1 files changed, 15 insertions(+), 11 deletions(-)

M tools/gy-801-dump/main.ha

@@ 54,25 54,29 @@ export fn main() void = {
 
 	const fd = timerfd::new(time::clock::MONOTONIC, 0)!;
 	defer io::close(fd)!;
-	timerfd::set(fd, (500 * time::MILLISECOND): timerfd::interval, 0)!;
+	timerfd::set(fd, (10 * time::MILLISECOND): timerfd::interval, 0)!;
 	signal::handle(signal::SIGINT, &sigint);
 	const integrator = integration::new();
 
-	for (!exit) {
+	for (let i = 0; !exit; i += 1) {
 		timerfd::read(fd)!;
-		const acc_readings = ADXL345::read(ADXL345)!;
 		const gyro_readings = L3G4200D::read(L3G4200D)!;
 		let rps = (gyro_readings.0 / 180.0 * math::PI,
 			gyro_readings.1 / 180.0 * math::PI,
 			gyro_readings.2 / 180.0 * math::PI);
-		integration::update(integrator, rps, 0.5);
-		let attitude = integration::read_euler(integrator);
+		integration::update(integrator, rps, 0.01);
+		if (i % 50 == 0) {
+			const acc_readings = ADXL345::read(ADXL345)!;
+			let attitude = integration::read_euler(integrator);
 
-		fmt::printfln("Accelerometer: {} {} {} g", acc_readings.0, acc_readings.1, acc_readings.2)!;
-		fmt::printfln("Gyroscope: {} {} {} dps", gyro_readings.0, gyro_readings.1, gyro_readings.2)!;
-		fmt::printfln("Attitude: {} {} {} deg",
-			attitude.0 / math::PI * 180.0,
-			attitude.1 / math::PI * 180.0,
-			attitude.2 / math::PI * 180.0)!;
+			fmt::printfln("Accelerometer: {} {} {} g",
+				acc_readings.0, acc_readings.1, acc_readings.2)!;
+			fmt::printfln("Gyroscope: {} {} {} dps",
+				gyro_readings.0, gyro_readings.1, gyro_readings.2)!;
+			fmt::printfln("Attitude: {} {} {} deg",
+				attitude.0 / math::PI * 180.0,
+				attitude.1 / math::PI * 180.0,
+				attitude.2 / math::PI * 180.0)!;
+		};
 	};
 };