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

Files at this revision

API Documentation at this revision

Revision 4:5a9aa5ae928a, committed 2016-06-08

Comitter:
mfurukawa
Date:
Wed Jun 08 10:42:30 2016 +0000
Parent:
3:07aa20aa678d
Child:
5:abfc7660fde9
Commit message:
Product ID check

Changed in this revision

ADXL362-Ch3_binary_out.lib Show annotated file Show diff for this revision Revisions of this file
ADXL362.lib Show annotated file Show diff for this revision Revisions of this file
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/ADXL362-Ch3_binary_out.lib	Wed Jun 08 10:42:30 2016 +0000
@@ -0,0 +1,1 @@
+http://developer.mbed.org/teams/AnalogDevices/code/ADXL362-helloworld/#07aa20aa678d

--- a/ADXL362.lib	Mon May 23 13:46:35 2016 +0000
+++ b/ADXL362.lib	Wed Jun 08 10:42:30 2016 +0000
@@ -1,1 +1,1 @@
-http://mbed.org/teams/AnalogDevices/code/ADXL362/#ff9e1a5ab53d
+http://mbed.org/teams/AnalogDevices/code/ADXL362/#c20b57ea57ed

--- a/main.cpp	Mon May 23 13:46:35 2016 +0000
+++ b/main.cpp	Wed Jun 08 10:42:30 2016 +0000
@@ -1,7 +1,7 @@
 /**
  * Masahiro FURUKAWA - m.furukawa@ist.osaka-u.ac.jp
  * 
- * May 23, 2016
+ * June 7, 2016
  *
  * LDXL362 Acceleration Sensor (Extended to Ch1 ~ Ch3)
  *
@@ -20,52 +20,88 @@
     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[6];
     
-    ADXL362 adxl362(Ch2, p5, p6, p7);
+    adxl362[0] = new ADXL362( p8,  p5, p6, p7);
+    adxl362[1] = new ADXL362( p9,  p5, p6, p7);
+    adxl362[2] = new ADXL362( p10, p5, p6, p7);
+    adxl362[3] = new ADXL362( p11, p5, p6, p7);
+    adxl362[4] = new ADXL362( p12, p5, p6, p7);
+    adxl362[5] = new ADXL362( p13, 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);
+    printf("\r\nInitializing . \r\n");
+    for (int i=0; i<6; i++) {
+        adxl362[i]->reset();
+        wait_ms(600); 
+     }
+     
+     
+    wait_ms(600); 
     
-    
+    for (int i=0; i<6; i++) 
+    {
+        //adxl362[i]->frequency(20000);
+        adxl362[i]->frequency(1000000);
+        adxl362[i]->set_mode(ADXL362::MEASUREMENT); 
+    }
+    //while(1) {
+    for (int i=0; i<6; i++) 
+    {
+        uint8_t err = false;
+        uint8_t ad  = static_cast<uint8_t>(adxl362[i]->read_reg(ADXL362::DEVID_AD));
+        uint8_t mst = static_cast<uint8_t>(adxl362[i]->read_reg(ADXL362::DEVID_MST));
+        uint8_t pid = static_cast<uint8_t>(adxl362[i]->read_reg(ADXL362::PARTID));
+        uint8_t rid = static_cast<uint8_t>(adxl362[i]->read_reg(ADXL362::REVID));
+        err |= (0xAD != ad); 
+        err |= (0x1D != mst); 
+        err |= (0xF2 != pid);
+        err |= (0x02 != rid); 
+        if (err) printf("CH %d has error DevID_AD %02x DevID_MST %02x PartID %02x RevID %02x\r\n", i, ad, mst, pid, rid); 
+    }
+    //}
     
-    uint8_t x,y,z; 
-    uint64_t t1, t2, t3;
+    uint64_t xyzt[6];
     
     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)),
+ /*     pc.putc('#');
+        char ch;
+         for(int i=8;i>2;i--)
+        { 
+            ch =  static_cast<uint8_t>(0xF&( t1>>(i*8) ) );
+            pc.putc(ch);
+        }
+        pc.putc(',');
+        for(int i=8;i>2;i--)
+        { 
+            ch =  static_cast<uint8_t>(0xF&( t2>>(i*8) ) );
+            pc.putc(ch);
+        }
+        pc.putc(',');
+        for(int i=8;i>2;i--)
+        { 
+            ch =  static_cast<uint8_t>(0xF&( t3>>(i*8) ) );
+            pc.putc(ch);
+        }
+    */     
         
-        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);
+        for (int i=0; i<6; i++) 
+            xyzt[i] = adxl362[i]->scan();
+        for (int i=0; i<6; i++) {
+            printf("%04x %04x %04x ",
+                static_cast<uint16_t>(0xFFFF&(xyzt[i]>>48)), 
+                static_cast<uint16_t>(0xFFFF&(xyzt[i]>>32)),
+                static_cast<uint16_t>(0xFFFF&(xyzt[i]>>16))
+            );
+        }
+        printf("\r\n");
+        //wait_us(1);
     }
 }

--- a/mbed.bld	Mon May 23 13:46:35 2016 +0000
+++ b/mbed.bld	Wed Jun 08 10:42:30 2016 +0000
@@ -1,1 +1,1 @@
-http://mbed.org/users/mbed_official/code/mbed/builds/7c328cabac7e
\ No newline at end of file
+http://mbed.org/users/mbed_official/code/mbed/builds/6c34061e7c34
\ No newline at end of file