Diff: main.cpp

Revision:

0:2ede7cf4f8fa

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Mon Oct 29 18:28:30 2012 +0000
@@ -0,0 +1,57 @@
+#include "mbed.h"
+
+I2C i2c(p9, p10);
+Serial pc(USBTX, USBRX);
+
+Ticker tick; //Timer
+double interval = 10; //[ms]
+    
+const int adrIMU3000 = 0xD0;//8-bit write
+
+
+void measure();
+
+int main() {
+    
+    i2c.frequency(400000); //set 400kHz
+    
+    pc.baud(115200);
+    
+    char PWR_M[2] = {0x3E, 0x80};
+    i2c.write(adrIMU3000, PWR_M, 2, true);
+    char SMPL[2] = {0x15, 0x00};
+    i2c.write(adrIMU3000, SMPL, 2, true);
+    char DLPF[2] = {0x16, 0x18};
+    i2c.write(adrIMU3000, DLPF, 2, true);
+    char INT_C[2] = {0x17, 0x05};
+    i2c.write(adrIMU3000, INT_C, 2, true);
+    char PWR_M2[2] = {0x3E, 0x00};
+    i2c.write(adrIMU3000, PWR_M2, 2, true);
+    
+    while(true)
+        measure();
+   //tick.attach_us(&measure, interval);
+
+}
+
+void measure()
+{
+    char adrIMU3000_y[1];
+    char readIMU3000[8];
+    
+    short int read_x_2byte = 0;
+    short int read_y_2byte = 0;
+    short int read_z_2byte = 0;
+    
+    adrIMU3000_y[0] = 0x1D; //register GYRO_XOUT_H
+    
+    i2c.write(adrIMU3000, adrIMU3000_y , 1);
+    i2c.read(adrIMU3000, readIMU3000, 8);
+
+    read_x_2byte = ((readIMU3000[0] << 8) + readIMU3000[1]);
+    read_y_2byte = ((readIMU3000[2] << 8) + readIMU3000[3]);
+    read_z_2byte = ((readIMU3000[4] << 8) + readIMU3000[5]);
+
+    pc.printf("%d, %d, %d\n", read_x_2byte, read_y_2byte, read_z_2byte);
+    
+}