Revision 4:fa71806deb67, committed 2018-04-25

Comitter:

NdA994

Date:

Wed Apr 25 11:59:37 2018 +0000

Parent:

3:c9fbf54ed265

Commit message:

ProgrammaACC_daTestare;

Changed in this revision

--- a/MPU6050.h	Fri Mar 30 16:29:45 2018 +0000
+++ b/MPU6050.h	Wed Apr 25 11:59:37 2018 +0000
@@ -151,7 +151,7 @@
 
 // Specify sensor full scale
 int Gscale = GFS_250DPS;
-int Ascale = AFS_2G;
+int Ascale = AFS_4G;
 
 //Set up I2C, (SDA,SCL)
 I2C i2c(I2C_SDA, I2C_SCL);
@@ -442,7 +442,7 @@
   fifo_count = ((uint16_t)data[0] << 8) | data[1];
   packet_count = fifo_count/12;// How many sets of full gyro and accelerometer data for averaging
 
-  for (ii = 0; ii < packet_count; ii++) {
+/*  for (ii = 0; ii < packet_count; ii++) {
     int16_t accel_temp[3] = {0, 0, 0}, gyro_temp[3] = {0, 0, 0};
     readBytes(MPU6050_ADDRESS, FIFO_R_W, 12, &data[0]); // read data for averaging
     accel_temp[0] = (int16_t) (((int16_t)data[0] << 8) | data[1]  ) ;  // Form signed 16-bit integer for each sample in FIFO
@@ -459,8 +459,8 @@
     gyro_bias[1]  += (int32_t) gyro_temp[1];
     gyro_bias[2]  += (int32_t) gyro_temp[2];
             
-}
-    accel_bias[0] /= (int32_t) packet_count; // Normalize sums to get average count biases
+}*/
+/*    accel_bias[0] /= (int32_t) packet_count; // Normalize sums to get average count biases
     accel_bias[1] /= (int32_t) packet_count;
     accel_bias[2] /= (int32_t) packet_count;
     gyro_bias[0]  /= (int32_t) packet_count;
@@ -537,7 +537,7 @@
 // Output scaled accelerometer biases for manual subtraction in the main program
    dest2[0] = (float)accel_bias[0]/(float)accelsensitivity; 
    dest2[1] = (float)accel_bias[1]/(float)accelsensitivity;
-   dest2[2] = (float)accel_bias[2]/(float)accelsensitivity;
+   dest2[2] = (float)accel_bias[2]/(float)accelsensitivity;*/
 }
 
 

--- a/SDFileSystem.lib	Fri Mar 30 16:29:45 2018 +0000
+++ /dev/null	Thu Jan 01 00:00:00 1970 +0000
@@ -1,1 +0,0 @@
-https://os.mbed.com/teams/Unina_corse/code/SDFileSystemFunzionante/#23af2f852b5a

--- a/header.h	Fri Mar 30 16:29:45 2018 +0000
+++ b/header.h	Wed Apr 25 11:59:37 2018 +0000
@@ -1,8 +1,7 @@
 #include "mbed.h"
 #include <time.h>
-#define BLOCCO 1000
+#define BLOCCO 10
 
-//SDFileSystem sd(SPI_MOSI, SPI_MISO, SPI_SCK, SPI_CS, "sd");
 Serial pc(USBTX,USBRX,9600);
 
 typedef struct{

--- a/main.cpp	Fri Mar 30 16:29:45 2018 +0000
+++ b/main.cpp	Wed Apr 25 11:59:37 2018 +0000
@@ -3,17 +3,13 @@
 #include <time.h>
 #include "MPU6050.h"
 
-int main()
-{
+int main(){
     i2c.frequency(400000);
     MPU6050 mpu6050;
     uint8_t whoami = mpu6050.readByte(MPU6050_ADDRESS, WHO_AM_I_MPU6050);  // Read WHO_AM_I register for MPU-6050
-    //pc.printf("I AM 0x%x\n\r", whoami); pc.printf("I SHOULD BE 0x68\n\r");
   
-    if (whoami == 0x68) // WHO_AM_I should always be 0x68
-    {  
-    //pc.printf("MPU6050 is online...");
-    //wait(1);
+    if (whoami == 0x68){  
+
      
         mpu6050.MPU6050SelfTest(SelfTest); // Start by performing self test and reporting values
     
@@ -45,14 +41,10 @@
     }
     
    while (true) {
-     // Read the WHO_AM_I register, this is a good test of communication
+    // Read the WHO_AM_I register, this is a good test of communication
     srand(time(NULL));
     int i;
     static const int off_set_a=400;
-    //time_t rawtime;
-    //struct tm* timeinfo;
-    //Timer temp3;
-    //temp3.start();
     for(i = 0; i < BLOCCO; i++){
        
         // If data ready bit set, all data registers have new data
@@ -60,25 +52,23 @@
                 mpu6050.readAccelData(accelCount);  // Read the x/y/z adc values
                 mpu6050.getAres();
     
-            // Now we'll calculate the accleration value into actual g's
-                vettore[i].x = (float)accelCount[0]*aRes - accelBias[0];  // get actual g value, this depends on scale being set
-                vettore[i].y = (float)accelCount[1]*aRes - accelBias[1];   
-                vettore[i].z = (float)accelCount[2]*aRes - accelBias[2];  
+                //Now we'll calculate the accleration value into actual g's
+                vettore[i].x = (float)accelCount[0]*aRes;  // get actual g value, this depends on scale being set
+                vettore[i].y = (float)accelCount[1]*aRes;   
+                vettore[i].z = (float)accelCount[2]*aRes;  
             
                 mpu6050.readGyroData(gyroCount);  // Read the x/y/z adc values
                 mpu6050.getGres();
  
-            // Calculate the gyro value into actual degrees per second
-                vettore[i].xx = (float)gyroCount[0]*gRes; // - gyroBias[0];  // get actual gyro value, this depends on scale being set
-                vettore[i].yy = (float)gyroCount[1]*gRes; // - gyroBias[1];  
-                vettore[i].zz = (float)gyroCount[2]*gRes; // - gyroBias[2];  
+                //Calculate the gyro value into actual degrees per second
+                vettore[i].xx = (float)gyroCount[0]*gRes;  // get actual gyro value, this depends on scale being set
+                vettore[i].yy = (float)gyroCount[1]*gRes;  
+                vettore[i].zz = (float)gyroCount[2]*gRes;  
                              
             }  
    
             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);
          
-        } 
-        //temp3.stop();
-        //pc.printf("Tempo impiegato per l'acquisizione di 1000 elementi: %f\n\r",temp3.read());     
+        }      
     }
 }