Diff: main.cpp

Revision:

5:abfc7660fde9

Parent:

4:5a9aa5ae928a

Child:

6:ea0804dc7cae

--- a/main.cpp	Wed Jun 08 10:42:30 2016 +0000
+++ b/main.cpp	Mon Jun 13 07:59:46 2016 +0000
@@ -33,6 +33,7 @@
     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
     printf("\r\nInitializing . \r\n");
     for (int i=0; i<6; i++) {
@@ -45,7 +46,7 @@
     
     for (int i=0; i<6; i++) 
     {
-        //adxl362[i]->frequency(20000);
+        adxl362[i]->frequency(20000);
         adxl362[i]->frequency(1000000);
         adxl362[i]->set_mode(ADXL362::MEASUREMENT); 
     }
@@ -66,6 +67,7 @@
     //}
     
     uint64_t xyzt[6];
+    short xi[6],yi[6],zi[6];
     
     while(1) {
         
@@ -94,14 +96,20 @@
         
         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))
-            );
+            uint16_t x = static_cast<uint16_t>(0xFFFF&(xyzt[i]>>48));
+            uint16_t y = static_cast<uint16_t>(0xFFFF&(xyzt[i]>>32));
+            uint16_t z = static_cast<uint16_t>(0xFFFF&(xyzt[i]>>16));
+            
+            if(x & 1<<16) xi[i] = -1 * static_cast<short>(~x) + 1; else xi[i] = x;
+            if(y & 1<<16) yi[i] = -1 * static_cast<short>(~y) + 1; else yi[i] = y;
+            if(z & 1<<16) zi[i] = -1 * static_cast<short>(~z) + 1; else zi[i] = z;
+        }
+        for (int i=0; i<6; i++) {            
+            printf("%d %d %d ", xi[i], yi[i], zi[i]);
         }
         printf("\r\n");
-        //wait_us(1);
+        wait_us(1);
     }
 }