task main(){
start_gyro(full_scale_range); // Fire up the gyro. Initialize it. Only needs to be done once.
long x_val, y_val, z_val; // Our assembled values.
const string sFileName = "GYRO2000.txt"; // Our destination KML File
TFileIOResult nIoResult;
TFileHandle hFileHandle;
int nFileSize = 5500;
hFileHandle = 0;
Delete(sFileName, nIoResult);
OpenWrite(hFileHandle, nIoResult, sFileName, nFileSize);
while (true){
// Read the GYROSCOPE
//x_val = gryo_axis_reading(0x00); // Get x-axis in dps.
y_val = gryo_axis_reading_linked(0x00);
//y_val = gryo_axis_reading(0x01); // Get x-axis in dps.
//z_val = gryo_axis_reading(0x02); // Get x-axis in dps.
string str_x_val = (string)x_val; // Turn it into a string to write to file.
nxtDisplayTextLine(5, "%i", x_val);
nxtDisplayTextLine(6, "%i", y_val);
nxtDisplayTextLine(7, "%i", z_val);
string write_coords = " ";
strcat(write_coords, str_x_val);
strcat(write_coords, "\r\n"); // Every line is a return and new line.
WriteString(hFileHandle, nIoResult, write_coords); // Write it all to file.
wait1Msec(50);
}
}
task main(){
start_gyro(); // Fire up the gyro. Initialize it. Only needs to be done once.
start_accl(); // Fire up the accelerometer. Initialize it. Only needs to be done once.
long x_val, y_val, z_val; // Our assembled values.
while (true){
// GYROSCOPE
// Get x axis data.
//ubyte x_hb = gyro_axis_reading(0x29);
//ubyte x_lb = gyro_axis_reading(0x28);
// Get y axis data.
//ubyte y_hb = gyro_axis_reading(0x2B);
//ubyte y_lb = gyro_axis_reading(0x2A);
// Get z axis data.
//ubyte z_hb = gyro_axis_reading(0x2D);
//ubyte z_lb = gyro_axis_reading(0x2C);
// Compute out the values.
//x_val = (x_lb+((long)(x_hb<<8)))/10;
//y_val = (y_lb+((long)(y_hb<<8)))/10;
//z_val = (z_lb+((long)(z_hb<<8)))/10;
//nxtDisplayTextLine(5, "%i", x_val);
//nxtDisplayTextLine(6, "%i", y_val);
//nxtDisplayTextLine(7, "%i", z_val);
// ACCELEROMETER
// In this example, we'll just get the 8-bit data. This can be extended to
// 10 bit by going into the data sheet.
byte x_acc = accl_axis_reading(0x06); // Get x axis data.
//byte y_acc = accl_axis_reading(0x07); // Get y axis data.
//byte z_acc = accl_axis_reading(0x08); // Get z axis data.
// 2g is 64 LSB/g
// 4g is 32 LSB/g //
// 8g is 16 LSB/g // Also note if 8g, must use LSB/MSB
nxtDisplayTextLine(1, "%i", x_acc);
//nxtDisplayTextLine(2, "%i", y_acc);
//nxtDisplayTextLine(3, "%i", z_acc);
wait1Msec(5);
}
}
/*************************************************************************************************
Main
**************************************************************************************************/
void main(void)
{
HAL_BOARD_INIT();
UART_init();
U0CSR &= ~0x04;
ENABLE_RX();
/*setup sensors*/
sensors_init();
sensor_int_init();
/* Setup LED's */
P1DIR |= BV(0);
P0DIR |= BV(4);
P1_0 = 0;
start_gyro(); //start the gyro
init_acc(); //start the accelerometer
start_mag();
start_baro();
//zero_mag();
EA = 1;
SLEEPCMD |= 0x02; //pm 2
uint8 flag;
uint8 IDbyte;
uint8 baro_stage = 1;
while(1){
if (RXin)
{
//If it is a cal data request
if ( active_sensors & BV(4) )
{
flag = 0x03;
flush_data(&flag);
baro_read_cal();
//End of line char
flag = 0x00;
flush_byte(&flag);
} else if ( active_sensors > 0 ) {
// P0_4 = 1;
/**************************************************************************/
/* Read and transmit sensor data */
flag = 0x04;
flush_byte(&flag);
flush_byte(&active_sensors);
/*---------------------------------------------------------------------*/
//Read accelerometer and gyro
if ( active_sensors & BV(0) )
{
IDbyte = BV(0);
flush_data(&IDbyte);
while( !( acc_int_status() ) ); //wait for interrupt
read_acc(); //read the accelerometer
while( !(gyro_int_status() & BV(0) ) ); //wait for interrupt
read_gyro();
}
/*---------------------------------------------------------------------*/
//Read Magnetometer
//start_interrupts(MAG_INT);
if ( active_sensors & BV(1) )
{
IDbyte = BV(1);
flush_data(&IDbyte);
//PCON |= 1;
while( !(mag_status() & 0x08 ) );
read_mag();
// mag_sleep(TRUE);
}
/*---------------------------------------------------------------------*/
//Barometer
//uint16 delay_ticks;
uint8 baro_res = 2;
if ( active_sensors & BV(2) )
{
IDbyte = BV(2);
flush_data(&IDbyte);
if (active_sensors & 0x40)
{
//delay_ticks = 0xFA00;
baro_capture_press(baro_res);
//while(delay_ticks--);
baro_read_press(TRUE);
//delay_ticks = 0xFA00;
baro_capture_temp();
//while(delay_ticks--);
baro_read_temp(TRUE);
}else{
uint8 nullbyte = 3;
switch (baro_stage)
{
case 1 :
baro_capture_press(baro_res);
baro_read_press(FALSE);
baro_read_temp(FALSE);
baro_stage++;
break;
case 2 :
baro_read_press(TRUE);
baro_read_temp(FALSE);
baro_stage++;
break;
case 3 :
baro_capture_temp();
baro_read_press(FALSE);
baro_read_temp(FALSE);
baro_stage++;
break;
case 4 :
baro_read_press(FALSE);
baro_read_temp(TRUE);
baro_stage = 1;
break;
}
}
//baro_shutdown();
}
/*---------------------------------------------------------------------*/
//Humidity
if ( active_sensors & BV(3) )
{
IDbyte = BV(3);
flush_data(&IDbyte);
humid_init();
humid_read_humidity(TRUE);
}
/*---------------------------------------------------------------------*/
//End of line char
flag = 0x00;
flush_byte(&flag);
}
if ( !(active_sensors & BV(5)) ) //if autopoll is off
{
P0_4 = 1;
RXin = 0; //clear the RX flag
}else{
P0_4 = 0;
}
}
IEN0 |= 0x04;
U0CSR &= ~0x04;
}
}
