X-Git-Url: http://pileus.org/git/?a=blobdiff_plain;f=yue%2Fmain.cpp;h=218b27a9bbf8e96336ff8667e510d8c93f493063;hb=fc3721b2f7f7acd9dae5340615b434f68b811b28;hp=ce909d4eeff3eb9d95e69f8d6825b7c1f76209ea;hpb=9aac27c40443111e0de8ae11d241678cb9e04334;p=~andy%2Fcsm213a-hw

diff --git a/yue/main.cpp b/yue/main.cpp
index ce909d4..218b27a 100644
--- a/yue/main.cpp
+++ b/yue/main.cpp
@@ -15,7 +15,7 @@
          (x) > (max) ? (max) : (x))
 
 #define MMA8451_I2C_ADDRESS (0x1d<<1)   // acc sensor address
-#define TIME_ACCURACY     0.001
+#define TIME_ACCURACY     0.0005
 
 #define ACC_SNS_DEFAULT   0.01 // default collecting interval in seconds
 #define MAG_SNS_DEFAULT   0.1
@@ -148,7 +148,8 @@ int main(void) {
     // Interruption Declarations
     //clock1.attach(&clock1_interrupt, TIME_ACCURACY);    // maximun accuracy be 0.1s
     serial.attach(&serialRx_interrupt, Serial::RxIrq);  // receive interrupt for serialS
-    serial.baud(115200);
+    //serial.baud(115200);
+    serial.baud(230400);
     magSensor.begin();
 
     sdma_setup(UART0, 0);
@@ -157,7 +158,7 @@ int main(void) {
 
     int ticks = 0, tocks = 0;
     while(1){
-    	ticks = us_ticker_read() * TIME_ACCURACY;
+    	ticks = (us_ticker_read()*1E-6) / TIME_ACCURACY;
     	if (tocks < ticks) {
 		clock1_interrupt();
 		tocks++;
@@ -218,44 +219,44 @@ void clock1_interrupt(void){
     static int a2dCnt;
     static int ledCnt;
 
-    accCnt++;
-    magCnt++;
-    lgtCnt++;
-    tchCnt++;
-    a2dCnt++;
-    ledCnt++;
-
     // Write A2D output sine wave
     a2dOutput.write(sin(a2dCnt * TIME_ACCURACY * (2*PI) * 0.1));
 
     // Send data through Serial
-    if (accEnable && (accCnt<0 || accCnt>=accTmr/TIME_ACCURACY)){
+    if (accEnable && accCnt >= (int)(accTmr/TIME_ACCURACY+0.5)){
         sendAccInfo();
         accCnt = 0;
     }
-    if (magEnable && (magCnt<0 || magCnt>=magTmr/TIME_ACCURACY)){
+    if (magEnable && magCnt >= (int)(magTmr/TIME_ACCURACY+0.5)){
         sendMagInfo();
         magCnt = 0;
     }
-    if (lgtEnable && (lgtCnt<0 || lgtCnt>=lgtTmr/TIME_ACCURACY)){
+    if (lgtEnable && lgtCnt >= (int)(lgtTmr/TIME_ACCURACY+0.5)){
         sendLgtInfo();
         lgtCnt = 0;
     }
-    if (tchEnable && (tchCnt<0 || tchCnt>=tchTmr/TIME_ACCURACY)){
+    if (tchEnable && tchCnt >= (int)(tchTmr/TIME_ACCURACY+0.5)){
         sendTchInfo();
         tchCnt = 0;
     }
-    if (a2dEnable && (a2dCnt<0 || a2dCnt>=a2dTmr/TIME_ACCURACY)){
+    if (a2dEnable && a2dCnt >= (int)(a2dTmr/TIME_ACCURACY+0.5)){
         sendA2dInfo();
         a2dCnt = 0;
     }
 
     // Toggel LED for debugging
-    if (ledEnable && (ledCnt<0 || ledCnt>=ledTmr/TIME_ACCURACY)){
+    if (ledEnable && ledCnt>=ledTmr/TIME_ACCURACY){
         led1   = !led1;
 	ledCnt = 0;
     }
 
+    accCnt++;
+    magCnt++;
+    lgtCnt++;
+    tchCnt++;
+    a2dCnt++;
+    ledCnt++;
+
     sdma_flush();
 }