main.cpp

00001 #include "mbed.h"
00002 #include "mbed_events.h"
00003 #include "MPU9250.h"
00004 
00005 #define SAMPLE_TIME 100
00006 
00007 DigitalOut led1(LED1);
00008 InterruptIn sw(USER_BUTTON);
00009 
00010 
00011 // Sensor Interrupts
00012 InterruptIn button1(D2);
00013 InterruptIn button2(D3);
00014 InterruptIn button3(D4);
00015 InterruptIn button4(D5);
00016 InterruptIn ir1(D6);
00017 
00018 
00019 Thread eventthread;
00020 Thread imuthread;
00021 bool read_imu_isrunning;
00022 
00023 // Pin defines
00024 DigitalOut led_green(D4);
00025 
00026 Serial* pc;
00027 MPU9250* mpu9250;
00028 
00029 
00030 void button1Event()
00031 {
00032     pc->printf("Button 1\n\r");
00033 }
00034 
00035 void button2Event()
00036 {
00037     pc->printf("Button 2\n\r");
00038 }
00039 
00040 void button3Event()
00041 {
00042     pc->printf("Button 3\n\r");
00043 }
00044 
00045 void button4Event()
00046 {
00047     pc->printf("Button 4\n\r");
00048 }
00049 
00050 void ir1Event()
00051 {
00052     pc->printf("IR-1\n\r");
00053     mpu9250->vx_old = 10.5;
00054 }
00055 
00056 void readIMUThread()
00057 {
00058     pc->printf("in IMU-Thread\n\r");
00059     while(1) {
00060         pc->printf("vx: %f\n\r", mpu9250->getVBuffer());
00061         wait(0.4);
00062     }
00063 }
00064 
00065 
00066 
00067 int main()
00068 {
00069     pc = new Serial(USBTX, USBRX);
00070     pc->baud(9600);
00071 
00072     // Setup of IMU (Constructor calls setup-function)
00073     mpu9250 = new MPU9250(pc);
00074 
00075     imuthread.start(readIMUThread);
00076 
00077     // Request the shared queue
00078     EventQueue *queue = mbed_event_queue();
00079     pc->printf("Starting in context %p\r\n", Thread::gettid());
00080 
00081 
00082     button1.rise(queue->event(button1Event));
00083     button2.rise(queue->event(button2Event));
00084     button3.rise(queue->event(button3Event));
00085     button4.rise(queue->event(button4Event));
00086     ir1.rise(queue->event(ir1Event));
00087     
00088     // Setup complete, so we now dispatch the shared queue from main
00089     queue->dispatch();
00090 }