svoe
Dependencies: mbed mbed-STM32F103C8T6 MPU6050_1
main.cpp@9:8f98b1c277a4, 2017-09-16 (annotated)
- Committer:
- dima285
- Date:
- Sat Sep 16 13:24:25 2017 +0000
- Revision:
- 9:8f98b1c277a4
- Parent:
- 8:891e4f54e9e2
- Child:
- 10:5bdd3dfd5f59
shoto rabotaet
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
Stas285 | 0:e9488589a8ee | 1 | #include "stm32f103c8t6.h" |
Stas285 | 0:e9488589a8ee | 2 | #include "mbed.h" |
Stas285 | 6:6e89cdc3db92 | 3 | //#include "USBSerial.h" |
Stas285 | 1:e2a6e523bf1f | 4 | #include "common.h" |
Stas285 | 4:904b737ef08a | 5 | #include "gyro.h" |
Stas285 | 0:e9488589a8ee | 6 | #include "motor.h" |
Stas285 | 0:e9488589a8ee | 7 | #include "serva.h" |
Stas285 | 0:e9488589a8ee | 8 | #include "echo.h" |
Stas285 | 0:e9488589a8ee | 9 | #include "motion.h" |
Stas285 | 1:e2a6e523bf1f | 10 | #include "wifi.h" |
Stas285 | 0:e9488589a8ee | 11 | #include "realtime.h" |
Stas285 | 0:e9488589a8ee | 12 | #include "system.h" |
Stas285 | 6:6e89cdc3db92 | 13 | #include "sound.h" |
Stas285 | 0:e9488589a8ee | 14 | |
Stas285 | 0:e9488589a8ee | 15 | int main() { |
Stas285 | 0:e9488589a8ee | 16 | system_init(); |
Stas285 | 6:6e89cdc3db92 | 17 | // usb_serial.printf("I am a USB serial port\r\n"); |
dima285 | 9:8f98b1c277a4 | 18 | //stop(); |
Stas285 | 4:904b737ef08a | 19 | gyro_x=0, gyro_y=0, gyro_angle=0, gyro_v=0, gyro_s=0; |
Stas285 | 6:6e89cdc3db92 | 20 | play(21); |
dima285 | 9:8f98b1c277a4 | 21 | /*go(1); |
dima285 | 9:8f98b1c277a4 | 22 | stop();*/ |
dima285 | 9:8f98b1c277a4 | 23 | speed = 10;radius = 1e5; |
dima285 | 9:8f98b1c277a4 | 24 | infinite_flag = 1;motor_busy = 1;stop_flag = 0; |
dima285 | 9:8f98b1c277a4 | 25 | //go(5); |
dima285 | 8:891e4f54e9e2 | 26 | //external_command = 0xff; |
Stas285 | 4:904b737ef08a | 27 | |
Stas285 | 4:904b737ef08a | 28 | /* MPU6050 gyro(PB_9,PB_8); |
Stas285 | 4:904b737ef08a | 29 | pc.printf("%hu ::",gyro.getID()); |
Stas285 | 4:904b737ef08a | 30 | pc.printf("%hu ::",gyro.getID()); |
Stas285 | 4:904b737ef08a | 31 | pc.printf("%hu ::",gyro.getID()); |
Stas285 | 4:904b737ef08a | 32 | pc.printf("%hu ::",gyro.getID()); |
Stas285 | 4:904b737ef08a | 33 | |
Stas285 | 4:904b737ef08a | 34 | I2C i2c(PB_9,PB_8); |
Stas285 | 4:904b737ef08a | 35 | i2c.frequency(400000); |
Stas285 | 4:904b737ef08a | 36 | int tmaddr = 0xD1; |
Stas285 | 4:904b737ef08a | 37 | char tmdata = 117; |
Stas285 | 4:904b737ef08a | 38 | pc.printf("%hhu, ",i2c.write(tmaddr, &tmdata,1)); |
Stas285 | 4:904b737ef08a | 39 | pc.printf("%hhu, ",i2c.write(tmaddr, &tmdata,1)); |
Stas285 | 4:904b737ef08a | 40 | pc.printf("%hhu: ",i2c.read(tmaddr,&tmdata,1)); |
Stas285 | 4:904b737ef08a | 41 | pc.printf("%hhu; \n",tmdata); |
Stas285 | 4:904b737ef08a | 42 | */ |
Stas285 | 4:904b737ef08a | 43 | while(1){ |
dima285 | 9:8f98b1c277a4 | 44 | //pc.printf("mhgc"); |
Stas285 | 4:904b737ef08a | 45 | while(realtime_flag == 0){} |
dima285 | 9:8f98b1c277a4 | 46 | |
dima285 | 9:8f98b1c277a4 | 47 | if(external_command != 0) command_process(); |
Stas285 | 6:6e89cdc3db92 | 48 | //wait_ms(40); //blocking |
dima285 | 9:8f98b1c277a4 | 49 | gy_old = gy; |
Stas285 | 4:904b737ef08a | 50 | gyro_process(); //doesn't work in interrupt |
dima285 | 9:8f98b1c277a4 | 51 | //pc.printf("ax:%.2f",ax); |
dima285 | 9:8f98b1c277a4 | 52 | //if (infinite_flag == 1) wifi.printf("%.4f %.2f %.2f; ",ax,gz,motor_speed[1]); |
dima285 | 9:8f98b1c277a4 | 53 | //wifi.printf("%.4f %.2f %.2f ",ax,ax,ax); |
Stas285 | 6:6e89cdc3db92 | 54 | realtime_flag = 0; |
Stas285 | 4:904b737ef08a | 55 | } |
Stas285 | 0:e9488589a8ee | 56 | //while(1){proc_counter++;} |
Stas285 | 1:e2a6e523bf1f | 57 | // dance(10,5); |
Stas285 | 0:e9488589a8ee | 58 | } |
Stas285 | 0:e9488589a8ee | 59 | //check_battery; |