Diff: main.cpp

Revision:

1:815f16490da8

Parent:

0:21019d94ad33

Child:

2:7b3822eacad8

--- a/main.cpp	Sat Mar 21 21:31:29 2015 +0000
+++ b/main.cpp	Sat Mar 21 21:54:52 2015 +0000
@@ -67,14 +67,24 @@
     }    
 }
 
+void IMU2_thread(void const *args)
+{
+    test_dmp2();
+    start_dmp2(mpu2);
+    while(1)
+    {
+        update_dmp2();
+         Thread::yield();
+    }
+}
 void IMU_thread(void const *args)
 {
      bt.baud(BT_BAUD_RATE);   //you have to do this for some reason
     test_dmp(); 
-    test_dmp2();
+ test_dmp2();
     bt.baud(BT_BAUD_RATE);   //you have to do this for some reason
     start_dmp(mpu);
-    start_dmp2(mpu2);
+   start_dmp2(mpu2);
     //calibrate_1();
 
     while(1) {
@@ -124,6 +134,8 @@
     
     Thread IMU_th(IMU_thread,NULL,osPriorityNormal, 2048,NULL);
     
+   // Thread IMU2_th(IMU_thread,NULL,osPriorityNormal, 2048,NULL);
+    
 //    Thread current_sense(CURRENT_thread,NULL,osPriorityNormal,300,NULL);  //this thread for monitoring current is unnecessary. Thread use lotsa rams. Kill it.
     
     //Thread optflow_th(optflow_thread, NULL, osPriorityNormal, 500, NULL);