Raharja Agie
main.cpp@0:d463d5c04541, 2011-08-16 (annotated)
- Committer:
- agiembed
- Date:
- Tue Aug 16 05:32:33 2011 +0000
- Revision:
- 0:d463d5c04541
Who changed what in which revision?
| User | Revision | Line number | New contents of line |
|---|---|---|---|
| agiembed | 0:d463d5c04541 | 1 | #include "mbed.h" |
| agiembed | 0:d463d5c04541 | 2 | #include "define.h" |
| agiembed | 0:d463d5c04541 | 3 | #include "setup.h" |
| agiembed | 0:d463d5c04541 | 4 | #include "struct.h" |
| agiembed | 0:d463d5c04541 | 5 | |
| agiembed | 0:d463d5c04541 | 6 | int loop_cnt = 0, init_cnt = 0; |
| agiembed | 0:d463d5c04541 | 7 | |
| agiembed | 0:d463d5c04541 | 8 | #include "pid.h" |
| agiembed | 0:d463d5c04541 | 9 | #include "i2c.h" |
| agiembed | 0:d463d5c04541 | 10 | #include "rc.h" |
| agiembed | 0:d463d5c04541 | 11 | |
| agiembed | 0:d463d5c04541 | 12 | #include "2gcs.h" |
| agiembed | 0:d463d5c04541 | 13 | #include "gps.h" |
| agiembed | 0:d463d5c04541 | 14 | #include "2fcs.h" |
| agiembed | 0:d463d5c04541 | 15 | |
| agiembed | 0:d463d5c04541 | 16 | #include "ahrs.h" |
| agiembed | 0:d463d5c04541 | 17 | |
| agiembed | 0:d463d5c04541 | 18 | void init(){ |
| agiembed | 0:d463d5c04541 | 19 | Yaw_ref = fcc.yaw; |
| agiembed | 0:d463d5c04541 | 20 | init_cnt++; |
| agiembed | 0:d463d5c04541 | 21 | } |
| agiembed | 0:d463d5c04541 | 22 | |
| agiembed | 0:d463d5c04541 | 23 | int main() { |
| agiembed | 0:d463d5c04541 | 24 | setup(); |
| agiembed | 0:d463d5c04541 | 25 | securinit(); |
| agiembed | 0:d463d5c04541 | 26 | rc.rise(&PPM_rise); // attach the address of the PPM_rise function to the rising edge |
| agiembed | 0:d463d5c04541 | 27 | wait(0.5); |
| agiembed | 0:d463d5c04541 | 28 | |
| agiembed | 0:d463d5c04541 | 29 | while(1) { // wait around, interrupts will interrupt this! |
| agiembed | 0:d463d5c04541 | 30 | if(ahrs.readable())ahrs_rec(); |
| agiembed | 0:d463d5c04541 | 31 | |
| agiembed | 0:d463d5c04541 | 32 | if(radio.readable())radio.putc(radio.getc());//getGCS(); |
| agiembed | 0:d463d5c04541 | 33 | if(loop_cnt>10000){ |
| agiembed | 0:d463d5c04541 | 34 | getrc(); |
| agiembed | 0:d463d5c04541 | 35 | pid(); |
| agiembed | 0:d463d5c04541 | 36 | moteq(); |
| agiembed | 0:d463d5c04541 | 37 | updatei2c(); |
| agiembed | 0:d463d5c04541 | 38 | loop_cnt = 0; |
| agiembed | 0:d463d5c04541 | 39 | //rcprint(); |
| agiembed | 0:d463d5c04541 | 40 | if(bat > 0.8) myled = 1; |
| agiembed | 0:d463d5c04541 | 41 | else myled = !myled; |
| agiembed | 0:d463d5c04541 | 42 | } |
| agiembed | 0:d463d5c04541 | 43 | loop_cnt++; |
| agiembed | 0:d463d5c04541 | 44 | |
| agiembed | 0:d463d5c04541 | 45 | } |
| agiembed | 0:d463d5c04541 | 46 | } |
| agiembed | 0:d463d5c04541 | 47 | |
| agiembed | 0:d463d5c04541 | 48 |