anthony peltriaux / Mbed 2 deprecated DISCO-F746NG_blink_led

Projet interfaçage

Dependencies:   mbed BSP_DISCO_F746NG

main.cpp@1:eb044e6a9033, 2021-06-22 (annotated)

Committer:
anthonyp08
Date:
Tue Jun 22 12:04:16 2021 +0000
Revision:
1:eb044e6a9033
Parent:
0:1c6757f4b61c 
projet

Who changed what in which revision?

UserRevisionLine numberNew contents of line
anthonyp08 0:1c6757f4b61c 1 #include "mbed.h"
anthonyp08 0:1c6757f4b61c 2 #include "MPU6050.h"
anthonyp08 0:1c6757f4b61c 3 #include "stm32746g_discovery_lcd.h" // include les bibliothèques
anthonyp08 1:eb044e6a9033 4 #include "stm32746g_discovery_ts.h"
anthonyp08 0:1c6757f4b61c 5 #include <math.h>
anthonyp08 0:1c6757f4b61c 6
anthonyp08 0:1c6757f4b61c 7
anthonyp08 1:eb044e6a9033 8 TS_StateTypeDef TS_State; //touchscreen
anthonyp08 1:eb044e6a9033 9 uint8_t status;
anthonyp08 1:eb044e6a9033 10 int TouchScreen=1;
anthonyp08 0:1c6757f4b61c 11 Serial pc(USBTX, USBRX);
anthonyp08 0:1c6757f4b61c 12 I2C i2c(I2C_SDA, I2C_SCL); //Déclaration de SDA et SCL ainsi que I2C
anthonyp08 0:1c6757f4b61c 13 MPU6050 mpu(i2c);
anthonyp08 0:1c6757f4b61c 14
anthonyp08 0:1c6757f4b61c 15
anthonyp08 0:1c6757f4b61c 16 PwmOut servo1 (D9); //Déclaration des pins des servo-moteurs
anthonyp08 0:1c6757f4b61c 17 PwmOut servo2 (D10);
anthonyp08 0:1c6757f4b61c 18
anthonyp08 0:1c6757f4b61c 19 int16_t ax, ay, az;
anthonyp08 0:1c6757f4b61c 20 int16_t gx, gy, gz;
anthonyp08 0:1c6757f4b61c 21 int moyx, moyy, moyz ; //Déclaration des variables
anthonyp08 0:1c6757f4b61c 22
anthonyp08 0:1c6757f4b61c 23 Timer timer;
anthonyp08 0:1c6757f4b61c 24
anthonyp08 0:1c6757f4b61c 25
anthonyp08 0:1c6757f4b61c 26 Ticker flipper;
anthonyp08 0:1c6757f4b61c 27
anthonyp08 0:1c6757f4b61c 28 double t1, t2;
anthonyp08 1:eb044e6a9033 29
anthonyp08 1:eb044e6a9033 30
anthonyp08 0:1c6757f4b61c 31
anthonyp08 0:1c6757f4b61c 32 void servo_ctrl()
anthonyp08 0:1c6757f4b61c 33 {
anthonyp08 0:1c6757f4b61c 34 if (t2 <0) {
anthonyp08 0:1c6757f4b61c 35 servo1.pulsewidth_us(2000);
anthonyp08 0:1c6757f4b61c 36
anthonyp08 0:1c6757f4b61c 37 }
anthonyp08 0:1c6757f4b61c 38 else if (t2 > 0) {
anthonyp08 0:1c6757f4b61c 39 servo1.pulsewidth_us(1200);
anthonyp08 0:1c6757f4b61c 40
anthonyp08 0:1c6757f4b61c 41 } //fonctionnalité des servo-moteurs
anthonyp08 0:1c6757f4b61c 42 if (t1 <0) {
anthonyp08 0:1c6757f4b61c 43 servo2.pulsewidth_us(2000);
anthonyp08 0:1c6757f4b61c 44
anthonyp08 0:1c6757f4b61c 45 }
anthonyp08 0:1c6757f4b61c 46 else if (t1 > 0) {
anthonyp08 0:1c6757f4b61c 47 servo2.pulsewidth_us(1200);
anthonyp08 0:1c6757f4b61c 48
anthonyp08 0:1c6757f4b61c 49 }
anthonyp08 0:1c6757f4b61c 50 }
anthonyp08 1:eb044e6a9033 51
anthonyp08 0:1c6757f4b61c 52
anthonyp08 0:1c6757f4b61c 53 int main()
