Revision 0:0ea84b3cf851, committed 2018-04-30

Comitter:

mr_wang

Date:

Mon Apr 30 09:43:36 2018 +0000

Commit message:

NYP_humanoid

Changed in this revision

diff -r 000000000000 -r 0ea84b3cf851 LSM6DSL.lib
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/LSM6DSL.lib	Mon Apr 30 09:43:36 2018 +0000
@@ -0,0 +1,1 @@
+https://developer.mbed.org/teams/ST/code/LSM6DSL/#20ccff7dd652

diff -r 000000000000 -r 0ea84b3cf851 accgyro.cpp
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/accgyro.cpp	Mon Apr 30 09:43:36 2018 +0000
@@ -0,0 +1,45 @@
+#include "LSM6DSLSensor.h"
+#include "accgyro.h"
+#include "mbed.h"
+#include "rtos.h"
+
+//Serial pc(USBTX, USBRX);
+DigitalOut led1(LED1);
+int32_t ACCGYRO_gyro_axes[3];
+int32_t ACCGYRO_acc_axes[3];
+static DevI2C devI2c(PB_11,PB_10);
+static LSM6DSLSensor acc_gyro(&devI2c,LSM6DSL_ACC_GYRO_I2C_ADDRESS_LOW,PD_11);
+EventQueue ACCGYRO_queue;
+Mutex ACCGYRO_mutex;
+
+int32_t ACCGYRO_get_gyro_x()
+{
+    int32_t temp;
+    //ACCGYRO_mutex.lock();
+    temp = ACCGYRO_gyro_axes[0];
+    //ACCGYRO_mutex.unlock();
+    return temp;
+}
+
+void ACCGYRO_task()
+{
+    led1 = !led1;
+    //ACCGYRO_mutex.lock();
+    acc_gyro.get_x_axes(ACCGYRO_gyro_axes);
+    acc_gyro.get_g_axes(ACCGYRO_acc_axes);
+    //ACCGYRO_mutex.unlock();
+    //pc.printf("LSM6DSL [acc/mg]:        %6ld\r\n", ACCGYRO_gyro_axes[0]);
+};
+
+void ACCGYRO_init()
+{
+    //pc.printf("Initing LSM6DSL\r\n", ACCGYRO_gyro_axes[0]);
+    acc_gyro.init(NULL);
+    acc_gyro.enable_x();
+    acc_gyro.enable_g();
+    //RtosTimer ACCGYRO_Timer(&ACCGYRO_task,osTimerPeriodic);
+    //ACCGYRO_Timer.start(100);
+    //pc.printf("Init done\r\n");
+    //ACCGYRO_queue.call_every(1000, ACCGYRO_task);
+    //ACCGYRO_queue.dispatch();
+};

diff -r 000000000000 -r 0ea84b3cf851 accgyro.h
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/accgyro.h	Mon Apr 30 09:43:36 2018 +0000
@@ -0,0 +1,9 @@
+#ifndef __ACCGYRO_H__
+#define __ACCGYRO_H__
+
+int32_t ACCGYRO_get_gyro_x();
+
+void ACCGYRO_init();
+void ACCGYRO_task();
+
+#endif
\ No newline at end of file

diff -r 000000000000 -r 0ea84b3cf851 main.cpp
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Mon Apr 30 09:43:36 2018 +0000
@@ -0,0 +1,34 @@
+#include "mbed.h"
+#include "rtos.h"
+
+#include "accgyro.h"
+//Serial pc(USBTX, USBRX);
+DigitalOut led2(LED2);
+Thread eventthread;
+EventQueue eventqueue;
+
+int main()
+{
+    ACCGYRO_init();
+    eventthread.start(callback(&eventqueue, &EventQueue::dispatch_forever));
+    //ACCGYRO_thread.start(ACCGYRO_init);
+    //Thread::wait(osWaitForever);
+    eventqueue.call_every(1000, ACCGYRO_task);
+    //q.dispatch();
+    //eventqueue.call_every(1000,printf,"LSM6DSL [acc/mg]:        %6ld\r\n", ACCGYRO_get_gyro_x());
+    //q.dispatch();
+
+
+    while(1)
+    {
+        eventqueue.call(printf,"LSM6DSL [acc/mg]:        %6ld\r\n", ACCGYRO_get_gyro_x());
+        led2 = !led2;
+        wait(1);
+        //q.dispatch();
+        //q.call(printf, "*\n"); 
+        //printf("*");
+        //Thread::wait(1000);
+        //printf("LSM6DSL [acc/mg]:        %6ld\r\n", ACCGYRO_get_gyro_x());
+        //printf("LSM6DSL [gyro/mdps]:     %6ld, %6ld, %6ld\r\n", axes[0], axes[1], axes[2]);
+    }
+}
\ No newline at end of file

diff -r 000000000000 -r 0ea84b3cf851 mbed-os.lib
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/mbed-os.lib	Mon Apr 30 09:43:36 2018 +0000
@@ -0,0 +1,1 @@
+https://github.com/ARMmbed/mbed-os/#569159b784f70feaa32ce226aaca896fb83452f7