Yifei Teng
FreeIMU demo program for mbed
Dependencies: FreeIMU mbed-rtos mbed
Revision 0:e1b8c014805d, committed 2013-11-29
- Comitter:
- tyftyftyf
- Date:
- Fri Nov 29 15:34:11 2013 +0000
- Child:
- 1:63db4a12fc0a
- Commit message:
- Initial commit
Changed in this revision
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/FreeIMU.lib Fri Nov 29 15:34:11 2013 +0000 @@ -0,0 +1,1 @@ +http://mbed.org/users/tyftyftyf/code/FreeIMU/#80c9e84751cd
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp Fri Nov 29 15:34:11 2013 +0000
@@ -0,0 +1,53 @@
+#include "mbed.h"
+#include "rtos.h"
+#include "FreeIMU.h"
+
+Serial pc(USBTX, USBRX); // tx, rx
+
+typedef struct {
+ float ypr[3];
+ float alt;
+ float temp;
+ int time;
+} imu_t;
+
+FreeIMU imu;
+Mail<imu_t, 4> imu_queue;
+int i = 0;
+Timer t,t2;
+
+void getIMUdata(void const *n){
+ i++;
+ if (i%10==0){
+ float *q = (float *)imu_queue.alloc();
+ t.reset();
+ t.start();
+ imu.getYawPitchRoll(q);
+ t.stop();
+ ((imu_t*)q)->time = t.read_us();
+ ((imu_t*)q)->alt = imu.getBaroAlt();
+ ((imu_t*)q)->temp = imu.baro->getTemperature();
+ imu_queue.put((imu_t*)q);
+ }else{
+ imu.getQ(NULL);
+ }
+}
+
+int main() {
+ imu.init(true);
+ pc.baud(115200);
+ RtosTimer IMUTimer(getIMUdata, osTimerPeriodic, (void *)0);
+ IMUTimer.start(2);
+ t2.start();
+
+ while (true) {
+ t2.reset();
+ osEvent evt = imu_queue.get();
+ if (evt.status == osEventMail) {
+ imu_t *obj = (imu_t*)evt.value.p;
+ pc.printf("Y: %f, P: %f, R: %f, Alt: %f, Temp: %fC\r\n", obj->ypr[0], obj->ypr[1], obj->ypr[2], obj->alt, obj->temp);
+ imu_queue.free(obj);
+ pc.printf("\r\n");
+ }
+ }
+}
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/mbed-rtos.lib Fri Nov 29 15:34:11 2013 +0000 @@ -0,0 +1,1 @@ +https://mbed.org/users/mbed_official/code/mbed-rtos/#29007aef10a4
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/mbed.bld Fri Nov 29 15:34:11 2013 +0000 @@ -0,0 +1,1 @@ +http://mbed.org/users/mbed_official/code/mbed/builds/f37f3b9c9f0b \ No newline at end of file