main.cpp

00001 #include "mbed.h"
00002 #include "rtos.h"
00003 
00004 #include "accgyro.h"
00005 //Serial pc(USBTX, USBRX);
00006 DigitalOut led2(LED2);
00007 Thread eventthread;
00008 EventQueue eventqueue;
00009 
00010 int main()
00011 {   
00012     SERVO_init();
00013     ACCGYRO_init();
00014     eventthread.start(callback(&eventqueue, &EventQueue::dispatch_forever));
00015     //ACCGYRO_thread.start(ACCGYRO_init);
00016     //Thread::wait(osWaitForever);
00017     //eventqueue.call_every(1000, SERVO_task);
00018     eventqueue.call_every(1000, ACCGYRO_task);
00019     //q.dispatch();
00020     //eventqueue.call_every(1000,printf,"LSM6DSL [acc/mg]:        %6ld\r\n", ACCGYRO_get_gyro_x());
00021     //q.dispatch();
00022 
00023 
00024     while(1)
00025     {
00026         eventqueue.call(printf,"LSM6DSL [acc/mg]:        %6ld\r\n", ACCGYRO_get_gyro_x());
00027         led2 = !led2;
00028         wait(1);
00029         //q.dispatch();
00030         //q.call(printf, "*\n"); 
00031         //printf("*");
00032         //Thread::wait(1000);
00033         //printf("LSM6DSL [acc/mg]:        %6ld\r\n", ACCGYRO_get_gyro_x());
00034         //printf("LSM6DSL [gyro/mdps]:     %6ld, %6ld, %6ld\r\n", axes[0], axes[1], axes[2]);
00035     }
00036 }