コウスケ スズキ / Mbed 2 deprecated koubousattttttttttttttttttttttdddddyorooooo

lpc1768

Dependencies:   mbed LPS25HB_I2C MPU6050 SDFileSystem

main.cpp@2:194e00108f75, 2022-02-17 (annotated)

Committer:
kosukesuzuki
Date:
Thu Feb 17 15:08:56 2022 +0000
Revision:
2:194e00108f75
Parent:
0:bdbd3d6fc5d5 
lpc1768;

Who changed what in which revision?

UserRevisionLine numberNew contents of line
mbed_official 0:bdbd3d6fc5d5 1 #include "mbed.h"
kosukesuzuki 2:194e00108f75 2 #include "MPU6050.h"
kosukesuzuki 2:194e00108f75 3 #include "LPS.h"
mbed_official 0:bdbd3d6fc5d5 4 #include "SDFileSystem.h"
kosukesuzuki 2:194e00108f75 5
kosukesuzuki 2:194e00108f75 6 I2C i2c(p28,p27);
kosukesuzuki 2:194e00108f75 7 LPS ps(i2c);
kosukesuzuki 2:194e00108f75 8 MPU6050 mpu(p9,p10);
kosukesuzuki 2:194e00108f75 9 SDFileSystem sd(p5, p6, p7, p8, "sd");
kosukesuzuki 2:194e00108f75 10 Serial xbee(p13,p14);
kosukesuzuki 2:194e00108f75 11 Serial pc(USBTX,USBRX);
kosukesuzuki 2:194e00108f75 12
kosukesuzuki 2:194e00108f75 13 int gyro[3];
kosukesuzuki 2:194e00108f75 14 int accel[3];
kosukesuzuki 2:194e00108f75 15
kosukesuzuki 2:194e00108f75 16 double GX,GY,GZ;
kosukesuzuki 2:194e00108f75 17 double Tgx,Tgy,Tgz;
kosukesuzuki 2:194e00108f75 18
mbed_official 0:bdbd3d6fc5d5 19 int main() {
kosukesuzuki 2:194e00108f75 20 xbee.printf("start\r\n");
kosukesuzuki 2:194e00108f75 21 pc.printf("start\r\n");
kosukesuzuki 2:194e00108f75 22
kosukesuzuki 2:194e00108f75 23 GX = 0,GY = 0,GZ = 0;
kosukesuzuki 2:194e00108f75 24 Tgx = 0,Tgy = 0,Tgz = 0;
kosukesuzuki 2:194e00108f75 25
kosukesuzuki 2:194e00108f75 26 if (!ps.init()){
kosukesuzuki 2:194e00108f75 27 pc.printf("Failed to autodetect pressure sensor!\r\n");
kosukesuzuki 2:194e00108f75 28 while (1);
kosukesuzuki 2:194e00108f75 29 }
kosukesuzuki 2:194e00108f75 30
kosukesuzuki 2:194e00108f75 31 ps.enableDefault();
kosukesuzuki 2:194e00108f75 32
kosukesuzuki 2:194e00108f75 33 mkdir("/sd/test1", 0777);
kosukesuzuki 2:194e00108f75 34 FILE *fp = fopen("/sd/test1/sdtest1.txt", "w");
kosukesuzuki 2:194e00108f75 35
kosukesuzuki 2:194e00108f75 36 fprintf(fp,"start\r\n");
mbed_official 0:bdbd3d6fc5d5 37
kosukesuzuki 2:194e00108f75 38 for(int k = 0; k < 50; k++){
kosukesuzuki 2:194e00108f75 39
kosukesuzuki 2:194e00108f75 40 if(fp == NULL) {
mbed_official 0:bdbd3d6fc5d5 41 error("Could not open file for write\n");
kosukesuzuki 2:194e00108f75 42 }
kosukesuzuki 2:194e00108f75 43
kosukesuzuki 2:194e00108f75 44 mpu.readGyroData(gyro);
kosukesuzuki 2:194e00108f75 45 int gx = gyro[0]+146;
kosukesuzuki 2:194e00108f75 46 int gy = gyro[1]+232; //まだ
kosukesuzuki 2:194e00108f75 47 int gz = gyro[2]+7;
kosukesuzuki 2:194e00108f75 48 //printf("%d %d %d\r\n",gx,gy,gz);
kosukesuzuki 2:194e00108f75 49
kosukesuzuki 2:194e00108f75 50 double gX = gx*0.02562; //0.0128114995(測定レンジ±500)
kosukesuzuki 2:194e00108f75 51 double gY = gy*0.02562; //0.02562299(±250)
kosukesuzuki 2:194e00108f75 52 double gZ = gz*0.02562;
kosukesuzuki 2:194e00108f75 53
kosukesuzuki 2:194e00108f75 54 int gX1 = gX;
kosukesuzuki 2:194e00108f75 55 int gY1 = gY;
kosukesuzuki 2:194e00108f75 56 int gZ1 = gZ;
kosukesuzuki 2:194e00108f75 57
kosukesuzuki 2:194e00108f75 58 double gX2 = gX1*0.01;
kosukesuzuki 2:194e00108f75 59 double gY2 = gY1*0.01;
