Diff: main.cpp

Revision:

0:c525c4fddba7

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Sat Jul 04 03:28:53 2020 +0000
@@ -0,0 +1,95 @@
+/* MPU9250のライブラリを使ったコード */
+
+#include "mbed.h"
+#include "MPU9250.h"
+
+Serial pc (USBTX, USBRX);
+MPU9250 mpu(p28, p27);
+Timer t;
+
+
+
+int main()
+{
+    unsigned long ID;
+    
+    //file value
+    int i = 0, j = 0, k= 500;
+    float accel[3], gyro[3], mag[3];
+    float AX[k], AY[k], AZ[k];
+    float GX[k], GY[k], GZ[k];
+    float MX[k], MY[k], MZ[k];
+    float T[k];
+    
+    pc.baud(460800);
+    
+    //accle&gyro ID
+    ID = mpu.who();
+    pc.printf("ID = 0x%x\r\n", ID);
+    
+    //mag ID
+    ID = mpu.AKwho();
+    pc.printf("ID = 0x%x\n", ID);
+
+    //MPU9250 start
+    mpu.start();
+    
+    //accel setup
+    mpu.accelsetup(3);
+    
+    //gyro setup
+    mpu.gyrosetup(3);
+    
+    //mag setup
+    mpu.AKsetup(1);
+    wait(0.5);
+    
+    t.start();
+    
+    while(j < 12)
+    {
+        
+    while(i < k)
+    {
+        mpu.accel_read(3, accel);
+        mpu.gyro_read(3, gyro);
+        mpu.mag_read(mag);
+         
+        AX[i] = accel[0];
+        AY[i] = accel[1];
+        AZ[i] = accel[2];
+        
+        GX[i] = gyro[0];
+        GY[i] = gyro[1];
+        GZ[i] = gyro[2];
+        
+        MX[i] = mag[0];
+        MY[i] = mag[1];
+        MZ[i] = mag[2];
+        
+        T[i] = t.read();
+        
+        i++;
+        
+        wait(0.0083);
+        
+    }
+    
+    i = 0;
+    
+    while(i < k)
+    {
+        pc.printf("%f, %f, %f, %f, %f, %f, %f, %f, %f, %f\n", T[i], AX[i], AY[i], AZ[i], GX[i], GY[i], GZ[i], MX[i], MY[i], MZ[i]) ;
+              
+        i++;
+    }
+    
+    i = 0;
+    
+    j++;
+    }
+    
+    t.stop();
+    
+    pc.printf("finish!");
+}