airbourne/airbourne/examples/sonar/main.cpp
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1 /*
2  * Copyright (c) 2017, James Jackson
3  *
4  * All rights reserved.
5  *
6  * Redistribution and use in source and binary forms, with or without
7  * modification, are permitted provided that the following conditions are met:
8  *
9  * * Redistributions of source code must retain the above copyright notice, this
10  * list of conditions and the following disclaimer.
11  *
12  * * Redistributions in binary form must reproduce the above copyright notice,
13  * this list of conditions and the following disclaimer in the documentation
14  * and/or other materials provided with the distribution.
15  *
16  * * Neither the name of the copyright holder nor the names of its
17  * contributors may be used to endorse or promote products derived from
18  * this software without specific prior written permission.
19  *
20  * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
21  * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
22  * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
23  * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
24  * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
25  * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
26  * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
27  * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
28  * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
29  * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
30  */
31 
32 #include <string>
33 #include "revo_f4.h"
34 
35 #include "spi.h"
36 #include "i2c.h"
37 #include "mpu6000.h"
38 #include "mb1242.h"
39 #include "vcp.h"
40 #include "printf.h"
41 
43 
44 static void _putc(void *p, char c)
45 {
46  (void)p; // avoid compiler warning about unused variable
47  uartPtr->put_byte(c);
48 }
49 
50 
51 int main() {
52 
53  systemInit();
54 
55  VCP vcp;
56  vcp.init();
57  uartPtr = &vcp;
58 
59 // init_printf(NULL, _putc);
60 
61  I2C i2c1;
63  I2CSonar sonar;
64  sonar.init(&i2c1);
65 
66 
67  volatile float dist;
68  uint32_t next_print_ms = millis();
69  while(true)
70  {
71  sonar.update();
72  if (millis() > next_print_ms)
73  {
74  if (sonar.present())
75  {
76  dist = sonar.read();
77 // printf("sonar read %.3f\n", dist);
78  }
79  else
80  {
81 // printf("sonar unavailable\n");
82  }
83  next_print_ms += 20;
84  }
85  }
86 
87 }
void systemInit(void)
Definition: system.c:55
bool present()
Definition: mb1242.cpp:72
volatile uint32_t millis(void)
Definition: system.c:50
void init(const i2c_hardware_struct_t *c)
Definition: i2c.cpp:53
void init()
Definition: vcp.cpp:24
void update()
Definition: mb1242.cpp:84
static void _putc(void *p, char c)
void put_byte(uint8_t ch) override
Definition: vcp.cpp:106
void init(I2C *_i2c)
Definition: mb1242.cpp:53
Definition: vcp.h:20
#define EXTERNAL_I2C
Definition: revo_f4.h:128
float read()
Definition: mb1242.cpp:100
Definition: i2c.h:40
#define NULL
Definition: usbd_def.h:50
const i2c_hardware_struct_t i2c_config[NUM_I2C]
Definition: revo_f4.h:120


rosflight_firmware
Author(s): Daniel Koch , James Jackson
autogenerated on Thu Oct 24 2019 03:17:18