Diff: main.cpp

Revision:

0:cda6d9f5a43c

diff -r 000000000000 -r cda6d9f5a43c main.cpp
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Mon Nov 26 05:34:56 2012 +0000
@@ -0,0 +1,55 @@
+#include "ITG3200.h"
+#include "ADXL345_I2C.h"
+
+Serial pc(USBTX, USBRX);
+ITG3200 gyro(p9, p10);
+ADXL345_I2C accel(p9, p10);
+
+int main() {
+    gyro.setWhoAmI(0x68);
+    pc.printf("Now starting 6-degrees-of-freedom (ITG-3200 ADXL345) test...\n");
+    pc.printf("Accelerometer Device ID is: 0x%02x\n", accel.getDeviceID());
+    pc.printf("Gyro Devide ID is: 0x02x\n", gyro.getWhoAmI());
+    
+    int accel_read[3] = {0, 0, 0};
+    
+    // Accel setup
+    // These are here to test whether any of the initialization fails. It will print the failure
+    if (accel.setPowerControl(0x00)){
+         pc.printf("didn't intitialize power control\n"); 
+         return 0;  }
+    //Full resolution, +/-16g, 4mg/LSB.
+    wait(.001);
+     
+    if(accel.setDataFormatControl(0x0B)){
+        pc.printf("didn't set data format\n");
+        return 0;  }
+    wait(.001);
+    
+    //3.2kHz data rate.
+    if(accel.setDataRate(ADXL345_3200HZ)){
+       pc.printf("didn't set data rate\n");
+       return 0;    }
+    wait(.001);
+    
+    //Measurement mode.
+    
+    if(accel.setPowerControl(MeasurementMode)) {
+       pc.printf("didn't set the power control to measurement\n"); 
+       return 0;   
+    }
+     
+    // Gyro setup   
+    gyro.setLpBandwidth(LPFBW_42HZ);
+
+    while (1) {
+        wait(0.1);
+        
+        accel.getOutput(accel_read);
+        
+        pc.printf("Gyro[%5i, %5i, %5i]   Accel[%4i, %4i, %4i]\n", 
+                            gyro.getGyroX(), gyro.getGyroY(), gyro.getGyroZ(),
+                            (int16_t)accel_read[0], (int16_t)accel_read[1], (int16_t)accel_read[2]);
+    }
+    
+}