亮 菅野
GY_271,Servo,MPU6050,GPSのテスト用
Dependencies: mbed Servo MPU6050 BMX055 HMC5883L GPS_Interface
Revision 0:a7666a5f019c, committed 2018-11-21
- Comitter:
- Tennensui
- Date:
- Wed Nov 21 23:54:15 2018 +0000
- Commit message:
- Servo,GPS,MPUP6050,GY_271?????
Changed in this revision
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/BMX055.lib Wed Nov 21 23:54:15 2018 +0000 @@ -0,0 +1,1 @@ +https://os.mbed.com/users/Tennensui/code/BMX055/#89285103adaf
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/GPS_Interface.lib Wed Nov 21 23:54:15 2018 +0000 @@ -0,0 +1,1 @@ +https://os.mbed.com/users/Tennensui/code/GPS_Interface/#cff8138072a3
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/HMC5883L.lib Wed Nov 21 23:54:15 2018 +0000 @@ -0,0 +1,1 @@ +http://os.mbed.com/users/tylerjw/code/HMC5883L/#a2f8b9d21e45
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/MPU6050.lib Wed Nov 21 23:54:15 2018 +0000 @@ -0,0 +1,1 @@ +http://os.mbed.com/users/moklumbys/code/MPU6050/#9b414412b09e
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/Servo.lib Wed Nov 21 23:54:15 2018 +0000 @@ -0,0 +1,1 @@ +http://os.mbed.com/users/simon/code/Servo/#36b69a7ced07
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp Wed Nov 21 23:54:15 2018 +0000
@@ -0,0 +1,183 @@
+#include "HMC5883L.h"
+#include "main.h"
+#include "MPU6050.h"
+#include "BMX055.h"
+#include "Servo.h"
+#include "GPS.h"
+#include "mbed.h"
+//#include "SDFileSystem.h"
+
+Serial pc(USBTX, USBRX,115200); // tx, rx
+
+Serial twelite(A7,A2,115200);
+
+#ifdef SDCARD
+SDFileSystem sd(A6,A5,A4,A3, "sd"); // the pinout on the mbed Cool Components workshop board
+// mosi,miso,sck,ss(io)
+#endif
+
+GPS michibiki(GPSTX,GPSRX);//通常のシリアル通信同じく、gpsのtxをマイコンのrxにつなげる。
+
+#ifdef AXIS_NINE
+BMX055 bmx(D4,D5);
+#endif
+
+
+HMC5883L compass(D4,D5); //SDA,SCL
+
+MPU6050 mpu(D4,D5);
+
+/*==================servo_test======================*/
+DigitalOut myled(D12);
+DigitalOut myled2(A0);
+Servo myservo(D6);
+Servo myservo2(D10);
+/* */
+/* */
+/*==================================================*/
+
+float mpu_acce[3];
+float mpu_gyro[3];
+int16_t hmc_data[3] = {0};
+double heading = 0.0f;
+
+void pc_tx()//シリアル割り込み
+{
+ mpu.setAcceleroRange(MPU6050_ACCELERO_RANGE_4G);
+ mpu.getAccelero(mpu_acce);
+ mpu.getAcceleroRawZ();
+ int a = 0x58;
+ for(int l = 0; l < 3; l++)
+ {
+ printf("%c%c%c%c%c %c %f\t",0x61,0x63,0x63,0x65,0x6c,a,mpu_acce[l]);
+ a++;
+ }
+ a = 0x58;
+ mpu.getGyro(mpu_gyro);
+ for(int l = 0; l < 3; l++)
+ {
+ printf("%c%c%c%c %c %f\t",0x67,0x79,0x72,0x6f,a,mpu_gyro[l]);
+ a++;
+ }
+ printf("\r\n");
+
+ // printf("gy_271start\r\n"); //debug
+ compass.getXYZ(hmc_data);
+ heading = compass.getHeadingXYDeg();
+ printf("x: %4d, y: %4d, z: %4d\n", hmc_data[0], hmc_data[1], hmc_data[2]);
+ printf("heading: %3.2f\r\n", heading);
+
+ printf("%f %f\r\n",michibiki.latitude,michibiki.longtitude);
+}
+
+
+int main()
+{
+ pc.attach(pc_tx,Serial::TxIrq);
+ /*===================SDcard=========================*/
+ /* */
+ /* */
+#ifdef SDCARD
+ printf("Hello World!\n");
+
+ mkdir("/sd/mydir", 0777);
+
+ FILE *fp = fopen("/sd/mydir/sdtest.txt", "w");
+ if(fp == NULL) {
+ error("Could not open file for write\n");
+ }
+ fprintf(fp, "Hello fun SD Card World!");
+ fclose(fp);
+
+ printf("Goodbye World!\n");
+
+#endif
+ /* */
+ /* */
+ /*==================================================*/
+
+ /*===================MPU6050========================*/
+ /* */
+ /* */
+ /* */
+#ifdef MPU6050_START
+ mpu.setAcceleroRange(0);
+#endif
+ /* */
+ /* */
+ /*==================================================*/
+
+
+ /*============================================*/
+ /* */
+ /* */
+ /* */
+
+#ifdef GY_271
+ compass.init();
+#endif
+ /* */
+ /* */
+ /* */
+ /*==================================================*/
+
+
+
+
+ /*===================GY_271=========================*/
+ /* */
+ /* */
+ /* */
+
+ while(1) {
+ //printf("while start\r\n"); //debug
+
+
+#ifdef GY_271
+
+#endif
+ /* */
+ /* */
+ /* */
+ /*==================================================*/
+
+
+ /*===================MPU6050========================*/
+ /* */
+ /* */
+ /* */
+#ifdef MPU6050_START
+#endif
+ /* */
+ /* */
+ /*==================================================*/
+
+ /*=================servo_test=======================*/
+#ifdef servo_test
+ myservo = 0.833;
+ myservo2 = 0.833;
+ wait(1.0);
+ myservo = 0.1666;
+ myservo2 = 0.1666;
+ wait(1.0);
+#endif
+ /*==================================================*/
+
+#ifdef TWELITE
+ /*=====================TWELITE======================*/
+// twelite.printf("main\r\n");
+ wait_ms(1);
+ /*==================================================*/
+#endif
+
+ #ifdef MICHIBIKI
+ /*=====================MICHIBIKI======================*/
+ printf("%f %f\n",michibiki.latitude,michibiki.longtitude);
+ wait_ms(1);
+ /*==================================================*/
+
+ #endif
+ }
+
+
+}
\ No newline at end of file
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/main.h Wed Nov 21 23:54:15 2018 +0000 @@ -0,0 +1,7 @@ +#define MPU6050_START +#define TWELITE +#define GY_271 +#define servo_test +//#define AXIS_NINE +//#define SDCARD +#define MICHIBIKI
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/mbed.bld Wed Nov 21 23:54:15 2018 +0000 @@ -0,0 +1,1 @@ +http://mbed.org/users/mbed_official/code/mbed/builds/5aab5a7997ee \ No newline at end of file