Mark Vandermeulen / Mbed 2 deprecated DMP_tidy_working

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Dependencies:   MPU6050-DMP-Ian mbed-rtos mbed

main.cpp@0:dceb852b19f3, 2014-05-27 (annotated)

Committer:
majik
Date:
Tue May 27 09:23:23 2014 +0000
Revision:
0:dceb852b19f3
dfsasf

Who changed what in which revision?

UserRevisionLine numberNew contents of line
majik 0:dceb852b19f3 1 /*
majik 0:dceb852b19f3 2 This code is in working condition.
majik 0:dceb852b19f3 3 DMP works in RTOS environment
majik 0:dceb852b19f3 4 */
majik 0:dceb852b19f3 5
majik 0:dceb852b19f3 6 #include "mbed.h"
majik 0:dceb852b19f3 7 #include "rtos.h"
majik 0:dceb852b19f3 8 #include "robot.h"
majik 0:dceb852b19f3 9 #include "MPU6050_6Axis_MotionApps20.h"
majik 0:dceb852b19f3 10 #include "DMP.h"
majik 0:dceb852b19f3 11
majik 0:dceb852b19f3 12
majik 0:dceb852b19f3 13
majik 0:dceb852b19f3 14 //int main() {
majik 0:dceb852b19f3 15 void led2_thread(void const *args){
majik 0:dceb852b19f3 16 DigitalOut reset_pin(PTE5);
majik 0:dceb852b19f3 17 test_dmp();
majik 0:dceb852b19f3 18 MPU6050 mpu;
majik 0:dceb852b19f3 19
majik 0:dceb852b19f3 20 myled = 0; //turn on LED
majik 0:dceb852b19f3 21
majik 0:dceb852b19f3 22 btSwitch = 1;
majik 0:dceb852b19f3 23 bt.baud(baudRate); //set baud rate for bluetooth device
majik 0:dceb852b19f3 24
majik 0:dceb852b19f3 25 start_dmp(mpu);
majik 0:dceb852b19f3 26
majik 0:dceb852b19f3 27 while(1){
majik 0:dceb852b19f3 28 //bt.baud(baudRate);
majik 0:dceb852b19f3 29 //reset_pin = 0;
majik 0:dceb852b19f3 30 if(!mpuInterrupt && fifoCount < packetSize); //interrupt not ready
majik 0:dceb852b19f3 31 else{ //mpu interrupt is ready
majik 0:dceb852b19f3 32 update_dmp(mpu);
majik 0:dceb852b19f3 33 mpuInterrupt = false; //this resets the interrupt flag
majik 0:dceb852b19f3 34 }
majik 0:dceb852b19f3 35 }
majik 0:dceb852b19f3 36 }
majik 0:dceb852b19f3 37
majik 0:dceb852b19f3 38 int main() {
majik 0:dceb852b19f3 39 Thread thread(led2_thread);
majik 0:dceb852b19f3 40
majik 0:dceb852b19f3 41 while (true) {
majik 0:dceb852b19f3 42 Thread::wait(500);
majik 0:dceb852b19f3 43 }
majik 0:dceb852b19f3 44 }