Revision 7:758a94e02aa7, committed 2016-06-17

Comitter:

mfurukawa

Date:

Fri Jun 17 05:31:40 2016 +0000

Parent:

6:ea0804dc7cae

Child:

8:03f9b5289083

Commit message:

stable (allread)

Changed in this revision

--- a/main.cpp	Fri Jun 17 05:16:13 2016 +0000
+++ b/main.cpp	Fri Jun 17 05:31:40 2016 +0000
@@ -33,9 +33,13 @@
     imu[0] = new mpu9250_spi(spi, p8);
     imu[1] = new mpu9250_spi(spi, p9);
   
-    int i=0;
+    for(int i=0;i<2;i++){
   
-     if(imu[i]->init(1,BITS_DLPF_CFG_188HZ)){  //INIT the mpu9250
+        imu[0]->deselect();
+        imu[1]->deselect();
+        imu[i]->select();
+           
+        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
@@ -47,18 +51,26 @@
         printf("AK8963 WHIAM=0x%2x\n",imu[i]->AK8963_whoami());
         wait(0.1);  
         imu[i]->AK8963_calib_Magnetometer();
-        
-        while(1) {
-            //myled = 1;
-            wait(0.1);
-            /*
-            imu[i]->read_temp();
-            imu[i]->read_acc();
-            imu[i]->read_rot();
-            imu[i]->AK8963_read_Magnetometer();
-            */
+    }
+    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++){
+            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\n", 
+            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],
@@ -70,34 +82,9 @@
                 imu[i]->Magnetometer[1],
                 imu[i]->Magnetometer[2]
                 );
-            //myled = 0;
-            //wait(0.5);
+        //myled = 0;
+        //wait(0.5);
         }
-        
-    /*
-    uint64_t xyzt[6];
-    short xi[6],yi[6],zi[6];
-    
-    while(1) {
-        
-        
-        for (int i=0; i<6; i++) 
-            xyzt[i] = adxl362[i]->scan();
-            
-        for (int i=0; i<6; i++) {
-            uint16_t x = static_cast<uint16_t>(0xFFFF&(xyzt[i]>>48));
-            uint16_t y = static_cast<uint16_t>(0xFFFF&(xyzt[i]>>32));
-            uint16_t z = static_cast<uint16_t>(0xFFFF&(xyzt[i]>>16));
-            
-            if(x & 1<<16) xi[i] = -1 * static_cast<short>(~x) + 1; else xi[i] = x;
-            if(y & 1<<16) yi[i] = -1 * static_cast<short>(~y) + 1; else yi[i] = y;
-            if(z & 1<<16) zi[i] = -1 * static_cast<short>(~z) + 1; else zi[i] = z;
-        }
-        for (int i=0; i<6; i++) {            
-            printf("%d %d %d ", xi[i], yi[i], zi[i]);
-        }
-        printf("\r\n");
-        wait_us(1);
+    printf("\n");
     }
-    */
 }