main.cpp

00001 #include "mbed.h"
00002 #include <string>
00003 #include "C12832.h"
00004 #include "ENGO333_MMA7660.h"
00005 #include "ENGO333_MPU9150.h"
00006 #include "Tiltmeter.h"
00007 
00008 
00009 enum AccelType
00010 {
00011     MMA7660,    // MMA7660 accelerometer on the mbed application board
00012     MPU9150     // MPU9150 IMU (external to mbed application board)
00013 };
00014 
00015 
00016 // Function to prompt the user to select between the MMA7660 accelerometer or
00017 // the MPU9150 IMU. The user can select between these choices by moving the 
00018 // joystick left or right; they make their selection by pressing the joystick
00019 // button.
00020 //
00021 // Arguments:
00022 //    lcd = The LCD screen to use for display
00023 //    joystick = Object linked to the joystick to be used
00024 //
00025 // Returns:
00026 //    The function returns an enumeration identifying the sensor selected
00027 AccelType SelectAccelerometer( C12832& lcd, BusIn& joystick );
00028 
00029 
00030 int main()
00031 {
00032     //~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
00033     // START: Setup/variable declaration
00034 
00035 
00036     // Create LCD object for LCD screen operations
00037     C12832 lcd(p5, p7, p6, p8, p11);
00038 
00039     // Create digital outputs for LED1 and LED2 that will be used to indicate
00040     // if things are working properly -- both values are to LOW (off)
00041     DigitalOut led1(LED1);
00042     DigitalOut led2(LED2);
00043     led1 = 0;
00044     led2 = 0;
00045 
00046     // Create bus input for joystick
00047     BusIn joystick(p13, p16, p14);     // Binary [ Centre | Right | Left ] joystick
00048     
00049     
00050     // END: Setup/variable declaration
00051     //~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
00052     // START: Take Measurements
00053     
00054     
00055     // Create an accelerometer object
00056     ENGO333_MMA7660 accelerometer;  
00057     
00058     
00059     // Detect sensor
00060     if( accelerometer.TestConnection() ) 
00061     {
00062         // Turn on the first LED to show that the connection was detected
00063         led1 = 1;
00064     } 
00065     else 
00066     {
00067         lcd.locate(1, 11);
00068         lcd.printf("ERROR: Unknown sensor");
00069         return 1;
00070     }
00071 
00072 
00073     // Prepare the screen
00074     lcd.cls();
00075     lcd.locate(1, 1);
00076     lcd.printf("Press joystick to measure");
00077 
00078     
00079     // Variable to store the value/status of the joystick. It is initialized
00080     // to represent pushing the joystick button. Since the loop below 
00081     while( true ) 
00082     {
00083         // Check if the joystick button is being pressed
00084         if (joystick.read() == 4) 
00085         {
00086             // Turn on second LED to indicate a measurement is being made
00087             led2 = 1;
00088             
00089             
00090             // Get the tilt angles
00091             accelerometer.ComputeTiltAngles();            
00092             
00093             
00094             // Print the roll
00095             lcd.locate(1, 11);
00096             lcd.printf("Roll (deg)");
00097             lcd.locate(50, 11);
00098             lcd.printf(": % 8.2f", accelerometer.GetRoll());
00099             
00100             // Print the pitch
00101             lcd.locate(1, 21);
00102             lcd.printf("Pitch (deg)");
00103             lcd.locate(50, 21);
00104             lcd.printf(": % 8.2f", accelerometer.GetPitch());
00105             
00106             
00107             // Short delay to avoid multiple measurements being displayed
00108             wait_ms(250);
00109 
00110 
00111             // Turn off second LED to indicate a measurement is complete
00112             led2 = 0;
00113         }
00114         
00115     }
00116     
00117     
00118     // END: Take Measurements
00119     //~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
00120     
00121 }
00122 
00123 
00124 AccelType SelectAccelerometer( C12832& lcd, BusIn& joystick )
00125 {
00126     // This is the current choice
00127     AccelType choice = MMA7660;
00128     
00129     // This is the string to display the current choice (using asterisk)
00130     string sensorChoice = "MMA7660 *       MPU9150";
00131     
00132     // Print the default choice
00133     lcd.cls();
00134     lcd.locate(1, 1);
00135     lcd.printf("Move L/R to select sensor:");
00136     lcd.locate(1, 18);
00137     lcd.printf("%s", sensorChoice.c_str());
00138 
00139   
00140     // Create while-loop for user to select sensor
00141     while(1) 
00142     {
00143         // read the joystick
00144         int joy = joystick.read();
00145         
00146         
00147         if (joy == 2)       // joystick pushed to the right
00148         {                  
00149             sensorChoice = "MMA7660       * MPU9150";
00150             choice = MPU9150;
00151             lcd.locate(1, 18);
00152             lcd.printf("%s", sensorChoice.c_str());
00153         } 
00154         else if (joy == 1)  // joystick pushed to the left
00155         {
00156             sensorChoice = "MMA7660 *       MPU9150";
00157             choice = MMA7660;
00158             lcd.locate(1, 18);
00159             lcd.printf("%s", sensorChoice.c_str());
00160         } 
00161         else if (joy == 4)  // joystick "button" pushed (i.e., "select")
00162         {      
00163             break;
00164         } 
00165     }
00166     
00167     // return the current choice
00168     return choice;
00169 }