HEPTA-Sat Training 2022 / Mbed 2 deprecated Lab4-04_detect_angular_velocity_i2c

HeptaSat

Dependencies:   mbed HEPTA_EPS

main.cpp@2:4fcc41c10f22, 2022-08-09 (annotated)

Committer:
csmk18112
Date:
Tue Aug 09 06:25:09 2022 +0000
Revision:
2:4fcc41c10f22
Parent:
1:13e640890938 
mako

Who changed what in which revision?

UserRevisionLine numberNew contents of line
csmk18112 0:c1b538c0d17b 1 #include "mbed.h"
csmk18112 0:c1b538c0d17b 2 #include "HEPTA_EPS.h"
csmk18112 1:13e640890938 3 #define GYRO 0x69<<1 //addr_gyro
csmk18112 1:13e640890938 4
csmk18112 0:c1b538c0d17b 5 Serial pc(USBTX, USBRX);
csmk18112 1:13e640890938 6 HEPTA_EPS eps(p16,p26);
csmk18112 0:c1b538c0d17b 7 I2C i2c(p28,p27);
csmk18112 0:c1b538c0d17b 8
csmk18112 0:c1b538c0d17b 9 float gyroscope[3];
csmk18112 0:c1b538c0d17b 10 char cmd[2]={0};
csmk18112 0:c1b538c0d17b 11 uint8_t data[6]={0};
csmk18112 0:c1b538c0d17b 12 char send[1], get[1];
csmk18112 1:13e640890938 13 char temp; //temperature
csmk18112 0:c1b538c0d17b 14
csmk18112 0:c1b538c0d17b 15 int main() {
csmk18112 0:c1b538c0d17b 16 i2c.frequency(100000);
csmk18112 2:4fcc41c10f22 17 pc.printf("gyroscope setting\r\n");
csmk18112 0:c1b538c0d17b 18 cmd[0]=0x0F;
csmk18112 0:c1b538c0d17b 19 cmd[1]=0x04;
csmk18112 0:c1b538c0d17b 20 i2c.write(GYRO,cmd,2);
csmk18112 0:c1b538c0d17b 21 cmd[0]=0x10;
csmk18112 0:c1b538c0d17b 22 cmd[1]=0x07;
csmk18112 0:c1b538c0d17b 23 i2c.write(GYRO,cmd,2);
csmk18112 0:c1b538c0d17b 24 cmd[0]=0x11;
csmk18112 0:c1b538c0d17b 25 cmd[1]=0x00;
csmk18112 0:c1b538c0d17b 26 i2c.write(GYRO,cmd,2);
csmk18112 0:c1b538c0d17b 27 while(1) {
csmk18112 0:c1b538c0d17b 28 for(int i=0;i<6;i++){
csmk18112 0:c1b538c0d17b 29 send[0]=(char)(2+i);
csmk18112 0:c1b538c0d17b 30 i2c.write(GYRO,send,1);
csmk18112 0:c1b538c0d17b 31 i2c.read(GYRO,get,1);
csmk18112 0:c1b538c0d17b 32 temp=get[0];
csmk18112 0:c1b538c0d17b 33 data[i]=temp;
csmk18112 0:c1b538c0d17b 34 }
csmk18112 0:c1b538c0d17b 35 for(int i=0;i<3;i++){
csmk18112 0:c1b538c0d17b 36 gyroscope[i]=(int16_t)(((int16_t)data[i*2+1]<<8) | data[i*2]) >> 4;
csmk18112 0:c1b538c0d17b 37 if(gyroscope[i]>32767)gyroscope[i]-=65536;
csmk18112 0:c1b538c0d17b 38 gyroscope[i]=gyroscope[i]*125/2048;
csmk18112 0:c1b538c0d17b 39 }
csmk18112 0:c1b538c0d17b 40 pc.printf("gx = %2.4f, gy = %2.4f, gz = %2.4f\r\n",gyroscope[0],gyroscope[1],gyroscope[2]);
csmk18112 1:13e640890938 41 wait(1);
csmk18112 0:c1b538c0d17b 42 }
csmk18112 1:13e640890938 43 }