc3db2c | 280 | break; |
azazeal88 | 1:38f32fc3db2c | 281 | } |
azazeal88 | 1:38f32fc3db2c | 282 | case 'l': { //shield led |
Condo2k4 | 4:39e949908fc5 | 283 | char raw = pc.getc(); |
Condo2k4 | 4:39e949908fc5 | 284 | char r = ((raw>>2)&1)^1; |
Condo2k4 | 4:39e949908fc5 | 285 | char g = ((raw>>1)&1)^1; |
Condo2k4 | 4:39e949908fc5 | 286 | char b = (raw&1)^1; |
Condo2k4 | 4:39e949908fc5 | 287 | xr = r; xg = g; xb = b; |
Condo2k4 | 4:39e949908fc5 | 288 | break; |
Condo2k4 | 4:39e949908fc5 | 289 | } |
Condo2k4 | 4:39e949908fc5 | 290 | case 'o': { //read shield accel orientation |
Condo2k4 | 4:39e949908fc5 | 291 | MMA7660::Orientation o = sAcc.getOrientation(); |
Condo2k4 | 4:39e949908fc5 | 292 | pc.sendChar((char)o); |
Condo2k4 | 4:39e949908fc5 | 293 | break; |
Condo2k4 | 4:39e949908fc5 | 294 | } |
Condo2k4 | 4:39e949908fc5 | 295 | case 's': { //read shield accel orientation |
Condo2k4 | 4:39e949908fc5 | 296 | MMA7660::Orientation o = sAcc.getSide(); |
Condo2k4 | 4:39e949908fc5 | 297 | pc.sendChar((char)o); |
Condo2k4 | 4:39e949908fc5 | 298 | break; |
Condo2k4 | 4:39e949908fc5 | 299 | } |
Condo2k4 | 4:39e949908fc5 | 300 | case 'h': { |
Condo2k4 | 4:39e949908fc5 | 301 | float f = getHeading(); |
Condo2k4 | 4:39e949908fc5 | 302 | pc.sendFloat(f); |
azazeal88 | 1:38f32fc3db2c | 303 | break; |
azazeal88 | 1:38f32fc3db2c | 304 | } |
azazeal88 | 1:38f32fc3db2c | 305 | case 'L': { // board led |
Condo2k4 | 3:990f8380da21 | 306 | char raw = pc.getc(); |
Condo2k4 | 4:39e949908fc5 | 307 | char r = ((raw>>2)&1)^1; |
Condo2k4 | 4:39e949908fc5 | 308 | char g = ((raw>>1)&1)^1; |
Condo2k4 | 4:39e949908fc5 | 309 | char b = (raw&1)^1; |
azazeal88 | 1:38f32fc3db2c | 310 | lr = r; lg = g; lb = b; |
azazeal88 | 1:38f32fc3db2c | 311 | break; |
azazeal88 | 1:38f32fc3db2c | 312 | } |
azazeal88 | 1:38f32fc3db2c | 313 | case 'M': { //read board magno |
Condo2k4 | 4:39e949908fc5 | 314 | // float f; |
Condo2k4 | 4:39e949908fc5 | 315 | // bMag.getX(&f); pc.sendFloat(f); |
Condo2k4 | 4:39e949908fc5 | 316 | // bMag.getY(&f); pc.sendFloat(f); |
Condo2k4 | 4:39e949908fc5 | 317 | // bMag.getZ(&f); pc.sendFloat(f); |
Condo2k4 | 4:39e949908fc5 | 318 | MotionSensorDataUnits mag; |
Condo2k4 | 4:39e949908fc5 | 319 | bMag.getAxis(mag); |
Condo2k4 | 4:39e949908fc5 | 320 | float cal[3]; |
Condo2k4 | 4:39e949908fc5 | 321 | cal[0]=mag.x; |
Condo2k4 | 4:39e949908fc5 | 322 | cal[1]=mag.y; |
Condo2k4 | 4:39e949908fc5 | 323 | cal[2]=mag.z; |
Condo2k4 | 4:39e949908fc5 | 324 | magCal.run(cal,cal); |
Condo2k4 | 4:39e949908fc5 | 325 | pc.sendFloat(cal[0]); |
