main.cpp

00001 #include "mbed.h"
00002 #include "HEPTA_EPS.h"
00003 
00004 Serial pc(USBTX,USBRX);
00005 HEPTA_EPS eps(p16,p26);
00006 I2C i2c(p28, p27);
00007 
00008 const int addr_accel_gyro = 0xD0;
00009 char cmd[2];
00010 short int xl,xh,yl,yh,zl,zh;
00011 int main()
00012 {
00013     i2c.frequency(100000);
00014     cmd[0]=0x6B;
00015     cmd[1]=0x00;
00016     i2c.write(addr_accel_gyro,cmd,2);
00017     cmd[0] = 0x37;
00018     cmd[1] = 0x02;
00019     i2c.write(addr_accel_gyro,cmd,2);
00020     i2c.stop();
00021     while(1) {
00022         i2c.start();
00023         i2c.write(addr_accel_gyro);
00024         i2c.write(0x3b);//read adress
00025         i2c.start();
00026         i2c.write(addr_accel_gyro|0x01);
00027         xh = i2c.read(0);
00028         i2c.stop();
00029         i2c.start();
00030         i2c.write(addr_accel_gyro);
00031         i2c.write(0x3c);
00032         i2c.start();
00033         i2c.write(addr_accel_gyro|0x01);
00034         xl = i2c.read(0);
00035         i2c.stop();
00036         double  acc_ax = short((xh<<8) | (xl));
00037         double AX = (acc_ax)*2/32768*9.81;
00038         pc.printf("AX = %f\r\n",AX);
00039         wait(0.5);
00040     }
00041 }