Diff: main.cpp

Revision:

3:95fecaa76b4a

Parent:

2:2ef63ab235bf

Child:

4:e89d74a1d9f5

--- a/main.cpp	Tue Mar 18 17:29:44 2014 +0000
+++ b/main.cpp	Sun Mar 22 16:17:19 2015 +0000
@@ -18,6 +18,7 @@
 Serial pc(USBTX, USBRX);    // tx, rx for USB debug printf to terminal console
 I2C i2c(p28, p27);          // LPC1768 I2C pin allocation
 
+
 // Globals
 int16_t const   Offset_mX=-40.0;
 int16_t const   Offset_mY=-115.0;
@@ -88,16 +89,14 @@
 #endif
     
     pc.printf("--------------------------------------\n \n");
-    wait(1); // Wait for settings to stabilize
+    wait(2); // Wait for settings to stabilize
     }    
     
 void LPS331(SensorState_t state)
 // Read the pressure sensor
 {
-    uint8_t             tempL,tempH,pressXL,pressL,pressH;
+    uint8_t             tempL,tempH;
     int16_t             temp;
-    int32_t             press24;
-    float               pressure;
     
     // Measure temperature
     tempL=readByte(LPS331addr,pTEMP_OUT_L);
@@ -107,19 +106,7 @@
     state.tempC=((float) temp / 480.0) + 42.5; // per equation on page 29 of the spec
 
     pc.printf("Pressure sensor temperature %.1f degreesC \n",state.tempC);
-    
-    // Pressure test
-    pressXL=readByte(LPS331addr,pPRESS_OUT_XL);
-    pressL=readByte(LPS331addr,pPRESS_OUT_L);
-    pressH=readByte(LPS331addr,pPRESS_OUT_H);
-    
-    press24=(pressH << 16) | (pressL << 8) | pressXL ; // 24-bit 2's complement data
-    pressure = (float)press24/4096.0; // Sensitivity is 4096 LSB per milibar
-    
-    pc.printf("Pressure %.1f mbars or %.1f inches Hg\n", pressure, (pressure*0.0295)+0.029);
-
-    }
-
+}
 void LSM303 (SensorState_t * state)
 // Magnetometer and accelerometer
 {
@@ -175,9 +162,9 @@
     state->heading=heading;
     state->pitch=pitch;
     state->roll=roll;
-    
-    pc.printf("Orientation (deg):       Pitch: %5.1f         Roll: %5.1f          Heading: %5.1f     \n",pitch*RadtoDeg,roll*RadtoDeg,heading);
-    pc.printf("Acceleration (mg):       Forward: %5hd       Left: %5hd          Up: %5hd \n",aX,aY,aZ);    
+    //5.1f 
+    pc.printf("Orientation (deg):   Rot_X: %0.0f    Rot_Y: %0.0f     Rot_Z: %0.0f \n",roll*RadtoDeg,pitch*RadtoDeg,heading);
+    pc.printf("Acceleration (mg):   X: %5hd         Y: %5hd          Z: %5hd \n",aX,aY,aZ);    
     
 }
 
@@ -211,12 +198,12 @@
 {
     SensorState_t   state;
     initSensors();
-
+    pc.baud(115200);
     while(1)
     {
-        
+    
 #ifdef LPS331_on
-    LPS331(state);
+    //LPS331(state);
 #endif
 
 #ifdef LSM303_on
@@ -224,13 +211,10 @@
 #endif
 
 #ifdef L3GD20_on
-    L3GD20();
+    //L3GD20();
 #endif
     
     pc.printf("\n");
-    wait(.5);
+    wait(.1);
     } 
-}
-    
-
-    
+}
\ No newline at end of file