void getIMUReadings( ADXL345& a, BMP085& b, HMC5883L& c, L3G4200D& g)
{
a.readAccel(); // WORKING
b.calculateAll(); // WORKING
g.computeValues(); // appears to be WORKING
c.readCompassHeading(); // appears to be WORKING
}
/// reading LIS302DL
void MiniBeeV2::readAccelleroTWI( int dboff ){
int accx, accy, accz;
unsigned int accx2, accy2, accz2;
#if MINIBEE_REVISION == 'A'
/// reading LIS302DL
data[dboff] = readTWI( accel1Address, accelResultX, 1 ) + 128 % 256;
data[dboff+1] = readTWI( accel1Address, accelResultY, 1 ) + 128 % 256;
data[dboff+2] = readTWI( accel1Address, accelResultZ, 1 ) + 128 % 256;
#endif
/// reading ADXL345 Accelerometer
#if MINIBEE_REVISION == 'B'
accel.readAccel( &accx, &accy, &accz );
accx2 = (unsigned int) (accx + 4096); // from twos complement signed int to unsigned int
accy2 = (unsigned int) (accy + 4096); // from twos complement signed int to unsigned int
accz2 = (unsigned int) (accz + 4096); // from twos complement signed int to unsigned int
dataFromInt( accx2, dboff );
dataFromInt( accy2, dboff+2 );
dataFromInt( accz2, dboff+4 );
#endif
}
void setup(void){
int x, y, z, i;
double xyz[3], gains[3], gains_orig[3];
Serial.begin(57600);
Serial.println("");
accel.powerOn();
accel.getAxisGains(gains_orig);
Serial.println("gains_orig[]:");
for(i = 0; i < 3; i++){
Serial.print(gains_orig[i], 6);
Serial.print(" ");
}
Serial.println("");
gains[0] = .1;
gains[1] = 1.1;
gains[2] = 2.1;
accel.setAxisGains(gains);
accel.getAxisGains(gains);
Serial.println("set gains[]:");
for(i = 0; i < 3; i++){
Serial.print(gains[i]);
Serial.print(" ");
}
Serial.println("");
accel.setAxisGains(gains_orig);
accel.getAxisGains(gains);
Serial.println("original gains?");
for(i = 0; i < 3; i++){
Serial.print(gains[i], 6);
Serial.print(" ");
}
Serial.println("");
accel.readAccel(&x, &y, &z);
Serial.print("XYZ COUNTS: ");
Serial.print(x, DEC);
Serial.print(" ");
Serial.print(y, DEC);
Serial.print(" ");
Serial.print(z, DEC);
Serial.println("");
accel.get_Gxyz(xyz);
Serial.print("XYZ Gs: ");
for(i = 0; i<3; i++){
Serial.print(xyz[i], DEC);
Serial.print(" ");
}
Serial.println("");
accel.setTapThreshold(1);
Serial.print("getTapThreshold(): ");
Serial.println(accel.getTapThreshold(), DEC);
accel.setAxisOffset(2, 3, 4);
Serial.print("getAxisOffset(&x, &y, &z): ");
accel.getAxisOffset(&x, &y, &z);
Serial.print(x);
Serial.print(" ");
Serial.print(y);
Serial.print(" ");
Serial.print(z);
Serial.println("");
accel.setTapDuration(5);
Serial.print("getTapDuration(): ");
Serial.println(accel.getTapDuration(), DEC);
accel.setDoubleTapLatency(6);
Serial.print("getDoubleTapLatency(): ");
Serial.println(accel.getDoubleTapLatency(), DEC);
accel.setDoubleTapWindow(7);
Serial.print("getDoubleTapWindow() ");
Serial.println(accel.getDoubleTapWindow());
accel.setActivityThreshold(8);
Serial.print("getActivityThreshold() ");
Serial.println(accel.getActivityThreshold(), DEC);
accel.setInactivityThreshold(9);
Serial.print("getInactivityThreshold() ");
Serial.println(accel.getInactivityThreshold(), DEC);
accel.setTimeInactivity(10);
Serial.print("getTimeInactivity(): ");
Serial.println(accel.getTimeInactivity());
accel.setFreeFallThreshold(11);
Serial.print("getFreeFallThreshold(): ");
Serial.println(accel.getFreeFallThreshold());
accel.setFreeFallDuration(12);
