Serhii Ovchar
/
EmbeddedGyro
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Dependencies: LCD_DISCO_F429ZI mbed BSP_DISCO_F429ZI GYRO_DISCO_F429ZI
Revision 0:3294aff3e5ad, committed 2021-12-15
- Comitter:
- ovcharka132
- Date:
- Wed Dec 15 16:36:39 2021 +0000
- Commit message:
- Lab 3 Embedded
Changed in this revision
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/BSP_DISCO_F429ZI.lib Wed Dec 15 16:36:39 2021 +0000 @@ -0,0 +1,1 @@ +https://os.mbed.com/users/ovcharka132/code/BSP_DISCO_F429ZI/#d06d6759139b
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/GYRO_DISCO_F429ZI.lib Wed Dec 15 16:36:39 2021 +0000 @@ -0,0 +1,1 @@ +https://developer.mbed.org/teams/ST/code/GYRO_DISCO_F429ZI/#dfe10fcd7524
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/LCD_DISCO_F429ZI.lib Wed Dec 15 16:36:39 2021 +0000 @@ -0,0 +1,1 @@ +https://developer.mbed.org/teams/ST/code/LCD_DISCO_F429ZI/#dc55a068bc1a
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp Wed Dec 15 16:36:39 2021 +0000
@@ -0,0 +1,109 @@
+#include "mbed.h"
+#include "GYRO_DISCO_F429ZI.h"
+#include "LCD_DISCO_F429ZI.h"
+#include "stm32f429i_discovery_lcd.h"
+
+GYRO_DISCO_F429ZI gyro;
+LCD_DISCO_F429ZI lcd;
+
+DigitalOut led1(LED1);
+
+bool isInMotion = false;
+
+int main()
+{
+ float GyroBuffer[3];
+ float zero_level[3] = {0, 0, 0};
+ uint8_t buffer[100];
+ lcd.Init();
+ lcd.DisplayStringAt(0, LINE(1), (uint8_t*)"Started", CENTER_MODE);
+ uint8_t tmpreg = 0;
+ GYRO_IO_Read(&tmpreg,I3G4250D_CTRL_REG4_ADDR,1);
+ switch(tmpreg & I3G4250D_FULLSCALE_SELECTION)
+ {
+ case I3G4250D_FULLSCALE_245:
+ lcd.DisplayStringAt(0, LINE(2), (uint8_t*)"245", CENTER_MODE);
+ break;
+
+ case I3G4250D_FULLSCALE_500:
+ lcd.DisplayStringAt(0, LINE(2), (uint8_t*)"500", CENTER_MODE);
+ break;
+
+ case I3G4250D_FULLSCALE_2000:
+ lcd.DisplayStringAt(0, LINE(2), (uint8_t*)"2000", CENTER_MODE);
+ break;
+ }
+ GYRO_IO_Read(&tmpreg, I3G4250D_CTRL_REG1_ADDR, 1);
+ switch(tmpreg >> 6) {
+ case 0:
+ lcd.DisplayStringAt(0, LINE(3), (uint8_t*)"95", CENTER_MODE);
+ break;
+ case 1:
+ lcd.DisplayStringAt(0, LINE(3), (uint8_t*)"190", CENTER_MODE);
+ break;
+ case 2:
+ lcd.DisplayStringAt(0, LINE(3), (uint8_t*)"380", CENTER_MODE);
+ break;
+ case 3:
+ lcd.DisplayStringAt(0, LINE(3), (uint8_t*)"760", CENTER_MODE);
+ break;
+ }
+
+ for (int i = 0; i < 50; i++) {
+ gyro.GetXYZ(GyroBuffer);
+ zero_level[0] += GyroBuffer[0] / 17.5f;
+ zero_level[1] += GyroBuffer[1] / 17.5f;
+ zero_level[2] += GyroBuffer[2] / 17.5f;
+
+ wait_ms(10);
+ }
+ for (int i = 0; i < 3; i++)
+ zero_level[i] /= 50;
+
+ float noise_level = 0.0f;
+ for (int i = 0; i < 50; i++) {
+ gyro.GetXYZ(GyroBuffer);
+ if ((GyroBuffer[0] / 17.5f - zero_level[0]) > noise_level) {
+ noise_level = (GyroBuffer[1] / 17.5f - zero_level[0]);
+ }
+ else if ((GyroBuffer[0] / 17.5f - zero_level[0]) < -noise_level) {
+ noise_level = -(GyroBuffer[1] / 17.5f - zero_level[0]);
+ }
+ wait_ms(10);
+ }
+ sprintf((char*)buffer, "Noise %.2f", noise_level);
+ lcd.DisplayStringAt(0, LINE(4), buffer, CENTER_MODE);
+ float angle = 0.0f, prev_value = 0.0f;
+ float saved_angle = 0.0f;
+ while(1) {
+ // Read Gyroscope values
+ wait(0.02);
+
+ gyro.GetXYZ(GyroBuffer);
+ float value = GyroBuffer[0] / 17.5f - zero_level[0];
+ if (value >= noise_level || value <= -noise_level) {
+ if(value >= 0.1f) {
+ if(!isInMotion){
+ saved_angle = angle;
+ }
+ isInMotion = true;
+ }
+ angle += (value + prev_value) / 2 * 0.0175f * 0.02f / 0.825f;
+ } else {
+ isInMotion = false;
+ if(fabs(saved_angle - angle) >= 45.0f){
+ lcd.ClearStringLine(7);
+ lcd.ClearStringLine(8);
+ lcd.DisplayStringAt(0, LINE(7), (uint8_t*)"Gesture", CENTER_MODE);
+ sprintf((char*)buffer, "Angle %.3f", angle - saved_angle);
+ lcd.DisplayStringAt(0, LINE(8), buffer, CENTER_MODE);
+ }
+ saved_angle = angle;
+ }
+ prev_value = value;
+ sprintf((char*)buffer, "Angle %.3f", angle);
+ lcd.ClearStringLine(6);
+ lcd.DisplayStringAt(0, LINE(6), buffer, CENTER_MODE);
+
+ }
+}
\ No newline at end of file
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/mbed.bld Wed Dec 15 16:36:39 2021 +0000 @@ -0,0 +1,1 @@ +https://os.mbed.com/users/mbed_official/code/mbed/builds/65be27845400 \ No newline at end of file