Condo2k4 | 4:39e949908fc5 | 326 | pc.sendFloat(cal[1]); |
Condo2k4 | 4:39e949908fc5 | 327 | pc.sendFloat(cal[2]); |
azazeal88 | 1:38f32fc3db2c | 328 | break; |
azazeal88 | 1:38f32fc3db2c | 329 | } |
azazeal88 | 1:38f32fc3db2c | 330 | case 'A': { //read board accel |
Condo2k4 | 4:39e949908fc5 | 331 | float f; |
Condo2k4 | 4:39e949908fc5 | 332 | bAcc.getX(&f); pc.sendFloat(f); |
Condo2k4 | 4:39e949908fc5 | 333 | bAcc.getY(&f); pc.sendFloat(f); |
Condo2k4 | 4:39e949908fc5 | 334 | bAcc.getZ(&f); pc.sendFloat(f); |
azazeal88 | 1:38f32fc3db2c | 335 | break; |
azazeal88 | 1:38f32fc3db2c | 336 | } |
azazeal88 | 1:38f32fc3db2c | 337 | case 'P': { //set lcd position |
Condo2k4 | 3:990f8380da21 | 338 | unsigned char x, y; |
Condo2k4 | 3:990f8380da21 | 339 | x = pc.getc(); |
Condo2k4 | 3:990f8380da21 | 340 | y = pc.getc(); |
azazeal88 | 1:38f32fc3db2c | 341 | lcd.locate(x,y); |
Condo2k4 | 3:990f8380da21 | 342 | break; |
azazeal88 | 1:38f32fc3db2c | 343 | } |
azazeal88 | 1:38f32fc3db2c | 344 | case 'S': { //print lcd text |
Condo2k4 | 3:990f8380da21 | 345 | char buff[256]; |
Condo2k4 | 3:990f8380da21 | 346 | unsigned char len = pc.getc(); |
Condo2k4 | 3:990f8380da21 | 347 | char * j= buff; |
Condo2k4 | 3:990f8380da21 | 348 | while(len>0) { |
Condo2k4 | 3:990f8380da21 | 349 | *j++=pc.getc(); |
Condo2k4 | 3:990f8380da21 | 350 | len--; |
azazeal88 | 1:38f32fc3db2c | 351 | } |
Condo2k4 | 3:990f8380da21 | 352 | *j=0; |
Condo2k4 | 3:990f8380da21 | 353 | lcd.printf(buff); |
Condo2k4 | 4:39e949908fc5 | 354 | lcd.copy_to_lcd(); |
Condo2k4 | 3:990f8380da21 | 355 | break; |
azazeal88 | 1:38f32fc3db2c | 356 | } |
Condo2k4 | 3:990f8380da21 | 357 | case 'D': { //set lcd pixel |
Condo2k4 | 3:990f8380da21 | 358 | char x = pc.getc(); |
Condo2k4 | 3:990f8380da21 | 359 | char y = pc.getc(); |
Condo2k4 | 3:990f8380da21 | 360 | char c = pc.getc(); |
azazeal88 | 1:38f32fc3db2c | 361 | lcd.pixel(x,y,c); |
Condo2k4 | 4:39e949908fc5 | 362 | lcd.copy_to_lcd(); |
Condo2k4 | 3:990f8380da21 | 363 | break; |
azazeal88 | 1:38f32fc3db2c | 364 | } |
azazeal88 | 1:38f32fc3db2c | 365 | case 'C': { //clear lcd |
azazeal88 | 1:38f32fc3db2c | 366 | lcd.cls(); |
Condo2k4 | 3:990f8380da21 | 367 | break; |
Condo2k4 | 3:990f8380da21 | 368 | } |
Condo2k4 | 3:990f8380da21 | 369 | case '-': { //reconnection |
Condo2k4 | 3:990f8380da21 | 370 | cleanup(); break; |
azazeal88 | 1:38f32fc3db2c | 371 | } |
azazeal88 | 1:38f32fc3db2c | 372 | default: break; |
co657_mjrb6 | 0:6891aea05ef2 | 373 | } |
co657_mjrb6 | 0:6891aea05ef2 | 374 | } |
co657_mjrb6 | 0:6891aea05ef2 | 375 | } |
Condo2k4 | 4:39e949908fc5 | 376 | } |