Diff: gm_sensor/main.cpp

Revision:

0:af969b92a87c

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/gm_sensor/main.cpp	Wed Oct 20 08:15:44 2021 +0000
@@ -0,0 +1,80 @@
+#include "mbed.h"
+#include "MPU9250.h"
+
+
+
+MPU9250 mpu9250(D4, D5);                   // SDA, SCL
+
+Serial pc(USBTX, USBRX, 115200);
+
+volatile bool interrupt_flag = false;
+
+void detect_shock(void)
+{
+    interrupt_flag = true;
+}
+
+int main()
+{
+
+
+    mpu9250.resetMPU9250();
+    mpu9250.setWakeOnMotion();
+
+    while(1) {
+        if (interrupt_flag) {
+
+            pc.printf("detect\r\n");
+            wait_ms(1000);
+            interrupt_flag = false;
+        }
+
+        /* get accell data*/
+        int16_t acc[3];
+        mpu9250.readAccelData(acc);
+        float acc_f[3];
+        for (int i = 0; i < 3; ++i)
+            acc_f[i] = float(acc[i]) * mpu9250.getAres();
+
+        /* get temperature */
+        float temperature = ((float) mpu9250.readTempData()) / 333.87 + 21.0;
+
+        /* get gyro data*/
+        int16_t gyro[3];
+        mpu9250.readGyroData(gyro);
+        float gyro_f[3];
+        for (int i = 0; i < 3; ++i)
+            gyro_f[i] = float(gyro[i]) * mpu9250.getGres();
+
+
+        /* get mag data*/
+        int16_t mag[3];
+        mpu9250.readMagData(mag);
+        float mag_f[3];
+        for (int i = 0; i < 3; ++i)
+            mag_f[i] = float(mag[i]) * mpu9250.getMres();
+
+
+
+
+
+
+
+        /* serial */
+
+        pc.printf("ax:%3.3f\t", acc_f[0]);
+        pc.printf("ay:%3.3f\t", acc_f[1]);
+        pc.printf("az:%3.3f\t\n", acc_f[2]);
+        pc.printf("mx:%3.3f\t", mag_f[0]);
+        pc.printf("my:%3.3f\t", mag_f[1]);
+        pc.printf("mz:%3.3f\t\n", mag_f[2]);
+        pc.printf("gx:%3.3f\t", gyro_f[0]);
+        pc.printf("gy:%3.3f\t", gyro_f[1]);
+        pc.printf("gz:%3.3f\t\n", gyro_f[2]);
+        pc.printf("temp:%3.3f\t", temperature);
+
+        pc.printf("\n\n---------------------------\r\n");
+
+        wait_ms(100);
+    }
+}
\ No newline at end of file