z jx / ICM20602_I2C

ICM20602_I2C(invensense)---stm32f767zi

Dependents:   IMU_fusion_9DOF

Fork of NTOUEE-mbed-I2C_MPU6500 by Richard Kuo

main.cpp@0:95e46ae24046, 2016-10-21 (annotated)

Committer:
rkuo2000
Date:
Fri Oct 21 02:52:40 2016 +0000
Revision:
0:95e46ae24046
mbed I2C reading MPU6500

Who changed what in which revision?

UserRevisionLine numberNew contents of line
rkuo2000 0:95e46ae24046 1 /// using NuMaker-PFM-NUC472 I2C0 to read 3-axis accelerometer & 3-axis gyroscope (MPU6500)
rkuo2000 0:95e46ae24046 2 #include "mbed.h"
rkuo2000 0:95e46ae24046 3 #include "mpu6500.h"
rkuo2000 0:95e46ae24046 4
rkuo2000 0:95e46ae24046 5 I2C i2c0(PC_9, PA_15); // I2C0_SDA, I2C0_SCL
rkuo2000 0:95e46ae24046 6
rkuo2000 0:95e46ae24046 7 MPU6500 IMU; // on-board IMU is MPU6500
rkuo2000 0:95e46ae24046 8
rkuo2000 0:95e46ae24046 9 int main() {
rkuo2000 0:95e46ae24046 10 int16_t accX, accY, accZ;
rkuo2000 0:95e46ae24046 11 int16_t gyroX, gyroY, gyroZ;
rkuo2000 0:95e46ae24046 12
rkuo2000 0:95e46ae24046 13 i2c0.frequency(400000);
rkuo2000 0:95e46ae24046 14 IMU.initialize();
rkuo2000 0:95e46ae24046 15
rkuo2000 0:95e46ae24046 16 while(true) {
rkuo2000 0:95e46ae24046 17 accX = IMU.getAccelXvalue();
rkuo2000 0:95e46ae24046 18 accY = IMU.getAccelYvalue();
rkuo2000 0:95e46ae24046 19 accZ = IMU.getAccelZvalue();
rkuo2000 0:95e46ae24046 20 gyroX= IMU.getGyroXvalue();
rkuo2000 0:95e46ae24046 21 gyroY= IMU.getGyroYvalue();
rkuo2000 0:95e46ae24046 22 gyroZ= IMU.getGyroZvalue();
rkuo2000 0:95e46ae24046 23 printf("Acc: %6d, %6d, %6d, ", accX, accY, accZ);
rkuo2000 0:95e46ae24046 24 printf("Gyro:%6d, %6d, %6d\n\r", gyroX, gyroY, gyroZ);
rkuo2000 0:95e46ae24046 25 }
rkuo2000 0:95e46ae24046 26 }