Raharja Agie / Mbed 2 deprecated Controller

Read IMU data at Serial port (p28, p27), data rate <100Hz @115200bps Read 5 channels PPM signal at p11 using InterruptIn Send data via RF Modem at serial port (p13, p14) in 36Hz @115200 Drive i2C motor speed controller at I2C port (p9, p10) in every 10mS (control loop delay time)

Dependencies:   mbed

main.cpp@0:bd282c11d296, 2010-08-12 (annotated)

Committer:
agiembed
Date:
Thu Aug 12 01:08:40 2010 +0000
Revision:
0:bd282c11d296

        

        
Who changed what in which revision?

        

            
                
UserRevisionLine numberNew contents of line

            
            


agiembed

0:bd282c11d296


     1

#include "mbed.h"





agiembed

0:bd282c11d296


     2

#include "struct.h"





agiembed

0:bd282c11d296


     3







agiembed

0:bd282c11d296


     4

short test, test1;





agiembed

0:bd282c11d296


     5







agiembed

0:bd282c11d296


     6

#include "i2c.h"





agiembed

0:bd282c11d296


     7

#include "rc.h"





agiembed

0:bd282c11d296


     8

#include "setup.h"





agiembed

0:bd282c11d296


     9

#include "2gcs.h"





agiembed

0:bd282c11d296


    10

#include "ahrs.h"





agiembed

0:bd282c11d296


    11







agiembed

0:bd282c11d296


    12

    





agiembed

0:bd282c11d296


    13

int main() {





agiembed

0:bd282c11d296


    14

    setup();





agiembed

0:bd282c11d296


    15

    //SendData.attach(&toGCS, 0.02777);





agiembed

0:bd282c11d296


    16

    //Proccess.attach(&eyetosee, 0.1);     





agiembed

0:bd282c11d296


    17

    ahrs.attach(&ahrs_rec);       





agiembed

0:bd282c11d296


    18

    rc.rise(&PPM_rise);    // attach the address of the PPM_rise function to the rising edge





agiembed

0:bd282c11d296


    19

    





agiembed

0:bd282c11d296


    20

    while(1) {           // wait around, interrupts will interrupt this!





agiembed

0:bd282c11d296


    21

        printf("%d\t", RC.roll);





agiembed

0:bd282c11d296


    22

        printf("%d\t", RC.throttle);





agiembed

0:bd282c11d296


    23

        printf("%d\t", RC.pitch);





agiembed

0:bd282c11d296


    24

        printf("%d\t", RC.yaw);





agiembed

0:bd282c11d296


    25

        printf("%d\n", RC.sw);





agiembed

0:bd282c11d296


    26

        wait(0.02);





agiembed

0:bd282c11d296


    27

        //for(char i=0; i<6; i++){





agiembed

0:bd282c11d296


    28

        //  printf("%d\t", buf_ppm[i]);





agiembed

0:bd282c11d296


    29

        //  bl_L[1]= abs(test - test1);





agiembed

0:bd282c11d296


    30

        //  if(buf_ppm[i] > 5000) printf("%d\t%d\t%d\n", test, test1, bl_L[1]); //("%d\t%d\n", buf_ppm[i], i);          





agiembed

0:bd282c11d296


    31

        //    wait(0.02);





agiembed

0:bd282c11d296


    32

        //    }      





agiembed

0:bd282c11d296


    33

    }





agiembed

0:bd282c11d296


    34

}