This program retrieve Euler angles over SPI from YEI 3 Space Sensor
Hello!
This program fetch Euler angles from YEI 3-Space Sensor Embedded over SPI. Then decode the unreadable data to float.
main.cpp
- Committer:
- LORDTEK
- Date:
- 2014-09-08
- Revision:
- 0:090f184c5b52
File content as of revision 0:090f184c5b52:
#include "mbed.h" DigitalOut myled(LED1); SPI spi(p5, p6, p7); // mosi, miso, sclk DigitalOut cs(p8); // chip sellect Serial pc(USBTX, USBRX); // tx, rx float floatingPointDecoder(uint32_t VALUE) { uint32_t value_Temp = 0; float val1 = 0.0f; float val2 = 0.0f; float val3 = 0.0f; ( VALUE & (1 << 31) ) ? val1 = -1.0f : val1 = 1.0f; value_Temp = VALUE << 1; value_Temp = value_Temp >> 24; val2 = (float) value_Temp - 127.0f; value_Temp = VALUE << 8; value_Temp = value_Temp >> 8; for(int i=24-1, j=0; i>=0; i--, j++) { ( value_Temp & (1 << i) ) ? val3 += 1.0f / ( pow(2.0,j) ) : val3 += 0.0f; } return val1 * pow(2.0f,val2) * val3; } int main() { int i = 0; uint8_t value[13] = {0}; uint32_t pyr[3] = {0}; float yaw = 0.0f, pitch = 0.0f, roll = 0.0f; pc.baud(9600);while(1){ // Chip must be deselected cs = 1; // Setup the spi for 8 bit data, high steady state clock, // second edge capture, with a 1MHz clock rate spi.format(8,0); spi.frequency(1000000); // Select the device by seting chip select low cs = 0; // Send 0xF6, to start communication on SPI value[0] = spi.write(0xF6); //printf("F6 is sent and 00 is waiting. The return result is: 0x%X\n", value[0]); // Send 0x07, to request untared euler angles value[0] = spi.write(0x07); //printf("07 is sent and 04 is waiting. The return result is: 0x%X\n", value[0]); for(i=0; i<=12; i++) { value[i] = spi.write(0xFF); if(value[i] == 1) { i = 0; } wait(0.01); } pyr[0] = value[1]; pyr[0] = (pyr[0] << 8) + value[2]; pyr[0] = (pyr[0] << 8) + value[3]; pyr[0] = (pyr[0] << 8) + value[4]; pitch = floatingPointDecoder(pyr[0]) * 180.0f / 3.1415926535897932384626433832795; pyr[1] = value[5]; pyr[1] = (pyr[1] << 8) + value[6]; pyr[1] = (pyr[1] << 8) + value[7]; pyr[1] = (pyr[1] << 8) + value[8]; yaw = floatingPointDecoder(pyr[1]) * 180.0f / 3.1415926535897932384626433832795; pyr[2] = value[9]; pyr[2] = (pyr[2] << 8) + value[10]; pyr[2] = (pyr[2] << 8) + value[11]; pyr[2] = (pyr[2] << 8) + value[12]; roll = floatingPointDecoder(pyr[2]) * 180.0f / 3.1415926535897932384626433832795; printf("Pitch: %f Yaw: %f Roll: %f\n", pitch, yaw, roll); // Deselect the device cs = 1; wait(1);} }