Diff: main.cpp

Revision:

0:d2713e1a96b2

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Wed Jan 28 17:29:19 2015 +0000
@@ -0,0 +1,71 @@
+#include "mbed.h"
+#include "MPU6050.h"
+#include "ADXL345_I2C.h"
+ 
+//DigitalOut myled(LED1);
+Serial pc(USBTX, USBRX);
+MPU6050 mpu;
+ADXL345_I2C accelerometer(I2C_SDA, I2C_SCL);
+
+int16_t MPU_ax, MPU_ay, MPU_az;
+int16_t MPU_gx, MPU_gy, MPU_gz;
+
+int main()
+{
+    pc.baud(115200);
+    
+    
+    pc.printf("MPU6050 test\n\n");
+    pc.printf("MPU6050 initialize \n");
+ 
+    mpu.initialize();
+    pc.printf("MPU6050 testConnection \n");
+
+    bool mpu6050TestResult = mpu.testConnection();
+    if(mpu6050TestResult) {
+        pc.printf("MPU6050 test passed \n");
+    } else {
+        pc.printf("MPU6050 test failed \n");
+    }
+    
+    int ADXL_readings[3] = {0, 0, 0};
+    
+    // These are here to test whether any of the initialization fails. It will print the failure
+    if (accelerometer.setPowerControl(0x00))
+    {
+         pc.printf("Couldn't intitialize power control\n");  
+    }
+     //Full resolution, +/-16g, 4mg/LSB.
+     wait(.001);
+     
+     if(accelerometer.setDataFormatControl(0x0B))
+     {
+        pc.printf("Couldn't set data format\n");        
+     }
+     wait(.001);
+     
+     //3.2kHz data rate.
+     if(accelerometer.setDataRate(ADXL345_3200HZ))
+     {
+        pc.printf("didn't set data rate\n");        
+     }
+     wait(.001);
+     
+     //Measurement mode.
+     
+     if(accelerometer.setPowerControl(MeasurementMode)) 
+     {
+        pc.printf("Couldn't set the power control to measurement\n");         
+     } 
+
+    while(1) {        
+        mpu.getMotion6(&MPU_ax, &MPU_ay, &MPU_az, &MPU_gx, &MPU_gy, &MPU_gz);
+        accelerometer.getOutput(ADXL_readings);
+        
+        //writing current accelerometer and gyro position 
+        pc.printf("MPU: %d;%d;%d;%d;%d;%d\r\n",MPU_ax,MPU_ay,MPU_az,MPU_gx,MPU_gy,MPU_gz);                         
+        pc.printf("ADXL: %i, %i, %i\r\n\n", (int16_t)ADXL_readings[0], (int16_t)ADXL_readings[1], (int16_t)ADXL_readings[2]);
+        
+        wait(0.01);
+    }
+}
\ No newline at end of file