Slightly modified version (to work with processing GUI)
Fork of 6DoF_IMU_readvalue by
main.cpp@0:cda6d9f5a43c, 2012-11-26 (annotated)
- Committer:
- ryought
- Date:
- Mon Nov 26 05:34:56 2012 +0000
- Revision:
- 0:cda6d9f5a43c
- Child:
- 1:c85175226571
First Commit It runs.
Who changed what in which revision?
User | Revision | Line number | New 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); |
ryought | 0:cda6d9f5a43c | 5 | ITG3200 gyro(p9, p10); |
ryought | 0:cda6d9f5a43c | 6 | ADXL345_I2C accel(p9, p10); |
ryought | 0:cda6d9f5a43c | 7 | |
ryought | 0:cda6d9f5a43c | 8 | int main() { |
ryought | 0:cda6d9f5a43c | 9 | gyro.setWhoAmI(0x68); |
ryought | 0:cda6d9f5a43c | 10 | pc.printf("Now starting 6-degrees-of-freedom (ITG-3200 ADXL345) test...\n"); |
ryought | 0:cda6d9f5a43c | 11 | pc.printf("Accelerometer Device ID is: 0x%02x\n", accel.getDeviceID()); |
ryought | 0:cda6d9f5a43c | 12 | pc.printf("Gyro Devide ID is: 0x02x\n", gyro.getWhoAmI()); |
ryought | 0:cda6d9f5a43c | 13 | |
ryought | 0:cda6d9f5a43c | 14 | int accel_read[3] = {0, 0, 0}; |
ryought | 0:cda6d9f5a43c | 15 | |
ryought | 0:cda6d9f5a43c | 16 | // Accel setup |
ryought | 0:cda6d9f5a43c | 17 | // These are here to test whether any of the initialization fails. It will print the failure |
ryought | 0:cda6d9f5a43c | 18 | if (accel.setPowerControl(0x00)){ |
ryought | 0:cda6d9f5a43c | 19 | pc.printf("didn't intitialize power control\n"); |
ryought | 0:cda6d9f5a43c | 20 | return 0; } |
ryought | 0:cda6d9f5a43c | 21 | //Full resolution, +/-16g, 4mg/LSB. |
ryought | 0:cda6d9f5a43c | 22 | wait(.001); |
ryought | 0:cda6d9f5a43c | 23 | |
ryought | 0:cda6d9f5a43c | 24 | if(accel.setDataFormatControl(0x0B)){ |
ryought | 0:cda6d9f5a43c | 25 | pc.printf("didn't set data format\n"); |
ryought | 0:cda6d9f5a43c | 26 | return 0; } |
ryought | 0:cda6d9f5a43c | 27 | wait(.001); |
ryought | 0:cda6d9f5a43c | 28 | |
ryought | 0:cda6d9f5a43c | 29 | //3.2kHz data rate. |
ryought | 0:cda6d9f5a43c | 30 | if(accel.setDataRate(ADXL345_3200HZ)){ |
ryought | 0:cda6d9f5a43c | 31 | pc.printf("didn't set data rate\n"); |
ryought | 0:cda6d9f5a43c | 32 | return 0; } |
ryought | 0:cda6d9f5a43c | 33 | wait(.001); |
ryought | 0:cda6d9f5a43c | 34 | |
ryought | 0:cda6d9f5a43c | 35 | //Measurement mode. |
ryought | 0:cda6d9f5a43c | 36 | |
ryought | 0:cda6d9f5a43c | 37 | if(accel.setPowerControl(MeasurementMode)) { |
ryought | 0:cda6d9f5a43c | 38 | pc.printf("didn't set the power control to measurement\n"); |
ryought | 0:cda6d9f5a43c | 39 | return 0; |
ryought | 0:cda6d9f5a43c | 40 | } |
ryought | 0:cda6d9f5a43c | 41 | |
ryought | 0:cda6d9f5a43c | 42 | // Gyro setup |
ryought | 0:cda6d9f5a43c | 43 | gyro.setLpBandwidth(LPFBW_42HZ); |
ryought | 0:cda6d9f5a43c | 44 | |
ryought | 0:cda6d9f5a43c | 45 | while (1) { |
ryought | 0:cda6d9f5a43c | 46 | wait(0.1); |
ryought | 0:cda6d9f5a43c | 47 | |
ryought | 0:cda6d9f5a43c | 48 | accel.getOutput(accel_read); |
ryought | 0:cda6d9f5a43c | 49 | |
ryought | 0:cda6d9f5a43c | 50 | pc.printf("Gyro[%5i, %5i, %5i] Accel[%4i, %4i, %4i]\n", |
ryought | 0:cda6d9f5a43c | 51 | gyro.getGyroX(), gyro.getGyroY(), gyro.getGyroZ(), |
ryought | 0:cda6d9f5a43c | 52 | (int16_t)accel_read[0], (int16_t)accel_read[1], (int16_t)accel_read[2]); |
ryought | 0:cda6d9f5a43c | 53 | } |
ryought | 0:cda6d9f5a43c | 54 | |
ryought | 0:cda6d9f5a43c | 55 | } |