Diff: main.cpp

Revision:

2:4bc4e25328cc

Parent:

0:bfb567985c64

Child:

3:58ebc00f1a68

--- a/main.cpp	Fri Feb 13 09:49:00 2015 +0000
+++ b/main.cpp	Mon Aug 31 23:37:07 2015 +0000
@@ -17,133 +17,58 @@
 */
 
 #include "mbed.h"
-#include "MAG3110.h"
 #include "FXOS8700Q.h"
-#include "MMA8652.h"
-#include "FXLS8471Q.h"
 #include "FXAS21000.h"
 
-// Requires a Freescale-compatible platform. Comment if you're getting weird results for the alt or any other sensor. Also check the interrupt params below.
-#define FSL_COMPATIBLE
-#if defined(FSL_COMPATIBLE)
-    #define MPL3115A2_I2C_ADDRESS (0x60<<1)
-    #include "MPL3115A2.h" 
-    
-    MPL3115A2 alt(D14, D15, MPL3115A2_I2C_ADDRESS, D4, D3);
-#endif
 
-FXLS8471Q acc1(D11, D12, D13, D10);
-MMA8652   acc2(D14, D15);
-FXOS8700Q_acc combo_acc(D14, D15, FXOS8700CQ_SLAVE_ADDR0);
-FXOS8700Q_mag combo_mag(D14, D15, FXOS8700CQ_SLAVE_ADDR0);
-MAG3110   mag2(D14, D15);
-FXAS21000 gyro(D14, D15);
+//FXOS8700Q_acc combo_acc(D14, D15, FXOS8700CQ_SLAVE_ADDR0);
+//FXOS8700Q_mag combo_mag(D14, D15, FXOS8700CQ_SLAVE_ADDR0);
+FXOS8700Q_acc combo_acc(A5, A4, FXOS8700CQ_SLAVE_ADDR0);
+FXOS8700Q_mag combo_mag(A5, A4, FXOS8700CQ_SLAVE_ADDR0);
+//FXAS21000 gyro(D14, D15);
+FXAS21000 gyro(A5, A4);
 
+//PwmOut M1(PTB18);
+PwmOut M1(D13);
+PwmOut M2(D12);
+PwmOut M3(D11);
+PwmOut M4(D10);
 
 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()
 {
-    float acc_data[3], gyro_data[3];
+    float gyro_data[3];
     MotionSensorDataUnits adata;
     MotionSensorDataUnits mdata;
-    int16_t acc_raw[3];
-
+    
     printf("\r\nStarting\r\n\r\n");
-
+    
+    M1.period(0.02f);               //Comparten el mismo timer
+    M1.pulsewidth(0.0006f);
+    M2.pulsewidth(0.0006f);
+    M3.pulsewidth(0.0006f);
+    M4.pulsewidth(0.0006f);
+    
     combo_acc.enable();
     combo_mag.enable();
-    mag2.enable();
-    printf("FXLS8471 Acc   = %X\r\n", acc1.getWhoAmI());
-    printf("MMA8652 Acc    = %X\r\n", acc2.getWhoAmI());
     printf("FXOS8700 Combo = %X\r\n", combo_acc.whoAmI());
-    printf("MAG3110 Mag    = %X\r\n", mag2.whoAmI());
     printf("FXAS21000 Gyro = %X\r\n", gyro.getWhoAmI());
     
-    #if defined(FSL_COMPATIBLE)
-        unsigned char alt_data[8];
-        alt.Altimeter_Mode();
-        printf("MPL3115A2 Alt  = %X\r\n", alt.getDeviceID());  // May only be used on a Freescale platform, comment out for others
-    #endif
-    
     wait(3);
     
     while(1) {
-        acc1.ReadXYZ(acc_data);
-        acc1.ReadXYZraw(acc_raw);
-        printf("FXLS8471 Acc:   X:%6.3f Y:%6.3f Z:%6.3f (Raw X:%4d Y:%4d Z:%4d)\r\n", acc_data[0], acc_data[1], acc_data[2], acc_raw[0], acc_raw[1], acc_raw[2]);
-
-        acc2.ReadXYZ(acc_data);
-        acc2.ReadXYZraw(acc_raw);
-        printf("MMA8652 Acc:    X:%6.3f Y:%6.3f Z:%6.3f (Raw X:%4d Y:%4d Z:%4d)\r\n", acc_data[0], acc_data[1], acc_data[2], acc_raw[0], acc_raw[1], acc_raw[2]);
-
         combo_acc.getAxis(adata);
         printf("FXOS8700 Acc:   X:%6.3f Y:%6.3f Z:%6.3f\r\n", adata.x, adata.y, adata.z);
         
         combo_mag.getAxis(mdata);
         printf("FXOS8700 Mag:   X:%6.2f Y:%6.2f Z:%6.2f\r\n", mdata.x, mdata.y, mdata.z);
 
-        mag2.getAxis(mdata);
-        printf("MAG3110 Mag:    X:%6.2f Y:%6.2f Z:%6.2f\r\n", mdata.x, mdata.y, mdata.z);
-
         gyro.ReadXYZ(gyro_data);
         printf("FXAS21000 Gyro: X:%6.2f Y:%6.2f Z:%6.2f\r\n", gyro_data[0], gyro_data[1], gyro_data[2]);
-        
-        #if defined(FSL_COMPATIBLE)
-            alt.getAllDataRaw(&alt_data[0]);  // May only be used on a Freescale platform, comment out for others
-            printf("MPL3115A2 Alt:  %5.1f\r\n", print_AltimiterValue(&alt_data[0]));  // May only be used on a Freescale platform, comment out for others
-            printf("MPL3115A2 Temp: %3.1f\r\n", print_TemperatureValue(&alt_data[3]));  // May only be used on a Freescale platform, comment out for others
-        #endif
-
+    
         printf("\r\n");
         
-        wait(1);
+        wait(0.5);
     }
 }