Diff: main.cpp

Revision:

2:a0fb0b785bd6

Parent:

1:a2c5a8a74527

Child:

5:1a52bf3f0fb9

--- a/main.cpp	Sat Apr 08 08:10:19 2017 -0400
+++ b/main.cpp	Sat Apr 08 08:44:52 2017 -0400
@@ -1,15 +1,7 @@
 #include "mbed.h"
-#include "rtos.h"
 #include "x_nucleo_iks01a1.h"
 #include "x_nucleo_53l0a1.h"
 
-Thread mems_thread;
-Thread range_thread;
-Mutex serial_mutex;
-//Mutex sensor_mutex;
-
-DigitalOut led(D3);
-
 DevI2C i2c(D14, D15);
 
 /* Instantiate the expansion board */
@@ -26,15 +18,6 @@
 static TempSensor *temp_sensor1 = mems_expansion_board->ht_sensor;
 static TempSensor *temp_sensor2 = mems_expansion_board->pt_sensor;
 
-/* Helper function for printing from multiple threads */
-void ts_printf(const char* format, ...) {
-    serial_mutex.lock();
-    va_list args;
-    va_start(args, format);
-    printf(format, args);
-    serial_mutex.unlock();
-}
-
 /* Helper function for printing floats & doubles */
 static char *printDouble(char* str, double v, int decimalDigits=2) {
     int i = 1;
@@ -68,140 +51,97 @@
     return str;
 }
 
-/* Function to run the mems board */
-void mems_func() {
+void start_mems_board() {
     uint8_t id;
+
+    humidity_sensor->read_id(&id);
+    printf("HTS221  humidity & temperature    = 0x%X\r\n", id);
+
+    pressure_sensor->read_id(&id);
+    printf("LPS25H  pressure & temperature    = 0x%X\r\n", id);
+
+    magnetometer->read_id(&id);
+    printf("LIS3MDL magnetometer              = 0x%X\r\n", id);
+
+    gyroscope->read_id(&id);
+    printf("LSM6DS0 accelerometer & gyroscope = 0x%X\r\n", id);
+
+    wait(3);
+}
+
+void start_range_board() {
+    range_board->InitBoard();
+
+    wait(1);
+}
+
+int main() {
     float value1, value2;
     char buffer1[32], buffer2[32];
     int32_t axes[3];
     int ret;
-
-    ts_printf("\r\n--- Starting mems board ---\r\n");
-
-    //sensor_mutex.lock();
-    humidity_sensor->read_id(&id);
-    //sensor_mutex.unlock();
-    ts_printf("HTS221  humidity & temperature    = 0x%X\r\n", id);
-
-    //sensor_mutex.lock();
-    pressure_sensor->read_id(&id);
-    //sensor_mutex.unlock();
-    ts_printf("LPS25H  pressure & temperature    = 0x%X\r\n", id);
-
-    //sensor_mutex.lock();
-    magnetometer->read_id(&id);
-    //sensor_mutex.unlock();
-    ts_printf("LIS3MDL magnetometer              = 0x%X\r\n", id);
-
-    //sensor_mutex.lock();
-    gyroscope->read_id(&id);
-    //sensor_mutex.unlock();
-    ts_printf("LSM6DS0 accelerometer & gyroscope = 0x%X\r\n", id);
-
-    wait(3);
-
-    while (true) {
-        //sensor_mutex.lock();
-        ret = temp_sensor1->get_temperature(&value1);
-        //sensor_mutex.unlock();
-        if (ret) {
-            ts_printf("failed to get temp C\r\n");
-        }
-        //sensor_mutex.lock();
-        ret = humidity_sensor->get_humidity(&value2);
-        //sensor_mutex.unlock();
-        if (ret) {
-            ts_printf("failed to get humidity\r\n");
-        }
-        //ts_printf("HTS221: [temp] %7s°C,   [hum] %s%%\r\n", printDouble(buffer1, value1), printDouble(buffer2, value2));
-        ts_printf("HTS221: [temp] %f°C\r\n", value1);
-        ts_printf("HTS221: [hum] %f%%\r\n", value2);
-
-        //sensor_mutex.lock();
-        ret = temp_sensor2->get_fahrenheit(&value1);
-        //sensor_mutex.unlock();
-        if (ret) {
-            ts_printf("failed to get temp F\r\n");
-        }
-        //sensor_mutex.lock();
-        ret = pressure_sensor->get_pressure(&value2);
-        //sensor_mutex.unlock();
-        if (ret) {
-            ts_printf("failed to get pressure F\r\n");
-        }
-        //ts_printf("LPS25H: [temp] %7s°F, [press] %smbar\r\n", printDouble(buffer1, value1), printDouble(buffer2, value2));
-        ts_printf("LPS25H: [temp] %f°F\r\n", value1);
-        ts_printf("LPS25H: [press] %fmbar\r\n", value2);
-
-        //sensor_mutex.lock();
-        ret = magnetometer->get_m_axes(axes);
-        //sensor_mutex.unlock();
-        if (ret) {
-            ts_printf("failed to get magnetometer\r\n");
-        }
-        ts_printf("LIS3MDL [mag/mgauss]:  %7ld, %7ld, %7ld\r\n", axes[0], axes[1], axes[2]);
-        
-        //sensor_mutex.lock();
-        ret = accelerometer->get_x_axes(axes);
-        //sensor_mutex.unlock();
-        if (ret) {
-            ts_printf("failed to get accelerometer\r\n");
-        }
-        ts_printf("LSM6DS0 [acc/mg]:      %7ld, %7ld, %7ld\r\n", axes[0], axes[1], axes[2]);
-
-        //sensor_mutex.lock();
-        ret = gyroscope->get_g_axes(axes);
-        //sensor_mutex.unlock();
-        if (ret) {
-            ts_printf("failed to get gyroscope\r\n");
-        }
-        ts_printf("LSM6DS0 [gyro/mdps]:   %7ld, %7ld, %7ld\r\n", axes[0], axes[1], axes[2]);
-
-        wait(1.5);
-    }
-}
-
-/* Function to run the range board */
-void range_func() {
     int status;
     uint32_t distance;
 