anthonyp08 0:1c6757f4b61c 54 {
anthonyp08 0:1c6757f4b61c 55
anthonyp08 0:1c6757f4b61c 56 BSP_LCD_Init();
anthonyp08 0:1c6757f4b61c 57 BSP_LCD_LayerDefaultInit(LTDC_ACTIVE_LAYER, LCD_FB_START_ADDRESS);
anthonyp08 0:1c6757f4b61c 58 BSP_LCD_SelectLayer(LTDC_ACTIVE_LAYER);
anthonyp08 1:eb044e6a9033 59
anthonyp08 1:eb044e6a9033 60 BSP_LCD_SetBackColor(LCD_COLOR_BLACK);
anthonyp08 1:eb044e6a9033 61 BSP_LCD_SetTextColor(LCD_COLOR_WHITE);
anthonyp08 1:eb044e6a9033 62 BSP_LCD_DisplayStringAt(0,LINE(5), (uint8_t *)"Start commencement?", CENTER_MODE);
anthonyp08 1:eb044e6a9033 63 status = BSP_TS_Init(BSP_LCD_GetXSize() , BSP_LCD_GetYSize()); //déclaration ecran pour le touchscreen
anthonyp08 1:eb044e6a9033 64
anthonyp08 1:eb044e6a9033 65 while(TouchScreen) {
anthonyp08 1:eb044e6a9033 66
anthonyp08 1:eb044e6a9033 67 BSP_TS_GetState(&TS_State);
anthonyp08 1:eb044e6a9033 68 if (TS_State.touchDetected){ //rien ne se passe tant qu'il n'y a aucun appui sur l'ecran
anthonyp08 1:eb044e6a9033 69 TouchScreen =0;
anthonyp08 1:eb044e6a9033 70 }
anthonyp08 1:eb044e6a9033 71 }
anthonyp08 1:eb044e6a9033 72
anthonyp08 1:eb044e6a9033 73
anthonyp08 0:1c6757f4b61c 74
anthonyp08 0:1c6757f4b61c 75 BSP_LCD_Clear(LCD_COLOR_BLACK);
anthonyp08 0:1c6757f4b61c 76 BSP_LCD_SetFont(&LCD_DEFAULT_FONT);
anthonyp08 0:1c6757f4b61c 77 BSP_LCD_SetBackColor(LCD_COLOR_WHITE);
anthonyp08 0:1c6757f4b61c 78 BSP_LCD_SetTextColor(LCD_COLOR_RED);
anthonyp08 0:1c6757f4b61c 79
anthonyp08 0:1c6757f4b61c 80 int32_t xPos=240,yPos=150; // déclaration position initiale de la bille
anthonyp08 0:1c6757f4b61c 81
anthonyp08 0:1c6757f4b61c 82
anthonyp08 0:1c6757f4b61c 83 char buffer[10] = {0};
anthonyp08 0:1c6757f4b61c 84 char tab [10] = {0};
anthonyp08 0:1c6757f4b61c 85
anthonyp08 0:1c6757f4b61c 86 pc.printf("MPU6050 test\r\n");
anthonyp08 0:1c6757f4b61c 87 pc.printf("MPU6050 initialize \r\n");
anthonyp08 0:1c6757f4b61c 88
anthonyp08 0:1c6757f4b61c 89 mpu.initialize(); //Initialisation du MPU-6050
anthonyp08 0:1c6757f4b61c 90
anthonyp08 0:1c6757f4b61c 91
anthonyp08 0:1c6757f4b61c 92
anthonyp08 0:1c6757f4b61c 93 pc.printf("MPU6050 testConnection\r\n");
anthonyp08 0:1c6757f4b61c 94
anthonyp08 0:1c6757f4b61c 95 bool mpu6050TestResult = mpu.testConnection();
anthonyp08 0:1c6757f4b61c 96 if(mpu6050TestResult) {
anthonyp08 0:1c6757f4b61c 97 pc.printf("MPU6050 test passed \r\n");
anthonyp08 0:1c6757f4b61c 98 } else {
anthonyp08 0:1c6757f4b61c 99 pc.printf("MPU6050 test failed \r\n");
anthonyp08 0:1c6757f4b61c 100 }
anthonyp08 0:1c6757f4b61c 101
anthonyp08 0:1c6757f4b61c 102
anthonyp08 0:1c6757f4b61c 103 servo1.period_ms(20); // déclaration de la période des servo-moteurs
anthonyp08 0:1c6757f4b61c 104 servo2.period_ms(20);
