Huy pham / Mbed 2 deprecated 3DTracking

3D Tracking

Dependencies:   HMC5883L MPU6050 mbed

Files at this revision

API Documentation at this revision

Revision 0:ee11a5d3da00, committed 2017-06-01

Comitter:
huydnfly
Date:
Thu Jun 01 04:22:03 2017 +0000
Commit message:
3D;

Changed in this revision

HMC5883L.lib Show annotated file Show diff for this revision Revisions of this file
MPU6050.lib Show annotated file Show diff for this revision Revisions of this file
main.cpp Show annotated file Show diff for this revision Revisions of this file
mbed.bld Show annotated file Show diff for this revision Revisions of this file 
diff -r 000000000000 -r ee11a5d3da00 HMC5883L.lib
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/HMC5883L.lib	Thu Jun 01 04:22:03 2017 +0000
@@ -0,0 +1,1 @@
+http://developer.mbed.org/users/xeta05/code/HMC5883L/#c9ce1eeaf001

diff -r 000000000000 -r ee11a5d3da00 MPU6050.lib
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/MPU6050.lib	Thu Jun 01 04:22:03 2017 +0000
@@ -0,0 +1,1 @@
+http://developer.mbed.org/users/moklumbys/code/MPU6050/#9b414412b09e

diff -r 000000000000 -r ee11a5d3da00 main.cpp
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Thu Jun 01 04:22:03 2017 +0000
@@ -0,0 +1,76 @@
+#include "mbed.h"
+#include "HMC5883L.h"
+#include "MPU6050.h"
+#include <math.h>
+ 
+#define SDA      D14
+#define SCL      D15
+#define PI       3.14159265
+ 
+#define WAIT_COMMAND   1
+#define WAIT_SETUP  2
+#define SETUP  3
+#define SAMPLING    4
+
+DigitalOut myled(LED1);
+Serial pc(D1, D0);
+float x, y, z, heading;
+int16_t raw[3];
+float acc[3];
+float gry[3];
+float angel[3];
+char buffer[128];
+char command;
+int state;
+
+int main() {
+    pc.printf("Inicializing...\r\n");
+    //HMC5883L hmc5883l(SDA, SCL);
+    MPU6050 mpu6050(SDA, SCL);
+    //mpu6050.calibrate(accelBias,gyroBias);
+    state = WAIT_COMMAND;
+    pc.printf("OK...\r\n");
+    
+    wait(1);
+    while(1) {
+        switch(state) {
+        case WAIT_COMMAND: {
+            command = pc.getc();
+            if (command == 's') 
+                state = SETUP;
+            else if (command == 'd')
+                state = SAMPLING;
+                
+            } break;
+        case WAIT_SETUP: {
+            command = pc.getc();
+            if (command == 's') 
+                state = SETUP;
+            } break;
+        case SETUP: {
+            //hmc5883l.getXYZ(raw);
+            
+            //pc.printf("$x=%d y=%d z=%d;", raw[0], raw[1], raw[2]);
+            pc.printf("$Accelero: x=%d y=%d z=%d\n;", mpu6050.getAcceleroRawX(), mpu6050.getAcceleroRawY(), mpu6050.getAcceleroRawZ());
+            state = WAIT_COMMAND;
+            } break;
+        case SAMPLING: {
+            //hmc5883l.getXYZ(raw);
+            //pc.printf("$x=%d y=%d z=%d;", raw[0], raw[1], raw[2]);
+            //hmc58831.getHeadingXY()
+            //pc.printf("$Accelero: x=%d y=%d z=%d\n;", mpu6050.getAcceleroRawX(), mpu6050.getAcceleroRawY(), mpu6050.getAcceleroRawZ());
+            
+            mpu6050.getAccelero(acc);
+            mpu6050.getGyro(gry);
+            mpu6050.getAcceleroAngle(angel);
+            //pc.printf("ACC: %f %f %f\n",acc[0], acc[1], acc[2]);
+            //pc.printf("GRY: %f %f %f\n",gry[0], gry[1], gry[2]);
+            pc.printf("%f %f %f %f %f %f\n",gry[0], gry[1], gry[2], acc[0], acc[1], acc[2]);
+            //pc.printf("%f %f %f %f %f %f\n", angel[0], angel[1], angel[2], acc[0], acc[1], acc[2]);
+            wait_ms(20);
+            //state = WAIT_COMMAND;
+            } break;
+        default: break;
+        }
+    }
+}

diff -r 000000000000 -r ee11a5d3da00 mbed.bld
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/mbed.bld	Thu Jun 01 04:22:03 2017 +0000
@@ -0,0 +1,1 @@
+https://mbed.org/users/mbed_official/code/mbed/builds/4eea097334d6
\ No newline at end of file