Diff: main.cpp

Revision:

1:4eaf2ea6eb62

Parent:

0:24c9d0b3277e

--- a/main.cpp	Thu Dec 11 00:25:34 2014 +0000
+++ b/main.cpp	Mon Mar 07 17:38:22 2016 +0000
@@ -1,5 +1,6 @@
 #include "mbed.h"
-#include <LSM6DS0.h>
+#include "math.h"
+#include <FT_LSM6DS0.h>
 
 I2C i2c(I2C_SDA, I2C_SCL);
  
@@ -11,7 +12,8 @@
 {
     char data_write[6];
     char data_read[6];
-    short X_Acc;
+    short X_Acc, Y_Acc;
+    float alpha;
     
   data_write[0] = LSM6DS0_WHO_AM_I;
         i2c.write(LSM6DS0_ADDR, data_write, 1, 1); // no stop
@@ -25,7 +27,7 @@
         i2c.write(LSM6DS0_ADDR, data_write,2,0);
         
         data_write[0]=LSM6DS0_CTRL_REG5_XL;
-        data_write[1]=0x08;         //Enable X-Axis Accelerometer
+        data_write[1]=0xD8;         //Enable X-Axis Accelerometer
         
         i2c.write(LSM6DS0_ADDR, data_write,2,0);
         
@@ -33,11 +35,14 @@
   {
         data_write[0]=LSM6DS0_OUT_X_XL;
         i2c.write(LSM6DS0_ADDR, data_write, 1, 1); // no stop
-        i2c.read(LSM6DS0_ADDR, data_read,2,0);
+        i2c.read(LSM6DS0_ADDR, data_read,4,0);
        
        X_Acc= (short)(((unsigned char)data_read[1]) << 8 | ((unsigned char)data_read[0])); 
+       Y_Acc= (short)(((unsigned char)data_read[3]) << 8 | ((unsigned char)data_read[2])); 
        
-       pc.printf("X_Acc= %d \n",X_Acc);
+       alpha= 180*atan2((double)Y_Acc,(double)X_Acc)/3.14159;
+       
+       pc.printf("X_Acc= %d Y_Acc= %d alpha= %.2f \n",X_Acc,Y_Acc,alpha);
          wait(1);
         }