Diff: main.cpp

Revision:

0:6ff6b64d1bef

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Thu Oct 06 23:29:47 2016 +0000
@@ -0,0 +1,61 @@
+/*
+*LSM6DSS can provide readings up to 6.6khz for acc and gyr
+*LIS3MDL can only do 80hz
+*LPS25H can do up to 25Hz
+*
+*/
+
+#include "mbed.h"
+#include "USBSerial.h"
+#include "lis3mdl.h"
+#include "LPS25H.h"
+#include "LSM6DS33.h"
+ 
+LIS3MDL mag(PTB3, PTB2);
+LPS25H bar(PTB3, PTB2);
+LSM6DS33 accgyr(PTB3, PTB2,LSM6DS33_AG_I2C_ADDR(1));
+
+Timer tmain;
+ 
+//Virtual serial port over USB
+USBSerial serial;
+ 
+int main(void) {
+ 
+    accgyr.begin();
+    
+    double timeLog=0;
+    tmain.start();
+    timeLog +=tmain.read();
+    
+    //run main loop at 100Hz
+    double mainPeriod = 0.01;
+    //sample acc/gyr/mag at full rate
+   
+    serial.printf("begin teensyIMU\r\n");
+    
+    while(1)
+    {
+       
+        if(tmain.read()< mainPeriod){
+            wait(mainPeriod - tmain.read());//wait until time for next main loop
+        }else{
+             serial.printf("not fast enough\r\n");   
+        }
+        timeLog +=tmain.read();
+        tmain.reset();
+        
+        //read accgyr at full rate
+        
+        accgyr.readAll();
+        mag.readMag();
+        
+        bar.readPres();
+        
+        serial.printf("tIMU:%.9lf %f %f %f %f %f %f %f %d %d %d %f\r\n",timeLog,accgyr.temperature_c,
+            accgyr.ax,accgyr.ay,accgyr.az,
+            accgyr.gx,accgyr.gy,accgyr.gz,
+            mag.mx_raw,mag.my_raw,mag.mz_raw,
+            bar.presPa);
+    }
+}