Diff: main.cpp

Revision:

0:57375160cf48

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Tue Feb 22 23:50:00 2011 +0000
@@ -0,0 +1,82 @@
+#include "mbed.h"
+#include "LIS331.h"
+#include "ITG3200.h"
+#include "HMC5843.h"
+//#include "SDHCFileSystem.h"
+
+// Define binary expansions if needed
+//#define Ob(x)  ((unsigned)Ob_(0 ## x ## uL))
+//#define Ob_(x) (x & 1 | x >> 2 & 2 | x >> 4 & 4 | x >> 6 & 8 |        \
+//  x >> 8 & 16 | x >> 10 & 32 | x >> 12 & 64 | x >> 14 & 128)
+
+
+
+//SDFileSystem sd(p5, p6, p7, p8, "sd");
+Serial pc(USBTX, USBRX);
+LIS331 accel(p9, p10);
+ITG3200 gyro(p9, p10);
+HMC5843 compass(p9, p10);
+Timer t;
+DigitalOut success_led(LED4);
+DigitalOut progress_led(LED3);
+DigitalOut error_led(LED1);
+
+int readings[3];
+
+int main() {
+    success_led = 0;
+    error_led = 0;
+    pc.printf("Now starting LIS331/ITG-3200 acceptance test...\n\r");
+    
+    // Set Highest Gyro Bandwidth
+    gyro.setLpBandwidth(LPFBW_256HZ);
+    
+    // Set 8g range on accel
+    accel.setFullScaleRange8g();
+    
+    //Continuous mode, , 10Hz measurement rate.
+    // HMC5843_CONTINUOUS, HMC5843_10HZ_NORMAL HMC5843_1_0GA
+    compass.setDefault();
+    
+    //FILE *fp = fopen("/sd/data.txt", "w");
+    //if(fp == NULL) {
+    //    error_led = 1;  // crap something went wrong
+    //    error("Could not open file for write\n");
+    //}
+    //success_led = 1;    // file is open for writing!
+    
+        
+    pc.printf("Accel Address:%x\n\r",accel.getWhoAmI());
+    pc.printf("Gyro Address:%x\n\r",gyro.getWhoAmI());
+    pc.printf("Temp(C):%f\n\r",gyro.getTemperature());
+    
+    wait(0.9);
+
+
+
+
+    t.start();  // Start our timer
+    while (1) {
+        progress_led = 1;
+        //Arbitrary wait for printf clarity.
+        wait(0.3);
+        compass.readData(readings);
+    
+        
+        pc.printf("\n\r%f,", t.read());     // get current time in seconds
+        pc.printf("%f,%f,%f,", (float)accel.getAccelX(), (float)accel.getAccelY(), (float)accel.getAccelZ());
+        pc.printf("%f,%f,%f", (float)gyro.getGyroX() / 14.375, (float)gyro.getGyroY() / 14.375, (float)gyro.getGyroZ() / 14.375);
+
+        // uncomment next line to enable output of mag values
+        //pc.printf(",%i,%i,%i", (int16_t)readings[0],(int16_t)readings[1],(int16_t)readings[2]);
+        
+        progress_led = 0;
+        if (t.read() > 240) {    // quit after 240 seconds, change it to however long you want to record for
+            break;  // LED3 will remain off when done writing to card
+        }
+    }
+    
+wait(0.5);
+    
+// fclose(fp);     // Need to add Physical_Switch --> DigitalIn --> Int --> fclose()
+}
\ No newline at end of file