hige dura
SparkFun_9DOF_SensorStick
Dependencies: FatFileSystem mbed
Fork of
9DOF_SensorStick
by 
hige dura
Revision 5:12e37af16f2e, committed 2012-09-03
- Comitter:
- higedura
- Date:
- Mon Sep 03 03:44:13 2012 +0000
- Parent:
- 4:cc2b1a6de723
- Commit message:
- update
Changed in this revision
--- a/FATFileSystem.lib Wed Mar 14 17:06:53 2012 +0000 +++ b/FATFileSystem.lib Mon Sep 03 03:44:13 2012 +0000 @@ -1,1 +1,1 @@ -http://mbed.org/users/mbed_unsupported/code/fatfilesystem/ \ No newline at end of file +http://mbed.org/users/mbed_unsupported/code/FatFileSystem/#333d6e93e58f
--- a/main.cpp Wed Mar 14 17:06:53 2012 +0000
+++ b/main.cpp Mon Sep 03 03:44:13 2012 +0000
@@ -8,6 +8,7 @@
ITG3200 gyro(p9, p10);
HMC5883L compass(p9, p10);
SDFileSystem sd(p5, p6, p7, p8, "sd"); // the pinout on the mbed Cool Components workshop board
+DigitalIn stop(p20);
Serial pc(USBTX, USBRX);
#define N 3
@@ -31,64 +32,7 @@
FILE *fp = fopen("/sd/mydir/sdtest.txt", "w");
if( fp==NULL ){ error("Could not open file for write\n"); }
- // *** Setting up sensors ***
- int preparing_acc();
- gyro.setLpBandwidth(LPFBW_42HZ);
- compass.setDefault();
- wait(0.1); // Wait some time for all sensors (Need at least 5ms)
-
- pc.printf("\n\rStarting ADXL345, ITG3200 and HMC5883L test...\n\r");
- pc.printf(" Time AccX AccY AccZ GyroX GyroY GyroZ MagX MagY MagZ\n\r");
-
- //while(1){
- for( int i=0;i<10000;i++ ){
-
- // Updating accelerometer and compass
- accelerometer.getOutput(bitAcc);
- compass.readData(getMag);
-
- // Transfering units (Acc[g], Gyro[deg/s], Compass[Ga])
- // Calibration YAL 9DOF Acc:X+6, Y-12, Z+44
- // Calibration green Acc:X+1, Y-18, Z+45
- Acc[0] = ((int16_t)bitAcc[0])*0.004;
- Acc[1] = ((int16_t)bitAcc[1])*0.004;
- Acc[2] = ((int16_t)bitAcc[2])*0.004;
- // Calibration YAL 9DOF Gyro:X+28, Y-45, Z+34
- // Calibration green Gyro:X+135, Y-12, Z-53
- Gyro[0] = (gyro.getGyroX())/14.375;
- Gyro[1] = (gyro.getGyroY())/14.375;
- Gyro[2] = (gyro.getGyroZ())/14.375;
- // Calibration YAL 9DOF Compass:X, Y, Z
- Mag[0] = (int16_t)getMag[0];
- Mag[1] = (int16_t)getMag[1];
- Mag[2] = (int16_t)getMag[2];
-
- // Low pass filter for acc
- //for ( int i=0;i<N;i++ ){
- // if( -0.05<Acc[i] && Acc[i]<0.05 ){ Acc[i]=0; }
- //}
-
- // Low pass filter for gyro
- //for ( int i=0;i<N;i++ ){
- // if( -1.0<Gyro[i] && Gyro[i]<1.0 ){ Gyro[i]=0; }
- //}
-
- //pc.printf("%7.2f, %7.3f, %7.3f, %7.3f, %7.1f, %7.1f, %7.1f, %5d, %5d, %5d\n\r", t, Acc[0], Acc[1], Acc[2], Gyro[0], Gyro[1], Gyro[2], Mag[0], Mag[1], Mag[2]);
- pc.printf("%7.2f, %7.3f, %7.3f, %7.3f, %7.1f, %7.1f, %7.1f\n\r", t, Acc[0], Acc[1], Acc[2], Gyro[0], Gyro[1], Gyro[2]);
- //pc.printf("%7.1f, %7.1f, %7.1f\n\r",Gyro[0], Gyro[1], Gyro[2]);
- fprintf(fp, "%7.2f, %7.3f, %7.3f, %7.3f, %7.1f, %7.1f, %7.1f\n\r", t, Acc[0], Acc[1], Acc[2], Gyro[0], Gyro[1], Gyro[2]);
-
- t += dt;
- wait(dt);
-
- }
-
- fclose(fp);
-
- }
-
-int preparing_acc(){
-
+ // *** start up ***
// These are here to test whether any of the initialization fails. It will print the failure.
