cansat-d_2018 / Mbed 2 deprecated MPU6050_get_offset

MPU6050のオフセット値を測定し修正するプログラムです。

Dependencies:   mbed MPU6050

main.cpp@8:2b8cd80bea3b, 2018-11-23 (annotated)

Committer:
falconsyunya
Date:
Fri Nov 23 22:08:37 2018 +0000
Revision:
8:2b8cd80bea3b
Parent:
7:30613e31988e
Child:
9:79c7f239b6a0
2018/11/24 7:08

Who changed what in which revision?

UserRevisionLine numberNew contents of line
falconsyunya 0:4ba3fa671062 1 #include "mbed.h"
falconsyunya 0:4ba3fa671062 2 #include "MPU6050.h"
falconsyunya 0:4ba3fa671062 3
falconsyunya 0:4ba3fa671062 4 DigitalOut myled(LED1);
falconsyunya 3:157b19421485 5 MPU6050 mpu(p9,p10);//(SDA,SCL)のピン配置
falconsyunya 0:4ba3fa671062 6
falconsyunya 7:30613e31988e 7 int main(void) {
falconsyunya 6:f1106d9e843c 8 int accel[3];//accelを3つの配列で定義。
falconsyunya 8:2b8cd80bea3b 9 int biasx=0;//x補正値を定義。
falconsyunya 8:2b8cd80bea3b 10 float biasxsum=0;
falconsyunya 8:2b8cd80bea3b 11 float biasxav=0;
falconsyunya 8:2b8cd80bea3b 12 int biasy=0;//y補正値を定義。
falconsyunya 8:2b8cd80bea3b 13 float biasysum=0;
falconsyunya 8:2b8cd80bea3b 14 float biasyav=0;
falconsyunya 8:2b8cd80bea3b 15 int biasz=0;//z補正値を定義。
falconsyunya 8:2b8cd80bea3b 16 float biaszsum=0;
falconsyunya 8:2b8cd80bea3b 17 float biaszav=0;
falconsyunya 8:2b8cd80bea3b 18 int x;//x軸方向の加速度。
falconsyunya 8:2b8cd80bea3b 19 int y;//y軸方向の加速度。
falconsyunya 7:30613e31988e 20 int z;//z軸方向の加速度。
falconsyunya 8:2b8cd80bea3b 21 float X;//加速度の変換後の値。
falconsyunya 8:2b8cd80bea3b 22 float Y;//加速度の変換後の値。
falconsyunya 7:30613e31988e 23 float Z;//加速度の変換後の値。
falconsyunya 8:2b8cd80bea3b 24 //Z軸方向の加速度バイアス平均値計算。
falconsyunya 8:2b8cd80bea3b 25 for(int i=0;i<2000;i++){
falconsyunya 8:2b8cd80bea3b 26 mpu.readAccelData(accel);
falconsyunya 8:2b8cd80bea3b 27 if(Z<9.797044){
falconsyunya 8:2b8cd80bea3b 28 biasz++;
falconsyunya 8:2b8cd80bea3b 29 z = accel[2]+biasz;//z軸方向の加速度
falconsyunya 8:2b8cd80bea3b 30 Z = z*0.000597964111328125;
falconsyunya 8:2b8cd80bea3b 31 printf("%f\r\n",Z);
falconsyunya 8:2b8cd80bea3b 32 }
falconsyunya 8:2b8cd80bea3b 33 else{
falconsyunya 8:2b8cd80bea3b 34 biasz--;
falconsyunya 8:2b8cd80bea3b 35 z = accel[2]+biasz;//z軸方向の加速度
falconsyunya 8:2b8cd80bea3b 36 Z = z*0.000597964111328125;
falconsyunya 8:2b8cd80bea3b 37 printf("%f\r\n",Z);
falconsyunya 8:2b8cd80bea3b 38 }
falconsyunya 8:2b8cd80bea3b 39 }
falconsyunya 8:2b8cd80bea3b 40 for(int i=0;i<100;i++){
falconsyunya 8:2b8cd80bea3b 41 mpu.readAccelData(accel);
falconsyunya 8:2b8cd80bea3b 42 if(Z<9.797044){
falconsyunya 8:2b8cd80bea3b 43 biasz++;
falconsyunya 8:2b8cd80bea3b 44 z = accel[2]+biasz;
falconsyunya 8:2b8cd80bea3b 45 Z = z*0.000597964111328125;
falconsyunya 8:2b8cd80bea3b 46 printf("%f\r\n",Z);
falconsyunya 8:2b8cd80bea3b 47 }
falconsyunya 8:2b8cd80bea3b 48 else{
falconsyunya 8:2b8cd80bea3b 49 biasz--;
falconsyunya 8:2b8cd80bea3b 50 z = accel[2]+biasz;
