Siddharth Pimprikar
laptop controlled bluetooth quadcopter
Dependencies: FXAS21000 FXOS8700CQ FXOS8700Q mbed
Revision 0:0a1a2f47fd18, committed 2016-04-27
- Comitter:
- siddharthp
- Date:
- Wed Apr 27 15:52:14 2016 +0000
- Commit message:
- trial 1
Changed in this revision
diff -r 000000000000 -r 0a1a2f47fd18 FXAS21000.lib --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/FXAS21000.lib Wed Apr 27 15:52:14 2016 +0000 @@ -0,0 +1,1 @@ +http://mbed.org/users/JimCarver/code/FXAS21000/#a8f83b52f4df
diff -r 000000000000 -r 0a1a2f47fd18 FXOS8700CQ.lib --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/FXOS8700CQ.lib Wed Apr 27 15:52:14 2016 +0000 @@ -0,0 +1,1 @@ +http://mbed.org/users/trm/code/FXOS8700CQ/#e2fe752b881e
diff -r 000000000000 -r 0a1a2f47fd18 FXOS8700Q.lib --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/FXOS8700Q.lib Wed Apr 27 15:52:14 2016 +0000 @@ -0,0 +1,1 @@ +http://mbed.org/users/JimCarver/code/FXOS8700Q/#5553a64d0762
diff -r 000000000000 -r 0a1a2f47fd18 main.cpp
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp Wed Apr 27 15:52:14 2016 +0000
@@ -0,0 +1,160 @@
+#include "mbed.h"
+#include "FXOS8700Q.h"
+#include "FXOS8700CQ.h"
+#include "FXAS21000.h"
+
+// define all ports
+PwmOut PWM1(D8); //moveForward
+PwmOut PWM2(D9); //moveBack
+PwmOut PWM3(D10); //left
+PwmOut PWM4(D11); //right
+
+DigitalOut red(LED_RED);
+DigitalOut green(LED_GREEN);
+
+Timer GlobalTime;
+Timer ProgramTimer;
+
+char c;
+int flagBlue;
+int sflag;
+long loopStartTime;
+long timer;
+
+// define bluetooth and acc and gyro
+Serial blue(D1,D0); //(TX,DX)
+Serial pc(USBTX, USBRX); // Used to debug
+FXOS8700Q_acc combo_acc(D14, D15, FXOS8700CQ_SLAVE_ADDR0);
+FXOS8700Q_mag combo_mag(D14, D15, FXOS8700CQ_SLAVE_ADDR0);
+FXAS21000 gyro(D14, D15);
+
+//define functions
+void start(void);
+void stop(void);
+void moveForward(void);
+void moveBack(void);
+void moveRight(void);
+void moveLeft(void);
+
+void blueInterrupt()
+{
+ c = blue.getc(); //receives the command
+ flagBlue=1;
+}
+
+int main()
+{
+ pc.baud(115200);
+
+ float gyro_data[3];
+ MotionSensorDataUnits adata;
+ MotionSensorDataUnits mdata;
+ //int16_t acc_raw[3];
+
+ //Bluetooth init
+ blue.baud(115200);
+ blue.attach(&blueInterrupt);
+
+
+ printf("\r\nStarting\r\n\r\n");
+
+ red = 0; green= 1;
+ GlobalTime.start();
+
+ PWM1.period_ms(20);
+ PWM1.pulsewidth_us(100);
+ PWM2.pulsewidth_us(100);
+ PWM3.pulsewidth_us(100);
+ PWM4.pulsewidth_us(100);
+
+ combo_acc.enable();
+ combo_mag.enable();
+ blue.printf("FXOS8700 Combo mag = %X\r\n", combo_mag.whoAmI());
+ blue.printf("FXOS8700 Combo acc = %X\r\n", combo_acc.whoAmI());
+ blue.printf("FXAS21000 Gyro = %X\r\n", gyro.getWhoAmI());
+
+
+ ProgramTimer.start();
+ loopStartTime = ProgramTimer.read_us();
+ timer = loopStartTime;
+
+ wait(1);
+
+ c= blue.getc();
+ if (c == 'x')
+ {
+ sflag = 1;
+ blue.printf("stop\n\r");
+ red =0; green =1;
+ stop();
+ }
+ else if (c == 'z')
+ {
+ blue.printf("up\n\r");
+ wait(2);
+ red = 1; green= 0;
+ start();
+ }
+ else if (c == 'w')
+ {
+ blue.printf("forward\n\r");
+ moveForward();
+ }
+ else if (c == 's')
+ {
+ blue.printf("back\n\r");
+ moveBack();
+ }
+ else if (c == 'a')
+ {
+ blue.printf("left\n\r");
+ moveLeft();
+ }
+ else if (c == 'd')
+ {
+ blue.printf("right\n\r");
+ moveRight();
+ }
+ else blue.printf("%wrong command: \n\r", c);
+
+ while(1)
+ {
+ combo_acc.getAxis(adata);
+ blue.printf("FXOS8700 Acc: X:%6.3f Y:%6.3f Z:%6.3f\r\n", adata.x, adata.y, adata.z);
+
+ combo_mag.getAxis(mdata);
+ blue.printf("FXOS8700 Mag: X:%6.2f Y:%6.2f Z:%6.2f\r\n", mdata.x, mdata.y, mdata.z);
+
+ gyro.ReadXYZ(gyro_data);
+ blue.printf("FXAS21000 Gyro: X:%6.2f Y:%6.2f Z:%6.2f\r\n", gyro_data[0], gyro_data[1], gyro_data[2]);
+
+ blue.printf("\r\n");
+ wait(1);
+
+
+ }
+
+}
+void start(void)
+{
+}
+
+void stop(void)
+{
+}
+
+void moveForward(void)
+{
+}
+
+void moveBack(void)
+{
+}
+
+void moveRight(void)
+{
+}
+
+void moveLeft(void)
+{
+}
\ No newline at end of file
diff -r 000000000000 -r 0a1a2f47fd18 mbed.bld --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/mbed.bld Wed Apr 27 15:52:14 2016 +0000 @@ -0,0 +1,1 @@ +http://mbed.org/users/mbed_official/code/mbed/builds/082adc85693f \ No newline at end of file