airbourne/airbourne/examples/spi/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 "revo_f4.h"
33 
34 #include "spi.h"
35 #include "mpu6000.h"
36 #include "led.h"
37 #include "vcp.h"
38 #include "printf.h"
39 
41 
42 static void _putc(void *p, char c)
43 {
44  (void)p; // avoid compiler warning about unused variable
45  uartPtr->put_byte(c);
46 }
47 
48 int main() {
49 
50  systemInit();
51 
52  VCP vcp;
53  vcp.init();
54  uartPtr = &vcp;
55 
57 
58  LED warn;
59  warn.init(LED1_GPIO, LED1_PIN);
60  LED info;
61  info.init(LED2_GPIO, LED2_PIN);
62 
63  SPI mpu_spi;
64  mpu_spi.init(&spi_config[MPU6000_SPI]);
65 
66  MPU6000 imu;
67  imu.init(&mpu_spi);
68  float temp;
69  float acc[3];
70  float gyro[3];
71  uint64_t time_us;
72  while(1)
73  {
74  info.toggle();
75  imu.read(acc, gyro, &temp, &time_us);
76  if (acc[0] == 0xFFFF || acc[0] == 0x0000)
77  {
78  warn.on();
79  printf("error\n");
80  }
81  else
82  {
83  warn.off();
84  printf("%d\t%d\t%d\t%d\t%d\t%d\t%d\t%d\n",
85  (int32_t) (acc[0]*1000.0),
86  (int32_t) (acc[1]*1000.0),
87  (int32_t) (acc[2]*1000.0),
88  (int32_t) (gyro[0]*1000.0),
89  (int32_t) (gyro[1]*1000.0),
90  (int32_t) (gyro[2]*1000.0),
91  (int32_t) (temp*1000.0),
92  time_us);
93  }
94  delay(10);
95  }
96 }
void systemInit(void)
Definition: system.c:55
static volatile int16_t gyro[3]
Definition: drv_mpu6050.c:277
void toggle(void)
Definition: gpio.cpp:52
#define printf
Definition: printf.h:119
Definition: spi.h:38
#define MPU6000_SPI
Definition: revo_f4.h:110
void init(GPIO_TypeDef *gpio_port, uint16_t pin)
Definition: led.cpp:34
#define LED2_PIN
Definition: revo_f4.h:134
void init()
Definition: vcp.cpp:24
#define LED2_GPIO
Definition: revo_f4.h:133
Definition: led.h:38
#define LED1_GPIO
Definition: revo_f4.h:131
void init(SPI *spi_drv)
Definition: mpu6000.cpp:52
#define LED1_PIN
Definition: revo_f4.h:132
static volatile int16_t temp
Definition: drv_mpu6050.c:278
static void _putc(void *p, char c)
void put_byte(uint8_t ch) override
Definition: vcp.cpp:106
void on()
Definition: led.cpp:39
Definition: vcp.h:20
void init_printf(void *putp, void(*putf)(void *, char))
Definition: printf.cpp:245
void init(const spi_hardware_struct_t *conf)
Definition: spi.cpp:40
#define NULL
Definition: usbd_def.h:50
const spi_hardware_struct_t spi_config[NUM_SPI]
Definition: revo_f4.h:101
void read(float *accel_data, float *gyro_data, float *temp_data, uint64_t *time_us)
Definition: mpu6000.cpp:121
void off()
Definition: led.cpp:44
void delay(uint32_t ms)
Definition: system.c:98


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