Samuel Lin / Mbed 2 deprecated MPU9250_SPI_Test_1201

College Project

Dependencies:   mbed MPU9250_SPI_Test MPU9250-XCLIN

main.cpp@2:6de3660a1f92, 2014-06-29 (annotated)

Committer:
kylongmu
Date:
Sun Jun 29 07:06:53 2014 +0000
Revision:
2:6de3660a1f92
Parent:
1:7497c7952470
Child:
3:ad2ef67e7f72
All function is working now.

Who changed what in which revision?

UserRevisionLine numberNew contents of line
kylongmu 0:58f9d4556df7 1 #include "mbed.h"
kylongmu 0:58f9d4556df7 2 #include "MPU9250.h" //Include library
kylongmu 0:58f9d4556df7 3
kylongmu 0:58f9d4556df7 4 DigitalOut myled(LED1);
kylongmu 0:58f9d4556df7 5 Serial pc(SERIAL_TX, SERIAL_RX);
kylongmu 0:58f9d4556df7 6 SPI spi(SPI_MOSI, SPI_MISO, SPI_SCK);
kylongmu 0:58f9d4556df7 7 mpu9250_spi imu(spi,SPI_CS); //define the mpu9250 object
kylongmu 0:58f9d4556df7 8 int main(){
kylongmu 0:58f9d4556df7 9 pc.baud(115200);
kylongmu 0:58f9d4556df7 10 if(imu.init(1,BITS_DLPF_CFG_5HZ)){ //INIT the mpu9250
kylongmu 1:7497c7952470 11 printf("\nCouldn't initialize MPU9250 via SPI!");
kylongmu 0:58f9d4556df7 12 }
kylongmu 2:6de3660a1f92 13 printf("\nWHOAMI=0x%2x\n",imu.whoami()); //output the I2C address to know if SPI is working, it should be 104
kylongmu 1:7497c7952470 14 wait(1);
kylongmu 2:6de3660a1f92 15 printf("Gyro_scale=%u\n",imu.set_gyro_scale(BITS_FS_2000DPS)); //Set full scale range for gyros
kylongmu 0:58f9d4556df7 16 wait(1);
kylongmu 2:6de3660a1f92 17 printf("Acc_scale=%u\n",imu.set_acc_scale(BITS_FS_16G)); //Set full scale range for accs
kylongmu 1:7497c7952470 18 wait(1);
kylongmu 2:6de3660a1f92 19 printf("AK8963 WHIAM=0x%2x\n",imu.AK8963_whoami());
kylongmu 1:7497c7952470 20 wait(0.1);
kylongmu 0:58f9d4556df7 21 while(1) {
kylongmu 0:58f9d4556df7 22 //myled = 1;
kylongmu 0:58f9d4556df7 23 wait(0.1);
kylongmu 0:58f9d4556df7 24 imu.read_temp();
kylongmu 0:58f9d4556df7 25 imu.read_acc();
kylongmu 0:58f9d4556df7 26 imu.read_rot();
kylongmu 1:7497c7952470 27 imu.AK8963_read_Magnetometer();
kylongmu 2:6de3660a1f92 28 printf("%10.3f,%10.3f,%10.3f,%10.3f,%10.3f,%10.3f,%10.3f,%10.3f,%10.3f,%10.3f\n",
kylongmu 0:58f9d4556df7 29 imu.Temperature,
kylongmu 0:58f9d4556df7 30 imu.gyroscope_data[0],
kylongmu 0:58f9d4556df7 31 imu.gyroscope_data[1],
kylongmu 0:58f9d4556df7 32 imu.gyroscope_data[2],
kylongmu 0:58f9d4556df7 33 imu.accelerometer_data[0],
kylongmu 0:58f9d4556df7 34 imu.accelerometer_data[1],
kylongmu 1:7497c7952470 35 imu.accelerometer_data[2],
kylongmu 1:7497c7952470 36 imu.Magnetometer[0],
kylongmu 1:7497c7952470 37 imu.Magnetometer[1],
kylongmu 1:7497c7952470 38 imu.Magnetometer[2]
kylongmu 1:7497c7952470 39 );
kylongmu 0:58f9d4556df7 40 //myled = 0;
kylongmu 0:58f9d4556df7 41 //wait(0.5);
kylongmu 0:58f9d4556df7 42
kylongmu 0:58f9d4556df7 43 }
kylongmu 0:58f9d4556df7 44 }
kylongmu 0:58f9d4556df7 45