![](/media/cache/group/default_image.jpg.50x50_q85.jpg)
Sample for MPU6050 (used by Nucleo-STMF303K8)
main.cpp@0:83aeb4287ca7, 2016-06-17 (annotated)
- Committer:
- mikawataru
- Date:
- Fri Jun 17 15:14:59 2016 +0000
- Revision:
- 0:83aeb4287ca7
- Child:
- 1:e24f8a7fc545
MPU6050 & STM303K8;
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
mikawataru | 0:83aeb4287ca7 | 1 | #include "mbed.h" |
mikawataru | 0:83aeb4287ca7 | 2 | #include "MPU6050.h" |
mikawataru | 0:83aeb4287ca7 | 3 | #define acc 16384 |
mikawataru | 0:83aeb4287ca7 | 4 | #define gyro 131 |
mikawataru | 0:83aeb4287ca7 | 5 | |
mikawataru | 0:83aeb4287ca7 | 6 | DigitalOut myled(LED1); |
mikawataru | 0:83aeb4287ca7 | 7 | MPU6050 mpu(D4,D5); |
mikawataru | 0:83aeb4287ca7 | 8 | Serial pc(USBTX, USBRX); |
mikawataru | 0:83aeb4287ca7 | 9 | |
mikawataru | 0:83aeb4287ca7 | 10 | int main() { |
mikawataru | 0:83aeb4287ca7 | 11 | float a[3]; |
mikawataru | 0:83aeb4287ca7 | 12 | float g[3]; |
mikawataru | 0:83aeb4287ca7 | 13 | mpu.setAcceleroRange(0); |
mikawataru | 0:83aeb4287ca7 | 14 | mpu.setGyroRange(0); |
mikawataru | 0:83aeb4287ca7 | 15 | while(1) { |
mikawataru | 0:83aeb4287ca7 | 16 | myled = 1; |
mikawataru | 0:83aeb4287ca7 | 17 | wait(0.2); |
mikawataru | 0:83aeb4287ca7 | 18 | myled = 0; |
mikawataru | 0:83aeb4287ca7 | 19 | wait(0.2); |
mikawataru | 0:83aeb4287ca7 | 20 | a[0] = (float)mpu.getAcceleroRawX()/acc; |
mikawataru | 0:83aeb4287ca7 | 21 | a[1] = (float)mpu.getAcceleroRawY()/acc; |
mikawataru | 0:83aeb4287ca7 | 22 | a[2] = (float)mpu.getAcceleroRawZ()/acc; |
mikawataru | 0:83aeb4287ca7 | 23 | g[0] = (float)mpu.getGyroRawX()/gyro; |
mikawataru | 0:83aeb4287ca7 | 24 | g[1] = (float)mpu.getGyroRawY()/gyro; |
mikawataru | 0:83aeb4287ca7 | 25 | g[2] = (float)mpu.getGyroRawZ()/gyro; |
mikawataru | 0:83aeb4287ca7 | 26 | pc.printf("%f,%f,%f,%f,%f,%f\n",a[0],a[1],a[2],g[0],g[1],g[2]); |
mikawataru | 0:83aeb4287ca7 | 27 | } |
mikawataru | 0:83aeb4287ca7 | 28 | } |