MPU-9250 with Kalman Filter
Dependencies: ADXL362-helloworld MPU9250_SPI mbed
Fork of ADXL362-helloworld by
Diff: main.cpp
- Revision:
- 1:f1e4ee4fc335
- Parent:
- 0:83fda1bfaffe
- Child:
- 2:9ef7a594159c
--- a/main.cpp Thu May 19 09:11:04 2016 +0000 +++ b/main.cpp Mon May 23 09:24:25 2016 +0000 @@ -1,19 +1,35 @@ + #include "mbed.h" #include "ADXL362.h" -ADXL362 adxl362(D9); +Serial pc(USBTX, USBRX); + +/* + ~CS (Chip Select) p8 + MOSI (Master Out Slave In) p5 + MISO (Master In Slave Out p6 + SCK (Serial Clock) p7 +*/ +ADXL362 adxl362(p8, p5, p6, p7); int main() { + pc.baud(115200); + adxl362.reset(); wait_ms(600); // we need to wait at least 500ms after ADXL362 reset adxl362.set_mode(ADXL362::MEASUREMENT); uint8_t x,y,z; + uint64_t t; while(1) { x=adxl362.scanx_u8(); y=adxl362.scany_u8(); z=adxl362.scanz_u8(); - printf("x = %x y = %x z = %x\r\n",x,y,z); - wait_ms(100); + t=adxl362.scan(); + printf("x = %02x y = %02x z = %02x %04x %04x %04x\r\n",x,y,z, + static_cast<uint16_t>(0xFFFF&(t>>48)), + static_cast<uint16_t>(0xFFFF&(t>>32)), + static_cast<uint16_t>(0xFFFF&(t>>16)) ); + wait_ms(1); } }