Diff: main.cpp

Revision:

5:63b115f85aa7

Parent:

4:8a77e21d08f1

--- a/main.cpp	Tue Nov 06 19:06:58 2012 +0000
+++ b/main.cpp	Fri Nov 09 18:33:29 2012 +0000
@@ -29,10 +29,11 @@
 //ADXL345UNIT accel_test(i2c_bus, t);
 
 void sample_time_test();
+void itg3200_curve_test();
 
 int main()
 {
-    sample_time_test();
+    itg3200_curve_test();
 }
 
 void sample_time_test()
@@ -127,11 +128,14 @@
     DigitalOut myled(LED1);
     LocalFileSystem local("local");               // Create the local filesystem under the name "local"
     ITG3200 gyro(p28, p27); // sda, scl - gyro
+    
+    /*
     const float offset[3] = {99.5, -45.0, -29.7}; // taken from itg3200.xls curve fit test
     const float slope[3] = {-1.05, 0.95, 0.47};
 
     gyro.setCalibrationCurve(offset, slope);
-    gyro.setLpBandwidth(LPFBW_5HZ); // lowest rate low-pass filter
+    gyro.setLpBandwidth(LPFBW_42HZ); 
+    */
 
     Serial pc(USBTX, USBRX);
 
@@ -146,11 +150,10 @@
 
     for(int i = 0; i < 120; i++) { // 120 seconds - 600 samples
         myled = 1;
-        //gyro.calibrate(1.0);
-        wait(0.5);
+        gyro.calibrate(1.0);
         myled = 0;
-        gyro.getXYZ(gyro_readings, ITG3200::Calibration);
-        //gyro.getOffset(gyro_readings);
+        //gyro.getXYZ(gyro_readings, ITG3200::Calibration);
+        gyro.getOffset(gyro_readings);
         temperature = gyro.getTemperature();
         pc.printf("%3d,%f,%d,%d,%d\r\n",i,temperature,gyro_readings[0],gyro_readings[1],gyro_readings[2]);
         fprintf(fp, "%f,%d,%d,%d\r\n",temperature,gyro_readings[0],gyro_readings[1],gyro_readings[2]);