int main (void)
{
bbb_i2c i2c;
i2c.open();
ms5611 baro(i2c.fd);
while(1) {
baro.update();
printf("baro t=%f p0=%f p=%f altimeter=%f\r\n",baro.T,baro.P0,baro.P,baro.H);
}
return 0;
}
int main()
{
MS5611 baro(MS5611_ADDRESS_CSB_HIGH);
baro.initialize();
while (true) {
baro.refreshPressure();
usleep(10000); // Waiting for pressure data ready
baro.readPressure();
baro.refreshTemperature();
usleep(10000); // Waiting for temperature data ready
baro.readTemperature();
baro.calculatePressureAndTemperature();
printf("Temperature(C): %f Pressure(millibar): %f\n", baro.getTemperature(), baro.getPressure());
sleep(1);
}
return 0;
}
/**
* @brief Creates an XsOutputConfigurationArray and pushes it to the sensor.
* @details
* - Configures the sensor with desired modules
* - Refer to xsdataidentifier.h
*/
void mtiG::configure(){
XsOutputConfigurationArray configArray;
if(mSettings.orientationData){ //Quaternion - containsOrientation
XsOutputConfiguration quat(XDI_Quaternion, mSettings.orientationFreq);// para pedir quaternion
configArray.push_back(quat);
}
if(mSettings.gpsData){
//LATITUDE E LONGITUDE -containsLatitudeLongitude
XsOutputConfiguration gps(XDI_LatLon, mSettings.gpsFreq);// para pedir gps, //XDI_Quaternion 06/04
configArray.push_back(gps);
XsOutputConfiguration gps_age(XDI_GpsAge, mSettings.gpsFreq);// para pedir gps, //XDI_Quaternion 06/04
configArray.push_back(gps_age);
XsOutputConfiguration gps_sol(XDI_GpsSol, mSettings.gpsFreq);// para pedir gps, //XDI_Quaternion 06/04
configArray.push_back(gps_sol);
XsOutputConfiguration gps_dop(XDI_GpsDop, mSettings.gpsFreq);// para pedir gps, //XDI_Quaternion 06/04
configArray.push_back(gps_dop);
}
if(mSettings.temperatureData){
//TEMPERATURA - containsTemperature
XsOutputConfiguration temp(XDI_Temperature, mSettings.temperatureFreq);
configArray.push_back(temp);
}
if(mSettings.accelerationData){
//ACCELERATION - containsCalibratedAcceleration
XsOutputConfiguration accel(XDI_Acceleration, mSettings.accelerationFreq);
configArray.push_back(accel);
}
if(mSettings.pressureData){
//PRESSURE - containsPressure
XsOutputConfiguration baro(XDI_BaroPressure, mSettings.pressureFreq);
configArray.push_back(baro);
}
if(mSettings.magneticData){
//MAGNETIC FIELD - containsCalibratedMagneticField
XsOutputConfiguration magnet(XDI_MagneticField, mSettings.magneticFreq);
configArray.push_back(magnet);
}
if(mSettings.altitudeData){
//ALTITUDE - containsAltitude
XsOutputConfiguration alt(XDI_AltitudeEllipsoid, mSettings.altitudeFreq);
configArray.push_back(alt);
}
if(mSettings.gyroscopeData){
//GYRO - containsCalibratedGyroscopeData
XsOutputConfiguration gyro(XDI_RateOfTurn, mSettings.gyroscopeFreq);
configArray.push_back(gyro);
}
if(mSettings.velocityData){
//VELOCIDADE XYZ
XsOutputConfiguration vel_xyz(XDI_VelocityXYZ, mSettings.velocityFreq);
configArray.push_back(vel_xyz);
}
// Puts configArray into the device, overwriting the current configuration
if (!device->setOutputConfiguration(configArray))
{
throw std::runtime_error("Could not configure MTmk4 device. Aborting.");
}
}
