Diff: main.cpp

Revision:

6:275462c61b74

Parent:

5:5839d1b118bc

--- a/main.cpp	Tue Jul 01 14:16:04 2014 +0000
+++ b/main.cpp	Tue Dec 13 06:50:23 2016 +0000
@@ -5,9 +5,9 @@
 #include "MPU9250.h"        //Include library
  
 DigitalOut myled(LED1);
-Serial pc(SERIAL_TX, SERIAL_RX);
-SPI spi(SPI_MOSI, SPI_MISO, SPI_SCK);
-mpu9250_spi imu(spi,SPI_CS);   //define the mpu9250 object
+Serial pc(USBTX, USBRX);
+SPI spi(p5, p6, p7);
+mpu9250_spi imu(spi,p8);   //define the mpu9250 object
 int main(){
     pc.baud(115200);
     if(imu.init(1,BITS_DLPF_CFG_188HZ)){  //INIT the mpu9250
@@ -25,15 +25,15 @@
     while(1) {
         //myled = 1;
         wait(0.1);
-        /*
-        imu.read_temp();
+        
+        //imu.read_temp();
         imu.read_acc();
         imu.read_rot();
         imu.AK8963_read_Magnetometer();
-        */
+        
         imu.read_all();
-        printf("%10.3f,%10.3f,%10.3f,%10.3f,%10.3f,%10.3f,%10.3f,%10.3f,%10.3f,%10.3f\n", 
-            imu.Temperature,
+        printf("%10.3f,%10.3f,%10.3f,%10.3f,%10.3f,%10.3f,%10.3f,%10.3f,%10.3f\n", 
+            //imu.Temperature,
             imu.gyroscope_data[0],
             imu.gyroscope_data[1],
             imu.gyroscope_data[2],
@@ -44,8 +44,15 @@
             imu.Magnetometer[1],
             imu.Magnetometer[2]
             );
-        //myled = 0;
-        //wait(0.5);
+           /*float mx,my,F;
+           mx = (imu.Magnetometer[0])*cos(7*3.1415/180);
+           my = (imu.Magnetometer[1])*cos(7*3.1415/180);
+          //float mz = imu.Magnetometer[2];
+         
+            F = atan2(my,mx)*180/3.1415;
+          printf("degree=%10.5f\n",F);
+        //myled = 0;*/
+        wait(0.5);
     }
 }
  
\ No newline at end of file