Diff: main.cpp

Revision:

0:c6ee363ac724

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Wed Aug 10 21:50:36 2011 +0000
@@ -0,0 +1,51 @@
+//
+// main.cpp
+//
+// Container class for mbed-based ADIS16355 IMU data acquisition system
+//
+// copyright 2010 Hugh Shane
+//
+#include "mbed.h"
+#include "imu-spi.h"
+#include "usb-serial.h"
+
+int main() {
+    DigitalOut diag_led(LED1);          
+    ImuSpi imu;
+    usb_serial_init();
+    char* imubuffer;
+    bool overflow;
+    Timer timer;
+    timer.start();
+    int now, last = 0, elapsed;
+    int nbytes = 12;
+     
+    while (1) {
+    
+        // acquire the IMU data
+        while (!imu.IsDataReady()) {} // wait for the IMU data-ready signal
+        now = timer.read_us(); // grab the elapsed time in microseconds
+        elapsed = now - last;
+        last = now;
+        imu.BurstRead(); // read the IMU output data registers
+        imubuffer = (char*)imu.GetBufferReadPtr(); // get a pointer to the IMU output data
+        
+        // transmit a data packet on the USB serial port
+        overflow = usb_serial_putc(0x55); // start of packet
+        overflow = usb_serial_putc((uint8_t)elapsed); // time marker, just the lower bits
+        
+        for (int i = 0; i < nbytes; i++) {
+            overflow = usb_serial_putc(*imubuffer++); // IMU data
+        }
+        
+        overflow = usb_serial_putc(0xAA); // end of packet
+
+        // diagnostic LED
+        if (overflow)
+            diag_led = 1;
+        else
+            diag_led = 0;
+            
+    }
+
+}
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