Debugging..

[~andy/csm213a-hw] / yue / main.cpp

diff --git a/yue/main.cpp b/yue/main.cpp
index ce909d4eeff3eb9d95e69f8d6825b7c1f76209ea..218b27a9bbf8e96336ff8667e510d8c93f493063 100644 (file)
--- a/yue/main.cpp
+++ b/yue/main.cpp
@@ -15,7 +15,7 @@
          (x) > (max) ? (max) : (x))\r
 \r
 #define MMA8451_I2C_ADDRESS (0x1d<<1)   // acc sensor address\r
-#define TIME_ACCURACY     0.001\r
+#define TIME_ACCURACY     0.0005\r
 \r
 #define ACC_SNS_DEFAULT   0.01 // default collecting interval in seconds\r
 #define MAG_SNS_DEFAULT   0.1\r
@@ -148,7 +148,8 @@ int main(void) {
     // Interruption Declarations\r
     //clock1.attach(&clock1_interrupt, TIME_ACCURACY);    // maximun accuracy be 0.1s\r
     serial.attach(&serialRx_interrupt, Serial::RxIrq);  // receive interrupt for serialS\r
-    serial.baud(115200);\r
+    //serial.baud(115200);\r
+    serial.baud(230400);\r
     magSensor.begin();\r
 \r
     sdma_setup(UART0, 0);\r
@@ -157,7 +158,7 @@ int main(void) {
 \r
     int ticks = 0, tocks = 0;\r
     while(1){\r
-       ticks = us_ticker_read() * TIME_ACCURACY;\r
+       ticks = (us_ticker_read()*1E-6) / TIME_ACCURACY;\r
        if (tocks < ticks) {\r
                clock1_interrupt();\r
                tocks++;\r
@@ -218,44 +219,44 @@ void clock1_interrupt(void){
     static int a2dCnt;\r
     static int ledCnt;\r
 \r
-    accCnt++;\r
-    magCnt++;\r
-    lgtCnt++;\r
-    tchCnt++;\r
-    a2dCnt++;\r
-    ledCnt++;\r
-\r
     // Write A2D output sine wave\r
     a2dOutput.write(sin(a2dCnt * TIME_ACCURACY * (2*PI) * 0.1));\r
 \r
     // Send data through Serial\r
-    if (accEnable && (accCnt<0 || accCnt>=accTmr/TIME_ACCURACY)){\r
+    if (accEnable && accCnt >= (int)(accTmr/TIME_ACCURACY+0.5)){\r
         sendAccInfo();\r
         accCnt = 0;\r
     }\r
-    if (magEnable && (magCnt<0 || magCnt>=magTmr/TIME_ACCURACY)){\r
+    if (magEnable && magCnt >= (int)(magTmr/TIME_ACCURACY+0.5)){\r
         sendMagInfo();\r
         magCnt = 0;\r
     }\r
-    if (lgtEnable && (lgtCnt<0 || lgtCnt>=lgtTmr/TIME_ACCURACY)){\r
+    if (lgtEnable && lgtCnt >= (int)(lgtTmr/TIME_ACCURACY+0.5)){\r
         sendLgtInfo();\r
         lgtCnt = 0;\r
     }\r
-    if (tchEnable && (tchCnt<0 || tchCnt>=tchTmr/TIME_ACCURACY)){\r
+    if (tchEnable && tchCnt >= (int)(tchTmr/TIME_ACCURACY+0.5)){\r
         sendTchInfo();\r
         tchCnt = 0;\r
     }\r
-    if (a2dEnable && (a2dCnt<0 || a2dCnt>=a2dTmr/TIME_ACCURACY)){\r
+    if (a2dEnable && a2dCnt >= (int)(a2dTmr/TIME_ACCURACY+0.5)){\r
         sendA2dInfo();\r
         a2dCnt = 0;\r
     }\r
 \r
     // Toggel LED for debugging\r
-    if (ledEnable && (ledCnt<0 || ledCnt>=ledTmr/TIME_ACCURACY)){\r
+    if (ledEnable && ledCnt>=ledTmr/TIME_ACCURACY){\r
         led1   = !led1;\r
        ledCnt = 0;\r
     }\r
 \r
+    accCnt++;\r
+    magCnt++;\r
+    lgtCnt++;\r
+    tchCnt++;\r
+    a2dCnt++;\r
+    ledCnt++;\r
+\r
     sdma_flush();\r
 }\r
 \r