Diff: main.cpp

Revision:

0:0b4ace0e76db

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Sat Aug 24 20:27:34 2019 +0000
@@ -0,0 +1,120 @@
+#include "mbed.h"
+
+Serial pc(SERIAL_TX, SERIAL_RX);    // (TX, RX)
+I2C i2c(PB_9, PB_8 );           // (SDA, SCL)
+DigitalIn boton (USER_BUTTON);
+const int addr = 0xD0;      // 7 bit I2C address. Accede a la comunicacion I2C
+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;
+int flag=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);
+
+
+void LECTURA_DATOS100 ()
+{      
+        for(int i=0; i<=100;i++)
+        {
+        wait_ms(10);
+        cmd[0]=0x3B;
+        i2c.write(addr, cmd, 1);            //Escritura del registro de inicio, comienza a revisar los diferentes registros segun su orden. 
+                                            //Por eso el orden de impresion y el tamaño del buffer (14)
+        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];
+        
+        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;
+        ftemp= ((temp)/TEM_SEN)+36.53;               
+        pc.printf("ACCx = %.2f ACCy = %.2f ACCz = %.2f GYRx = %.2f GYRy = %.2f GYRz = %.2f Temp = %.2f \r\n  ", facc_x, facc_y, facc_z, fgyr_x, fgyr_y, fgyr_z, ftemp);
+        pc.printf("MUESTRA NO. %i\n", i);
+        pc.printf("MUESTRA NO. %i\n", i);
+    
+        }
+    }
+
+
+
+void LECTURA_DATOS500 ()
+{      
+        for(int i=0; i<=500;i++)
+        {
+        wait_ms(10);
+        cmd[0]=0x3B;
+        i2c.write(addr, cmd, 1);            //Escritura del registro de inicio, comienza a revisar los diferentes registros segun su orden. 
+                                            //Por eso el orden de impresion y el tamaño del buffer (14)
+        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];
+        
+        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;
+        ftemp= ((temp)/TEM_SEN)+36.53;               
+        pc.printf("ACCx = %.2f ACCy = %.2f ACCz = %.2f GYRx = %.2f GYRy = %.2f GYRz = %.2f Temp = %.2f \r\n  ", facc_x, facc_y, facc_z, fgyr_x, fgyr_y, fgyr_z, ftemp);
+        pc.printf("MUESTRA NO. %i\n", i);
+    
+        }
+    }
+
+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) {
+        
+        if(boton==0)
+        {
+        if (flag==0)
+        {LECTURA_DATOS100();
+        flag++;}
+        else if (flag==1)
+        {LECTURA_DATOS500();
+        flag=0;
+        }
+        }
+    }
+}
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