if (accelerometer.setPowerControl(0x00)){
pc.printf("didn't intitialize power control\n\r");
@@ -113,8 +57,57 @@
if(accelerometer.setPowerControl(MeasurementMode)) {
pc.printf("didn't set the power control to measurement\n\r");
return 0;
- }
-
- return 0;
-
-}
+ }
+
+ gyro.setLpBandwidth(LPFBW_42HZ);
+ compass.setDefault();
+ wait(0.1); // Wait some time for all sensors (Need at least 5ms)
+ // *** start up ***
+
+ pc.printf("\n\rStarting ADXL345, ITG3200 and HMC5883L test...\n\r");
+ pc.printf(" Time AccX AccY AccZ GyroX GyroY GyroZ MagX MagY MagZ\n\r");
+
+ while( stop==0 ){
+ //for( int i=0;i<10000;i++ ){
+
+ // Updating accelerometer and compass
+ accelerometer.getOutput(bitAcc);
+ compass.readData(getMag);
+
+ // Transfering units (Acc[g], Gyro[deg/s], Compass[Ga])
+ Acc[0] = ((int16_t)bitAcc[0])*0.004;
+ Acc[1] = ((int16_t)bitAcc[1])*0.004;
+ Acc[2] = ((int16_t)bitAcc[2])*0.004;
+
+ Gyro[0] = (gyro.getGyroX())/14.375;
+ Gyro[1] = (gyro.getGyroY())/14.375;
+ Gyro[2] = (gyro.getGyroZ())/14.375;
+ // Calibration YAL 9DOF Compass:X, Y, Z
+ Mag[0] = (int16_t)getMag[0];
+ Mag[1] = (int16_t)getMag[1];
+ Mag[2] = (int16_t)getMag[2];
+
+ // Low pass filter for acc
+ //for ( int i=0;i<N;i++ ){
+ // if( -0.05<Acc[i] && Acc[i]<0.05 ){ Acc[i]=0; }
+ //}
+
+ // Low pass filter for gyro
+ //for ( int i=0;i<N;i++ ){
+ // if( -1.0<Gyro[i] && Gyro[i]<1.0 ){ Gyro[i]=0; }
+ //}
+
+ //pc.printf("%7.2f, %7.3f, %7.3f, %7.3f, %7.1f, %7.1f, %7.1f, %5d, %5d, %5d\n\r", t, Acc[0], Acc[1], Acc[2], Gyro[0], Gyro[1], Gyro[2], Mag[0], Mag[1], Mag[2]);
+ pc.printf("%7.2f, %7.3f, %7.3f, %7.3f, %7.1f, %7.1f, %7.1f\n\r", t, Acc[0], Acc[1], Acc[2], Gyro[0], Gyro[1], Gyro[2]);
+ //pc.printf("%7.1f, %7.1f, %7.1f\n\r",Gyro[0], Gyro[1], Gyro[2]);
+ fprintf(fp, "%7.2f, %7.3f, %7.3f, %7.3f, %7.1f, %7.1f, %7.1f\n", t, Acc[0], Acc[1], Acc[2], Gyro[0], Gyro[1], Gyro[2]);
+
+ t += dt;
+ wait(dt);
+
+ }
+
+ fclose(fp);
+
+ }
+
\ No newline at end of file
--- a/mbed.bld Wed Mar 14 17:06:53 2012 +0000 +++ b/mbed.bld Mon Sep 03 03:44:13 2012 +0000 @@ -1,1 +1,1 @@ -http://mbed.org/users/mbed_official/code/mbed/builds/63bcd7ba4912 +http://mbed.org/users/mbed_official/code/mbed/builds/63bcd7ba4912 \ No newline at end of file