Vigneshwar Murali / Mbed 2 deprecated 6DoF_IMU_readvalue_thingy

Slightly modified version (to work with processing GUI)

Dependencies:   ITG3200 mbed

Fork of 6DoF_IMU_readvalue by Ryo Nakabayashi

main.cpp@1:c85175226571, 2013-02-12 (annotated)

Committer:
Vigneshwar
Date:
Tue Feb 12 02:31:21 2013 +0000
Revision:
1:c85175226571
Parent:
0:cda6d9f5a43c
Child:
2:39468ef68358
Final Version

Who changed what in which revision?

UserRevisionLine numberNew contents of line
ryought 0:cda6d9f5a43c 1 #include "ITG3200.h"
ryought 0:cda6d9f5a43c 2 #include "ADXL345_I2C.h"
ryought 0:cda6d9f5a43c 3
ryought 0:cda6d9f5a43c 4 Serial pc(USBTX, USBRX);
Vigneshwar 1:c85175226571 5 ITG3200 gyro(p28, p27);
Vigneshwar 1:c85175226571 6 ADXL345_I2C accel(p28, p27);
ryought 0:cda6d9f5a43c 7
ryought 0:cda6d9f5a43c 8 int main() {
Vigneshwar 1:c85175226571 9 char str[512];
ryought 0:cda6d9f5a43c 10 gyro.setWhoAmI(0x68);
ryought 0:cda6d9f5a43c 11 pc.printf("Now starting 6-degrees-of-freedom (ITG-3200 ADXL345) test...\n");
ryought 0:cda6d9f5a43c 12 pc.printf("Accelerometer Device ID is: 0x%02x\n", accel.getDeviceID());
Vigneshwar 1:c85175226571 13 pc.printf("Gyro Devide ID is: 0x%02x\n", gyro.getWhoAmI());
Vigneshwar 1:c85175226571 14
Vigneshwar 1:c85175226571 15
ryought 0:cda6d9f5a43c 16 int accel_read[3] = {0, 0, 0};
ryought 0:cda6d9f5a43c 17
ryought 0:cda6d9f5a43c 18 // Accel setup
ryought 0:cda6d9f5a43c 19 // These are here to test whether any of the initialization fails. It will print the failure
ryought 0:cda6d9f5a43c 20 if (accel.setPowerControl(0x00)){
ryought 0:cda6d9f5a43c 21 pc.printf("didn't intitialize power control\n");
ryought 0:cda6d9f5a43c 22 return 0; }
ryought 0:cda6d9f5a43c 23 //Full resolution, +/-16g, 4mg/LSB.
ryought 0:cda6d9f5a43c 24 wait(.001);
ryought 0:cda6d9f5a43c 25
ryought 0:cda6d9f5a43c 26 if(accel.setDataFormatControl(0x0B)){
ryought 0:cda6d9f5a43c 27 pc.printf("didn't set data format\n");
ryought 0:cda6d9f5a43c 28 return 0; }
ryought 0:cda6d9f5a43c 29 wait(.001);
ryought 0:cda6d9f5a43c 30
ryought 0:cda6d9f5a43c 31 //3.2kHz data rate.
ryought 0:cda6d9f5a43c 32 if(accel.setDataRate(ADXL345_3200HZ)){
ryought 0:cda6d9f5a43c 33 pc.printf("didn't set data rate\n");
ryought 0:cda6d9f5a43c 34 return 0; }
ryought 0:cda6d9f5a43c 35 wait(.001);
ryought 0:cda6d9f5a43c 36
ryought 0:cda6d9f5a43c 37 //Measurement mode.
ryought 0:cda6d9f5a43c 38
ryought 0:cda6d9f5a43c 39 if(accel.setPowerControl(MeasurementMode)) {
ryought 0:cda6d9f5a43c 40 pc.printf("didn't set the power control to measurement\n");
ryought 0:cda6d9f5a43c 41 return 0;
ryought 0:cda6d9f5a43c 42 }
ryought 0:cda6d9f5a43c 43
ryought 0:cda6d9f5a43c 44 // Gyro setup
ryought 0:cda6d9f5a43c 45 gyro.setLpBandwidth(LPFBW_42HZ);
ryought 0:cda6d9f5a43c 46
Vigneshwar 1:c85175226571 47 while (1)
Vigneshwar 1:c85175226571 48 {
ryought 0:cda6d9f5a43c 49 wait(0.1);
ryought 0:cda6d9f5a43c 50
ryought 0:cda6d9f5a43c 51 accel.getOutput(accel_read);
ryought 0:cda6d9f5a43c 52
Vigneshwar 1:c85175226571 53 sprintf(str, "%i,%i,%i,%i,%i,%i,%i\n", (int16_t)accel_read[0], (int16_t)accel_read[1], (int16_t)accel_read[2],
Vigneshwar 1:c85175226571 54 gyro.getGyroX(), gyro.getGyroY(), gyro.getGyroZ(), (int16_t)gyro.getTemperature());
Vigneshwar 1:c85175226571 55 pc.printf(str);
Vigneshwar 1:c85175226571 56
Vigneshwar 1:c85175226571 57 /*
Vigneshwar 1:c85175226571 58 pc.printf("Gyro[%5i, %5i, %5i] Accel[%4i, %4i, %4i]\n\t",
ryought 0:cda6d9f5a43c 59 gyro.getGyroX(), gyro.getGyroY(), gyro.getGyroZ(),
ryought 0:cda6d9f5a43c 60 (int16_t)accel_read[0], (int16_t)accel_read[1], (int16_t)accel_read[2]);
Vigneshwar 1:c85175226571 61 */
ryought 0:cda6d9f5a43c 62 }
ryought 0:cda6d9f5a43c 63
ryought 0:cda6d9f5a43c 64 }