Diff: main.cpp

Revision:

0:03c649c76388

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Fri Sep 28 00:40:29 2012 +0000
@@ -0,0 +1,57 @@
+#include "mbed.h"          // MBED LIBRARY
+#include "MODSERIAL.h"     // MBED BUFFERED SERIAL
+
+#include "UM6_usart.h"     // UM6 USART HEADER
+#include "UM6_config.h"    // UM6 CONFIG HEADER
+
+/////////////////////////////////////////////////////////////////////////////////////////////
+// SETUP (ASSIGN) SERIAL COMMUNICATION PINS ON MBED
+/////////////////////////////////////////////////////////////////////////////////////////////
+MODSERIAL pc(USBTX, USBRX);  // PC SERIAL OVER USB PORT ON MBED
+
+////////////////////////////////////////////////////////////////////////////////////////////////
+// SETUP (ASSIGN) MBED LED (1 thru 3) FOR VISUAL DEBUGGING ON MBED
+////////////////////////////////////////////////////////////////////////////////////////////////
+DigitalOut pc_activity(LED1);    // LED1 = PC SERIAL
+DigitalOut uart_activity(LED2);  // LED2 = UM6 SERIAL
+
+
+void rxCallback(MODSERIAL_IRQ_INFO *q) {
+    if (um6_uart.rxBufferGetCount() >=  MAX_PACKET_DATA) {
+        uart_activity = !uart_activity;  // Lights LED when uart RxBuff has > 40 bytes
+        Process_um6_packet();
+    }
+}
+ 
+
+int main() {
+
+/////////////////////////////////////////////////////////////////////////////////////////////////////
+//          SET SERIAL UART BAUD RATES
+/////////////////////////////////////////////////////////////////////////////////////////////////////
+
+    // set UM6 serial uart baud 9600
+    um6_uart.baud(9600);
+    pc.baud(9600);  // pc baud for UM6 to pc interface
+
+    // attach interupt function to uart
+    um6_uart.attach(&rxCallback, MODSERIAL::RxIrq);
+
+    int Roll_Counter = 0;
+
+    while (1) {
+         Roll_Counter++;      
+         if (Roll_Counter > 5000000) {
+          pc.printf("Gyro_Proc_X %f deg/s, ",data.Gyro_Proc_X);
+          pc.printf("Gyro_Proc_Y %f deg/s, ",data.Gyro_Proc_Y);
+          pc.printf("Gyro_Proc_Z %f deg/s, ",data.Gyro_Proc_Z);
+          pc.printf("Roll %f deg, ",data.Roll);
+          pc.printf("Pitch %f deg, ",data.Pitch);
+          pc.printf("Yaw %f deg \r\n",data.Yaw);
+          pc_activity = !pc_activity;  // Lights LED when uart RxBuff has > 40 bytes
+          Roll_Counter = 0;
+         }
+  
+    }  // end while(1) loop
+
+}  // end main()
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