void *BMP085Loop(void *some_void_ptr)
{
struct TBMP bmp;
struct TGPS *GPS;
GPS = (struct TGPS *)some_void_ptr;
// Initialise BMP085
if (bmp.fd = open_i2c(BMP085_ADDRESS))
{
int NoBMP;
NoBMP = bmp085Calibration(&bmp);
close(bmp.fd);
if (NoBMP)
{
return 0;
}
}
else
{
return 0;
}
while (1)
{
if (bmp.fd = open_i2c(BMP085_ADDRESS))
{
GPS->BMP180Temperature = bmp085GetTemperature(&bmp);
GPS->Pressure = bmp085GetPressure(&bmp, GPS->BMP180Temperature);
// printf("Temperature is %5.2lf\n", GPS->BMP180Temperature);
// printf("Pressure is %5.2lf\n", GPS->Pressure);
close(bmp.fd);
}
sleep(10);
}
return 0;
}
int main(void) {
int16 acc[3];
int16 gyro[3];
int16 mag[3];
int16 temperature = 0;
int32 pressure = 0;
int32 centimeters = 0;
i2c_master_enable(I2C1, I2C_FAST_MODE);
delay(200);
initAcc();
delay(200);
initGyro();
delay(200);
zeroCalibrateGyroscope(128,5);
compassInit(false);
compassCalibrate(1);
compassSetMode(0);
bmp085Calibration();
while(1) {
getAccelerometerData(acc); //Read acceleration
SerialUSB.print("Accel: ");
SerialUSB.print(acc[0]);
SerialUSB.print(" ");
SerialUSB.print(acc[1]);
SerialUSB.print(" ");
SerialUSB.print(acc[2]);
getGyroscopeData(gyro); //Read acceleration
SerialUSB.print(" Gyro: ");
SerialUSB.print(gyro[0]);
SerialUSB.print(" ");
SerialUSB.print(gyro[1]);
SerialUSB.print(" ");
SerialUSB.print(gyro[2]);
getMagnetometerData(mag); //Read acceleration
SerialUSB.print(" Mag: ");
SerialUSB.print(mag[0]);
SerialUSB.print(" ");
SerialUSB.print(mag[1]);
SerialUSB.print(" ");
SerialUSB.print(mag[2]);
temperature = bmp085GetTemperature(bmp085ReadUT());
pressure = bmp085GetPressure(bmp085ReadUP());
centimeters = bmp085GetAltitude();
SerialUSB.print(" Temp: ");
SerialUSB.print(temperature, DEC);
SerialUSB.print(" *0.1 deg C ");
SerialUSB.print("Pressure: ");
SerialUSB.print(pressure, DEC);
SerialUSB.print(" Pa ");
SerialUSB.print("Altitude: ");
SerialUSB.print(centimeters, DEC);
SerialUSB.print(" cm ");
SerialUSB.println(" ");
delay(100);
}
return 0;
}
