Diff: main.cpp

Revision:

9:fc3575d2cbbf

Parent:

7:1f2661b840ed

Child:

10:9fb3feb38746

--- a/main.cpp	Wed Dec 05 18:02:32 2018 +0000
+++ b/main.cpp	Fri Dec 07 15:58:41 2018 +0000
@@ -11,6 +11,7 @@
 #include "FATFileSystem.h"
 #include "SimpleShell.h"
 #include "Config.h"
+#include "L3G4200D.h"
 
 Serial pc(USBTX, USBRX);
 //SDBlockDevice bd(p5, p6, p7, p8); // MOSI, MISO, CLK, CS
@@ -19,14 +20,38 @@
 Config config;
 SimpleShell sh;
 
+L3G4200D gyro(p9, p10);
 DigitalOut led1(LED1);
 
 Thread thread;
 
+/******** SHELL COMMANDS ********/
+
 void test() {
     printf("Hello world!\n");
 }
 
+void read_gyro() 
+{
+    int g[3];
+    gyro.read(g);
+    printf("Gyro: %d, %d, %d\n", g[0], g[1], g[2]);
+}
+
+
+/******** GYRO UPDATER ********/
+void gyro_update()
+{
+    int g[3];
+ 
+    while (1) {
+        gyro.read(g);
+        // send message / add to status fifo?
+    }
+}
+
+
+/******** MAIN ********/
 
 // main() runs in its own thread in the OS
 int main()
@@ -64,6 +89,7 @@
     }
     
     sh.attach(test, "test");
+    sh.attach(read_gyro, "gyro");
     
     thread.start(callback(&sh, &SimpleShell::run));