A Team / DCM_AHRS

DCM Code ported from Arduino for FRDM-KL25Z

Dependents:   minimu_data_capture minimu_data_capture

Fork of DCM_AHRS by Kris Reynolds

Files at this revision

API Documentation at this revision

Revision 2:85214374e094, committed 2015-01-20

Comitter:
ogarai
Date:
Tue Jan 20 02:04:07 2015 +0000
Parent:
1:3272ece36ce1
Commit message:
First Commit

Changed in this revision

L3G4200D.cpp Show annotated file Show diff for this revision Revisions of this file
LSM303.cpp Show annotated file Show diff for this revision Revisions of this file
minimu9.cpp Show annotated file Show diff for this revision Revisions of this file 
--- a/L3G4200D.cpp	Mon Apr 23 14:31:08 2012 +0000
+++ b/L3G4200D.cpp	Tue Jan 20 02:04:07 2015 +0000
@@ -24,7 +24,7 @@
 #include "mbed.h"
 
 
-L3G4200D::L3G4200D( PinName sda = p9, PinName scl = p10 ) : i2c( sda, scl ) {
+L3G4200D::L3G4200D( PinName sda = PTE0, PinName scl = PTE1 ) : i2c( sda, scl ) {
     writeReg( L3G4200D_CTRL_REG1, 0x0f );
 }
 

--- a/LSM303.cpp	Mon Apr 23 14:31:08 2012 +0000
+++ b/LSM303.cpp	Tue Jan 20 02:04:07 2015 +0000
@@ -2,7 +2,7 @@
 #include "LSM303.h"
 #include <math.h>
 
-LSM303::LSM303( PinName sda = p9, PinName scl = p10 ) : i2c( sda, scl ) {
+LSM303::LSM303( PinName sda = PTE0, PinName scl = PTE1 ) : i2c( sda, scl ) {
     // These are just some values for a particular unit; it is recommended that
     // a calibration be done for your particular unit.
     m_max.x = +540;

--- 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
 
 }