Diff: main.cpp

Revision:

0:3cc70c8eb584

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Sun Sep 08 21:39:35 2019 +0000
@@ -0,0 +1,161 @@
+#include "mbed.h"
+
+DigitalIn boton(USER_BUTTON);
+Serial pc(SERIAL_TX, SERIAL_RX);
+I2C i2c(PB_9, PB_8 );
+
+const int addr = 0xD0;      // 7 bit I2C address
+char cmd[2];
+char read_buffer[14];
+
+int16_t acc_x = 0, acc_y = 0, acc_z = 0;
+int16_t gyr_x = 0, gyr_y = 0, gyr_z = 0;
+int16_t temp = 0;
+
+float ACC_SEN = 16384.0;    //Resolución ACC
+float GYR_SEN = 131.0;      //Resolución GYR
+float TEM_SEN = 340.0;      //Resolución temp
+
+float facc_x = 0, facc_y = 0, facc_z = 0;
+float fgyr_x = 0, fgyr_y = 0, fgyr_z = 0;
+float ftemp = 0;
+
+
+int cont=0;
+int i,j;
+int limite;
+int limite1;
+
+Timer tiempo;
+int val_tiempo;
+
+float memoria[501][8];
+unsigned int cont_m=1;
+
+DigitalOut myled(LED1);
+
+
+void lec_escritura (void);
+
+int main()
+{
+
+    pc.baud(115200);
+
+    pc.printf("Prueba MPU6050 \n\r");
+
+    cmd[0] = 0x6B;
+    cmd[1] = 0x00;
+    i2c.write(addr, cmd, 2);                //Desactivar modo hibernación
+
+    cmd[0] = 0x1B;
+    cmd[1] = 0x00;
+    i2c.write(addr, cmd, 2);                //gyro full scale 250 DPS
+
+    cmd[0] = 0x1C;
+    cmd[1] = 0x00;
+    i2c.write(addr, cmd, 2);                //ACC fullsclae 2G
+
+
+//////////////////////////////////////////////////////////////////////
+// determinacion de tiempos con timer 
+ 
+ /*
+ while(1)
+ {
+ 
+ tiempo.reset();
+ tiempo.start();
+ lec_escritura();
+ 
+ val_tiempo=tiempo.read_us();
+ pc.printf("Tiempo en us es= %d  \n\r",val_tiempo);
+
+ tiempo.reset();
+}
+*/
+
+
+
+////////////////////////////////////////////////////////////////////////////////
+    //pc.printf("Inicializando \n");
+    while(1) {
+        if(boton==0 && cont==0) {
+            cont_m=1;
+            while(boton==0);
+
+            for(cont_m=1; cont_m<=100; cont_m++) {
+                lec_escritura();
+            }
+            for(int i=1; i<=100; i++) {
+
+                pc.printf("Registro # %d  ACCx = %.2f ACCy = %.2f ACCz = %.2f  GYRx = %.2f GYRy = %.2f GYRz = %.2f  Temp = %.2f \n\r",i,memoria[i][1],memoria[i][2],memoria[i][3],memoria[i][4],memoria[i][5],memoria[i][6],memoria[i][7]);
+            }
+            cont=1;
+        }
+
+
+        if(boton==0 && cont==1) {
+            cont_m=1;
+            while(boton==0);
+
+            for(cont_m=1; cont_m<=500; cont_m++) {
+                lec_escritura();
+            }
+            for(int i=1; i<=500; i++) {
+
+                pc.printf("Registro # %d  ACCx = %.2f ACCy = %.2f ACCz = %.2f  GYRx = %.2f GYRy = %.2f GYRz = %.2f  Temp = %.2f \n\r",i,memoria[i][1],memoria[i][2],memoria[i][3],memoria[i][4],memoria[i][5],memoria[i][6],memoria[i][7]);
+            }
+            cont=0;
+        }
+
+    }
+}
+
+void lec_escritura(void)
+
+{
+
+    //wait_ms(10);
+
+    cmd[0]=0x3B;
+    i2c.write(addr, cmd, 1);            //Escritura del registro de inicio
+    i2c.read(addr, read_buffer, 14);    //Lectura en rafaga de los valores de la MPU
+
+    //.................Construcción de la medición de los valores ..................
+    acc_x = read_buffer[0]<<8 | read_buffer[1];
+    acc_y = read_buffer[2]<<8 | read_buffer[3];
+    acc_z = read_buffer[4]<<8 | read_buffer[5];
+    temp  = read_buffer[6]<<8 | read_buffer[7];
+    gyr_x = read_buffer[8]<<8 | read_buffer[9];
+    gyr_y = read_buffer[10]<<8 | read_buffer[11];
+    gyr_z = read_buffer[12]<<8 | read_buffer[13];
+
+
+    //pc.printf("ACCx = %i ACCy = %i ACCz = %i \n\r", acc_x, acc_y, acc_z);
+
+    facc_x = acc_x/ACC_SEN;
+    facc_y = acc_y/ACC_SEN;
+    facc_z = acc_z/ACC_SEN;
+
+    //pc.printf("ACCx = %.2f ACCy = %.2f ACCz = %.2f \n\r", facc_x, facc_y, facc_z);
+
+    fgyr_x = gyr_x/GYR_SEN;
+    fgyr_y = gyr_y/GYR_SEN;
+    fgyr_z = gyr_z/GYR_SEN;
+
+
+    ftemp= (temp - 521)/TEM_SEN;
+
+    // pc.printf("Registro # %d  ACCx = %.2f ACCy = %.2f ACCz = %.2f  GYRx = %.2f GYRy = %.2f GYRz = %.2f  Temp = %.2f \n\r",i, facc_x, facc_y, facc_z, fgyr_x, fgyr_y, fgyr_z,ftemp);
+
+    memoria[cont_m][1]=facc_x;
+    memoria[cont_m][2]=facc_y;
+    memoria[cont_m][3]=facc_z;
+    memoria[cont_m][4]=fgyr_x;
+    memoria[cont_m][5]=fgyr_y;
+    memoria[cont_m][6]=fgyr_z;
+    memoria[cont_m][7]=ftemp;
+
+    myled = !myled;
+}