main.cpp

00001 #include "mbed.h"
00002 #include "WiflyInterface.h"
00003 #include "Websocket.h"
00004 #include "ITG3200.h"
00005 #include "MMA7660FC.h" 
00006 
00007 /* wifly interface:
00008 *     - p9 and p10 are for the serial communication
00009 *     - p19 is for the reset pin
00010 *     - p26 is for the connection status
00011 *     - "mbed" is the ssid of the network
00012 *     - "password" is the password
00013 *     - WPA is the security
00014 */
00015 WiflyInterface wifly(p13, p14, p19, p26, "WWNet", "mmmmmmmm", WPA);
00016 DigitalOut led1(LED1);
00017 DigitalOut led2(LED1);
00018 //gyrc
00019 ITG3200 gyro(p9, p10, 0x68);
00020 //3Axis
00021 #define ADDR_MMA7660 0x98                   // I2C SLAVE ADDR MMA7660FC
00022 MMA7660FC Acc(p28, p27, ADDR_MMA7660);      //sda, scl, Addr
00023 float G_VALUE[64] = {0, 0.047, 0.094, 0.141, 0.188, 0.234, 0.281, 0.328, 0.375, 0.422, 0.469, 0.516, 0.563, 0.609, 0.656, 0.703, 0.750, 0.797, 0.844, 0.891, 0.938, 0.984, 1.031, 1.078, 1.125, 1.172, 1.219, 1.266, 1.313, 1.359, 1.406, 1.453, -1.500, -1.453, -1.406, -1.359, -1.313, -1.266, -1.219, -1.172, -1.125, -1.078, -1.031, -0.984, -0.938, -0.891, -0.844, -0.797, -0.750, -0.703, -0.656, -0.609, -0.563, -0.516, -0.469, -0.422, -0.375, -0.328, -0.281, -0.234, -0.188, -0.141, -0.094, -0.047};
00024 
00025  
00026 int main() {
00027     wifly.init(); //Use DHCP
00028     while (!wifly.connect());
00029     led1=1;
00030     Websocket ws("ws://192.168.21.104:8080");
00031     while (!ws.connect());
00032     led1=2;
00033  
00034    
00035     //gyro
00036     int gyro_x = 0, gyro_y = 0, gyro_z = 0, temp = 0;
00037     //Set highest bandwidth.
00038     gyro.setLpBandwidth(LPFBW_42HZ);
00039     //3Axio
00040     Acc.init();             // Initialization
00041     
00042     while (1) {
00043         char data[256];
00044         wait(0.1f);
00045         
00046         //gyro
00047         gyro_x = gyro.getGyroX();
00048         gyro_y = gyro.getGyroY();
00049         gyro_z = gyro.getGyroZ();
00050         temp = gyro.getTemperature();
00051         
00052         //3-Axio
00053         float x=0, y=0, z=0;
00054         float ax=0, ay=0, az=0;
00055         
00056         Acc.read_Tilt(&x, &y, &z);                                  // Read the acceleration                    
00057        
00058         ax = G_VALUE[Acc.read_x()];
00059         ay = G_VALUE[Acc.read_y()];
00060         az = G_VALUE[Acc.read_z()];
00061         
00062         
00063         
00064         //websocket send data
00065         sprintf( data , "{ \"x\": %d, \"y\": %d, \"z\": %d , \"ax\": %f, \"ay\": %f, \"az\": %f\n}",  gyro_x, gyro_y, gyro_z ,ax,ay,az);
00066         ws.send(data);
00067 
00068     }
00069 }
00070