airbourne/airbourne/examples/sonar/main.cpp

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/*
 * Copyright (c) 2017, James Jackson
 *
 * All rights reserved.
 *
 * Redistribution and use in source and binary forms, with or without
 * modification, are permitted provided that the following conditions are met:
 *
 * * Redistributions of source code must retain the above copyright notice, this
 *   list of conditions and the following disclaimer.
 *
 * * Redistributions in binary form must reproduce the above copyright notice,
 *   this list of conditions and the following disclaimer in the documentation
 *   and/or other materials provided with the distribution.
 *
 * * Neither the name of the copyright holder nor the names of its
 *   contributors may be used to endorse or promote products derived from
 *   this software without specific prior written permission.
 *
 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
 * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
 * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
 * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
 * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
 * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
 * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
 * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 */

#include "i2c.h"
#include "mb1242.h"
#include "mpu6000.h"
#include "printf.h"
#include "revo_f4.h"
#include "spi.h"
#include "vcp.h"

#include <string>

VCP* uartPtr = NULL;

static void _putc(void* p, char c)
{
  (void)p; // avoid compiler warning about unused variable
  uartPtr->put_byte(c);
}

int main()
{
  systemInit();

  VCP vcp;
  vcp.init();
  uartPtr = &vcp;

  //  init_printf(NULL, _putc);

  I2C i2c1;
  i2c1.init(&i2c_config[EXTERNAL_I2C]);
  I2CSonar sonar;
  sonar.init(&i2c1);

  volatile float dist;
  uint32_t next_print_ms = millis();
  while (true)
  {
    sonar.update();
    if (millis() > next_print_ms)
    {
      if (sonar.present())
      {
        dist = sonar.read();
        //        printf("sonar read %.3f\n", dist);
      }
      else
      {
        //        printf("sonar unavailable\n");
      }
      next_print_ms += 20;
    }
  }
}