Lysenko Mami
Code for communicating with IMU3000 in I2C
Revision 0:2ede7cf4f8fa, committed 2012-10-29
- Comitter:
- godziram
- Date:
- Mon Oct 29 18:28:30 2012 +0000
- Commit message:
- IMU3000
Changed in this revision
| main.cpp | Show annotated file Show diff for this revision Revisions of this file |
| mbed.bld | Show annotated file Show diff for this revision Revisions of this file |
--- /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);
+
+}
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/mbed.bld Mon Oct 29 18:28:30 2012 +0000 @@ -0,0 +1,1 @@ +http://mbed.org/users/mbed_official/code/mbed/builds/e2ed12d17f06 \ No newline at end of file