Diff: main.cpp

Revision:

3:9424c6493a75

Parent:

0:07431908151a

Child:

4:fdba5e452d36

diff -r 03deb0182a20 -r 9424c6493a75 main.cpp
--- a/main.cpp	Fri Sep 08 02:51:46 2017 +0000
+++ b/main.cpp	Fri Sep 08 18:01:40 2017 +0000
@@ -35,31 +35,34 @@
    MPU6050 mpu6050;
    
    Timer t;
+
+   Serial pc(USBTX, USBRX); // tx, rx
         
 int main()
 {
+  pc.baud(9600);  
+
   //Set up I2C
   i2c.frequency(400000);  // use fast (400 kHz) I2C   
   
-  t.start(); 
+  t.start();          
     
   // Read the WHO_AM_I register, this is a good test of communication
   uint8_t whoami = mpu6050.readByte(MPU6050_ADDRESS, WHO_AM_I_MPU6050);  // Read WHO_AM_I register for MPU-6050
-  //pc.printf("I AM 0x%x\n\r", whoami); pc.printf("I SHOULD BE 0x68\n\r");
+  pc.printf("I AM 0x%x\n\r", whoami); pc.printf("I SHOULD BE 0x68\n\r");
   
   if (whoami == 0x68) // WHO_AM_I should always be 0x68
   {  
+    pc.printf("MPU6050 is online...");
     wait(1);
     
     mpu6050.MPU6050SelfTest(SelfTest); // Start by performing self test and reporting values
-    /*
     pc.printf("x-axis self test: acceleration trim within : "); pc.printf("%f", SelfTest[0]); pc.printf("% of factory value \n\r");
     pc.printf("y-axis self test: acceleration trim within : "); pc.printf("%f", SelfTest[1]); pc.printf("% of factory value \n\r");
     pc.printf("z-axis self test: acceleration trim within : "); pc.printf("%f", SelfTest[2]); pc.printf("% of factory value \n\r");
     pc.printf("x-axis self test: gyration trim within : "); pc.printf("%f", SelfTest[3]); pc.printf("% of factory value \n\r");
     pc.printf("y-axis self test: gyration trim within : "); pc.printf("%f", SelfTest[4]); pc.printf("% of factory value \n\r");
     pc.printf("z-axis self test: gyration trim within : "); pc.printf("%f", SelfTest[5]); pc.printf("% of factory value \n\r");
-    */
     wait(1);
 
     if(SelfTest[0] < 1.0f && SelfTest[1] < 1.0f && SelfTest[2] < 1.0f && SelfTest[3] < 1.0f && SelfTest[4] < 1.0f && SelfTest[5] < 1.0f) 
@@ -72,26 +75,15 @@
        }
     else
     {
-    /*
     pc.printf("Device did not the pass self-test!\n\r");
  
-       lcd.clear();
-       lcd.printString("MPU6050", 0, 0);
-       lcd.printString("no pass", 0, 1);
-       lcd.printString("self test", 0, 2);      */
       }
     }
     else
     {
-    /*pc.printf("Could not connect to MPU6050: \n\r");
+    pc.printf("Could not connect to MPU6050: \n\r");
     pc.printf("%#x \n",  whoami);
  
-    lcd.clear();
-    lcd.printString("MPU6050", 0, 0);
-    lcd.printString("no connection", 0, 1);
-    lcd.printString("0x", 0, 2);  lcd.setXYAddress(20, 2); lcd.printChar(whoami);
- */
- 
     while(1) ; // Loop forever if communication doesn't happen
   }
 
@@ -140,7 +132,6 @@
     delt_t = t.read_ms() - count;
     if (delt_t > 500) { // update LCD once per half-second independent of read rate
 
-    /*
     pc.printf("ax = %f", 1000*ax); 
     pc.printf(" ay = %f", 1000*ay); 
     pc.printf(" az = %f  mg\n\r", 1000*az); 
@@ -156,14 +147,6 @@
     pc.printf("q2 = %f\n\r", q[2]);
     pc.printf("q3 = %f\n\r", q[3]);      
     
-    lcd.clear();
-    lcd.printString("MPU6050", 0, 0);
-    lcd.printString("x   y   z", 0, 1);
-    lcd.setXYAddress(0, 2); lcd.printChar((char)(1000*ax));
-    lcd.setXYAddress(20, 2); lcd.printChar((char)(1000*ay));
-    lcd.setXYAddress(40, 2); lcd.printChar((char)(1000*az)); lcd.printString("mg", 66, 2);
-    */
-    
     
   // Define output variables from updated quaternion---these are Tait-Bryan angles, commonly used in aircraft orientation.
   // In this coordinate system, the positive z-axis is down toward Earth. 
@@ -189,10 +172,10 @@
 //    pc.printf("%f\n\r", roll);
 //    pc.printf("average rate = "); pc.printf("%f", (sumCount/sum)); pc.printf(" Hz\n\r");
 
-     //pc.printf("Yaw, Pitch, Roll: %f %f %f\n\r", yaw, pitch, roll);
-     //pc.printf("average rate = %f\n\r", (float) sumCount/sum);
+     pc.printf("Yaw, Pitch, Roll: %f %f %f\n\r", yaw, pitch, roll);
+     pc.printf("average rate = %f\n\r", (float) sumCount/sum);
  
-    //myled= !myled;
+    myled= !myled;
     count = t.read_ms(); 
     sum = 0;
     sumCount = 0;