Diff: Main.cpp

Revision:

0:3fb3c13f3cf5

diff -r 000000000000 -r 3fb3c13f3cf5 Main.cpp
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/Main.cpp	Wed Apr 15 12:53:31 2020 +0000
@@ -0,0 +1,78 @@
+/*
+ * Main.cpp
+ * Copyright (c) 2020, ZHAW
+ * All rights reserved.
+ */
+
+#include <mbed.h>
+#include <EthernetInterface.h>
+#include "IMU.h"
+#include "HTTPServer.h"
+#include "HTTPScriptIMU.h"
+
+int main() {
+    
+    // initialise digital inputs and outputs
+    
+    printf("Initialise digital inputs and outputs...\r\n");
+    
+    DigitalIn button(USER_BUTTON);
+    
+    DigitalOut ledGreen(LED1);
+    DigitalOut ledBlue(LED2);
+    DigitalOut ledRed(LED3);
+    
+    // create inertial measurement unit object
+    
+    printf("Create inertial measurement unit object...\r\n");
+    
+    SPI spi(PC_12, PC_11, PC_10);
+    DigitalOut csAG(PC_8);
+    DigitalOut csM(PC_9);
+    
+    IMU imu(spi, csAG, csM);
+    
+    // create ethernet interface and webserver
+    
+    printf("Create ethernet interface and webserver (please wait!)...\r\n");
+    
+    EthernetInterface* ethernet = new EthernetInterface();
+    ethernet->set_network("169.254.20.110", "255.255.0.0", "0.0.0.0"); // configure IP address, netmask and gateway address
+    ethernet->connect();
+    
+    HTTPServer* httpServer = new HTTPServer(*ethernet);
+    httpServer->add("imu", new HTTPScriptIMU(imu));
+    
+    // enter main loop
+    
+    printf("Enter main loop...\r\n");
+    
+    while (true) {
+        
+        // set LEDs on microcontroller
+        
+        ledGreen = 1;
+        ledBlue = 0;
+        ledRed = 0;
+        
+        ThisThread::sleep_for(100);
+        
+        ledGreen = 0;
+        ledBlue = 1;
+        ledRed = 0;
+        
+        ThisThread::sleep_for(100);
+        
+        ledGreen = 0;
+        ledBlue = 0;
+        ledRed = 1;
+        
+        // print sensor data into terminal
+        
+        printf("Gyro: %.3f / %.3f / %.3f\r\n", imu.readGyroX(), imu.readGyroY(), imu.readGyroZ());
+        printf("Acceleration: %.3f / %.3f / %.3f\r\n", imu.readAccelerationX(), imu.readAccelerationY(), imu.readAccelerationZ());
+        printf("Magnetometer: %.3f / %.3f / %.3f\r\n", imu.readMagnetometerX(), imu.readMagnetometerY(), imu.readMagnetometerZ());
+        printf("Orientation: %.3f\r\n", imu.readHeading());
+    }
+}
+