-    ts_printf("\r\n--- Starting range board ---\r\n");
+    printf("\r\n--- Application starting up ---\r\n");
 
-    /* init the 53L0A1 expansion board with default values */
-    while (true) {
-        //sensor_mutex.lock();
-        status=range_board->InitBoard();
-        //sensor_mutex.unlock();
-        if (status) {
-            ts_printf("Failed to init range board!\r\n");
-            wait(1);
-        } else {
-            ts_printf("Range board initialized\r\n");
-            break;
-        }
-    }
+    printf("\r\n--- Initializing mems board ---\r\n");
+    start_mems_board();
+
+    printf("\r\n--- Initializing range board ---\r\n");
+    start_range_board();
 
     while (true) {
-        //sensor_mutex.lock();
+
+        ret = temp_sensor1->get_temperature(&value1);
+        if (ret) {
+            printf("failed to get temp C\r\n");
+        }
+        ret = humidity_sensor->get_humidity(&value2);
+        if (ret) {
+            printf("failed to get humidity\r\n");
+        }
+        printf("HTS221: [temp] %7s°C,   [hum] %s%%\r\n", printDouble(buffer1, value1), printDouble(buffer2, value2));
+        //printf("HTS221: [temp] %f°C\r\n", value1);
+        //printf("HTS221: [hum] %f%%\r\n", value2);
+
+        ret = temp_sensor2->get_fahrenheit(&value1);
+        if (ret) {
+            printf("failed to get temp F\r\n");
+        }
+        ret = pressure_sensor->get_pressure(&value2);
+        if (ret) {
+            printf("failed to get pressure F\r\n");
+        }
+        printf("LPS25H: [temp] %7s°F, [press] %smbar\r\n", printDouble(buffer1, value1), printDouble(buffer2, value2));
+        //printf("LPS25H: [temp] %f°F\r\n", value1);
+        //printf("LPS25H: [press] %fmbar\r\n", value2);
+
+        ret = magnetometer->get_m_axes(axes);
+        if (ret) {
+            printf("failed to get magnetometer\r\n");
+        }
+        printf("LIS3MDL [mag/mgauss]:  %7ld, %7ld, %7ld\r\n", axes[0], axes[1], axes[2]);
+        
+        ret = accelerometer->get_x_axes(axes);
+        if (ret) {
+            printf("failed to get accelerometer\r\n");
+        }
+        printf("LSM6DS0 [acc/mg]:      %7ld, %7ld, %7ld\r\n", axes[0], axes[1], axes[2]);
+
+        ret = gyroscope->get_g_axes(axes);
+        if (ret) {
+            printf("failed to get gyroscope\r\n");
+        }
+        printf("LSM6DS0 [gyro/mdps]:   %7ld, %7ld, %7ld\r\n", axes[0], axes[1], axes[2]);
+
         status = range_board->sensor_centre->GetDistance(&distance);
-        //sensor_mutex.unlock();
         if (status == VL53L0X_ERROR_NONE) {
-            ts_printf("Distance : %ld\n", distance);
+            printf("Distance : %ld\n", distance);
+        } else {
+            printf("failed to get distance - possibly out of range!\r\n");
         }
 
-        wait(0.8);
+        wait(1);
     }
 }
-
-int main() {
-    ts_printf("\r\n--- Application starting up ---\r\n");
-
-    mems_thread.start(mbed::Callback<void()> (mems_func));
-    range_thread.start(mbed::Callback<void()> (range_func));
-
-    while (true) {
-        led = !led;
-        wait(0.25);
-    }
-}