Huy pham
3D Tracking
Dependencies: HMC5883L MPU6050 mbed
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
--- /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
--- /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
--- /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;
+ }
+ }
+}
--- /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