Code to demo/test out my IMU board

Dependencies:   mbed ITG3200_lib HMC5843_lib

Files at this revision

API Documentation at this revision

Comitter:
atommota
Date:
Tue Feb 22 23:50:00 2011 +0000
Commit message:

Changed in this revision

HMC5843_lib.lib Show annotated file Show diff for this revision Revisions of this file
ITG3200_lib.lib Show annotated file Show diff for this revision Revisions of this file
LIS331_lib.lib Show annotated file Show diff for this revision Revisions of this file
main.cpp Show annotated file Show diff for this revision Revisions of this file
mbed.bld Show annotated file Show diff for this revision Revisions of this file
diff -r 000000000000 -r 57375160cf48 HMC5843_lib.lib
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/HMC5843_lib.lib	Tue Feb 22 23:50:00 2011 +0000
@@ -0,0 +1,1 @@
+http://mbed.org/users/atommota/code/HMC5843_lib/#63ccd7376105
diff -r 000000000000 -r 57375160cf48 ITG3200_lib.lib
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/ITG3200_lib.lib	Tue Feb 22 23:50:00 2011 +0000
@@ -0,0 +1,1 @@
+http://mbed.org/users/atommota/code/ITG3200_lib/#03dd788f437f
diff -r 000000000000 -r 57375160cf48 LIS331_lib.lib
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/LIS331_lib.lib	Tue Feb 22 23:50:00 2011 +0000
@@ -0,0 +1,1 @@
+http://mbed.org/users/atommota/code/LIS331_lib/#7eeb1fe4d787
diff -r 000000000000 -r 57375160cf48 main.cpp
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Tue Feb 22 23:50:00 2011 +0000
@@ -0,0 +1,82 @@
+#include "mbed.h"
+#include "LIS331.h"
+#include "ITG3200.h"
+#include "HMC5843.h"
+//#include "SDHCFileSystem.h"
+
+// Define binary expansions if needed
+//#define Ob(x)  ((unsigned)Ob_(0 ## x ## uL))
+//#define Ob_(x) (x & 1 | x >> 2 & 2 | x >> 4 & 4 | x >> 6 & 8 |        \
+//  x >> 8 & 16 | x >> 10 & 32 | x >> 12 & 64 | x >> 14 & 128)
+
+
+
+//SDFileSystem sd(p5, p6, p7, p8, "sd");
+Serial pc(USBTX, USBRX);
+LIS331 accel(p9, p10);
+ITG3200 gyro(p9, p10);
+HMC5843 compass(p9, p10);
+Timer t;
+DigitalOut success_led(LED4);
+DigitalOut progress_led(LED3);
+DigitalOut error_led(LED1);
+
+int readings[3];
+
+int main() {
+    success_led = 0;
+    error_led = 0;
+    pc.printf("Now starting LIS331/ITG-3200 acceptance test...\n\r");
+    
+    // Set Highest Gyro Bandwidth
+    gyro.setLpBandwidth(LPFBW_256HZ);
+    
+    // Set 8g range on accel
+    accel.setFullScaleRange8g();
+    
+    //Continuous mode, , 10Hz measurement rate.
+    // HMC5843_CONTINUOUS, HMC5843_10HZ_NORMAL HMC5843_1_0GA
+    compass.setDefault();
+    
+    //FILE *fp = fopen("/sd/data.txt", "w");
+    //if(fp == NULL) {
+    //    error_led = 1;  // crap something went wrong
+    //    error("Could not open file for write\n");
+    //}
+    //success_led = 1;    // file is open for writing!
+    
+        
+    pc.printf("Accel Address:%x\n\r",accel.getWhoAmI());
+    pc.printf("Gyro Address:%x\n\r",gyro.getWhoAmI());
+    pc.printf("Temp(C):%f\n\r",gyro.getTemperature());
+    
+    wait(0.9);
+
+
+
+
+    t.start();  // Start our timer
+    while (1) {
+        progress_led = 1;
+        //Arbitrary wait for printf clarity.
+        wait(0.3);
+        compass.readData(readings);
+    
+        
+        pc.printf("\n\r%f,", t.read());     // get current time in seconds
+        pc.printf("%f,%f,%f,", (float)accel.getAccelX(), (float)accel.getAccelY(), (float)accel.getAccelZ());
+        pc.printf("%f,%f,%f", (float)gyro.getGyroX() / 14.375, (float)gyro.getGyroY() / 14.375, (float)gyro.getGyroZ() / 14.375);
+
+        // uncomment next line to enable output of mag values
+        //pc.printf(",%i,%i,%i", (int16_t)readings[0],(int16_t)readings[1],(int16_t)readings[2]);
+        
+        progress_led = 0;
+        if (t.read() > 240) {    // quit after 240 seconds, change it to however long you want to record for
+            break;  // LED3 will remain off when done writing to card
+        }
+    }
+    
+wait(0.5);
+    
+// fclose(fp);     // Need to add Physical_Switch --> DigitalIn --> Int --> fclose()
+}
\ No newline at end of file
diff -r 000000000000 -r 57375160cf48 mbed.bld
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/mbed.bld	Tue Feb 22 23:50:00 2011 +0000
@@ -0,0 +1,1 @@
+http://mbed.org/users/mbed_official/code/mbed/builds/9a9732ce53a1