Revision 8:03f9b5289083, committed 2016-06-17

Comitter:

mfurukawa

Date:

Fri Jun 17 05:46:08 2016 +0000

Parent:

7:758a94e02aa7

Child:

9:e700b2d586d6

Commit message:

stable (wait_us(1))

Changed in this revision

--- a/main.cpp	Fri Jun 17 05:31:40 2016 +0000
+++ b/main.cpp	Fri Jun 17 05:46:08 2016 +0000
@@ -1,6 +1,6 @@
 /**
  * Masahiro FURUKAWA - m.furukawa@ist.osaka-u.ac.jp
- * 
+ *
  * June 17, 2016
  *
  * MPU9250 9DoF Sensor (Extended to Ch1 ~ Ch2)
@@ -10,7 +10,7 @@
 
 #include "mbed.h"
 #include "MPU9250.h"
- 
+
 /*
     MOSI (Master Out Slave In)  p5
     MISO (Master In Slave Out   p6
@@ -20,71 +20,71 @@
 
 //  https://developer.mbed.org/users/kylongmu/code/MPU9250_SPI_Test/file/5839d1b118bc/main.cpp
 
-int main() {
+int main()
+{
 
     Serial pc(USBTX, USBRX);
     pc.baud(115200);
-    
+
     SPI spi(p5, p6, p7);
 
     //define the mpu9250 object
     mpu9250_spi *imu[2];
-    
+
     imu[0] = new mpu9250_spi(spi, p8);
     imu[1] = new mpu9250_spi(spi, p9);
-  
-    for(int i=0;i<2;i++){
-  
+
+    for(int i=0; i<2; i++) {
+
         imu[0]->deselect();
         imu[1]->deselect();
         imu[i]->select();
-           
-        if(imu[i]->init(1,BITS_DLPF_CFG_188HZ)){  //INIT the mpu9250
+
+        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);    
+        wait(1);
         printf("Gyro_scale=%u\n",imu[i]->set_gyro_scale(BITS_FS_2000DPS));    //Set full scale range for gyros
-        wait(1);  
+        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);  
+        wait(0.1);
         imu[i]->AK8963_calib_Magnetometer();
+        wait(0.1);
     }
     imu[0]->select();
     imu[1]->deselect();
     while(1) {
-    
-    
+
         //myled = 1;
+        
         wait_us(1);
-        /*
-        imu[i]->read_temp();
-        imu[i]->read_acc();
-        imu[i]->read_rot();
-        imu[i]->AK8963_read_Magnetometer();
-        */
-        for(int i=0;i<2;i++){
+        
+        for(int i=0; i<2; i++) {
+            
             imu[0]->deselect();
             imu[1]->deselect();
+            
             imu[i]->select();
             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 ", 
-                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);
+            
+            printf("%10.3f,%10.3f,%10.3f,%10.3f,%10.3f,%10.3f,%10.3f,%10.3f,%10.3f,%10.3f ",
+                   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);
         }
-    printf("\n");
+        printf("\n");
     }
 }