main implementing

ADXL345/Accel.h

@@ -6,6 +6,7 @@
 #include "../i2c/i2cmaster.h"
 #include "../TWI/twimaster.h"
 #include "../USART/USART.h"
+#include <stdio.h>
 
 
 #define WRITE 0

Makefile

@@ -1,4 +1,4 @@
-PRJ=motors
+PRJ=main
 SRC=$(PRJ).cpp
 
 CFLAGS=-c -Wall

Motors/Motors.cpp

@@ -23,7 +23,13 @@ ISR(TIMER1_COMPB_vect){
    	}
 	else{
 	val +=OneMs+sped[idx]*(2000/256.0/256.);
-	UDR0 = val>>8;
+	char str[10];
+	USART uart; 
+	sprintf(str,"%d,",sped[idx]);
+	uart.put_str(str);
+	//UDR0 = val>>8;
+	//UDR0 = sped[0]>>8;
+	//UDR0 = sped[0];
 
 	if(idx==0){
 		TCNT1H=0;						// Reset Timer every 20ms

Motors/Motors.h

@@ -6,6 +6,8 @@
 #include <avr/io.h>
 #include <avr/delay.h>
 #include <stdlib.h>
+#include "../USART/USART.h"
+#include <stdio.h>
 
 extern "C" void TIMER1_COMPA_vect(void) __attribute__ ((signal));
 

flash_log.sh

@@ -0,0 +1,18 @@
+#make flash
+
+rm ~/capture.log
+echo "Now listening to /dev/ttyUSB0"
+touch ~/capture.log
+(stty 38400 cs8 -ixon; cat) < /dev/ttyUSB0 > ~/capture.log &
+echo "Waiting for board to start..."
+LCNT=100
+ln=`wc -l < ~/capture.log`
+echo "$ln Lines read"
+while [ $ln -lt $LCNT ]
+do
+	ln=$(wc -l < ~/capture.log)
+	echo "$ln Lines read"
+	sleep 1s
+done
+kst2 ~/capture.log -f -1 -n 505 -P P1 -y 1 -y 3 -y 4 -P P2 -y 2 -s1
+

main.cpp

@@ -0,0 +1,69 @@
+#define F_CPU 16000000L
+#include "Motors/Motors.h"
+#include "USART/USART.h"
+#include "ADXL345/Accel.h"
+
+#include <avr/delay.h>
+#include <string.h>
+#include <avr/io.h>
+#include <stdio.h>
+
+int main(void){
+	char raw[6];
+	float a[3];
+	unsigned int speed, _spped;
+	float roll, _roll,pitch,_pitch,mod,_mod;
+	float al = 0.1;
+	char strnum [8];
+	char str[10];
+	USART uart;
+	Accel acc;
+	acc.Enter_meas_mode();
+	Motors motors;
+	motors.ConfPins();
+
+	_delay_ms(1000);
+	motors.Calibrate();
+	DDRD |= (1<<DDD2);
+
+	while(1){
+		PORTD = 1<<2;
+		acc.GetAccels(a);
+		mod = sqrt(a[0]*a[0]+a[1]*a[1]+a[2]*a[2]);
+		roll = atan2(a[1], a[2]) * 180/3.14;
+		pitch = atan2(-a[0], sqrt(a[1]*a[1] + a[2]*a[2])) * 180/3.14;
+		mod = _mod*(1-al) +al*mod;
+		_mod = mod;
+		pitch = _pitch*(1-al) +al*pitch;
+		_pitch = pitch;
+		for (short i = 0;i<MCNT;i++){
+			speed = (0x3040-(int)(pitch*(0x5030/70)));
+			motors.SpeedsVals[i]=speed;
+	//		UDR0 = motors.SpeedsVals[0]>>8;
+		}
+		sprintf(str,"%d,%d,%d,%d\n",speed/100,((int)(25*mod)),(int)(10*pitch),(int)(50*a[0]));
+		uart.put_str(str);
+
+		/*
+		itoa(speed,str,10);
+		uart.put_str(" speed:");
+		uart.put_str(str);
+		_delay_ms(2);
+
+		dtostrf(mod,6,4,str);
+		uart.put_str(" mod:");
+		uart.put_str(str);
+
+		dtostrf(roll,6,4,str);
+		uart.put_str(" roll:");
+		uart.put_str(str);
+
+		dtostrf(pitch,6,4,str);
+		uart.put_str(" pitch:");
+		uart.put_str(str);
+		uart.put_str("\n");
+		*/
+		PORTD = 0<<2;
+		_delay_ms(30);
+	} 
+}