Revision 12:3cd91e150d9c, committed 2018-12-12

Comitter:

shimniok

Date:

Wed Dec 12 17:32:24 2018 +0000

Parent:

11:8ec858b7c6d1

Child:

13:5566df1250f1

Commit message:

pass back 3 gyro axis data; implement reset shell cmd

Changed in this revision

--- a/Updater.cpp	Wed Dec 12 17:20:16 2018 +0000
+++ b/Updater.cpp	Wed Dec 12 17:32:24 2018 +0000
@@ -1,7 +1,18 @@
 #include "Updater.h"
 
 
-Updater *Updater::instance() {
+void Updater::gyro(int g[3]) 
+{
+    for (int i=0; i < 3; i++) {
+        g[i] = _gyro[i];
+    }
+    
+    return;
+}
+
+
+Updater *Updater::instance() 
+{
     static Updater instance;
 
     return &instance;
@@ -37,9 +48,7 @@
 
     // Read encoders
     // Read gyro
-    int g_a[3];
-    gyro.read(g_a);
-    g = g_a[2];
+    gyro.read(_gyro);
     
     //gyro[_z_] = (g_sign[_z_] * (g[_z_] - g_offset[_z_])) / g_scale[_z_];
 

--- a/Updater.h	Wed Dec 12 17:20:16 2018 +0000
+++ b/Updater.h	Wed Dec 12 17:32:24 2018 +0000
@@ -4,24 +4,17 @@
 #include "mbed.h"
 #include "L3G4200D.h"
 
-class Updater {
+class Updater: private mbed::NonCopyable<Updater> {
 public:
     void start(int interval_ms);
-
     static Updater *instance();
-    
-    int get_gyro() { return g; }
+    void gyro(int g[3]);
       
 private:
-    typedef struct {
-        int g[3]; // gyro
-        float dt;  // delta time
-    } sensor_data_t;
-
     Updater() {} // parameterize
     Timer *t;
     void update();
-    int g;
+    int _gyro[3];
     int thisTime;
     int lastTime;
 };

--- a/main.cpp	Wed Dec 12 17:20:16 2018 +0000
+++ b/main.cpp	Wed Dec 12 17:32:24 2018 +0000
@@ -31,11 +31,18 @@
 
 void read_gyro() 
 {
+    int g[3];
+    
     Updater *u = Updater::instance();
     
-    printf("Gyro: %d\n", u->get_gyro());
+    u->gyro(g);
     
-    //printf("Gyro: %d, %d, %d\n", g[0], g[1], g[2]);
+    printf("Gyro: %d, %d, %d\n", g[0], g[1], g[2]);
+}
+
+void reset()
+{
+    NVIC_SystemReset();
 }
 
 /******** MAIN ********/
@@ -76,6 +83,7 @@
     // Startup shell    
     sh.attach(test, "test");
     sh.attach(read_gyro, "gyro");
+    sh.attach(reset, "reset");
     thread.start(callback(&sh, &SimpleShell::run));
 
     // Startup updater