Diff: main.cpp

Revision:

24:ca9f33c96136

Parent:

21:92c25e853b87

Child:

25:864883d3fe57

--- a/main.cpp	Wed Aug 21 12:22:21 2019 +0000
+++ b/main.cpp	Tue Aug 27 01:00:32 2019 +0000
@@ -1,26 +1,41 @@
 #include "mbed.h"
-#include"HEPTA_EPS.h"
-#include"HEPTA_CDH.h"
-#include"HEPTA_SENSOR.h"
-#include"HEPTA_COM.h"
+#include "HEPTA_EPS.h"
 
 Serial pc(USBTX,USBRX);
 HEPTA_EPS eps(p16,p26);
-HEPTA_CDH cdh(p5, p6, p7, p8, "sd");
-/*HEPTA_SENSOR sensor(p13, p14,p25,p24, 
-                    p28,p27,0xD0,0x18,
-                    p17);*/
-HEPTA_SENSOR sensor(p17, 
-                    p28,p27,0xD0,0x18,
-                    p13, p14,p25,p24);
-HEPTA_COM com(p9,p10);
+I2C i2c(p28, p27);
 
-DigitalOut myled(LED1);
-
+const int addr_accel_gyro = 0xD0;
+char cmd[2];
+short int xl,xh,yl,yh,zl,zh;
 int main()
 {
-    myled = 1;
-    wait(0.5);
-    myled = 0;
-    wait(0.5);
+    i2c.frequency(100000);
+    cmd[0]=0x6B;
+    cmd[1]=0x00;
+    i2c.write(addr_accel_gyro,cmd,2);
+    cmd[0] = 0x37;
+    cmd[1] = 0x02;
+    i2c.write(addr_accel_gyro,cmd,2);
+    i2c.stop();
+    while(1) {
+        i2c.start();
+        i2c.write(addr_accel_gyro);
+        i2c.write(0x3b);//read adress
+        i2c.start();
+        i2c.write(addr_accel_gyro|0x01);
+        xh = i2c.read(0);
+        i2c.stop();
+        i2c.start();
+        i2c.write(addr_accel_gyro);
+        i2c.write(0x3c);
+        i2c.start();
+        i2c.write(addr_accel_gyro|0x01);
+        xl = i2c.read(0);
+        i2c.stop();
+        double  acc_ax = short((xh<<8) | (xl));
+        double AX = (acc_ax)*2/32764*9.81;
+        pc.printf("AX = %f\r\n",AX);
+        wait(0.5);
+    }
 }
\ No newline at end of file