Diff: main.cpp

Revision:

32:eb673f6f5734

Parent:

31:20a95043adb0

Child:

33:74c514aea0a1

--- a/main.cpp	Thu Dec 27 00:42:35 2018 +0000
+++ b/main.cpp	Thu Dec 27 15:46:57 2018 +0000
@@ -62,7 +62,7 @@
     led1 = !led1;
     d.timestamp = Kernel::get_ms_count();
     d.encoder = u->encoder();
-    u->gyro(d.gyro, dt);
+    u->imu(d.gyro, d.accel, d.mag, dt);
     logQueue.call(&logger, &Logger::log_sensors, d);
 }
 
@@ -141,16 +141,21 @@
     printf("%d %f\n", svcount, hdop);
 }
 
-void read_gyro(int argc, char **argv) 
+void read_imu(int argc, char **argv) 
 {
     int g[3];
+    int a[3];
+    int m[3];
     float dt;
     
     Updater *u = Updater::instance();
     
-    u->gyro(g, dt);
-    
-    printf("Gyro: %d, %d, %d - dt: %f\n", g[0], g[1], g[2], dt);
+    u->imu(g, a, m, dt);
+   
+    printf("  Gyro: %d, %d, %d\n", g[0], g[1], g[2]);
+    printf(" Accel: %d, %d, %d\n", a[0], a[1], a[2]);
+    printf("   Mag: %d, %d, %d\n", m[0], m[1], m[2]);
+    printf("    dt: %f\n", dt);
 }
 
 void read_enc(int argc, char **argv)
@@ -263,7 +268,7 @@
 
     printf("Starting shell...\n");
     sh.command(test, "test");
-    sh.command(read_gyro, "gyro");
+    sh.command(read_imu, "imu");
     sh.command(read_enc, "enc");
     sh.command(read_gps, "gps");
     sh.command(reset, "reset");