Diff: main.cpp

Revision:

5:c7d9f3353b7c

Parent:

4:337af8bbd44e

--- a/main.cpp	Sun Jul 09 13:01:22 2017 +0000
+++ b/main.cpp	Sun Jul 09 14:20:09 2017 +0000
@@ -37,7 +37,7 @@
 
 void Read_MPU9250()
 {
-    
+    myled= !myled;
     // If intPin goes high, all data registers have new data
         if(mpu9250.readByte(MPU9250_ADDRESS, INT_STATUS) & 0x01) {  // On interrupt, check if data ready interrupt
 
@@ -45,12 +45,12 @@
             // Now we'll calculate the accleration value into actual g's
             
             ax = (float)accelCount[0]*aRes - accelBias[0];  // get actual g value, this depends on scale being set
-           printf("ax=%f\n\r",ax);
-         printf ("accelcount=%x\n\r",accelCount[0]);
-                  printf ("accelcount int=%i\n\r",accelCount[0]);
-           printf ("acc X_H=%x\n\r",reg8_bit[X_H]);
-            printf ("acc decimel X_L=%d\n\r",reg8_bit[X_L]);
-            printf ("acc X_L=%x\n\r",reg8_bit[X_L]);
+          // printf("ax=%f\n\r",ax);
+        // printf ("accelcount=%x\n\r",accelCount[0]);
+              //    printf ("accelcount int=%i\n\r",accelCount[0]);
+           //printf ("acc X_H=%x\n\r",reg8_bit[X_H]);
+           // printf ("acc decimel X_L=%d\n\r",reg8_bit[X_L]);
+           // printf ("acc X_L=%x\n\r",reg8_bit[X_L]);
            /* ay = (float)accelCount[1]*aRes - accelBias[1];
             az = (float)accelCount[2]*aRes - accelBias[2];
             */
@@ -141,6 +141,7 @@
         //if(Mscale == 1) pc.printf("Magnetometer resolution = 16  bits\n\r");
         //if(Mmode == 2) pc.printf("Magnetometer ODR = 8 Hz\n\r");
         //if(Mmode == 6) pc.printf("Magnetometer ODR = 100 Hz\n\r");
+      //  MPU9250SelfTest();
         wait(2);
     } else {
         pc.printf("Could not connect to MPU9250: \n\r");
@@ -160,21 +161,14 @@
     magbias[0] = +470.;  // User environmental x-axis correction in milliGauss, should be automatically calculated
     magbias[1] = +120.;  // User environmental x-axis correction in milliGauss
     magbias[2] = +125.;  // User environmental x-axis correction in milliGauss
-//every_10ms.attach(&Read_MPU9250,3);//0.001
+    wait(2);
+every_10ms.attach(&Read_MPU9250, 10);//0.001
 
     while(1) {
             
-            Read_MPU9250();
+           // Read_MPU9250();
         
-/*
-        Now = t.read_us();
-        deltat = (float)((Now - lastUpdate)/1000000.0f) ; // set integration time by time elapsed since last filter update
-        lastUpdate = Now;
 
-        sum += deltat;
-        sumCount++;
-
-   */
 
             /*******************************memory write and read***************************************/
             write_EN_Flash();
@@ -214,9 +208,6 @@
             /***********************************************************************************************************/
        // while(1);
 
-         //   count = t.read_ms();
-         //   sum = 0;
-          //  sumCount = 0;
             wait(1);
   //      }
     }