Diff: Source/main.cpp

Revision:

0:772bf4786416

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/Source/main.cpp	Sat Mar 21 12:33:05 2015 +0000
@@ -0,0 +1,148 @@
+#include "mbed.h"
+#define _MBED_
+#include "Adafruit_9DOF.h"
+#include "Serial_base.h"
+
+
+
+/* Assign a unique ID to the sensors */
+
+Adafruit_9DOF                 dof   = Adafruit_9DOF();
+
+Adafruit_LSM303_Accel_Unified accel = Adafruit_LSM303_Accel_Unified(30301);
+
+Adafruit_LSM303_Mag_Unified   mag   = Adafruit_LSM303_Mag_Unified(30302);
+
+
+/* Update this with the correct SLP for accurate altitude measurements */
+
+float seaLevelPressure = SENSORS_PRESSURE_SEALEVELHPA;
+
+
+/**************************************************************************
+/
+/
+    @brief  Initialises all the sensors used by this example
+
+/
+**************************************************************************/
+
+void initSensors()
+{
+
+  if(!accel.begin())
+  {
+ 
+   /* There was a problem detecting the LSM303 ... check your connections */
+    
+    s_com->println(("Ooops, no LSM303 detected ... Check your wiring!"));
+
+    while(1);
+
+  }
+  if(!mag.begin())
+  {
+
+    /* There was a problem detecting the LSM303 ... check your connections */
+
+    s_com->println("Ooops, no LSM303 detected ... Check your wiring!");
+
+    while(1);
+
+  }
+
+}
+/**************************************************************************/
+
+
+
+/**************************************************************************/
+
+void setup(void)
+{
+
+  
+
+  s_com->println(("Adafruit 9 DOF Pitch/Roll/Heading Example"));
+ s_com->println("");
+
+  
+  /* Initialise the sensors */
+
+  initSensors();
+
+}
+
+
+/**************************************************************************
+/
+/
+    @brief  Constantly check the roll/pitch/heading/altitude/temperature
+
+**************************************************************************/
+
+void loop(void)
+{
+
+  sensors_event_t accel_event;
+
+  sensors_event_t mag_event;
+
+  sensors_vec_t   orientation;
+
+
+  /* Calculate pitch and roll from the raw accelerometer data */
+
+  accel.getEvent(&accel_event);
+
+  if (dof.accelGetOrientation(&accel_event, &orientation))
+  {
+
+    /* 'orientation' should have valid .roll and .pitch fields */
+
+    s_com->print(("Roll: "));
+
+    s_com->print(orientation.roll);
+
+    s_com->print(("; "));
+
+    s_com->print(("Pitch: "));
+
+
+    s_com->print(orientation.pitch);
+
+    s_com->print(("; "));
+
+  }
+
+  
+  /* Calculate the heading using the magnetometer */
+
+  mag.getEvent(&mag_event);
+
+  if (dof.magGetOrientation(SENSOR_AXIS_Z, &mag_event, &orientation))
+  {
+
+    /* 'orientation' should have valid .heading data now */
+
+    s_com->print(("Heading: "));
+
+    s_com->print(orientation.heading);
+
+    s_com->print(("; "));
+
+  }
+
+
+  s_com->println((""));
+
+  wait(0.1);
+
+}
+    
+int main()
+{
+    setup();
+    while(1)
+        loop();
+}
\ No newline at end of file