Diff: main.cpp

Revision:

3:740f15b45cb8

Parent:

2:7be1ac6eb8cb

Child:

4:9d706f783b5a

diff -r 7be1ac6eb8cb -r 740f15b45cb8 main.cpp
--- a/main.cpp	Tue Aug 08 08:39:57 2017 +0000
+++ b/main.cpp	Tue Aug 08 14:15:53 2017 +0000
@@ -21,14 +21,14 @@
 Serial pc(USBTX,USBRX);
 DigitalOut led(LED1);
 MPU9250_DMP imu;
-char datax[1]={0};
+char whoami[1]={0};
 long DEBUG[]={2,2,2,2};
 int main() 
 {
   pc.baud(115200);
   pc.printf("Hello World\n");
   // Call imu.begin() to verify communication and initialize
-    pc.printf("imu.begin()is being run\n");
+    pc.printf("imu.begin() is being run\n");
   if (imu.begin() != INV_SUCCESS){
     pc.printf("imu.begin() have failed");
     while (1){
@@ -45,26 +45,27 @@
   // accelerometer in low-power mode to estimate quat's.
   // DMP_FEATURE_LP_QUAT and 6X_LP_QUAT are mutually exclusive
   pc.printf("imu.dmpBegin() suceeded\n");
-
+  mbed_i2c_read(0x68,0x75,1,whoami);
+  pc.printf("%d\n",whoami[0]);
 while(1){
   // Check for new data in the FIFO
   led=1;
   wait_ms(500);
   led=0;
   wait_ms(500);
-  mbed_i2c_read((unsigned char)0x68,(unsigned char)0x75,1,datax);
-  pc.printf("%d",datax[0]);
-  if ( imu.fifoAvailable() ){//fifo is not being available
+  if (imu.fifoAvailable()){//fifo is not being available
     led=0;
     wait_ms(100);
     led=1;
     wait_ms(100);
+    pc.printf("fifo sucesfully available\n");
     // Use dmpUpdateFifo to update the ax, gx, mx, etc. values
     if ( imu.dmpUpdateFifo(DEBUG) == INV_SUCCESS){
       // computeEulerAngles can be used -- after updating the
       // quaternion values -- to estimate roll, pitch, and yaw
       imu.computeEulerAngles();
       //printIMUData();
+        pc.printf("dmpUpdateFifo sucesfully occured\n");
      #if 1
       pc.printf("%lf",DEBUG[0]);
       pc.printf("\t");