Diff: main.cpp

Revision:

5:f4a35a2a9085

Parent:

0:5432bdf904f9

Child:

6:6df9f66ca6bb

--- a/main.cpp	Wed Nov 20 15:13:34 2019 +0100
+++ b/main.cpp	Mon Jun 08 17:42:48 2020 +0000
@@ -2,24 +2,57 @@
 #include "GYRO_DISCO_L476VG.h"
 
 GYRO_DISCO_L476VG gyro;
-
+Serial pc(SERIAL_TX, SERIAL_RX,115200);
+Ticker ticker;
 DigitalOut led1(LED1);
+volatile bool flag=0;
+float psig=0;
+float gyro_zero(void)
+{
+    const int NN=100000;
+    float GyroBuffer[3];
+    float gy_off=0;
+    for(int i=0; i<NN; i++)
+      {
+        gyro.GetXYZ(GyroBuffer);
+        gy_off=gy_off+GyroBuffer[1]/NN;
+        
+    }
+    return(gy_off);
+}
+void mesure(void)
+{
+    flag=1;
+}
 
 int main()
 {
     float GyroBuffer[3];
-  
+
     printf("Gyroscope started\n");
-  
+    ticker.attach(&mesure,0.01);
+    unsigned char cpt=0;
+    float gyoff=gyro_zero();
     while(1) {
-        // Read Gyroscope values
-        gyro.GetXYZ(GyroBuffer);
-        // Display values      
-        printf("X = %f\n", GyroBuffer[0]);
-        printf("Y = %f\n", GyroBuffer[1]);
-        printf("Z = %f\n", GyroBuffer[2]);
-        printf("\033[3A"); // Moves cursor up x lines (x value is between [ and A)
-        led1 = !led1;
-        wait(1);
+        if(flag) {
+
+            // Read Gyroscope values
+            gyro.GetXYZ(GyroBuffer);
+            psig=psig+(GyroBuffer[1]-gyoff)*0.01/1000;
+            
+            // Display values
+            //printf("X = %8.1f  \n", GyroBuffer[0]);
+            // printf("Y = %8.1f   \n", GyroBuffer[1]);
+            //printf("Z = %8.1f  \n", GyroBuffer[2]);
+            // printf("\033[3A"); // Moves cursor up x lines (x value is between [ and A)
+            if(cpt==9) {
+                cpt=0;
+                led1 = !led1;
+                //pc.printf("$%f;\n",GyroBuffer[1]);
+                pc.printf("$%f;\n",psig);
+            }
+            cpt++;
+            flag=0;
+        }
     }
 }