Abdelmalek BELLOULA
configuration de l\'IMU chr-um6 via le Mbed
main.cpp@0:9aa10932bd4f, 2011-10-21 (annotated)
- Committer:
- belloula
- Date:
- Fri Oct 21 15:05:55 2011 +0000
- Revision:
- 0:9aa10932bd4f
- Child:
- 1:805f3ddb2ee5
Who changed what in which revision?
| User | Revision | Line number | New contents of line |
|---|---|---|---|
| belloula | 0:9aa10932bd4f | 1 | #include "mbed.h" |
| belloula | 0:9aa10932bd4f | 2 | //conecte imu to pc via xbee to calibrate imu via "AHRSInterfacex86" soft |
| belloula | 0:9aa10932bd4f | 3 | Serial pc(USBTX, USBRX); |
| belloula | 0:9aa10932bd4f | 4 | DigitalOut myled(LED1); |
| belloula | 0:9aa10932bd4f | 5 | Serial xbee(p9, p10); |
| belloula | 0:9aa10932bd4f | 6 | DigitalOut rst1(p11); |
| belloula | 0:9aa10932bd4f | 7 | Serial imu(p13, p14); |
| belloula | 0:9aa10932bd4f | 8 | |
| belloula | 0:9aa10932bd4f | 9 | void fxbee() |
| belloula | 0:9aa10932bd4f | 10 | { |
| belloula | 0:9aa10932bd4f | 11 | while(xbee.readable()) |
| belloula | 0:9aa10932bd4f | 12 | { |
| belloula | 0:9aa10932bd4f | 13 | imu.putc(xbee.getc()); |
| belloula | 0:9aa10932bd4f | 14 | } |
| belloula | 0:9aa10932bd4f | 15 | } |
| belloula | 0:9aa10932bd4f | 16 | |
| belloula | 0:9aa10932bd4f | 17 | void fimu() |
| belloula | 0:9aa10932bd4f | 18 | { |
| belloula | 0:9aa10932bd4f | 19 | while(imu.readable()) |
| belloula | 0:9aa10932bd4f | 20 | { |
| belloula | 0:9aa10932bd4f | 21 | xbee.putc(imu.getc()); |
| belloula | 0:9aa10932bd4f | 22 | } |
| belloula | 0:9aa10932bd4f | 23 | } |
| belloula | 0:9aa10932bd4f | 24 | |
| belloula | 0:9aa10932bd4f | 25 | int main() |
| belloula | 0:9aa10932bd4f | 26 | { |
| belloula | 0:9aa10932bd4f | 27 | xbee.baud(115200); |
| belloula | 0:9aa10932bd4f | 28 | imu.baud(115200); |
| belloula | 0:9aa10932bd4f | 29 | |
| belloula | 0:9aa10932bd4f | 30 | imu.attach(fimu); |
| belloula | 0:9aa10932bd4f | 31 | xbee.attach(fxbee); |
| belloula | 0:9aa10932bd4f | 32 | //reset xbee module |
| belloula | 0:9aa10932bd4f | 33 | rst1 = 0; |
| belloula | 0:9aa10932bd4f | 34 | wait_ms(1); |
| belloula | 0:9aa10932bd4f | 35 | rst1 = 1; |
| belloula | 0:9aa10932bd4f | 36 | wait_ms(1); |
| belloula | 0:9aa10932bd4f | 37 | |
| belloula | 0:9aa10932bd4f | 38 | |
| belloula | 0:9aa10932bd4f | 39 | while(1) |
| belloula | 0:9aa10932bd4f | 40 | |
| belloula | 0:9aa10932bd4f | 41 | { |
| belloula | 0:9aa10932bd4f | 42 | myled = 0; |
| belloula | 0:9aa10932bd4f | 43 | wait_ms(500); |
| belloula | 0:9aa10932bd4f | 44 | myled = 1; |
| belloula | 0:9aa10932bd4f | 45 | wait_ms(500); |
| belloula | 0:9aa10932bd4f | 46 | } |
| belloula | 0:9aa10932bd4f | 47 | } |