Unina_Corse_2018 / Mbed 2 deprecated programmaACC_daTestare

da testare

Dependencies:   mbed

Fork of programmaACC by Unina_corse

main.cpp@4:fa71806deb67, 2018-04-25 (annotated)

Committer:
NdA994
Date:
Wed Apr 25 11:59:37 2018 +0000
Revision:
4:fa71806deb67
Parent:
3:c9fbf54ed265 
ProgrammaACC_daTestare;

Who changed what in which revision?

UserRevisionLine numberNew contents of line
giuseppe_guida 0:7d3cc2de8dd2 1 #include "mbed.h"
giuseppe_guida 0:7d3cc2de8dd2 2 #include "header.h"
giuseppe_guida 0:7d3cc2de8dd2 3 #include <time.h>
giuseppe_guida 0:7d3cc2de8dd2 4 #include "MPU6050.h"
giuseppe_guida 0:7d3cc2de8dd2 5
NdA994 4:fa71806deb67 6 int main(){
giuseppe_guida 3:c9fbf54ed265 7 i2c.frequency(400000);
giuseppe_guida 0:7d3cc2de8dd2 8 MPU6050 mpu6050;
giuseppe_guida 3:c9fbf54ed265 9 uint8_t whoami = mpu6050.readByte(MPU6050_ADDRESS, WHO_AM_I_MPU6050); // Read WHO_AM_I register for MPU-6050
giuseppe_guida 0:7d3cc2de8dd2 10
NdA994 4:fa71806deb67 11 if (whoami == 0x68){
NdA994 4:fa71806deb67 12
giuseppe_guida 0:7d3cc2de8dd2 13
giuseppe_guida 0:7d3cc2de8dd2 14 mpu6050.MPU6050SelfTest(SelfTest); // Start by performing self test and reporting values
giuseppe_guida 0:7d3cc2de8dd2 15
giuseppe_guida 0:7d3cc2de8dd2 16 if(SelfTest[0] < 1.0f && SelfTest[1] < 1.0f && SelfTest[2] < 1.0f && SelfTest[3] < 1.0f && SelfTest[4] < 1.0f && SelfTest[5] < 1.0f){
giuseppe_guida 0:7d3cc2de8dd2 17 mpu6050.resetMPU6050(); // Reset registers to default in preparation for device calibration
giuseppe_guida 0:7d3cc2de8dd2 18 mpu6050.calibrateMPU6050(gyroBias, accelBias); // Calibrate gyro and accelerometers, load biases in bias registers
giuseppe_guida 0:7d3cc2de8dd2 19 mpu6050.initMPU6050(); pc.printf("MPU6050 initialized for active data mode....\n\r"); // Initialize device for active mode read of acclerometer, gyroscope, and temperature
giuseppe_guida 0:7d3cc2de8dd2 20 }
giuseppe_guida 0:7d3cc2de8dd2 21 else
giuseppe_guida 0:7d3cc2de8dd2 22 pc.printf("Device did not the pass self-test!\n\r");
giuseppe_guida 0:7d3cc2de8dd2 23 }
giuseppe_guida 0:7d3cc2de8dd2 24 else{
giuseppe_guida 0:7d3cc2de8dd2 25 pc.printf("Could not connect to MPU6050: \n\r");
giuseppe_guida 0:7d3cc2de8dd2 26 pc.printf("%#x \n", whoami);
giuseppe_guida 0:7d3cc2de8dd2 27
giuseppe_guida 0:7d3cc2de8dd2 28 while(1) ; // Loop forever if communication doesn't happen
giuseppe_guida 0:7d3cc2de8dd2 29 }
giuseppe_guida 0:7d3cc2de8dd2 30
giuseppe_guida 0:7d3cc2de8dd2 31 int i;
giuseppe_guida 0:7d3cc2de8dd2 32 for(i = 0; i < BLOCCO; i++){
giuseppe_guida 0:7d3cc2de8dd2 33
