Abdelmalek BELLOULA
configuration de l\'IMU chr-um6 via le Mbed
main.cpp@1:805f3ddb2ee5, 2012-03-06 (annotated)
- Committer:
- belloula
- Date:
- Tue Mar 06 11:04:10 2012 +0000
- Revision:
- 1:805f3ddb2ee5
- Parent:
- 0:9aa10932bd4f
Who changed what in which revision?
| User | Revision | Line number | New contents of line |
|---|---|---|---|
| belloula | 0:9aa10932bd4f | 1 | #include "mbed.h" |
| belloula | 1:805f3ddb2ee5 | 2 | //Connect IMU to pc via Xbee to calibrate IMU via "AHRSInterfacex86" soft |
| belloula | 1:805f3ddb2ee5 | 3 | |
| belloula | 0:9aa10932bd4f | 4 | Serial pc(USBTX, USBRX); |
| belloula | 0:9aa10932bd4f | 5 | DigitalOut myled(LED1); |
| belloula | 0:9aa10932bd4f | 6 | Serial xbee(p9, p10); |
| belloula | 0:9aa10932bd4f | 7 | DigitalOut rst1(p11); |
| belloula | 1:805f3ddb2ee5 | 8 | Serial imu(p28, p27); |
| belloula | 0:9aa10932bd4f | 9 | |
| belloula | 1:805f3ddb2ee5 | 10 | void fpc() |
| belloula | 0:9aa10932bd4f | 11 | { |
| belloula | 1:805f3ddb2ee5 | 12 | while(pc.readable()) |
| belloula | 0:9aa10932bd4f | 13 | { |
| belloula | 1:805f3ddb2ee5 | 14 | imu.putc(pc.getc()); |
| belloula | 0:9aa10932bd4f | 15 | } |
| belloula | 0:9aa10932bd4f | 16 | } |
| belloula | 0:9aa10932bd4f | 17 | |
| belloula | 0:9aa10932bd4f | 18 | void fimu() |
| belloula | 0:9aa10932bd4f | 19 | { |
| belloula | 0:9aa10932bd4f | 20 | while(imu.readable()) |
| belloula | 0:9aa10932bd4f | 21 | { |
| belloula | 1:805f3ddb2ee5 | 22 | pc.putc(imu.getc()); |
| belloula | 1:805f3ddb2ee5 | 23 | //pc.printf("%X\r\n",imu.getc()); |
| belloula | 0:9aa10932bd4f | 24 | } |
| belloula | 0:9aa10932bd4f | 25 | } |
| belloula | 0:9aa10932bd4f | 26 | |
| belloula | 0:9aa10932bd4f | 27 | int main() |
| belloula | 0:9aa10932bd4f | 28 | { |
| belloula | 1:805f3ddb2ee5 | 29 | pc.baud(115200); |
| belloula | 0:9aa10932bd4f | 30 | imu.baud(115200); |
| belloula | 0:9aa10932bd4f | 31 | |
| belloula | 0:9aa10932bd4f | 32 | imu.attach(fimu); |
| belloula | 1:805f3ddb2ee5 | 33 | pc.attach(fpc); |
| belloula | 0:9aa10932bd4f | 34 | //reset xbee module |
| belloula | 0:9aa10932bd4f | 35 | rst1 = 0; |
| belloula | 0:9aa10932bd4f | 36 | wait_ms(1); |
| belloula | 0:9aa10932bd4f | 37 | rst1 = 1; |
| belloula | 0:9aa10932bd4f | 38 | wait_ms(1); |
| belloula | 0:9aa10932bd4f | 39 | |
| belloula | 0:9aa10932bd4f | 40 | |
| belloula | 0:9aa10932bd4f | 41 | while(1) |
| belloula | 0:9aa10932bd4f | 42 | |
| belloula | 0:9aa10932bd4f | 43 | { |
| belloula | 1:805f3ddb2ee5 | 44 | pc.printf("salut"); |
| belloula | 0:9aa10932bd4f | 45 | myled = 0; |
| belloula | 0:9aa10932bd4f | 46 | wait_ms(500); |
| belloula | 0:9aa10932bd4f | 47 | myled = 1; |
| belloula | 0:9aa10932bd4f | 48 | wait_ms(500); |
| belloula | 0:9aa10932bd4f | 49 | } |
| belloula | 0:9aa10932bd4f | 50 | } |