Diff: main.cpp

Revision:

2:c7897a3f5f11

Parent:

1:b36bbc1c6d27

diff -r b36bbc1c6d27 -r c7897a3f5f11 main.cpp
--- a/main.cpp	Sat Apr 11 08:15:48 2020 +0000
+++ b/main.cpp	Wed Apr 22 11:50:00 2020 +0000
@@ -7,55 +7,84 @@
 DigitalOut led1(LED1);
 InterruptIn sw(USER_BUTTON);
 
+
+// Sensor Interrupts
+InterruptIn button1(D2);
+InterruptIn button2(D3);
+InterruptIn button3(D4);
+InterruptIn button4(D5);
+InterruptIn ir1(D6);
+
+
 Thread eventthread;
 Thread imuthread;
 bool read_imu_isrunning;
 
-
 // Pin defines
 DigitalOut led_green(D4);
 
-//-----------------------------------------------------
-//IMU
-//-----------------------------------------------------
+Serial* pc;
+MPU9250* mpu9250;
+
 
-void rise_handler(void)
+void button1Event()
+{
+    pc->printf("Button 1\n\r");
+}
+
+void button2Event()
+{
+    pc->printf("Button 2\n\r");
+}
+
+void button3Event()
 {
-    printf("rise_handler in context %p\r\n", Thread::gettid());
-    // Toggle LED
-    led1 = !led1;
-    for (int i = 0; i<10; i++) {
-        led_green = !led_green;
-        wait(0.5);
+    pc->printf("Button 3\n\r");
+}
+
+void button4Event()
+{
+    pc->printf("Button 4\n\r");
+}
+
+void ir1Event()
+{
+    pc->printf("IR-1\n\r");
+    mpu9250->vx_old = 10.5;
+}
+
+void readIMUThread()
+{
+    pc->printf("in IMU-Thread\n\r");
+    while(1) {
+        pc->printf("vx: %f\n\r", mpu9250->getVBuffer());
+        wait(0.4);
     }
 }
 
-void fall_handler(void)
-{
-    printf("fall_handler in context %p\r\n", Thread::gettid());
-    // Toggle LED
-    led1 = !led1;
-}
-
-
-
-
 
 
 int main()
 {
-    //pc.baud(9600);
-    //imuSetup();
-    //imuthread.start(readIMU);
+    pc = new Serial(USBTX, USBRX);
+    pc->baud(9600);
+
+    // Setup of IMU (Constructor calls setup-function)
+    mpu9250 = new MPU9250(pc);
+
+    imuthread.start(readIMUThread);
 
     // Request the shared queue
     EventQueue *queue = mbed_event_queue();
-    //printf("Starting in context %p\r\n", Thread::gettid());
+    pc->printf("Starting in context %p\r\n", Thread::gettid());
+
 
-    // The 'rise' handler will execute in IRQ context
-    sw.rise(queue->event(rise_handler));
-    // The 'fall' handler will execute in the context of the shared queue (actually the main thread)
-    sw.fall(queue->event(fall_handler));
+    button1.rise(queue->event(button1Event));
+    button2.rise(queue->event(button2Event));
+    button3.rise(queue->event(button3Event));
+    button4.rise(queue->event(button4Event));
+    ir1.rise(queue->event(ir1Event));
+    
     // Setup complete, so we now dispatch the shared queue from main
-    queue->dispatch_forever();
+    queue->dispatch();
 }
\ No newline at end of file