giuseppe_guida 0:7d3cc2de8dd2 34 vettore[i].x = 0;
giuseppe_guida 0:7d3cc2de8dd2 35 vettore[i].y = 0;
giuseppe_guida 0:7d3cc2de8dd2 36 vettore[i].z = 0;
giuseppe_guida 3:c9fbf54ed265 37 vettore[i].xx = 0;
giuseppe_guida 3:c9fbf54ed265 38 vettore[i].yy = 0;
giuseppe_guida 3:c9fbf54ed265 39 vettore[i].zz = 0;
giuseppe_guida 3:c9fbf54ed265 40
giuseppe_guida 0:7d3cc2de8dd2 41 }
giuseppe_guida 0:7d3cc2de8dd2 42
giuseppe_guida 0:7d3cc2de8dd2 43 while (true) {
NdA994 4:fa71806deb67 44 // Read the WHO_AM_I register, this is a good test of communication
giuseppe_guida 3:c9fbf54ed265 45 srand(time(NULL));
giuseppe_guida 3:c9fbf54ed265 46 int i;
giuseppe_guida 3:c9fbf54ed265 47 static const int off_set_a=400;
giuseppe_guida 3:c9fbf54ed265 48 for(i = 0; i < BLOCCO; i++){
giuseppe_guida 3:c9fbf54ed265 49
giuseppe_guida 3:c9fbf54ed265 50 // If data ready bit set, all data registers have new data
giuseppe_guida 3:c9fbf54ed265 51 if(mpu6050.readByte(MPU6050_ADDRESS, INT_STATUS) & 0x01) { // check if data ready interrupt
giuseppe_guida 3:c9fbf54ed265 52 mpu6050.readAccelData(accelCount); // Read the x/y/z adc values
giuseppe_guida 3:c9fbf54ed265 53 mpu6050.getAres();
giuseppe_guida 3:c9fbf54ed265 54
NdA994 4:fa71806deb67 55 //Now we'll calculate the accleration value into actual g's
NdA994 4:fa71806deb67 56 vettore[i].x = (float)accelCount[0]*aRes; // get actual g value, this depends on scale being set
NdA994 4:fa71806deb67 57 vettore[i].y = (float)accelCount[1]*aRes;
NdA994 4:fa71806deb67 58 vettore[i].z = (float)accelCount[2]*aRes;
giuseppe_guida 3:c9fbf54ed265 59
giuseppe_guida 3:c9fbf54ed265 60 mpu6050.readGyroData(gyroCount); // Read the x/y/z adc values
giuseppe_guida 3:c9fbf54ed265 61 mpu6050.getGres();
giuseppe_guida 3:c9fbf54ed265 62
NdA994 4:fa71806deb67 63 //Calculate the gyro value into actual degrees per second
NdA994 4:fa71806deb67 64 vettore[i].xx = (float)gyroCount[0]*gRes; // get actual gyro value, this depends on scale being set
NdA994 4:fa71806deb67 65 vettore[i].yy = (float)gyroCount[1]*gRes;
NdA994 4:fa71806deb67 66 vettore[i].zz = (float)gyroCount[2]*gRes;
giuseppe_guida 3:c9fbf54ed265 67
giuseppe_guida 3:c9fbf54ed265 68 }
giuseppe_guida 3:c9fbf54ed265 69
giuseppe_guida 3:c9fbf54ed265 70 pc.printf("%03.0f %03.0f %03.0f %03.0f %03.0f %03.0f\n\r",100*vettore[i].x+off_set_a,100*vettore[i].y+off_set_a,100*vettore[i].z+off_set_a,100*vettore[i].xx+off_set_a,100*vettore[i].yy+off_set_a,100*vettore[i].zz+off_set_a);
giuseppe_guida 3:c9fbf54ed265 71
NdA994 4:fa71806deb67 72 }
giuseppe_guida 0:7d3cc2de8dd2 73 }
giuseppe_guida 0:7d3cc2de8dd2 74 }