Diff: main.cpp

Revision:

6:f2c930a90873

Parent:

5:9247f07a954a

Child:

7:1be7e6735fe2

--- a/main.cpp	Sun Apr 09 00:47:55 2017 +0000
+++ b/main.cpp	Sun Apr 09 16:28:10 2017 +0000
@@ -11,45 +11,71 @@
 
 Ticker pwmint; 
 DigitalOut myled(LED1);
+InterruptIn button(USER_BUTTON);
+
 PwmOut P1(PE_9);
 PwmOut P2(PE_11);
 PwmOut P3(PE_13);
 
-void pwmupdate() {
-    myled = !myled;
-    }
-
-int main()
-{
-    //int i = 1;
-    pc.printf("Hello World !\n");
     I2C    i2c(PB_9, PB_8);         // SDA, SCL
     BNO055 imu(i2c, PA_8);          // Reset
  
     BNO055_ID_INF_TypeDef bno055_id_inf;
     BNO055_EULER_TypeDef  euler_angles;
+
+int i = 180;
+int isPressed;
+
+void pwmupdate() {
+    
+    myled = !myled;
+    
+    
+    P1 = (euler_angles.h/360.0);
+    P2 = (euler_angles.r/360.0);
+    P3 = (euler_angles.p/360.0);
+    
+    }
+    
+    void eventFunction() {
+    if(!isPressed) {
+        pwmint.attach(&pwmupdate, .005);   
+        isPressed=1;
+    } else {
+        pwmint.detach();
+        isPressed=0;   
+    }
+}
+
+int main()
+{
     
     pc.printf("Bosch Sensortec BNO055 test program on " __DATE__ "/" __TIME__ "\r\n");
     if (imu.chip_ready() == 0){
         pc.printf("Bosch BNO055 is NOT available!!\r\n");
     }
+    
     imu.read_id_inf(&bno055_id_inf);
+    
     pc.printf("CHIP:0x%02x, ACC:0x%02x, MAG:0x%02x, GYR:0x%02x, , SW:0x%04x, , BL:0x%02x\r\n",
                bno055_id_inf.chip_id, bno055_id_inf.acc_id, bno055_id_inf.mag_id,
                bno055_id_inf.gyr_id, bno055_id_inf.sw_rev_id, bno055_id_inf.bootldr_rev_id);
-    pwmint.attach(&pwmupdate,.03);
+               
+               
+    isPressed=0;
+
+    button.rise(&eventFunction);
+    
+    
     
     while(1) {
-//        acc.getAccAllAxis(data); 
-//        pc.printf("Data %d %d %d \n",data[0], data[1], data[2]);
-        imu.get_Euler_Angles(&euler_angles);
+
+        
         pc.printf("Heading:%+6.4f [deg], Roll:%+6.4f [deg], Pitch:%+6.4f [deg]\r\n",
                     euler_angles.h, euler_angles.r, euler_angles.p);
-        wait(0.2);
+        imu.get_Euler_Angles(&euler_angles);
+
         
-             
-        P1 = (euler_angles.h/360.0);
-        P2 = (euler_angles.r/360.0);
-        P3 = (euler_angles.p/360.0);
+        wait(0.2);
     }
 }