DCM Code ported from Arduino for FRDM-KL25Z
Dependents: minimu_data_capture minimu_data_capture
Fork of DCM_AHRS by
Diff: minimu9.cpp
- Revision:
- 2:85214374e094
- Parent:
- 1:3272ece36ce1
--- a/minimu9.cpp Mon Apr 23 14:31:08 2012 +0000 +++ b/minimu9.cpp Tue Jan 20 02:04:07 2015 +0000 @@ -9,8 +9,8 @@ Serial pc(USBTX, USBRX); t.start(); initialize_values(); - gyro = new L3G4200D( p9, p10 ); - compass = new LSM303( p9, p10 ); + gyro = new L3G4200D( PTE0, PTE1 ); + compass = new LSM303( PTE0, PTE1 ); // Initiate the accel compass->writeAccReg(LSM303_CTRL_REG1_A, 0x27); // normal power mode, all axes enabled, 50 Hz @@ -335,17 +335,17 @@ void minimu9::print_data(void) { #if DEBUG_MODE == 1 - Serial pc(USBTX, USBRX); - pc.printf("!"); +// Serial pc(USBTX, USBRX); + printf("!"); #if PRINT_EULER == 1 - pc.printf("ANG:%.2f,%.2f,%.2f", ToDeg(roll), ToDeg(pitch), ToDeg(yaw)); + printf("ANG:%.2f,%.2f,%.2f", ToDeg(roll), ToDeg(pitch), ToDeg(yaw)); #endif #if PRINT_ANALOGS==1 - pc.printf(",AN:%d,%d,%d,%d,%d,%d", AN[0], AN[1], AN[2], AN[3], AN[4], AN[5] ); - pc.printf(",%.2f,%.2f,%.2f", c_magnetom_x, c_magnetom_y, c_magnetom_z ); + printf(",AN:%d,%d,%d,%d,%d,%d", AN[0], AN[1], AN[2], AN[3], AN[4], AN[5] ); + printf(",%.2f,%.2f,%.2f", c_magnetom_x, c_magnetom_y, c_magnetom_z ); #endif - pc.printf("\n"); + printf("\n"); #endif }