Freescale Quadcopter with Freedom K64F Board
Dependencies: FXAS21000 FXLS8471Q FXOS8700Q MAG3110 MMA8652 MPL3115A2 mbed kalman mbed-dsp
Fork of Freescale_Multi-Sensor_Shield by
Quadcopter based on Freescale FRDM-K64F, Freescale FRDM-FXS-9AXIS, Hobbypower X525 V3 Quadcopter Foldable Kit with 1000KV Motors and SimonK 30A ESC
main.cpp
- Committer:
- julioefajardo
- Date:
- 2015-08-31
- Revision:
- 2:4bc4e25328cc
- Parent:
- 0:bfb567985c64
- Child:
- 3:58ebc00f1a68
File content as of revision 2:4bc4e25328cc:
/* Copyright (c) 2010-2011 mbed.org, MIT License * * Permission is hereby granted, free of charge, to any person obtaining a copy of this software * and associated documentation files (the "Software"), to deal in the Software without * restriction, including without limitation the rights to use, copy, modify, merge, publish, * distribute, sublicense, and/or sell copies of the Software, and to permit persons to whom the * Software is furnished to do so, subject to the following conditions: * * The above copyright notice and this permission notice shall be included in all copies or * substantial portions of the Software. * * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING * BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, * DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. */ #include "mbed.h" #include "FXOS8700Q.h" #include "FXAS21000.h" //FXOS8700Q_acc combo_acc(D14, D15, FXOS8700CQ_SLAVE_ADDR0); //FXOS8700Q_mag combo_mag(D14, D15, FXOS8700CQ_SLAVE_ADDR0); FXOS8700Q_acc combo_acc(A5, A4, FXOS8700CQ_SLAVE_ADDR0); FXOS8700Q_mag combo_mag(A5, A4, FXOS8700CQ_SLAVE_ADDR0); //FXAS21000 gyro(D14, D15); FXAS21000 gyro(A5, A4); //PwmOut M1(PTB18); PwmOut M1(D13); PwmOut M2(D12); PwmOut M3(D11); PwmOut M4(D10); Serial pc(USBTX, USBRX); int main() { float gyro_data[3]; MotionSensorDataUnits adata; MotionSensorDataUnits mdata; printf("\r\nStarting\r\n\r\n"); M1.period(0.02f); //Comparten el mismo timer M1.pulsewidth(0.0006f); M2.pulsewidth(0.0006f); M3.pulsewidth(0.0006f); M4.pulsewidth(0.0006f); combo_acc.enable(); combo_mag.enable(); printf("FXOS8700 Combo = %X\r\n", combo_acc.whoAmI()); printf("FXAS21000 Gyro = %X\r\n", gyro.getWhoAmI()); wait(3); while(1) { combo_acc.getAxis(adata); printf("FXOS8700 Acc: X:%6.3f Y:%6.3f Z:%6.3f\r\n", adata.x, adata.y, adata.z); combo_mag.getAxis(mdata); printf("FXOS8700 Mag: X:%6.2f Y:%6.2f Z:%6.2f\r\n", mdata.x, mdata.y, mdata.z); gyro.ReadXYZ(gyro_data); printf("FXAS21000 Gyro: X:%6.2f Y:%6.2f Z:%6.2f\r\n", gyro_data[0], gyro_data[1], gyro_data[2]); printf("\r\n"); wait(0.5); } }