File content as of revision 15:3cee564f9d47:

#include "mbed.h"
#include "SerialRPCInterface.h"
#include "MPU6050.h"
#include "QEI.h"

//bool debug = false;

extern "C" void mbed_reset();

SerialRPCInterface SerialRPC(USBTX, USBRX, 115200);

void GetIMUData(char* input, char* output);
RPCFunction gid(&GetIMUData, "gid");
void GetEncoderData(char* input, char* output);
RPCFunction ged(&GetEncoderData, "ged");
void Reset(char* input, char* output);
RPCFunction rst(&Reset, "rst");
//void WD_init(char* input, char* output);
//RPCFunction wdinit(&WD_init, "wdinit");

float accel_x, accel_y, accel_z, gyro_x, gyro_y, gyro_z;
int r_enc, l_enc;


QEI l_wheel (p29, p30, NC, 624);
QEI r_wheel (p11, p12, NC, 624);

MPU6050 mpu6050;

DigitalOut init_done(LED1);
DigitalOut imu_good(LED2);
DigitalOut main_loop(LED3);
DigitalOut main_loop2(LED4);

// Simon's Watchdog code from
// http://mbed.org/forum/mbed/topic/508/
/*
class Watchdog {
public:
// Load timeout value in watchdog timer and enable
    void kick(float s) {
        LPC_WDT->WDCLKSEL = 0x1;                // Set CLK src to PCLK
        uint32_t clk = SystemCoreClock / 16;    // WD has a fixed /4 prescaler, PCLK default is /4
        LPC_WDT->WDTC = s * (float)clk;
        LPC_WDT->WDMOD = 0x3;                   // Enabled and Reset
        kick();
    }
// "kick" or "feed" the dog - reset the watchdog timer
// by writing this required bit pattern
    void kick() {
        LPC_WDT->WDFEED = 0xAA;
        LPC_WDT->WDFEED = 0x55;
    }
};
*/ 
// Setup the watchdog timer
// Watchdog wdt;

int main() {
    init_done = 0;
    imu_good = 0;
    main_loop = 0;
        
    //Set up I2C
    i2c.frequency(400000);  // use fast (400 kHz) I2C
    
    volatile bool imu_ready = false;
    
    wait_ms(100);
    
    uint8_t whoami = mpu6050.readByte(MPU6050_ADDRESS, WHO_AM_I_MPU6050);
    
    if (whoami == 0x68) // WHO_AM_I should always be 0x68
    {
        mpu6050.MPU6050SelfTest(SelfTest);
        if(SelfTest[0] < 1.0f && SelfTest[1] < 1.0f && SelfTest[2] < 1.0f && SelfTest[3] < 1.0f && SelfTest[4] < 1.0f && SelfTest[5] < 1.0f) {
            mpu6050.resetMPU6050(); // Reset registers to default in preparation for device calibration
            mpu6050.calibrateMPU6050(gyroBias, accelBias); // Calibrate gyro and accelerometers, load biases in bias registers  
            mpu6050.initMPU6050();
            mpu6050.getAres();
            mpu6050.getGres();
            imu_ready = true;
            imu_good = 1;
        }
    }
    
    init_done = 1;
    uint8_t loop_count = 10;
    while(1) {
        wait_ms(10);
        
        // Handle the encoders
        r_enc = r_wheel.getPulses();
        l_enc = l_wheel.getPulses();
        //if(debug) SerialRPC.pc.printf("Pulses are: %i, %i\r\n", l_enc,r_enc);
        
        
        if (!(--loop_count)) {
            loop_count = 10;
            main_loop = !main_loop;
        }
        
        if (imu_ready) {
            
            if(mpu6050.readByte(MPU6050_ADDRESS, INT_STATUS) & 0x01) {  // check if data ready interrupt
                mpu6050.readAccelData(accelCount);  // Read the x/y/z adc values
                mpu6050.readGyroData(gyroCount);  // Read the x/y/z adc values

                // Now we'll calculate the accleration value into actual g's
                accel_x = (float)accelCount[0]*aRes - accelBias[0];  // get actual g value, this depends on scale being set
                accel_y = (float)accelCount[1]*aRes - accelBias[1];   
                accel_z = (float)accelCount[2]*aRes - accelBias[2];
                               
                // Calculate the gyro value into actual degrees per second
                gyro_x = (float)gyroCount[0]*gRes - gyroBias[0];  // get actual gyro value, this depends on scale being set
                gyro_y = (float)gyroCount[1]*gRes - gyroBias[1];  
                gyro_z = (float)gyroCount[2]*gRes - gyroBias[2];
            }
        }
        
        // for testing where is the bug
        //main_loop2 = main_loop;
        
    }
}


// RPCFunction
void GetIMUData(char* input, char* output){
    sprintf(output, "%f,%f,%f,%f,%f,%f", accel_x, accel_y, accel_z, gyro_x, gyro_y, gyro_z);
}

void GetEncoderData(char* input, char* output){
    sprintf(output, "%d,%d", l_enc, r_enc);
}

void Reset(char* input, char* output){
    mbed_reset();   
}

/*
void WD_init(char* input, char* output){
    //wdt.kick(0.5);
}
*/