diff --git a/Development/Software/Controller API/Controller API.vcxproj b/Development/Software/Controller API/Controller API.vcxproj
index cbbfb7a196f637f0e68ce7c7749424b3d849104a..0647b5a2e745d5bd0e951f5aac5df99ec7acaa8f 100644
--- a/Development/Software/Controller API/Controller API.vcxproj
+++ b/Development/Software/Controller API/Controller API.vcxproj
@@ -18,7 +18,6 @@
<ClCompile Include="Sources\MessagePassing\Mailbox.cpp" />
<ClCompile Include="Sources\MessagePassing\Message.cpp" />
<ClCompile Include="Sources\Sensor\Joystick.cpp" />
- <ClCompile Include="Sources\Sensor\MPU9250.cpp" />
<ClCompile Include="Sources\Server.cpp" />
<ClCompile Include="Sources\Service\Service.cpp" />
<ClCompile Include="Sources\Source.cpp" />
@@ -32,7 +31,6 @@
<ClInclude Include="Headers\Service\GyroService.h" />
<ClInclude Include="Headers\Sensor\Joystick.h" />
<ClInclude Include="Headers\MessagePassing\Mailbox.h" />
- <ClInclude Include="Headers\Sensor\MPU9250.h" />
<ClInclude Include="Headers\Server.h" />
<ClInclude Include="Headers\Service\Service.h" />
<ClInclude Include="Headers\System\Thread.h" />
diff --git a/Development/Software/Controller API/Controller API.vcxproj.filters b/Development/Software/Controller API/Controller API.vcxproj.filters
index 25ead8173dd5731f04e0dbfb36f8b0cf7f224e3c..6293c371b2ed107602edba39f4182972c28ad500 100644
--- a/Development/Software/Controller API/Controller API.vcxproj.filters
+++ b/Development/Software/Controller API/Controller API.vcxproj.filters
@@ -60,9 +60,6 @@
<ClCompile Include="Sources\Sensor\Joystick.cpp">
<Filter>Source Files\Sensors</Filter>
</ClCompile>
- <ClCompile Include="Sources\Sensor\MPU9250.cpp">
- <Filter>Source Files\Sensors</Filter>
- </ClCompile>
<ClCompile Include="Sources\Service\Service.cpp">
<Filter>Source Files\Services</Filter>
</ClCompile>
@@ -92,9 +89,6 @@
<ClInclude Include="Headers\Sensor\Joystick.h">
<Filter>Header Files\Sensors</Filter>
</ClInclude>
- <ClInclude Include="Headers\Sensor\MPU9250.h">
- <Filter>Header Files\Sensors</Filter>
- </ClInclude>
<ClInclude Include="Headers\Service\Service.h">
<Filter>Header Files\Services</Filter>
</ClInclude>
diff --git a/Development/Software/Default Controller/Default Controller.vcxproj b/Development/Software/Default Controller/Default Controller.vcxproj
index edb48573a9b90e1ef7e44aa4bfce75d1c87d1a60..67274e0e1db15f74451696134aafd3308b583d06 100644
--- a/Development/Software/Default Controller/Default Controller.vcxproj
+++ b/Development/Software/Default Controller/Default Controller.vcxproj
@@ -15,8 +15,14 @@
<Text Include="README.txt" />
</ItemGroup>
<ItemGroup>
+ <ClCompile Include="buttonInterrupt.cpp" />
+ <ClCompile Include="MPU9250.cpp" />
<ClCompile Include="Source.cpp" />
</ItemGroup>
+ <ItemGroup>
+ <ClInclude Include="buttonInterrupt.h" />
+ <ClInclude Include="MPU9250.h" />
+ </ItemGroup>
<PropertyGroup Label="Globals">
<ProjectGuid>{AC5B185E-4C05-4379-9A89-FF1D1CDA7775}</ProjectGuid>
<RootNamespace>DefaultController</RootNamespace>
diff --git a/Development/Software/Default Controller/Default Controller.vcxproj.filters b/Development/Software/Default Controller/Default Controller.vcxproj.filters
index a17ea4ba9e09edf5ca8159d882a75796441efd23..54bd7720adde760ebe4fde3e6a9d13f0a16b311c 100644
--- a/Development/Software/Default Controller/Default Controller.vcxproj.filters
+++ b/Development/Software/Default Controller/Default Controller.vcxproj.filters
@@ -26,5 +26,19 @@
<ClCompile Include="Source.cpp">
<Filter>Source Files</Filter>
