Nucleo F303K8とMPU6050を用いた1軸ジャイロ検出における処理時間の計測
Fork of Time_MPU6050_Gyro1 by
main.cpp@0:ac9f75330f86, 2017-02-06 (annotated)
- Committer:
- RyotaNakamura
- Date:
- Mon Feb 06 13:02:13 2017 +0000
- Revision:
- 0:ac9f75330f86
Nucleo F303K8?MPU6050????1??????????????????????
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
RyotaNakamura | 0:ac9f75330f86 | 1 | #include "mbed.h" |
RyotaNakamura | 0:ac9f75330f86 | 2 | |
RyotaNakamura | 0:ac9f75330f86 | 3 | #include "MPU6050.h" |
RyotaNakamura | 0:ac9f75330f86 | 4 | #define gyro 131 |
RyotaNakamura | 0:ac9f75330f86 | 5 | |
RyotaNakamura | 0:ac9f75330f86 | 6 | DigitalOut myled(LED1); |
RyotaNakamura | 0:ac9f75330f86 | 7 | MPU6050 mpu(D4,D5); |
RyotaNakamura | 0:ac9f75330f86 | 8 | Serial pc(USBTX, USBRX); |
RyotaNakamura | 0:ac9f75330f86 | 9 | Timer timer; |
RyotaNakamura | 0:ac9f75330f86 | 10 | |
RyotaNakamura | 0:ac9f75330f86 | 11 | int main() |
RyotaNakamura | 0:ac9f75330f86 | 12 | { |
RyotaNakamura | 0:ac9f75330f86 | 13 | float g[3]; |
RyotaNakamura | 0:ac9f75330f86 | 14 | int miri=1000; |
RyotaNakamura | 0:ac9f75330f86 | 15 | mpu.setGyroRange(0); |
RyotaNakamura | 0:ac9f75330f86 | 16 | |
RyotaNakamura | 0:ac9f75330f86 | 17 | while(1) { |
RyotaNakamura | 0:ac9f75330f86 | 18 | wait(1); |
RyotaNakamura | 0:ac9f75330f86 | 19 | |
RyotaNakamura | 0:ac9f75330f86 | 20 | myled = 1; |
RyotaNakamura | 0:ac9f75330f86 | 21 | wait(0.2); |
RyotaNakamura | 0:ac9f75330f86 | 22 | myled = 0; |
RyotaNakamura | 0:ac9f75330f86 | 23 | wait(0.2); |
RyotaNakamura | 0:ac9f75330f86 | 24 | |
RyotaNakamura | 0:ac9f75330f86 | 25 | timer.reset(); |
RyotaNakamura | 0:ac9f75330f86 | 26 | timer.start(); |
RyotaNakamura | 0:ac9f75330f86 | 27 | g[0] = (float)mpu.getGyroRawX()/gyro; |
RyotaNakamura | 0:ac9f75330f86 | 28 | timer.stop(); |
RyotaNakamura | 0:ac9f75330f86 | 29 | float t=timer.read(); |
RyotaNakamura | 0:ac9f75330f86 | 30 | float time=t*miri; |
RyotaNakamura | 0:ac9f75330f86 | 31 | pc.printf("time= %f ms\n",time); |
RyotaNakamura | 0:ac9f75330f86 | 32 | } |
RyotaNakamura | 0:ac9f75330f86 | 33 | } |