Tim Marvin
Code to demo/test out my IMU board
Dependencies: mbed ITG3200_lib HMC5843_lib
Revision 0:57375160cf48, committed 2011-02-22
- Comitter:
- atommota
- Date:
- Tue Feb 22 23:50:00 2011 +0000
- Commit message:
Changed in this revision
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/HMC5843_lib.lib Tue Feb 22 23:50:00 2011 +0000 @@ -0,0 +1,1 @@ +http://mbed.org/users/atommota/code/HMC5843_lib/#63ccd7376105
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/ITG3200_lib.lib Tue Feb 22 23:50:00 2011 +0000 @@ -0,0 +1,1 @@ +http://mbed.org/users/atommota/code/ITG3200_lib/#03dd788f437f
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/LIS331_lib.lib Tue Feb 22 23:50:00 2011 +0000 @@ -0,0 +1,1 @@ +http://mbed.org/users/atommota/code/LIS331_lib/#7eeb1fe4d787
--- /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
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/mbed.bld Tue Feb 22 23:50:00 2011 +0000 @@ -0,0 +1,1 @@ +http://mbed.org/users/mbed_official/code/mbed/builds/9a9732ce53a1