</ClCompile>
+ <ClCompile Include="buttonInterrupt.cpp">
+ <Filter>Source Files</Filter>
+ </ClCompile>
+ <ClCompile Include="MPU9250.cpp">
+ <Filter>Source Files</Filter>
+ </ClCompile>
+ </ItemGroup>
+ <ItemGroup>
+ <ClInclude Include="MPU9250.h">
+ <Filter>Header Files</Filter>
+ </ClInclude>
+ <ClInclude Include="buttonInterrupt.h">
+ <Filter>Header Files</Filter>
+ </ClInclude>
</ItemGroup>
</Project>
\ No newline at end of file
diff --git a/Development/Software/Controller API/Sources/Sensor/MPU9250.cpp b/Development/Software/Default Controller/MPU9250.cpp
similarity index 97%
rename from Development/Software/Controller API/Sources/Sensor/MPU9250.cpp
rename to Development/Software/Default Controller/MPU9250.cpp
index 09a5bc260e3aece61316ddf55c60db0959646734..19f449a8314dcbb51ba0a54ba3e03b509e61cb95 100644
--- a/Development/Software/Controller API/Sources/Sensor/MPU9250.cpp
+++ b/Development/Software/Default Controller/MPU9250.cpp
@@ -2,7 +2,7 @@
@author Jonathan Krueger
*/
-#include
+#include "MPU9250.h"
#pragma region Definitions
#define USER_CTRL 0x6A
@@ -42,7 +42,7 @@ MPU9250::MPU9250() {
spi->frequency(1000000);
// set the mode
- spi->mode(MRAA_SPI_MODE1);
+ spi->mode(SPI_MODE1);
// ensure MSB is sent first
spi->lsbmode(false);
diff --git a/Development/Software/Controller API/Headers/Sensor/MPU9250.h b/Development/Software/Default Controller/MPU9250.h
similarity index 100%
rename from Development/Software/Controller API/Headers/Sensor/MPU9250.h
rename to Development/Software/Default Controller/MPU9250.h
diff --git a/Development/Software/Default Controller/Makefile.txt b/Development/Software/Default Controller/Makefile.txt
index e69de29bb2d1d6434b8b29ae775ad8c2e48c5391..b29a82cd8df2bea03b55d77f16e08e0541934b1b 100644
--- a/Development/Software/Default Controller/Makefile.txt
+++ b/Development/Software/Default Controller/Makefile.txt
@@ -0,0 +1,13 @@
+all: Demo
+
+Demo: Button.o MPU.o
+g++ -o Demo Source.cpp Button.o MPU.o -l mraa
+
+Button.o: buttonInterrupt.cpp
+g++ -c -o Button.o buttonInterrupt.cpp
+
+MPU.o: MPU9250.cpp
+g++ -c -o MPU.o MPU9250.cpp
+
+clean:
+rm *.o Demo
diff --git a/Development/Software/Default Controller/Source.cpp b/Development/Software/Default Controller/Source.cpp
index ec616dfdafc0f2321c0466dec8d8930a1ccd4cf1..2e2a7140397f58bc72efa08d4693728acc6cfa7f 100644
--- a/Development/Software/Default Controller/Source.cpp
+++ b/Development/Software/Default Controller/Source.cpp
@@ -3,63 +3,35 @@
#include <string>
#include <stdint.h>
#include <unistd.h>
-#include "mraa.hpp"
-
-using namespace mraa;
+#include "MPU9250.h"
+#include "buttonInterrupt.h"
using namespace std;
-#pragma region Definitions
-
-#define USER_CTRL 0x6A
-#define WHO_AM_I 0x75
-#define AM_I_TRUE true
-
-#pragma endregion
-
int main(int argc, char **argv)
{
- // set up the mraa library
- mraa_init();
-
- // set the SPI channels
- Spi* spi = new Spi(0);
-
- // set the frequency ( 10Mhz )
- spi->frequency(1000000);
-
- // set the mode
- spi->mode(MRAA_SPI_MODE1);
-
- // ensure MSB is sent first
- spi->lsbmode(false);
-
- usleep(1000000);
-
- // This disables I2C from the start
- spi->write_word(0x10 | USER_CTRL);
-
- usleep(1000000);
-
- while (AM_I_TRUE)
+ if (buttonInterrupt() == -1)
{
- uint8_t result = spi->write_word(WHO_AM_I);
-
- cout << "I should be 0x71, I am " << hex << result << endl;
-
- usleep(1000000);
+ return -1;
}
- while (!AM_I_TRUE)
+ MPU9250 *instance = MPU9250::instance();
+
+ while (1)
{
- uint16_t gyroX = spi->write_word(0x43) | spi->write_word(0x44);
