Diff: main.cpp

Revision:

0:9410b3e6aea5

Child:

1:18f68a0b0793

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Fri Oct 07 21:31:36 2011 +0000
@@ -0,0 +1,85 @@
+#include "mbed.h"
+#include "HMC5843.h"
+#include "ADXL345.h"
+#include "ITG3200.h"
+
+DigitalOut myled(LED1);
+
+HMC5843 cmp(p28, p27);      // sda, scl
+ADXL345 acc(p28, p27);      // sda, scl
+ITG3200 gyr(p28, p27);      // sda, scl
+Serial pc(USBTX, USBRX);    // tx, rx
+
+int main() {
+    pc.baud(115200);
+    //values x,y,z
+    int readings[3];
+    //ID Buffer
+    char buffer[3];
+    
+    pc.printf("%c" ,13,10,13,10,13,10);
+    
+    // do init stuff
+    //Continuous mode, , 10Hz measurement rate.
+    // HMC5843_CONTINUOUS, HMC5843_10HZ_NORMAL HMC5843_1_0GA
+    cmp.setDefault();
+    //Wait some time(Need at least 5ms)
+    wait(0.1);
+    cmp.getAddress(buffer);
+    pc.printf("cmp Id=%c%c%c \n\r",buffer[0],buffer[1],buffer[2]);
+ 
+    // These are here to test whether any of the initialization fails. It will print the failure
+    if (acc.setPowerControl(0x00)){
+         pc.printf("acc: didn't intitialize power control\n"); 
+         return 0;  }
+    wait(.001);
+    
+    //Full resolution, +/-16g, 4mg/LSB.
+    if(acc.setDataFormatControl(0x0B)){
+        pc.printf("didn't set data format\n");
+        return 0;  }
+    wait(.001);
+     
+    //3.2kHz data rate.
+    if(acc.setDataRate(ADXL345_3200HZ)){
+        pc.printf("didn't set data rate\n");
+        return 0;    }
+    wait(.001);
+     
+    //Measurement mode.
+    if(acc.setPowerControl(MeasurementMode)) {
+        pc.printf("didn't set the power control to measurement\n"); 
+        return 0;   } 
+
+    pc.printf("Acc Id=%x \n\r", acc.getDeviceID());
+    pc.printf("%c" ,13,10);
+
+    //Set highest bandwidth.
+    gyr.setLpBandwidth(LPFBW_256HZ);
+    pc.printf("Gyro Id=%x \n\r", gyr.getWhoAmI());
+    pc.printf("%c" ,13,10);
+
+    wait(1);
+
+    while (1) {
+
+        cmp.readData(readings);
+        pc.printf("C %+4i %+4i %+4i",(int16_t)readings[0],(int16_t)readings[1],(int16_t)readings[2]);
+        wait(0.05);
+
+        acc.getOutput(readings);
+        pc.printf(" A %+5i %+5i %+5i",(int16_t)readings[0],(int16_t)readings[1],(int16_t)readings[2]);
+        wait(0.05);
+        
+        pc.printf(" G %+5i %+5i %+5i",(int16_t)gyr.getGyroX(),(int16_t)gyr.getGyroY(),(int16_t)gyr.getGyroX());
+        pc.printf("%c" ,13,10);        
+        wait(0.05);
+        
+        if (myled) {
+            myled=0;
+        } else {
+            myled=1;
+        }
+        
+    }
+}