SSLM1
/
1_MPU9250
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Revision 0:c525c4fddba7, committed 2020-07-04
- Comitter:
- sasakisho
- Date:
- Sat Jul 04 03:28:53 2020 +0000
- Commit message:
- version0
Changed in this revision
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/MPU9250.lib Sat Jul 04 03:28:53 2020 +0000 @@ -0,0 +1,1 @@ +https://os.mbed.com/teams/SSLM1/code/2_MPU9250/#25ad3b6ddd1d
--- /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!");
+}
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/mbed.bld Sat Jul 04 03:28:53 2020 +0000 @@ -0,0 +1,1 @@ +https://os.mbed.com/users/mbed_official/code/mbed/builds/65be27845400 \ No newline at end of file