Diff: Hexacopter/accelerometer.h

Revision:

0:9b057566f9ee

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/Hexacopter/accelerometer.h	Mon Nov 01 20:39:01 2010 +0000
@@ -0,0 +1,197 @@
+#pragma once
+#ifndef ACCELEROMETER_H
+#define ACCELEROMETER_H
+
+#include <processes.h>
+#include <Mutexes.h>
+#include <channels.h>
+#define X_axis p28
+#define Y_axis p27
+
+//DigitalOut led3(LED3); //these LEDs are used to indicate when an interrupt occurs.
+//DigitalOut led4(LED4);
+
+
+class accelerometer {
+public:
+    accelerometer()
+            :X_int(X_axis),
+             Y_int(Y_axis)
+             //X_input(X_axis),
+             //Y_input(Y_axis)
+     {
+            //led3 = led4 = 0;
+            X_time = Y_time = 0;
+            //enable_flag = false;
+            enable_X_rising_flag = enable_X_falling_flag = enable_Y_rising_flag = enable_Y_falling_flag = false;
+            X_int.mode(PullDown);
+            Y_int.mode(PullDown);
+            //Y_input.mode(PullDown);
+            //X_input.mode(PullDown);
+            X_timer.reset();
+            Y_timer.reset();
+            set_interrupts();
+            enable_X_rising_flag = enable_Y_rising_flag = true;
+     }
+
+    
+    void set_interrupts()
+    {
+         X_int.fall(this, &accelerometer::set_X_time);
+         X_int.rise(this, &accelerometer::start_X_timing);
+         Y_int.fall(this, &accelerometer::set_Y_time);
+         Y_int.rise(this, &accelerometer::start_Y_timing);
+    }
+    
+    void start_X_timing() 
+    {
+         OS::TISRW ISRW;
+       if(enable_X_rising_flag == true)
+       {
+           X_timer.start();
+           enable_X_falling_flag = true;
+           //printf("In start_x_time().\n");
+           
+       }
+        
+        
+    }
+    void start_Y_timing() 
+    {   
+                 OS::TISRW ISRW;
+       if(enable_Y_rising_flag == true)
+       {
+           Y_timer.start();
+           enable_Y_falling_flag = true;
+
+       }
+        
+        
+    }
+
+    void set_X_time() {
+        if(enable_X_falling_flag == true)
+        {
+             OS::TISRW ISRW;
+            X_timer.stop();
+            X_time = X_timer.read_us();
+            X_timer.reset();
+            //                       led3 = !led3;
+                                   //printf("In set_x_time().\n");
+
+            
+        }
+    }
+    
+    
+    void set_Y_time() {
+        if(enable_Y_falling_flag == true)
+        {
+             OS::TISRW ISRW;
+            Y_timer.stop();
+            Y_time = Y_timer.read_us();
+           Y_timer.reset();
+              //                   led4 = !led4;
+
+            
+        }
+    }
+
+    float get_X_time() 
+    {
+       return X_time;
+    }
+    
+    float get_Y_time() 
+    {
+       return Y_time;
+    }
+
+   
+private:
+    Timer X_timer;
+    Timer Y_timer;
+    float X_time; //time in us
+    float Y_time;
+    InterruptIn X_int;
+    InterruptIn Y_int;
+    //DigitalIn X_input;
+    //DigitalIn Y_input;
+    bool enable_X_rising_flag;
+    bool enable_X_falling_flag;
+    bool enable_Y_rising_flag;
+    bool enable_Y_falling_flag;
+};
+
+
+
+
+
+
+
+
+extern BusOut leds;
+
+char ACC_Return_chars[100] = "";
+
+
+//typedef OS::process<OS::pr2, 1400> Accelo_proc;
+template<> OS_PROCESS void Accelo_proc::Exec() //Output stream handling process
+{
+   
+    accelerometer ACC;
+     
+     byte M = 0;
+     for(;;)
+     { 
+     if(ACCELEROMETER_MESSAGE.wait(70)) //length of time to wait also determines how rapidly to return accelerometer data
+       {    leds = 0x2;
+            M = ACCELEROMETER_MESSAGE; //read the message that was destined for this process
+            ACCELEROMETER_MESSAGE.reset();
+       
+           if(M == 0) //then return x and y data once
+           {
+                sprintf(ACC_Return_chars, "ACC_X:%f\nACC_Y:%f\n", ACC.get_X_time(), ACC.get_Y_time()); // ready return string
+                //if(!Ser_out_Mutex.IsLocked())
+                {
+                    //Ser_out_Mutex.Lock();
+                    //if(TX_Channel.get_free_size() > strlen(Return_chars)+1)
+                        TX_channel.write(ACC_Return_chars, strlen(ACC_Return_chars)+1); //output the data!
+                    //Ser_out_Mutex.Unlock();
+                }    
+                
+                
+                
+           }
+       }
+       if(M == 1) //ticker
+       {
+             
+              {
+                //TCritSect cs;
+                sprintf(ACC_Return_chars, "ACC_X:%f\nACC_Y:%f\n", ACC.get_X_time(), ACC.get_Y_time()); // ready return string //"ACC_X:%f\nACC_Y:%f\n"
+               }
+                //if(!Ser_out_Mutex.IsLocked())
+                {
+                    //Ser_out_Mutex.Lock();
+                    //if(TX_Channel.get_free_size() > strlen(Return_chars)+1)
+                         TX_channel.write(ACC_Return_chars, strlen(ACC_Return_chars)+1); //output the data!
+                    //Ser_out_Mutex.Unlock();
+                }
+              //TX_flag.Signal();
+            
+       }   
+
+            leds = 0x2;
+        
+       
+     }
+}
+
+ 
+ #endif
+
+  
+
+
+