Diff: main.cpp

Revision:

6:ea0804dc7cae

Parent:

5:abfc7660fde9

Child:

7:758a94e02aa7

--- a/main.cpp	Mon Jun 13 07:59:46 2016 +0000
+++ b/main.cpp	Fri Jun 17 05:16:13 2016 +0000
@@ -1,98 +1,85 @@
 /**
  * Masahiro FURUKAWA - m.furukawa@ist.osaka-u.ac.jp
  * 
- * June 7, 2016
+ * June 17, 2016
  *
- * LDXL362 Acceleration Sensor (Extended to Ch1 ~ Ch3)
+ * MPU9250 9DoF Sensor (Extended to Ch1 ~ Ch2)
  *
  **/
 
 
 #include "mbed.h"
-#include "ADXL362.h"
-
-Serial pc(USBTX, USBRX);
+#include "MPU9250.h"
  
 /*
-    ~CS  (Chip Select)          p8
     MOSI (Master Out Slave In)  p5
     MISO (Master In Slave Out   p6
     SCK  (Serial Clock)         p7
+    ~CS  (Chip Select)          p8
 */
 
+//  https://developer.mbed.org/users/kylongmu/code/MPU9250_SPI_Test/file/5839d1b118bc/main.cpp
 
 int main() {
+
+    Serial pc(USBTX, USBRX);
     pc.baud(115200);
     
-    ADXL362 *adxl362[6];
-    
-    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
-    printf("\r\nInitializing . \r\n");
-    for (int i=0; i<6; i++) {
-        adxl362[i]->reset();
-        wait_ms(600); 
-     }
-     
-     
-    wait_ms(600); 
+    SPI spi(p5, p6, p7);
+
+    //define the mpu9250 object
+    mpu9250_spi *imu[2];
     
-    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); 
-    }
-    //}
-    
+    imu[0] = new mpu9250_spi(spi, p8);
+    imu[1] = new mpu9250_spi(spi, p9);
+  
+    int i=0;
+  
+     if(imu[i]->init(1,BITS_DLPF_CFG_188HZ)){  //INIT the mpu9250
+            printf("\nCouldn't initialize MPU9250 via SPI!");
+        }    
+        printf("\nWHOAMI=0x%2x\n",imu[i]->whoami()); //output the I2C address to know if SPI is working, it should be 104
+        wait(1);    
+        printf("Gyro_scale=%u\n",imu[i]->set_gyro_scale(BITS_FS_2000DPS));    //Set full scale range for gyros
+        wait(1);  
+        printf("Acc_scale=%u\n",imu[i]->set_acc_scale(BITS_FS_16G));          //Set full scale range for accs
+        wait(1);
+        printf("AK8963 WHIAM=0x%2x\n",imu[i]->AK8963_whoami());
+        wait(0.1);  
+        imu[i]->AK8963_calib_Magnetometer();
+        
+        while(1) {
+            //myled = 1;
+            wait(0.1);
+            /*
+            imu[i]->read_temp();
+            imu[i]->read_acc();
+            imu[i]->read_rot();
+            imu[i]->AK8963_read_Magnetometer();
+            */
+            imu[i]->read_all();
+            printf("%10.3f,%10.3f,%10.3f,%10.3f,%10.3f,%10.3f,%10.3f,%10.3f,%10.3f,%10.3f\n", 
+                imu[i]->Temperature,
+                imu[i]->gyroscope_data[0],
+                imu[i]->gyroscope_data[1],
+                imu[i]->gyroscope_data[2],
+                imu[i]->accelerometer_data[0],
+                imu[i]->accelerometer_data[1],
+                imu[i]->accelerometer_data[2],
+                imu[i]->Magnetometer[0],
+                imu[i]->Magnetometer[1],
+                imu[i]->Magnetometer[2]
+                );
+            //myled = 0;
+            //wait(0.5);
+        }
+        
+    /*
     uint64_t xyzt[6];
     short xi[6],yi[6],zi[6];
     
     while(1) {
         
-           
-        
- /*     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);
-        }
-    */     
         
         for (int i=0; i<6; i++) 
             xyzt[i] = adxl362[i]->scan();
@@ -112,4 +99,5 @@
         printf("\r\n");
         wait_us(1);
     }
+    */
 }