Masahiro Furukawa / Mbed 2 deprecated MPU-9250-Ch2_AHRS_test

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Dependencies:   MPU9250_SPI mbed

Fork of MPU9250_AHRS by maedalab

Diff: main.cpp

Revision:
20:01bba4071ffc
Parent:
19:3fc0ecfc723a
Child:
21:06a9547359dc
--- a/main.cpp	Tue Jun 28 13:41:15 2016 +0000
+++ b/main.cpp	Tue Jun 28 13:46:58 2016 +0000
@@ -75,16 +75,18 @@
 // Wada June 17, 2016
 void float2byte(float gq, float k)//k = gyro_divider 32.8 or q_divider 32800
 {
+    int tmp;
     float omegaF = gq * k;
     int16_t omegaI = (int16_t)omegaF;
     if(omegaI < 0){//1の補数
         omegaI = 0xFFFF + omegaI;
         }
-    for(i=0;i<4;i++){
+    for(int i=0;i<4;i++){
         tmp = (0xF & (omegaI >> (i*4)));
         #ifdef DEBUG_putc
         pc.putc(tmp);
         #endif      
+        wait_us(150);
     }        
 }//float2byte
 
@@ -114,7 +116,8 @@
         );
     #ifdef DEBUG_putc
     pc.putc(0x34);  //STX
-    #endif    
+    #endif
+    wait_us(150);
     for(int i=0; i<2; i++) {
             /*
             printf("%+1.3f,%+1.3f,%+1.3f,",