Serial.print("getFreeFallDuration(): ");
Serial.println(accel.getFreeFallDuration(), DEC);
Serial.print("isActivityXEnabled(): ");
Serial.println(accel.isActivityXEnabled(), DEC);
Serial.print("isActivityYEnabled(): ");
Serial.println(accel.isActivityYEnabled(), DEC);
Serial.print("isActivityZEnabled(): ");
Serial.println(accel.isActivityZEnabled(), DEC);
Serial.print("isInactivityXEnabled(): ");
Serial.println(accel.isInactivityXEnabled(), DEC);
Serial.print("isInactivityYEnabled(): ");
Serial.println(accel.isInactivityYEnabled(), DEC);
Serial.print("isInactivityZEnabled(): ");
Serial.println(accel.isInactivityZEnabled(), DEC);
Serial.print("isActivityAc(): ");
Serial.println(accel.isInactivityAc(), DEC);
accel.setActivityAc(true);
accel.setInactivityAc(true);
accel.setSuppressBit(true);
Serial.print("getSuppressBit(); true? ");
Serial.println(accel.getSuppressBit());
accel.setSuppressBit(false);
Serial.print("getSuppressBit(); false? ");
Serial.println(accel.getSuppressBit());
accel.setTapDetectionOnX(true);
Serial.print("isTapDetectionOnX(); true? ");
Serial.println(accel.isTapDetectionOnX(), DEC);
accel.setTapDetectionOnX(false);
Serial.print("isTapDetectionOnX(); false? ");
Serial.println(accel.isTapDetectionOnX(), DEC);
accel.setTapDetectionOnY(true);
Serial.print("isTapDetectionOnY(); true? ");
Serial.println(accel.isTapDetectionOnY(), DEC);
accel.setTapDetectionOnY(false);
Serial.print("isTapDetectionOnY(); false? ");
Serial.println(accel.isTapDetectionOnY(), DEC);
accel.setTapDetectionOnZ(true);
Serial.print("isTapDetectionOnZ(); true? ");
Serial.println(accel.isTapDetectionOnZ(), DEC);
accel.setTapDetectionOnZ(false);
Serial.print("isTapDetectionOnZ(); false? ");
Serial.println(accel.isTapDetectionOnZ(), DEC);
accel.setActivityX(true);
accel.setActivityY(true);
accel.setActivityZ(true);
accel.setInactivityX(false);
accel.setInactivityY(false);
accel.setInactivityZ(false);
Serial.print("isActivitySourceOnX(): ");
Serial.println(accel.isActivitySourceOnX(), DEC);
Serial.print("accel.isActivitySourceOnY(): ");
Serial.println(accel.isActivitySourceOnY(), DEC);
Serial.print("accel.isActivitySourceOnZ(): ");
Serial.println(accel.isActivitySourceOnZ(), DEC);
Serial.print("accel.isTapSourceOnX(): ");
Serial.println(accel.isTapSourceOnX(), DEC);
Serial.print("accel.isTapSourceOnY(): ");
Serial.println(accel.isTapSourceOnY(), DEC);
Serial.print("accel.isTapSourceOnZ(): ");
Serial.println(accel.isTapSourceOnZ(), DEC);
Serial.print("accel.isAsleep(): ");
Serial.println(accel.isAsleep(), DEC);
Serial.print("accel.isLowPower(): ");
Serial.println(accel.isLowPower(), DEC);
accel.setLowPower(false);
accel.setRate(3.14159);
Serial.print("getRate(): 3.14159?");
Serial.println(accel.getRate());
Serial.print("getInterruptSource(): ");
Serial.println(accel.getInterruptSource(), DEC);
Serial.print("getInterruptSource(1): ");
Serial.println(accel.getInterruptSource(1), DEC);
Serial.print("getInterruptMapping(1): ");
Serial.println(accel.getInterruptMapping(1), DEC);
accel.setInterruptMapping(1, true);
Serial.print("isInterruptEnabled(1): ");
Serial.println(accel.isInterruptEnabled(1));
accel.setInterrupt(1, true);
accel.setSelfTestBit(false);
Serial.print("getSelfTestBit(): ");
Serial.println(accel.getSelfTestBit(), DEC);
accel.printAllRegister();
}