kosukesuzuki 2:194e00108f75 60 double gZ2 = gZ1*0.01;
kosukesuzuki 2:194e00108f75 61
kosukesuzuki 2:194e00108f75 62 GX = GX + gX2;
kosukesuzuki 2:194e00108f75 63 GY = GY + gY2;
kosukesuzuki 2:194e00108f75 64 GZ = GZ + gZ2;
kosukesuzuki 2:194e00108f75 65
kosukesuzuki 2:194e00108f75 66 Tgx = Tgx + abs(gX2);
kosukesuzuki 2:194e00108f75 67 Tgy = Tgy + abs(gY2);
kosukesuzuki 2:194e00108f75 68 Tgz = Tgz + abs(gZ2);
kosukesuzuki 2:194e00108f75 69
kosukesuzuki 2:194e00108f75 70 if(Tgx > 10){
kosukesuzuki 2:194e00108f75 71 if(GX > 0){
kosukesuzuki 2:194e00108f75 72 GX = GX - 0.3;//変更必須
kosukesuzuki 2:194e00108f75 73 }else{
kosukesuzuki 2:194e00108f75 74 GX = GX + 0.3;
kosukesuzuki 2:194e00108f75 75 }
kosukesuzuki 2:194e00108f75 76 Tgx = 0;
kosukesuzuki 2:194e00108f75 77 }
kosukesuzuki 2:194e00108f75 78 if(Tgy > 10){
kosukesuzuki 2:194e00108f75 79 if(GY >0){
kosukesuzuki 2:194e00108f75 80 GY = GY - 0.3;
kosukesuzuki 2:194e00108f75 81 }else{
kosukesuzuki 2:194e00108f75 82 GY = GY + 0.3;
kosukesuzuki 2:194e00108f75 83 }
kosukesuzuki 2:194e00108f75 84 Tgy = 0;
kosukesuzuki 2:194e00108f75 85 }
kosukesuzuki 2:194e00108f75 86 if(Tgz > 10){
kosukesuzuki 2:194e00108f75 87 if(GZ >0){
kosukesuzuki 2:194e00108f75 88 GZ = GZ - 0.3;
kosukesuzuki 2:194e00108f75 89 }else{
kosukesuzuki 2:194e00108f75 90 GZ = GZ + 0.3;
kosukesuzuki 2:194e00108f75 91 }
kosukesuzuki 2:194e00108f75 92 Tgz = 0;
kosukesuzuki 2:194e00108f75 93 }
kosukesuzuki 2:194e00108f75 94
kosukesuzuki 2:194e00108f75 95 mpu.readAccelData(accel);
kosukesuzuki 2:194e00108f75 96 int ax = accel[0]-123;//x軸方向の加速度
kosukesuzuki 2:194e00108f75 97 int ay = accel[1]+60;//y軸方向の加速度
kosukesuzuki 2:194e00108f75 98 int az = accel[2]+1110 ;//z軸方向の加速度
kosukesuzuki 2:194e00108f75 99 float AX = ax*0.000597964111328125;
kosukesuzuki 2:194e00108f75 100 float AY = ay*0.000597964111328125;
kosukesuzuki 2:194e00108f75 101 float AZ = az*0.000597964111328125;
kosukesuzuki 2:194e00108f75 102 double a = AX*AX+AY*AY+AZ*AZ-95.982071137936;
kosukesuzuki 2:194e00108f75 103
kosukesuzuki 2:194e00108f75 104 float pres = ps.readPressureMillibars();
kosukesuzuki 2:194e00108f75 105 float altit = ps.pressureToAltitudeMeters(pres);
kosukesuzuki 2:194e00108f75 106 float tempe = ps.readTemperatureC();
kosukesuzuki 2:194e00108f75 107
kosukesuzuki 2:194e00108f75 108 pc.printf("%.2f %.2f %.2f %.2f\r\n",AX,AY,AZ,a);
kosukesuzuki 2:194e00108f75 109 pc.printf("%.2f %.2f %.2f\r\n",GX,GY,GZ);
kosukesuzuki 2:194e00108f75 110 pc.printf("%.2f %.2f %.2f\r\n",pres,altit,tempe);
kosukesuzuki 2:194e00108f75 111
kosukesuzuki 2:194e00108f75 112 xbee.printf("%.2f,%.2f,%.2f,%.2f,%.2f,%.2f,%.2f,%.2f,%.2f,%.2f\r\n",AX,AY,AZ,a,GX,GY,GZ,pres,altit,tempe);
kosukesuzuki 2:194e00108f75 113 fprintf(fp, "%.2f,%.2f,%.2f,%.2f,%.2f,%.2f,%.2f,%.2f,%.2f,%.2f\r\n",AX,AY,AZ,a,GX,GY,GZ,pres,altit,tempe);
kosukesuzuki 2:194e00108f75 114 wait(0.01);
kosukesuzuki 2:194e00108f75 115 }
kosukesuzuki 2:194e00108f75 116
kosukesuzuki 2:194e00108f75 117 fprintf(fp,"end\r\n");
kosukesuzuki 2:194e00108f75 118 fclose(fp);
kosukesuzuki 2:194e00108f75 119 xbee.printf("end\r\n");
kosukesuzuki 2:194e00108f75 120 pc.printf("end\r\n");
kosukesuzuki 2:194e00108f75 121
kosukesuzuki 2:194e00108f75 122 return 0;
kosukesuzuki 2:194e00108f75 123 }