Julio Fajardo / Mbed 2 deprecated Freescale_Multi-Sensor_Quadcopter

Freescale Quadcopter with Freedom K64F Board

Dependencies:   FXAS21000 FXLS8471Q FXOS8700Q MAG3110 MMA8652 MPL3115A2 mbed kalman mbed-dsp

Fork of Freescale_Multi-Sensor_Shield by Shields

Quadcopter based on Freescale FRDM-K64F, Freescale FRDM-FXS-9AXIS, Hobbypower X525 V3 Quadcopter Foldable Kit with 1000KV Motors and SimonK 30A ESC /media/uploads/julioefajardo/1.jpg

main.cpp@2:4bc4e25328cc, 2015-08-31 (annotated)

Committer:
julioefajardo
Date:
Mon Aug 31 23:37:07 2015 +0000
Revision:
2:4bc4e25328cc
Parent:
0:bfb567985c64
Child:
3:58ebc00f1a68
Version 0.1; Acc, Mag, Gyro; PWM for 4 motors (D13, D12, D11, D10)

Who changed what in which revision?

UserRevisionLine numberNew contents of line
screamer 0:bfb567985c64 1 /* Copyright (c) 2010-2011 mbed.org, MIT License
screamer 0:bfb567985c64 2 *
screamer 0:bfb567985c64 3 * Permission is hereby granted, free of charge, to any person obtaining a copy of this software
screamer 0:bfb567985c64 4 * and associated documentation files (the "Software"), to deal in the Software without
screamer 0:bfb567985c64 5 * restriction, including without limitation the rights to use, copy, modify, merge, publish,
screamer 0:bfb567985c64 6 * distribute, sublicense, and/or sell copies of the Software, and to permit persons to whom the
screamer 0:bfb567985c64 7 * Software is furnished to do so, subject to the following conditions:
screamer 0:bfb567985c64 8 *
screamer 0:bfb567985c64 9 * The above copyright notice and this permission notice shall be included in all copies or
screamer 0:bfb567985c64 10 * substantial portions of the Software.
screamer 0:bfb567985c64 11 *
screamer 0:bfb567985c64 12 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING
screamer 0:bfb567985c64 13 * BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
screamer 0:bfb567985c64 14 * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM,
screamer 0:bfb567985c64 15 * DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
screamer 0:bfb567985c64 16 * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
screamer 0:bfb567985c64 17 */
screamer 0:bfb567985c64 18
screamer 0:bfb567985c64 19 #include "mbed.h"
screamer 0:bfb567985c64 20 #include "FXOS8700Q.h"
screamer 0:bfb567985c64 21 #include "FXAS21000.h"
screamer 0:bfb567985c64 22
screamer 0:bfb567985c64 23
julioefajardo 2:4bc4e25328cc 24 //FXOS8700Q_acc combo_acc(D14, D15, FXOS8700CQ_SLAVE_ADDR0);
julioefajardo 2:4bc4e25328cc 25 //FXOS8700Q_mag combo_mag(D14, D15, FXOS8700CQ_SLAVE_ADDR0);
julioefajardo 2:4bc4e25328cc 26 FXOS8700Q_acc combo_acc(A5, A4, FXOS8700CQ_SLAVE_ADDR0);
julioefajardo 2:4bc4e25328cc 27 FXOS8700Q_mag combo_mag(A5, A4, FXOS8700CQ_SLAVE_ADDR0);
julioefajardo 2:4bc4e25328cc 28 //FXAS21000 gyro(D14, D15);
julioefajardo 2:4bc4e25328cc 29 FXAS21000 gyro(A5, A4);
screamer 0:bfb567985c64 30
julioefajardo 2:4bc4e25328cc 31 //PwmOut M1(PTB18);
julioefajardo 2:4bc4e25328cc 32 PwmOut M1(D13);
julioefajardo 2:4bc4e25328cc 33 PwmOut M2(D12);
julioefajardo 2:4bc4e25328cc 34 PwmOut M3(D11);
julioefajardo 2:4bc4e25328cc 35 PwmOut M4(D10);
screamer 0:bfb567985c64 36
screamer 0:bfb567985c64 37 Serial pc(USBTX, USBRX);
screamer 0:bfb567985c64 38
screamer 0:bfb567985c64 39 int main()
screamer 0:bfb567985c64 40 {
julioefajardo 2:4bc4e25328cc 41 float gyro_data[3];
screamer 0:bfb567985c64 42 MotionSensorDataUnits adata;
screamer 0:bfb567985c64 43 MotionSensorDataUnits mdata;
julioefajardo 2:4bc4e25328cc 44
screamer 0:bfb567985c64 45 printf("\r\nStarting\r\n\r\n");
julioefajardo 2:4bc4e25328cc 46
julioefajardo 2:4bc4e25328cc 47 M1.period(0.02f); //Comparten el mismo timer
julioefajardo 2:4bc4e25328cc 48 M1.pulsewidth(0.0006f);
julioefajardo 2:4bc4e25328cc 49 M2.pulsewidth(0.0006f);
julioefajardo 2:4bc4e25328cc 50 M3.pulsewidth(0.0006f);
julioefajardo 2:4bc4e25328cc 51 M4.pulsewidth(0.0006f);
julioefajardo 2:4bc4e25328cc 52
screamer 0:bfb567985c64 53 combo_acc.enable();
screamer 0:bfb567985c64 54 combo_mag.enable();
screamer 0:bfb567985c64 55 printf("FXOS8700 Combo = %X\r\n", combo_acc.whoAmI());
screamer 0:bfb567985c64 56 printf("FXAS21000 Gyro = %X\r\n", gyro.getWhoAmI());
screamer 0:bfb567985c64 57
screamer 0:bfb567985c64 58 wait(3);
screamer 0:bfb567985c64 59
screamer 0:bfb567985c64 60 while(1) {
screamer 0:bfb567985c64 61 combo_acc.getAxis(adata);
screamer 0:bfb567985c64 62 printf("FXOS8700 Acc: X:%6.3f Y:%6.3f Z:%6.3f\r\n", adata.x, adata.y, adata.z);
screamer 0:bfb567985c64 63
screamer 0:bfb567985c64 64 combo_mag.getAxis(mdata);
screamer 0:bfb567985c64 65 printf("FXOS8700 Mag: X:%6.2f Y:%6.2f Z:%6.2f\r\n", mdata.x, mdata.y, mdata.z);
screamer 0:bfb567985c64 66
screamer 0:bfb567985c64 67 gyro.ReadXYZ(gyro_data);
screamer 0:bfb567985c64 68 printf("FXAS21000 Gyro: X:%6.2f Y:%6.2f Z:%6.2f\r\n", gyro_data[0], gyro_data[1], gyro_data[2]);
julioefajardo 2:4bc4e25328cc 69
screamer 0:bfb567985c64 70 printf("\r\n");
screamer 0:bfb567985c64 71
julioefajardo 2:4bc4e25328cc 72 wait(0.5);
screamer 0:bfb567985c64 73 }
screamer 0:bfb567985c64 74 }