diff --git a/Development/Software/Communications/Bluetooth.cpp b/Development/Software/Communications/Bluetooth.cpp
index f80a4533b5e42d5cdad5b0a00477de4ae1c82720..da793a45aef6deccdcb320686dc70f70723dbdc6 100644
--- a/Development/Software/Communications/Bluetooth.cpp
+++ b/Development/Software/Communications/Bluetooth.cpp
@@ -1,72 +1,72 @@
-/*
- * Bluetooth.cpp
- *
- * Created on: Nov 15, 2015
- * Author: Branden Sammons
- */
-
-class Bluetooth {
-
-public:
-
- /**
- * connect() :
- * Takes 1 argument, A Bluetooth address, and tries to connect to that address
- * only if this device has successfully paired with the address given before.
- * If the other address is recognized then we attempt to connect and returns
- * true if successful.
- *
- * Arguments :
- * Bluetooth address of another device
- *
- * Returns :
- * Boolean determining whether connection was made.
- */
- virtual bool connect(/* Bluetooth address */) {}
-
-
-
- /**
- * pair() :
- * Attempts to pair with the Bluetooth Address given, returns true if successful.
- *
- * Arguments :
- * Bluetooth address of another device
- *
- * Returns :
- * Boolean determining whether pairing was successful.
- */
- virtual bool pair(/* Bluetooth address */) {}
-
-
-
- /**
- * send() :
- * Sends the given data to the last device a connection was established with.
- *
- * Arguments :
- * String to be sent
- *
- * Returns :
- * Boolean determining whether sending was successful.
- */
- virtual bool send(std::string *string) {}
-
-
-
- /**
- * receive() :
- * Receives the data coming to the device by storing it in the pointer specified.
- *
- * Arguments :
- * Pointer to store data that is incoming.
- *
- * Returns :
- * Boolean determining whether receive was successful.
- */
- virtual bool receive(std::string *string) {}
-};
-
-
-
-
+///*
+// * Bluetooth.cpp
+// *
+// * Created on: Nov 15, 2015
+// * Author: Branden Sammons
+// */
+//
+//class Bluetooth {
+//
+//public:
+//
+// /**
+// * connect() :
+// * Takes 1 argument, A Bluetooth address, and tries to connect to that address
+// * only if this device has successfully paired with the address given before.
+// * If the other address is recognized then we attempt to connect and returns
+// * true if successful.
+// *
+// * Arguments :
+// * Bluetooth address of another device
+// *
+// * Returns :
+// * Boolean determining whether connection was made.
+// */
+// virtual bool connect(/* Bluetooth address */) {}
+//
+//
+//
+// /**
+// * pair() :
+// * Attempts to pair with the Bluetooth Address given, returns true if successful.
+// *
+// * Arguments :
+// * Bluetooth address of another device
+// *
+// * Returns :
+// * Boolean determining whether pairing was successful.
+// */
+// virtual bool pair(/* Bluetooth address */) {}
+//
+//
+//
+// /**
+// * send() :
+// * Sends the given data to the last device a connection was established with.
+// *
+// * Arguments :
+// * String to be sent
+// *
+// * Returns :
+// * Boolean determining whether sending was successful.
+// */
+// virtual bool send(std::string *string) {}
+//
+//
+//
+// /**
+// * receive() :
+// * Receives the data coming to the device by storing it in the pointer specified.
+// *
+// * Arguments :
+// * Pointer to store data that is incoming.
+// *
+// * Returns :
+// * Boolean determining whether receive was successful.
+// */
+// virtual bool receive(std::string *string) {}
+//};
+//
+//
+//
+//
diff --git a/Development/Software/Controller API/GyroService.cpp b/Development/Software/Controller API/GyroService.cpp
index 8e6478f94eee9214026315f01f02100ff6cf5bab..2c5ea903c0f5e113f553e386adf644bce50a2837 100644
--- a/Development/Software/Controller API/GyroService.cpp
+++ b/Development/Software/Controller API/GyroService.cpp
@@ -16,7 +16,7 @@ void GyroService::run()
_mailbox->send(msg);
// Sleep 5 seconds
- sleep(5);
+ usleep(500000);
}
}
diff --git a/Development/Software/Controller API/MPU9250.cpp b/Development/Software/Controller API/MPU9250.cpp
index c4f495358d1a9fe2a1b0dc32707b268cf7efc038..b4f29ab58c1ecabf47c20837abd9d73f5f195879 100644
--- a/Development/Software/Controller API/MPU9250.cpp
+++ b/Development/Software/Controller API/MPU9250.cpp
@@ -4,6 +4,12 @@
#include "MPU9250.h"
+#pragma region Definitions
+#define USER_CTRL 0x6A
+
+
+#pragma endregion
+
MPU9250* MPU9250::myInstance = 0;
#pragma region Creation/Deletion
@@ -33,7 +39,7 @@ MPU9250::MPU9250() {
spi = new Spi(0);
// set the frequency ( 10Mhz )
- spi->frequency(10000000);
+ spi->frequency(1000000);
// set the mode
spi->mode(MRAA_SPI_MODE1);
@@ -41,8 +47,10 @@ MPU9250::MPU9250() {
// ensure MSB is sent first
spi->lsbmode(false);
- // set up registers
- // place holder
+ usleep(10);
+
+ // This disables I2C from the start
+ spi->write_word(0x10 | USER_CTRL);
}
/**
@@ -62,12 +70,9 @@ MPU9250::~MPU9250() {
* Input : Address to read from
* Returns : Results from chip
*/
-uint16_t MPU9250::read(uint8_t address) {
-
- //Set up address line for correct communication
