main.cpp

00001 #include "mbed.h"
00002 #include "MPU6050.h"
00003 #include "rtos.h"
00004 
00005 DigitalOut myled(LED1);
00006 Serial pc1(USBTX, USBRX);
00007 MPU6050 mpu(0x69);
00008 int16_t ax, ay, az;
00009 int16_t gx, gy, gz;
00010 int moyZ=0;                 //global Z value (mean)
00011 int16_t moy[64];            //array of different measurements
00012 
00013 
00014 void moyennage_Z()              //calculates the mean value by going through the whole array, sum and divide by the sample size (64)
00015 {
00016     for (int n=0; n<64; n++) {
00017         moyZ=moyZ+moy[n];
00018     }
00019     moyZ=(int)moyZ/64;
00020 }
00021 
00022 void mon_thr(void const *args)      //blinking thread to test mbed's state
00023 {
00024     while (true) {
00025         myled=!myled;
00026         wait(0.5);
00027     }
00028 }
00029 
00030 int main()
00031 
00032 {
00033     Thread thread(mon_thr);
00034     pc1.printf("MPU6050 test\n\n\r");               //procedure to test the connection to the mpu6050, if valid
00035     pc1.printf("MPU6050 initialize \n\r");          //the code to execute is embedded in a if{}
00036     mpu.initialize();
00037     pc1.printf("MPU6050 testConnection \n\r");
00038     bool mpu6050TestResult = mpu.testConnection();
00039     if(mpu6050TestResult) {
00040         pc1.printf("MPU6050 test passed \n\r");
00041 
00042         while(1) {                                             
00043             for (int n=0; n<64; n++) {                          //refreshing the 64-int16 array
00044                 mpu.getMotion6(&ax, &ay, &az, &gx, &gy, &gz);
00045                 moy[n]=az;
00046                 wait(0.01);
00047             }
00048             moyennage_Z();                                      //calculating the mean value by a simple sum and divide
00049             printf("%i\n\r",moyZ+17000);
00050             wait(0.1);
00051         }
00052     } else {
00053         pc1.printf("MPU6050 test failed \n\r");
00054     }
00055 }