Uwe Gartmann
Check program for 9DOF stick from Sparkfun.com
Dependencies: mbed ITG3200 HMC5843 ADXL345
Revision 0:9410b3e6aea5, committed 2011-10-07
- Comitter:
- Digixx
- Date:
- Fri Oct 07 21:31:36 2011 +0000
- Child:
- 1:18f68a0b0793
- Commit message:
Changed in this revision
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/ADXL345.lib Fri Oct 07 21:31:36 2011 +0000 @@ -0,0 +1,1 @@ +http://mbed.org/users/Digixx/code/ADXL345/#45faba962a46
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/HMC5843.lib Fri Oct 07 21:31:36 2011 +0000 @@ -0,0 +1,1 @@ +http://mbed.org/users/elrafapadron/code/HMC5843/#fdab96fc6fff
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/ITG3200.lib Fri Oct 07 21:31:36 2011 +0000 @@ -0,0 +1,1 @@ +http://mbed.org/users/Digixx/code/ITG3200/#8967cbe04d96
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp Fri Oct 07 21:31:36 2011 +0000
@@ -0,0 +1,85 @@
+#include "mbed.h"
+#include "HMC5843.h"
+#include "ADXL345.h"
+#include "ITG3200.h"
+
+DigitalOut myled(LED1);
+
+HMC5843 cmp(p28, p27); // sda, scl
+ADXL345 acc(p28, p27); // sda, scl
+ITG3200 gyr(p28, p27); // sda, scl
+Serial pc(USBTX, USBRX); // tx, rx
+
+int main() {
+ pc.baud(115200);
+ //values x,y,z
+ int readings[3];
+ //ID Buffer
+ char buffer[3];
+
+ pc.printf("%c" ,13,10,13,10,13,10);
+
+ // do init stuff
+ //Continuous mode, , 10Hz measurement rate.
+ // HMC5843_CONTINUOUS, HMC5843_10HZ_NORMAL HMC5843_1_0GA
+ cmp.setDefault();
+ //Wait some time(Need at least 5ms)
+ wait(0.1);
+ cmp.getAddress(buffer);
+ pc.printf("cmp Id=%c%c%c \n\r",buffer[0],buffer[1],buffer[2]);
+
+ // These are here to test whether any of the initialization fails. It will print the failure
+ if (acc.setPowerControl(0x00)){
+ pc.printf("acc: didn't intitialize power control\n");
+ return 0; }
+ wait(.001);
+
+ //Full resolution, +/-16g, 4mg/LSB.
+ if(acc.setDataFormatControl(0x0B)){
+ pc.printf("didn't set data format\n");
+ return 0; }
+ wait(.001);
+
+ //3.2kHz data rate.
+ if(acc.setDataRate(ADXL345_3200HZ)){
+ pc.printf("didn't set data rate\n");
+ return 0; }
+ wait(.001);
+
+ //Measurement mode.
+ if(acc.setPowerControl(MeasurementMode)) {
+ pc.printf("didn't set the power control to measurement\n");
+ return 0; }
+
+ pc.printf("Acc Id=%x \n\r", acc.getDeviceID());
+ pc.printf("%c" ,13,10);
+
+ //Set highest bandwidth.
+ gyr.setLpBandwidth(LPFBW_256HZ);
+ pc.printf("Gyro Id=%x \n\r", gyr.getWhoAmI());
+ pc.printf("%c" ,13,10);
+
+ wait(1);
+
+ while (1) {
+
+ cmp.readData(readings);
+ pc.printf("C %+4i %+4i %+4i",(int16_t)readings[0],(int16_t)readings[1],(int16_t)readings[2]);
+ wait(0.05);
+
+ acc.getOutput(readings);
+ pc.printf(" A %+5i %+5i %+5i",(int16_t)readings[0],(int16_t)readings[1],(int16_t)readings[2]);
+ wait(0.05);
+
+ pc.printf(" G %+5i %+5i %+5i",(int16_t)gyr.getGyroX(),(int16_t)gyr.getGyroY(),(int16_t)gyr.getGyroX());
+ pc.printf("%c" ,13,10);
+ wait(0.05);
+
+ if (myled) {
+ myled=0;
+ } else {
+ myled=1;
+ }
+
+ }
+}
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/mbed.bld Fri Oct 07 21:31:36 2011 +0000 @@ -0,0 +1,1 @@ +http://mbed.org/users/mbed_official/code/mbed/builds/63bcd7ba4912