Diff: main.cpp

Revision:

0:e5337522df6f

Child:

1:d3ecb4ecdfda

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Sat Apr 19 01:30:29 2014 +0000
@@ -0,0 +1,117 @@
+#include "mbed.h"
+#include "MAG3110.h"
+#include "MPL3115A2.h"
+#include "FXOS8700Q.h"
+#include "MMA8652.h"
+#include "FXLS8471Q.h"
+#include "FXAS21000.h"
+
+#define MPL3115A2_I2C_ADDRESS (0x60<<1)
+
+
+DigitalOut  red(LED_RED);
+
+MAG3110   mag1(A4, A5);
+MAG3110   mag2(PTE25, PTE24); // Magnetometer on KL46 board
+
+FXLS8471Q acc1(D11, D12, D13, D10);
+MMA8652   acc2( A4, A5);
+MPL3115A2 alt( A4, A5, MPL3115A2_I2C_ADDRESS);
+FXOS8700Q combo( A4, A5, FXOS8700CQ_SLAVE_ADDR0);
+FXAS21000 gyro( A4, A5);
+
+Serial pc(USBTX, USBRX);
+
+
+
+float print_AltimiterValue( unsigned char *dt)
+{
+    unsigned short altm;
+    float faltm;
+
+    /*
+    * dt[0] = Bits 12-19 of 20-bit real-time Altitude sample. (b7-b0)
+    * dt[1] = Bits 4-11 of 20-bit real-time Altitude sample. (b7-b0)
+    * dt[2] = Bits 0-3 of 20-bit real-time Altitude sample (b7-b4)
+    */    
+    altm = (dt[0]<<8) | dt[1];
+    //
+    if ( dt[0] > 0x7F) {
+        altm = ~altm + 1;
+        faltm = (float)altm * -1.0f;
+    } else {
+        faltm = (float)altm * 1.0f;
+    }
+    //
+    faltm = faltm+((float)(dt[2]>>4) * 0.0625f);
+    return faltm;
+}
+
+float print_TemperatureValue( unsigned char *dt)
+{
+    unsigned short temp;
+    float ftemp;
+    
+    /*
+    * dt[0] = Bits 4-11 of 16-bit real-time temperature sample. (b7-b0)
+    * dt[1] = Bits 0-3 of 16-bit real-time temperature sample. (b7-b4)
+    */
+    temp = dt[0];
+    //
+    if ( dt[0] > 0x7F) {
+        temp = ~temp + 1;
+        ftemp = (float)temp * -1.0f;
+    } else {
+        ftemp = (float)temp * 1.0f;
+    }
+    //
+    ftemp = ftemp+((float)(dt[1]>>4) * 0.0625f);
+    return ftemp;
+
+}
+
+
+int main() {
+    //int who;
+    float acc_data[3], mag_data[3], gyro_data[3];
+    int16_t acc_raw[3];
+    unsigned char raw_data[8];
+    pc.baud(115200);
+    red = 1;
+    printf("\r\n\r\n\r\n");
+    alt.Altimeter_Mode();
+    printf("MMA8652   Who Am I= %X\r\n", acc2.getWhoAmI());
+    printf("FXOS8700  Who Am I= %X\r\n", combo.getWhoAmI());
+    printf("FXLS8471  Who Am I= %X\r\n", acc1.getWhoAmI());
+    printf("FXAS21000 Who Am I= %X\r\n", gyro.getWhoAmI());
+    wait(5.0);
+    while(1) {
+
+        acc1.ReadXYZ(acc_data);
+        printf("FXLS8471      X=%1.5f Y=%1.5f Z=%1.5f\r\n", acc_data[0], acc_data[1], acc_data[2]);
+        acc2.ReadXYZ(acc_data);
+        printf("MMA8652       X=%1.5f Y=%1.5f Z=%1.5f\r\n", acc_data[0], acc_data[1], acc_data[2]);        
+        combo.getAccAllAxis( acc_data);
+        combo.getMagAllAxis( mag_data);
+        printf("FXOS8700 Acc: X=%1.5f Y=%1.5f Z=%1.5f", acc_data[0], acc_data[1], acc_data[2]);
+        printf(" Mag: X=%4.1f Y=%4.1f Z=%4.1f\r\n", mag_data[0], mag_data[1], mag_data[2]);
+        mag1.ReadXYZ(mag_data);
+        printf("                                            ");
+        printf(" Mag1: X=%4.1f Y=%4.1f Z=%4.1f\r\n", mag_data[0], mag_data[1], mag_data[2]);
+        mag2.ReadXYZ(mag_data);
+        printf("                                            ");
+        printf(" Mag2: X=%4.1f Y=%4.1f Z=%4.1f\r\n", mag_data[0], mag_data[1], mag_data[2]);
+        alt.getAllDataRaw( &raw_data[0]);
+        printf("\r\nAlt: %5.1f\tT: %3.1f\r\n", print_AltimiterValue( &raw_data[0]), print_TemperatureValue( &raw_data[3]));
+        gyro.ReadXYZ(gyro_data);
+        printf("FXAS21000      X=%4.2f Y=%4.2f Z=%4.1f\r\n", gyro_data[0], gyro_data[1], gyro_data[2]);
+        acc1.ReadXYZraw(acc_raw);
+        printf("FXLS8471: X= %d Y= %d Z= %d\r\n\n\n", acc_raw[0], acc_raw[1], acc_raw[2]);
+        acc2.ReadXYZraw(acc_raw);
+        printf("MMA8652: X= %d Y= %d Z= %d\r\n\n\n", acc_raw[0], acc_raw[1], acc_raw[2]);
+        red = 1;
+        wait(0.5);
+        red = 0;
+        wait(0.5);
+        }
+}