anthonyp08 0:1c6757f4b61c 105 flipper.attach(&servo_ctrl, 1.0); // nous demandons toute les secondes si il y a une action
anthonyp08 1:eb044e6a9033 106
anthonyp08 0:1c6757f4b61c 107
anthonyp08 1:eb044e6a9033 108 while (1){
anthonyp08 0:1c6757f4b61c 109
anthonyp08 0:1c6757f4b61c 110 BSP_LCD_Clear(LCD_COLOR_BLACK);
anthonyp08 0:1c6757f4b61c 111 BSP_LCD_FillCircle(xPos,yPos,4);
anthonyp08 0:1c6757f4b61c 112
anthonyp08 0:1c6757f4b61c 113 sprintf(buffer, "%d", xPos);
anthonyp08 0:1c6757f4b61c 114 sprintf(tab, "%d", yPos);
anthonyp08 0:1c6757f4b61c 115 BSP_LCD_DisplayStringAt(0,0,(uint8_t*)buffer, LEFT_MODE);
anthonyp08 0:1c6757f4b61c 116 BSP_LCD_DisplayStringAt(60,0,(uint8_t*)tab, LEFT_MODE);
anthonyp08 0:1c6757f4b61c 117
anthonyp08 0:1c6757f4b61c 118
anthonyp08 0:1c6757f4b61c 119 mpu.getMotion6(&ax, &ay, &az, &gx, &gy, &gz); // récupération des valeurs bruts du MPU-6050
anthonyp08 0:1c6757f4b61c 120 t1=atan2(-(double)ay,-(double)ax)*(180/3.1415); // calcul en degrès des valeurs bruts
anthonyp08 0:1c6757f4b61c 121 t2=atan2(-(double)az,-(double)ax)*(180/3.1415);
anthonyp08 0:1c6757f4b61c 122 pc.printf("%6d %6d %6d %6.2f %6.2f\r\n",ax,ay,az,t1,t2); //affichage des valeurs bruts et degrès (voir sur putty)
anthonyp08 0:1c6757f4b61c 123
anthonyp08 0:1c6757f4b61c 124 if (t2 < 0) {
anthonyp08 0:1c6757f4b61c 125 xPos = xPos - 3;
anthonyp08 0:1c6757f4b61c 126
anthonyp08 0:1c6757f4b61c 127 }
anthonyp08 0:1c6757f4b61c 128 else if (t2 > 0) {
anthonyp08 0:1c6757f4b61c 129 xPos = xPos + 3;
anthonyp08 0:1c6757f4b61c 130
anthonyp08 0:1c6757f4b61c 131 // Selon l'angle des axes du MPU-6050 la position de la bille change
anthonyp08 0:1c6757f4b61c 132 }
anthonyp08 0:1c6757f4b61c 133
anthonyp08 0:1c6757f4b61c 134 if (t1 <0) {
anthonyp08 0:1c6757f4b61c 135 yPos = yPos + 3;
anthonyp08 0:1c6757f4b61c 136
anthonyp08 0:1c6757f4b61c 137
anthonyp08 0:1c6757f4b61c 138 }
anthonyp08 0:1c6757f4b61c 139 else if (t1 > 0) {
anthonyp08 0:1c6757f4b61c 140 yPos = yPos - 3;
anthonyp08 0:1c6757f4b61c 141
anthonyp08 0:1c6757f4b61c 142
anthonyp08 0:1c6757f4b61c 143 }
anthonyp08 0:1c6757f4b61c 144
anthonyp08 0:1c6757f4b61c 145
anthonyp08 0:1c6757f4b61c 146 if (xPos<=4) {
anthonyp08 0:1c6757f4b61c 147 xPos = 4;
anthonyp08 0:1c6757f4b61c 148 } else if (xPos>=475) {
anthonyp08 0:1c6757f4b61c 149 xPos = 475;
anthonyp08 0:1c6757f4b61c 150 }
anthonyp08 0:1c6757f4b61c 151
anthonyp08 0:1c6757f4b61c 152 if (yPos<=4) { // Avec cela la bille ne peut pas sortir de l'écran
anthonyp08 0:1c6757f4b61c 153 yPos = 4;
anthonyp08 0:1c6757f4b61c 154 } else if (yPos>=267) {
anthonyp08 0:1c6757f4b61c 155 yPos = 267;
anthonyp08 0:1c6757f4b61c 156 }
anthonyp08 0:1c6757f4b61c 157
anthonyp08 0:1c6757f4b61c 158 }
anthonyp08 0:1c6757f4b61c 159 }