Masahiro Furukawa / Mbed 2 deprecated MPU-9250-Ch2

MPU-9250 with Kalman Filter

Dependencies:   ADXL362-helloworld MPU9250_SPI mbed

Fork of ADXL362-helloworld by Analog Devices

main.cpp

Committer:
mfurukawa
Date:
2016-05-23
Revision:
3:07aa20aa678d
Parent:
2:9ef7a594159c
Child:
4:5a9aa5ae928a

File content as of revision 3:07aa20aa678d:

/**
 * Masahiro FURUKAWA - m.furukawa@ist.osaka-u.ac.jp
 * 
 * May 23, 2016
 *
 * LDXL362 Acceleration Sensor (Extended to Ch1 ~ Ch3)
 *
 **/


#include "mbed.h"
#include "ADXL362.h"

Serial pc(USBTX, USBRX);
 
/*
    ~CS  (Chip Select)          p8
    MOSI (Master Out Slave In)  p5
    MISO (Master In Slave Out   p6
    SCK  (Serial Clock)         p7
*/

int main() {
    pc.baud(115200);
    
    DigitalOut *Ch1, *Ch2, *Ch3;
    Ch1 = new DigitalOut(p8);
    Ch2 = new DigitalOut(p9);
    Ch3 = new DigitalOut(p10);
  
    *Ch1 = true;
    *Ch2 = true;
    *Ch3 = true;
    
    ADXL362 adxl362(Ch2, p5, p6, p7);
  
    // we need to wait at least 500ms after ADXL362 reset
    adxl362.set_cs_pin(Ch1);    adxl362.reset(); wait_ms(600); adxl362.set_mode(ADXL362::MEASUREMENT);
    adxl362.set_cs_pin(Ch2);    adxl362.reset(); wait_ms(600); adxl362.set_mode(ADXL362::MEASUREMENT);
    adxl362.set_cs_pin(Ch3);    adxl362.reset(); wait_ms(600); adxl362.set_mode(ADXL362::MEASUREMENT);
    
    
    
    uint8_t x,y,z; 
    uint64_t t1, t2, t3;
    
    while(1) {
        x  = adxl362.scanx_u8();
        y  = adxl362.scany_u8();
        z  = adxl362.scanz_u8();
        
        adxl362.set_cs_pin(Ch1);   t1 = adxl362.scan();
        adxl362.set_cs_pin(Ch2);   t2 = adxl362.scan();
        adxl362.set_cs_pin(Ch3);   t3 = adxl362.scan();
        
        printf("x = %02x y = %02x z = %02x %04x %04x %04x  %04x %04x %04x  %04x %04x %04x\r\n",x,y,z,
        static_cast<uint16_t>(0xFFFF&(t1>>48)), 
        static_cast<uint16_t>(0xFFFF&(t1>>32)),
        static_cast<uint16_t>(0xFFFF&(t1>>16)),
        
        static_cast<uint16_t>(0xFFFF&(t2>>48)), 
        static_cast<uint16_t>(0xFFFF&(t2>>32)),
        static_cast<uint16_t>(0xFFFF&(t2>>16)),
        
        static_cast<uint16_t>(0xFFFF&(t3>>48)), 
        static_cast<uint16_t>(0xFFFF&(t3>>32)),
        static_cast<uint16_t>(0xFFFF&(t3>>16))
         );
        wait_ms(1);
    }
}