Gireyon KIM
a
Dependencies: mbed mbed-rtos MPU9250_SPI
Revision 0:d85585270d53, committed 2021-11-08
- Comitter:
- rlfus154
- Date:
- Mon Nov 08 07:11:28 2021 +0000
- Commit message:
- a
Changed in this revision
diff -r 000000000000 -r d85585270d53 MPU9250_SPI.lib --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/MPU9250_SPI.lib Mon Nov 08 07:11:28 2021 +0000 @@ -0,0 +1,1 @@ +https://os.mbed.com/users/kylongmu/code/MPU9250_SPI/#084e8ba240c1
diff -r 000000000000 -r d85585270d53 main.cpp
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp Mon Nov 08 07:11:28 2021 +0000
@@ -0,0 +1,100 @@
+#include "mbed.h"
+#include "MPU9250.h"
+#include "rtos.h"
+
+SPI spi(p5, p6, p7);// mosi, miso, sclk
+mpu9250_spi imu(spi,p8);
+Serial pc(USBTX, USBRX);
+
+Thread thread_imu;
+const int duration = 3; //[s]
+const int Fs = 4; //[kHz]
+float mywait = 1/Fs; //[ms]
+const int sample_num = 50;
+const int repeat_num = duration*Fs*1000/sample_num;
+
+uint8_t temp_imuBuffer[14]; /* 2byte * (3type(x, y, z) + 温度 + gyro（x, y, z）) */
+char stack_a[sample_num*6]={0}; //[x_h, x_l, y_h, y_l, z_h, z_l]
+char stack_g[sample_num*6]={0};
+int cntnum = -1;
+int prevnum = 1;
+int NowRead = true;
+int writedone = false;
+void imuread()
+{
+ while(true){
+ for(int k=0; k<repeat_num;k++){
+ for(int j=0; j<sample_num; j++){
+ imu.ReadRegs(MPUREG_ACCEL_XOUT_H, temp_imuBuffer, 14);
+ //X,Y,Z axis each High and Low
+ for(int i=0; i<3; i++) {
+ stack_a[6*j+2*i + 0] = (char)temp_imuBuffer[2*i + 0];//上位8bitを代入 //acccel
+ stack_a[6*j+2*i + 1] = (char)temp_imuBuffer[2*i + 1];//下位8bit
+ stack_g[6*j+2*i + 0] = (char)temp_imuBuffer[2*i + 8];//上位8bitを代入 //gyro
+ stack_g[6*j+2*i + 1] = (char)temp_imuBuffer[2*i + 9];//下位8bit
+ //printf("%x\r\n",stack_a[6*j+2+i]);
+ }
+ Thread::wait(mywait);
+ }
+ cntnum = k;
+ printf("cntnum: %d \r\n",cntnum);
+ while(writedone == false){
+ printf("read stop now: %d \r\n");
+ wait_ms(100);
+ }
+ writedone = true;
+ }
+ NowRead = false;
+ break;
+ }
+}
+
+
+LocalFileSystem local("local");
+int main(){
+ pc.baud(460800);
+ printf("set up start!\r\n");
+
+ FILE *fp = fopen("/local/data.txt", "w");
+
+ /* IMU setup */
+ int acc_scale = 0, gyro_scale = 0;
+ int response = 0;
+ /* iMU初期化，LPFの指定 */
+ if (imu.init(255, BITS_DLPF_CFG_2100HZ_NOLPF)) {
+ printf("initailize error\r\n");
+ }
+ acc_scale = imu.set_acc_scale(BITS_FS_8G);/* 加速度計測のレンジを指定 */
+ printf("set acc scale %d [ g ]\r\n", acc_scale);
+ gyro_scale = imu.set_gyro_scale(BITS_FS_1000DPS);/* ジャイロのレンジを指定 */
+ printf("set gyro scale = %d [ degree / sec ]\r\n", gyro_scale);
+ response = imu.whoami();
+ printf("who am i = %d\r\n", response);/* IMUとの通信の確認 0x71(10進数で113)が正常 */
+
+ printf("Press [s] to start\r\n");
+ while (true) { if (pc.readable()) { if (pc.getc() == 's') { break; } } }
+ printf("Now start\r\n");
+ thread_imu.start(imuread);
+
+ //Write
+ while (NowRead){
+ if(cntnum != prevnum){
+ for(int j=0; j<sample_num; j++){
+ for(int i=0; i<6; i++){
+ fprintf(fp, "%x ", stack_a[6*j+i]);
+ }
+ for(int i=0; i<6; i++){
+ fprintf(fp, "%x ", stack_g[6*j+i]);
+ }
+ fprintf(fp, "\r\n");
+ }
+ prevnum = cntnum;
+ printf("prevum: %d \r\n",prevnum);
+ writedone = true;
+ }
+ }
+ thread_imu.terminate();
+ printf("finish\r\n");
+ fclose(fp);
+ return 0;
+}
\ No newline at end of file
diff -r 000000000000 -r d85585270d53 mbed-rtos.lib --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/mbed-rtos.lib Mon Nov 08 07:11:28 2021 +0000 @@ -0,0 +1,1 @@ +https://os.mbed.com/users/mbed_official/code/mbed-rtos/#5713cbbdb706
diff -r 000000000000 -r d85585270d53 mbed.bld --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/mbed.bld Mon Nov 08 07:11:28 2021 +0000 @@ -0,0 +1,1 @@ +https://os.mbed.com/users/mbed_official/code/mbed/builds/65be27845400 \ No newline at end of file