- uint16_t datatoSend = address << 8;
+uint8_t MPU9250::read(uint8_t address) {
- return spi->write_word(datatoSend);
+ return spi->write_word(address);
}
/**
@@ -79,13 +84,7 @@ uint16_t MPU9250::read(uint8_t address) {
*/
void MPU9250::write(uint8_t address, uint8_t data) {
- //Set up address line for correct communication
- uint16_t datatoSend = address << 8;
-
- // Add in the data we want to write
- datatoSend = datatoSend | data;
-
- spi->write_word(datatoSend);
+ spi->write_word((data << 8) | address);
}
#pragma endregion
diff --git a/Development/Software/Controller API/MPU9250.h b/Development/Software/Controller API/MPU9250.h
index c8f4e934b2eeed0cf652e8f5eecd736f42a706fe..14413a5c28decde284f0cfe7903e4d4e9fea033e 100644
--- a/Development/Software/Controller API/MPU9250.h
+++ b/Development/Software/Controller API/MPU9250.h
@@ -15,7 +15,7 @@ class MPU9250
public:
static MPU9250* instance();
- uint16_t read(uint8_t address);
+ uint8_t read(uint8_t address);
void write(uint8_t address, uint8_t data);
protected:
diff --git a/Development/Software/Controller API/Service.h b/Development/Software/Controller API/Service.h
index 1312e3608f868f2d8c3c09bd5653496de677f49c..fcfeec57934a0c9f400a99e2e209879cfd7c79b5 100644
--- a/Development/Software/Controller API/Service.h
+++ b/Development/Software/Controller API/Service.h
@@ -1,5 +1,6 @@
#pragma once
+#include <unistd.h>
#include <iostream>
#include <stdio.h>
#include <list>
@@ -12,7 +13,6 @@ struct ServiceInfo
int id;
string name;
double frequency;
-
};
class Service
@@ -21,7 +21,8 @@ public:
Service(int id, string name, double freq);
- virtual void run() = 0;
+ virtual void thread() = 0;
+
ServiceInfo info();
private:
diff --git a/Development/Software/Controller API/Source.cpp b/Development/Software/Controller API/Source.cpp
index be6dfd3fa94fe238e6206ee19439d001344b7eca..97b2239a8eeb23b4334c379aae5ceddceb38e0d5 100644
--- a/Development/Software/Controller API/Source.cpp
+++ b/Development/Software/Controller API/Source.cpp
@@ -1,13 +1,15 @@
#include <stdio.h>
#include <iostream>
#include <string>
-
-#include "LSM9DS0.h"
+#include <stdint.h>
using namespace std;
int main(int argc, char **argv)
{
-
+ uint16_t test = 0xFFFF;
+
+ cout << test << endl;
+
return 0;
}
\ No newline at end of file
diff --git a/Development/Software/Default Controller/Default Controller.vcxproj b/Development/Software/Default Controller/Default Controller.vcxproj
index 622091a709dd5d3b7004f0429f1ed71560506ab2..edb48573a9b90e1ef7e44aa4bfce75d1c87d1a60 100644
--- a/Development/Software/Default Controller/Default Controller.vcxproj
+++ b/Development/Software/Default Controller/Default Controller.vcxproj
@@ -15,7 +15,7 @@
<Text Include="README.txt" />
</ItemGroup>
<ItemGroup>
- <ClCompile Include="Source.c" />
+ <ClCompile Include="Source.cpp" />
</ItemGroup>
<PropertyGroup Label="Globals">
<ProjectGuid>{AC5B185E-4C05-4379-9A89-FF1D1CDA7775}</ProjectGuid>
diff --git a/Development/Software/Default Controller/Default Controller.vcxproj.filters b/Development/Software/Default Controller/Default Controller.vcxproj.filters
index d5ae14ddb29964c1245a979fb3cd8b24cd263883..a17ea4ba9e09edf5ca8159d882a75796441efd23 100644
--- a/Development/Software/Default Controller/Default Controller.vcxproj.filters
+++ b/Development/Software/Default Controller/Default Controller.vcxproj.filters
@@ -23,7 +23,7 @@
</Text>
</ItemGroup>
<ItemGroup>
- <ClCompile Include="Source.c">
+ <ClCompile Include="Source.cpp">
<Filter>Source Files</Filter>
</ClCompile>
</ItemGroup>
diff --git a/Development/Software/Default Controller/Source.c b/Development/Software/Default Controller/Source.c
deleted file mode 100644
index d9ad0537a93bb54c40ffa0cc32ed1649521b0410..0000000000000000000000000000000000000000
--- a/Development/Software/Default Controller/Source.c
+++ /dev/null
@@ -1,6 +0,0 @@
-#include <stdio.h>
-
-int main()
-{
- return 0;
-}
\ No newline at end of file
diff --git a/Development/Software/Default Controller/Source.cpp b/Development/Software/Default Controller/Source.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..ec616dfdafc0f2321c0466dec8d8930a1ccd4cf1
--- /dev/null
+++ b/Development/Software/Default Controller/Source.cpp
@@ -0,0 +1,65 @@
+#include <stdio.h>
+#include <iostream>
+#include <string>
+#include <stdint.h>
+#include <unistd.h>
+#include "mraa.hpp"
+
+using namespace mraa;
+
+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)
+ {
+ uint8_t result = spi->write_word(WHO_AM_I);
+
+ cout << "I should be 0x71, I am " << hex << result << endl;
+
+ usleep(1000000);
+ }
+
+ while (!AM_I_TRUE)
+ {
+ 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);
+
+ cout << "X: " << hex << gyroX << " Y: " << hex << gyroY << " Z: " << hex << gyroZ << endl;
+
+ usleep(1000000);
+ }
+
+ delete spi;
+}
\ No newline at end of file
diff --git a/Development/Software/Default Controller/Source1.cpp b/Development/Software/Default Controller/Source1.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391