Les Vils Gredins / Mbed 2 deprecated DISCO_L476VG_AccGy2

cette fois faites import plutot que modifier direct bande de gredins

Dependencies:   GYRO_DISCO_L476VG mbed BSP_DISCO_L476VG COMPASS_DISCO_L476VG

main.cpp@8:97589b322a4f, 2020-06-12 (annotated)

Committer:
Leonnn
Date:
Fri Jun 12 13:48:55 2020 +0000
Revision:
8:97589b322a4f
Parent:
7:4d02d2486949
Child:
9:187f56fa6db5
LA FUSION :O

Who changed what in which revision?

UserRevisionLine numberNew contents of line
bcostm 0:5432bdf904f9 1 #include "mbed.h"
bcostm 0:5432bdf904f9 2 #include "GYRO_DISCO_L476VG.h"
Leonnn 8:97589b322a4f 3 #include "COMPASS_DISCO_L476VG.h"
Leonnn 8:97589b322a4f 4 #define PI 3.14159265358979323846
bcostm 0:5432bdf904f9 5
Leonnn 8:97589b322a4f 6 COMPASS_DISCO_L476VG compass;
bcostm 0:5432bdf904f9 7 GYRO_DISCO_L476VG gyro;
Leonnn 8:97589b322a4f 8
Leonnn 5:a50ff92004e0 9 Serial pc(SERIAL_TX, SERIAL_RX);
Leonnn 7:4d02d2486949 10 Ticker tick_mesure;
Leonnn 7:4d02d2486949 11
Leonnn 7:4d02d2486949 12 volatile bool flag_mesure = 0;
Leonnn 7:4d02d2486949 13
Leonnn 8:97589b322a4f 14 void mesure(void){flag_mesure = 1;}// ISR mesure
bcostm 0:5432bdf904f9 15
bcostm 0:5432bdf904f9 16 int main()
bcostm 0:5432bdf904f9 17 {
Leonnn 7:4d02d2486949 18 float GyroBuffer[3], offset, GyrY;
Leonnn 7:4d02d2486949 19 offset = 0;
Leonnn 7:4d02d2486949 20 wait(0.5);
Leonnn 8:97589b322a4f 21 for(int i=0; i<100; i++){// séquence de mise à 0
Leonnn 7:4d02d2486949 22 gyro.GetXYZ(GyroBuffer);
Leonnn 7:4d02d2486949 23 offset = offset + GyroBuffer[1];
Leonnn 7:4d02d2486949 24 wait(0.01);
Leonnn 7:4d02d2486949 25 }
Leonnn 8:97589b322a4f 26 offset = offset/100;//-----------------fin mise à 0
Leonnn 7:4d02d2486949 27
Leonnn 7:4d02d2486949 28 tick_mesure.attach(&mesure, 0.01);
Leonnn 5:a50ff92004e0 29 pc.baud(115200);
Leonnn 8:97589b322a4f 30
Leonnn 8:97589b322a4f 31 unsigned int count = 0;
Leonnn 8:97589b322a4f 32 float Gyr_angle = 0;
Leonnn 8:97589b322a4f 33 float Acc_angle;
Leonnn 8:97589b322a4f 34 int16_t AccBuffer[3];
bcostm 0:5432bdf904f9 35
Leonnn 7:4d02d2486949 36 while(1) {
Leonnn 8:97589b322a4f 37 if(flag_mesure){// mesure Gyro
Leonnn 7:4d02d2486949 38 gyro.GetXYZ(GyroBuffer);
Leonnn 7:4d02d2486949 39 GyrY = GyroBuffer[1]-offset;
Leonnn 8:97589b322a4f 40 Gyr_angle = Gyr_angle + GyrY/100;
Leonnn 8:97589b322a4f 41 Acc_angle = atan2((float)AccBuffer[0], (float)AccBuffer[2])*180.0/PI;
Leonnn 7:4d02d2486949 42
Leonnn 7:4d02d2486949 43 if(count > 9){
Leonnn 8:97589b322a4f 44 compass.AccGetXYZ(AccBuffer);
Leonnn 8:97589b322a4f 45 pc.printf("$%f %f;", Acc_angle, Gyr_angle/1000);
Leonnn 7:4d02d2486949 46 count = 0;
Leonnn 7:4d02d2486949 47 }
Leonnn 7:4d02d2486949 48 else
Leonnn 7:4d02d2486949 49 count++;
Leonnn 7:4d02d2486949 50 flag_mesure = 0;
Leonnn 7:4d02d2486949 51 }
Leonnn 7:4d02d2486949 52 //wait(0.1);
bcostm 0:5432bdf904f9 53 }
bcostm 0:5432bdf904f9 54 }