Diff: main.cpp

Revision:

7:a862072e0981

Parent:

6:981cb17c7ea3

Child:

8:b9206956f396

--- a/main.cpp	Mon Aug 14 07:11:49 2017 +0000
+++ b/main.cpp	Mon Aug 14 07:37:15 2017 +0000
@@ -4,6 +4,7 @@
 Serial pc(SERIAL_TX,SERIAL_RX);
 DigitalOut led(LED1);
 MPU9250_DMP imu;
+//variables
 unsigned char whoami[1]={0};
 unsigned char fifo_count[2]={32,32};
 unsigned char temp[1]={32};
@@ -12,6 +13,8 @@
 unsigned char regadd;
 char registeradress[5];
 unsigned char registerdata[]={33};
+unsigned long  count=0;
+//Prototypes
 void printIMUData(void);
 int main() 
 {
@@ -38,6 +41,7 @@
     else{
         pc.printf("imu.dmpBegin() suceeded\n");
     }
+      pc.printf("$GETEU,*\n");//indicationg that data will send to matlab by serial
 #endif
 #if 0//this scope is only for debugging purposes of mbed_i2c_read and write functions
     mbed_i2c_read(0x68,0x75,1,whoami);
@@ -68,10 +72,6 @@
     }*/
   // Check for new data in the FIFO
   if (imu.fifoAvailable()){//fifo is not being available
-    led=0;
-    wait_ms(50);
-    led=1;
-    wait_ms(50);
     // Use dmpUpdateFifo to update the ax, gx, mx, etc. values
     if ( imu.dmpUpdateFifo() == INV_SUCCESS){
       // computeEulerAngles can be used -- after updating the
@@ -101,5 +101,5 @@
   float q2 = imu.calcQuat(imu.qy);
   float q3 = imu.calcQuat(imu.qz);
   
-  pc.printf("Y:%lf  P:%lf   R:%lf \n", imu.yaw,imu.pitch,imu.roll);
+  pc.printf("t:%d\t Y:%lf\t  P:%lf\t   R:%lf\n",get_ms(&count), imu.yaw,imu.pitch,imu.roll);
 }