falconsyunya 8:2b8cd80bea3b 51 Z = z*0.000597964111328125;
falconsyunya 8:2b8cd80bea3b 52 printf("%f\r\n",Z);
falconsyunya 8:2b8cd80bea3b 53 }
falconsyunya 8:2b8cd80bea3b 54 biaszsum = biaszsum + biasz;
falconsyunya 8:2b8cd80bea3b 55 }
falconsyunya 8:2b8cd80bea3b 56 biaszav = biaszsum/101;
falconsyunya 8:2b8cd80bea3b 57 printf("bias=%f\r\n",biaszav);
falconsyunya 8:2b8cd80bea3b 58 getchar();
falconsyunya 8:2b8cd80bea3b 59 //Z軸方向の加速度バイアス計算終了。
falconsyunya 8:2b8cd80bea3b 60 //X軸方向の加速度バイアス平均値計算。
falconsyunya 8:2b8cd80bea3b 61 for(int i=0;i<2000;i++){
falconsyunya 8:2b8cd80bea3b 62 mpu.readAccelData(accel);
falconsyunya 8:2b8cd80bea3b 63 if(X<9.797044){
falconsyunya 8:2b8cd80bea3b 64 biasx++;
falconsyunya 8:2b8cd80bea3b 65 x = accel[0]+biasx;
falconsyunya 8:2b8cd80bea3b 66 X = x*0.000597964111328125;
falconsyunya 8:2b8cd80bea3b 67 printf("%f\r\n",X);
falconsyunya 8:2b8cd80bea3b 68 }
falconsyunya 8:2b8cd80bea3b 69 else{
falconsyunya 8:2b8cd80bea3b 70 biasx--;
falconsyunya 8:2b8cd80bea3b 71 x = accel[2]+biasx;
falconsyunya 8:2b8cd80bea3b 72 X = x*0.000597964111328125;
falconsyunya 8:2b8cd80bea3b 73 printf("%f\r\n",X);
falconsyunya 8:2b8cd80bea3b 74 }
falconsyunya 8:2b8cd80bea3b 75 }
falconsyunya 8:2b8cd80bea3b 76 for(int i=0;i<100;i++){
falconsyunya 8:2b8cd80bea3b 77 mpu.readAccelData(accel);
falconsyunya 8:2b8cd80bea3b 78 if(X<9.797044){
falconsyunya 8:2b8cd80bea3b 79 biasx++;
falconsyunya 8:2b8cd80bea3b 80 x = accel[0]+biasx;
falconsyunya 8:2b8cd80bea3b 81 X = x*0.000597964111328125;
falconsyunya 8:2b8cd80bea3b 82 printf("%f\r\n",X);
falconsyunya 8:2b8cd80bea3b 83 }
falconsyunya 8:2b8cd80bea3b 84 else{
falconsyunya 8:2b8cd80bea3b 85 biasx--;
falconsyunya 8:2b8cd80bea3b 86 x = accel[0]+biasx;
falconsyunya 8:2b8cd80bea3b 87 X = x*0.000597964111328125;
falconsyunya 8:2b8cd80bea3b 88 printf("%f\r\n",X);
falconsyunya 8:2b8cd80bea3b 89 }
falconsyunya 8:2b8cd80bea3b 90 biasxsum = biasxsum + biasx;
falconsyunya 8:2b8cd80bea3b 91 }
falconsyunya 8:2b8cd80bea3b 92 biasxav = biasxsum/101;
falconsyunya 8:2b8cd80bea3b 93 printf("bias=%f\r\n",biasxav);
falconsyunya 8:2b8cd80bea3b 94 getchar();
falconsyunya 8:2b8cd80bea3b 95 //X軸方向の加速度バイアス計算終了。
falconsyunya 8:2b8cd80bea3b 96 while(1){
falconsyunya 1:958b581f6d21 97 mpu.readAccelData(accel);//加速度の値をaccel[3]に代入
falconsyunya 8:2b8cd80bea3b 98 x = accel[0]+biasx;//x軸方向の加速度
falconsyunya 8:2b8cd80bea3b 99 y = accel[1];//y軸方向の加速度
falconsyunya 8:2b8cd80bea3b 100 z = accel[2]+biasz;//z軸方向の加速度
falconsyunya 8:2b8cd80bea3b 101 X = x*0.000597964111328125;
falconsyunya 8:2b8cd80bea3b 102 Y = y*0.000597964111328125;
falconsyunya 7:30613e31988e 103 Z = z*0.000597964111328125;
falconsyunya 8:2b8cd80bea3b 104 double a = X*X+Y*Y+Z*Z-95.982071137936;
falconsyunya 8:2b8cd80bea3b 105 printf("%lf %f %f %f\r\n",a,X,Y,Z);
falconsyunya 0:4ba3fa671062 106 }
falconsyunya 8:2b8cd80bea3b 107 }