Diff: main.cpp

Revision:

7:ce6861403c1b

Parent:

6:02bfeec82bc1

--- a/main.cpp	Fri Apr 25 16:47:00 2014 +0000
+++ b/main.cpp	Sat Nov 14 13:54:44 2015 +0000
@@ -1,11 +1,12 @@
 #include "mbed.h"
 #include "FXOS8700Q.h"
-
+#include "FXAS21000.h"
 
 //FXOS8700Q acc( A4, A5, FXOS8700CQ_SLAVE_ADDR0); // Proper Ports and I2C address for Freescale Multi Axis shield
 //FXOS8700Q mag( A4, A5, FXOS8700CQ_SLAVE_ADDR0); // Proper Ports and I2C address for Freescale Multi Axis shield
 FXOS8700Q_acc acc( PTE25, PTE24, FXOS8700CQ_SLAVE_ADDR1); // Proper Ports and I2C Address for K64F Freedom board
 FXOS8700Q_mag mag( PTE25, PTE24, FXOS8700CQ_SLAVE_ADDR1); // Proper Ports and I2C Address for K64F Freedom board
+FXAS21000 gyro(D14, D15);
 
 Serial pc(USBTX, USBRX);
 
@@ -16,18 +17,28 @@
 MotionSensorDataCounts acc_raw;
 
 
-int main() {
+int main()
+{
+    
+    
 float faX, faY, faZ;
 float fmX, fmY, fmZ;
 int16_t raX, raY, raZ;
 int16_t rmX, rmY, rmZ;
+float  gyro_data[3];
+
+
 acc.enable();
+
 printf("\r\n\nFXOS8700Q Who Am I= %X\r\n", acc.whoAmI());
-    while (true) {
+printf("FXAS21000 Gyro = %X\r\n", gyro.getWhoAmI());
+
+while (true){
+        
         acc.getAxis(acc_data);
         mag.getAxis(mag_data);
-        printf("FXOS8700Q ACC: X=%1.4f Y=%1.4f Z=%1.4f  ", acc_data.x, acc_data.y, acc_data.z);
-        printf("    MAG: X=%4.1f Y=%4.1f Z=%4.1f\r\n", mag_data.x, mag_data.y, mag_data.z);
+       printf("FXOS8700Q ACC: X=%1.4f Y=%1.4f Z=%1.4f  ", acc_data.x, acc_data.y, acc_data.z);
+       printf("    MAG: X=%4.1f Y=%4.1f Z=%4.1f\r\n", mag_data.x, mag_data.y, mag_data.z);
         acc.getX(&faX);
         acc.getY(&faY);
         acc.getZ(&faZ);
@@ -36,18 +47,27 @@
         mag.getZ(&fmZ);
         printf("FXOS8700Q ACC: X=%1.4f Y=%1.4f Z=%1.4f  ", faX, faY, faZ);
         printf("    MAG: X=%4.1f Y=%4.1f Z=%4.1f\r\n", fmX, fmY, fmZ);
+        
         acc.getAxis(acc_raw);
         mag.getAxis(mag_raw);
-        printf("FXOS8700Q ACC: X=%d Y=%d Z=%d  ", acc_raw.x, acc_raw.y, acc_raw.z);
-        printf("    MAG: X=%d Y=%d Z=%d\r\n", mag_raw.x, mag_raw.y, mag_raw.z);
+      printf("FXOS8700Q ACC: X=%d Y=%d Z=%d  ", acc_raw.x, acc_raw.y, acc_raw.z);
+       printf("    MAG: X=%d Y=%d Z=%d\r\n", mag_raw.x, mag_raw.y, mag_raw.z);
         acc.getX(&raX);
         acc.getY(&raY);
         acc.getZ(&raZ);
         mag.getX(&rmX);
         mag.getY(&rmY);
         mag.getZ(&rmZ);                
-        printf("FXOS8700Q ACC: X=%d Y=%d Z=%d  ", raX, raY, raZ);
-        printf("    MAG: X=%d Y=%d Z=%d\r\n\n", rmX, rmY, rmZ);    
+        //printf("FXOS8700Q ACC: X=%d Y=%d Z=%d  ", raX, raY, raZ);
+        //printf("  MAG: X=%d Y=%d Z=%d\r\n\n", rmX, rmY, rmZ);    
         wait(1.0);
-    }
+        
+        gyro.ReadXYZ(gyro_data);
+        printf("\n FXAS21000 Gyro: X:%6.2f Y:%6.2f Z:%6.2f\r\n", gyro_data[0], gyro_data[1], gyro_data[2]);
+        
+        
+            }
+            
+            
+            
 }
\ No newline at end of file