tugboat project
Dependencies: TinyGPS HMC5883L MMA8451Q mbed PwmIn
Diff: main.cpp
- Revision:
- 0:ee158c8007b4
- Child:
- 2:db76adcdf799
diff -r 000000000000 -r ee158c8007b4 main.cpp --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/main.cpp Mon Jul 29 22:58:20 2013 +0000 @@ -0,0 +1,45 @@ +#include "mbed.h" +#include "MMA8451Q.h" +#include "GPS.h" +#include "HMC5883L.h" + +#define MMA8451_I2C_ADDRESS (0x1d<<1) + +I2C i2c_bus(PTE0, PTE1); +MMA8451Q acc(PTE25, PTE24, MMA8451_I2C_ADDRESS); +HMC5883L compass(i2c_bus); +Serial pc(USBTX, USBRX); +Serial radio(PTC4, PTC3); +Timer t; +GPS gps(PTD3,PTD2); + +int main(void) { + + + + pc.baud(115200); + radio.baud(115200); + int16_t dCompass[3]; + float dAcc[3]; + compass.init(); + + + + + + while (true) { + + if(gps.sample()){ + pc.printf("lat: %.8f, lon: %.8f\r\n", gps.get_nmea_longitude(), gps.get_nmea_latitude()); + radio.printf("lat: %.8f, lon: %.8f\r\n", gps.get_nmea_longitude(), gps.get_nmea_latitude()); + } + + acc.getAccAllAxis(dAcc); + pc.printf("xA: %.4f, yA: %.4f, zA: %.4f\r\n", dAcc[0], dAcc[1], dAcc[2]); + radio.printf("xA: %.4f, yA: %.4f, zA: %.4f\r\n", dAcc[0], dAcc[1], dAcc[2]); + compass.getXYZ(dCompass); + pc.printf("xC: %4d, yC: %4d, zC: %4d\r\n", dCompass[0], dCompass[1], dCompass[2]); + radio.printf("xC: %4d, yC: %4d, zC: %4d\r\n", dCompass[0], dCompass[1], dCompass[2]); + wait(0.5); + } +} \ No newline at end of file