- uint16_t gyroY = spi->write_word(0x45) | spi->write_word(0x46);
- uint16_t gyroZ = spi->write_word(0x47) | spi->write_word(0x48);
+ float gyXh = instance->read(0x43);
+ float gyXl = instance->read(0x44);
+ float gyYh = instance->read(0x45);
+ float gyYl = instance->read(0x46);
+ float gyZh = instance->read(0x47);
+ float gyZl = instance->read(0x48);
+
+ string state = (buttonState == 0) ? ("Not Pressed") : ("Pressed");
- cout << "X: " << hex << gyroX << " Y: " << hex << gyroY << " Z: " << hex << gyroZ << endl;
+ cout << "Gyro X: " << hex << gyXh << " Gyro Y: "<< hex << gyYh << " Gyro Z: " << hex << gyZh << "\t\t\tButton State: " << state << endl;
usleep(1000000);
}
- delete spi;
+ return 0;
}
\ No newline at end of file
diff --git a/Development/Software/Default Controller/Source1.cpp b/Development/Software/Default Controller/Source1.cpp
deleted file mode 100644
index e69de29bb2d1d6434b8b29ae775ad8c2e48c5391..0000000000000000000000000000000000000000
diff --git a/Development/Software/Default Controller/buttonInterrupt.cpp b/Development/Software/Default Controller/buttonInterrupt.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..00a4935fb4a53d3b1085c1d94ecd6586d0c7a5af
--- /dev/null
+++ b/Development/Software/Default Controller/buttonInterrupt.cpp
@@ -0,0 +1,32 @@
+#include "buttonInterrupt.h"
+
+void pressed(void* args) {
+ buttonState = 1;
+}
+
+void released(void* args) {
+ buttonState = 0;
+}
+
+int buttonInterrupt() {
+
+ //initialize mraa
+ mraa_init();
+
+ //create mraa context
+ mraa_gpio_context context;
+
+ //set context to GPIO 15 (J20:7)
+ context = mraa_gpio_init(15);
+
+ if (context == NULL) {
+ return -1;
+ }
+
+ mraa_gpio_dir(context, MRAA_GPIO_IN);
+
+ mraa_gpio_isr(context, MRAA_GPIO_EDGE_FALLING, &pressed, NULL);
+ mraa_gpio_isr(context, MRAA_GPIO_EDGE_RISING, &released, NULL);
+
+ return 0;
+}
diff --git a/Development/Software/Default Controller/buttonInterrupt.h b/Development/Software/Default Controller/buttonInterrupt.h
new file mode 100644
index 0000000000000000000000000000000000000000..e48d887594b82eddf8e3822a090c1c7dd5c08055
--- /dev/null
+++ b/Development/Software/Default Controller/buttonInterrupt.h
@@ -0,0 +1,13 @@
+/*
+* buttonInterrupt.c
+*
+* Created on: Feb 10, 2016
+* Author: Nik
+*/
+#include <stdio.h>
+#include <stdlib.h>
+#include "mraa.h"
+
+static volatile int buttonState = 0;
+
+int buttonInterrupt();
\ No newline at end of file
diff --git a/Development/Software/buttonInterrupt.c b/Development/Software/buttonInterrupt.c
deleted file mode 100644
index 4cc463b44705ec0e5337b2f665a58e4bfc963767..0000000000000000000000000000000000000000
--- a/Development/Software/buttonInterrupt.c
+++ /dev/null
@@ -1,46 +0,0 @@
-/*
- * buttonInterrupt.c
- *
- * Created on: Feb 10, 2016
- * Author: Nik
- */
-#include <stdio.h>
-#include <stdlib.h>
-#include <mraa.h>
-
-static volatile int counter = 1;
-
-void interrupt(void* args) {
- fprintf(stdout, "%d\n", counter);
- counter++;
-}
-
-int buttonInterrupt() {
-
- //initialize mraa
- mraa_init();
-
- //create mraa context
- mraa_gpio_context context;
-
- //set context to GPIO 15 (J20:7)
- context = mraa_gpio_init(15);
-
- if (context == NULL) {
- return -1;
- } else {
- fprintf(stdout, "GPIO Initialized\n");
- }
-
- mraa_gpio_dir(context, MRAA_GPIO_IN);
-
- mraa_gpio_edge_t edge = MRAA_GPIO_EDGE_FALLING;
-
- mraa_gpio_isr(context, edge, &interrupt, NULL);
-
- // mraa_result_t result = mraa_gpio_isr_exit(context);
-
- // return result;
-
- return 0;
-}