Diff: main.cpp

Revision:

0:7411b02903e3

Child:

1:62775d3592cf

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Tue Aug 20 17:13:30 2019 +0000
@@ -0,0 +1,97 @@
+#include "mbed.h"
+
+Serial pc(SERIAL_TX, SERIAL_RX);    // (TX, RX)
+I2C i2c(PB_9, PB_8 );           // (SDA, SCL)
+DigitalIn button(PC_13);
+
+const int addr = 0xD0;      // 7 bit I2C address
+char cmd[2];
+char read_buffer[14];
+char save_p[10];
+
+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;
+
+DigitalOut myled(LED1);
+
+int main()
+{
+    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
+
+    while(1) {
+        wait(1);
+
+        cmd[0]=0x3B;
+        i2c.write(addr, cmd, 1);            //Escritura del registro de inicio
+        
+        //for(int i;i<=10;i++)
+        //{
+        i2c.read(addr, read_buffer, 14);    //Lectura en rafaga de los valores de la MPU
+        wait_ms(1);
+        //}   
+
+        //.................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);
+        
+        while(button!=1)
+        {
+            
+        facc_x = acc_x/ACC_SEN;
+        facc_y = acc_y/ACC_SEN;
+        facc_z = acc_z/ACC_SEN;
+               
+        
+        fgyr_x = gyr_x/GYR_SEN;
+        fgyr_y = gyr_y/GYR_SEN;
+        fgyr_z = gyr_z/GYR_SEN;
+               
+       // pc.printf("GYRx = %.2f GYRy = %.2f GYRz = %.2f \n\r", fgyr_x, fgyr_y, fgyr_z);
+
+        ftemp= (temp - 521)/TEM_SEN;
+        
+        //pc.printf("Temp = %.2f \r\n",ftemp);
+        for(int i=0;i<=9;i++){
+        pc.printf("ACCx   ACCy   ACCz   GYRx   GYRy   GYRz   Temp   \n\r");
+        pc.printf("%.2f   %.2f   %.2f   %.2f   %.2f   %.2f   %.2f   \n\r", facc_x, facc_y, facc_z, fgyr_x, fgyr_y, fgyr_z, ftemp);
+        }
+        }
+
+       /* for(int i=0; i<14; i++) {
+            pc.printf("Buffer[%i] = %i \n\r",i,read_buffer[i]);
+        }*/
+
+        myled = !myled;
+    }
+}
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