Nagito Sukegawa
2020 Off season development Test of MPU6050 and OLED display on the Nucleo Board STM32 F303K8 and SSD1306. MPU6050 and OLED Display are Implemented on one circuit board.
Dependencies: mbed MPU6050 Adafruit_GFX
Revision 0:c7160959f043, committed 2020-03-12
- Comitter:
- st17099ng
- Date:
- Thu Mar 12 15:55:31 2020 +0000
- Commit message:
- Initial version
Changed in this revision
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/Adafruit_GFX.lib Thu Mar 12 15:55:31 2020 +0000 @@ -0,0 +1,1 @@ +https://os.mbed.com/users/st17099ng/code/Adafruit_GFX/#2fe73307cb3c
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/MPU6050.lib Thu Mar 12 15:55:31 2020 +0000 @@ -0,0 +1,1 @@ +https://os.mbed.com/users/st17099ng/code/MPU6050/#d5452a87bd2d
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp Thu Mar 12 15:55:31 2020 +0000
@@ -0,0 +1,162 @@
+#include "mbed.h"
+#include "MPU6050.h"
+#include "Adafruit_SSD1306.h"
+#include "Adafruit_GFX_Config.h"
+#include <string>
+
+#define NUM 10
+
+DigitalOut myled(LED1);
+Serial pc(USBTX, USBRX,115200);
+
+MPU6050 mpu;
+
+DigitalIn Slides[] = {
+ DigitalIn( D1 ),
+ DigitalIn( D0 ),
+ DigitalIn( D3 ),
+ DigitalIn( D6 )
+};
+
+DigitalIn Tacts[] = {
+ DigitalIn( D8 ),
+ DigitalIn( D9 ),
+ DigitalIn( D11 ),
+ DigitalIn( D12 )
+};
+
+DigitalOut leds[] = {
+ DigitalOut( A3 ),
+ DigitalOut( A0 ),
+ DigitalOut( D13 ),
+ DigitalOut( A2 )
+};
+
+// OLEDとの通信に使用するI2Cオブジェクトを生成
+I2C i2c(PB_7,PB_6);
+// OLED制御クラスのインスタンス化
+uint8_t i2cAddress = SSD_I2C_ADDRESS;
+int rawHeight = 32;
+int rawWidth = 128;
+Adafruit_SSD1306_I2c oled(i2c, D10, i2cAddress);
+
+void print(std::string str);
+
+int16_t ax, ay, az;
+int16_t gx, gy, gz;
+
+int sum_ax,sum_ay,sum_az;
+int sum_gx,sum_gy,sum_gz;
+char str_ax[15],str_ay[15],str_az[15];
+char str_gx[15],str_gy[15],str_gz[15];
+
+int main()
+{
+// char a[]= {"HELLO"};
+// char b[]= {" WORLD"};
+// char c[]= {"\n"};
+ char title1[] = {"AC[m/ss]"};
+ char title2[] = {"GY[rad/s]"};
+ char but=0x00;
+ for(int i=0; i<4; i++) {
+ Slides[i].mode(PullUp);
+ Tacts[i].mode(PullUp);
+ }
+ pc.printf("\033[2J");
+ pc.printf("MPU6050 test\n\n");
+ pc.printf("MPU6050 initialize \n");
+
+ mpu.initialize();
+ pc.printf("MPU6050 testConnection \n");
+
+ bool mpu6050TestResult = mpu.testConnection();
+ if(mpu6050TestResult) {
+ pc.printf("MPU6050 test passed \n");
+ } else {
+ pc.printf("MPU6050 test failed \n");
+ }
+
+ pc.printf("\033[2J");
+ pc.printf("\033[1;1HACCEL_x: 0.0000[m/s^2]");
+ pc.printf("\033[2;1HACCEL_y: 0.0000[m/s^2]");
+ pc.printf("\033[3;1HACCEL_z: 0.0000[m/s^2]");
+
+ pc.printf("\033[5;1HGYRO_x : 0.0000[rad/s]");
+ pc.printf("\033[6;1HGYRO_y : 0.0000[rad/s]");
+ pc.printf("\033[7;1HGYRO_z : 0.0000[rad/s]");
+ oled.clearDisplay();
+ oled.setTextCursor(0,0);
+ print(title1);
+ oled.setTextCursor(64,0);
+ print(title2);
+ while(1) {
+ myled = !myled;
+ for(int i=0; i < NUM; i++) {
+ mpu.getMotion6(&ax, &ay, &az, &gx, &gy, &gz);
+ sum_ax += ax;
+ sum_ay += ay;
+ sum_az += az;
+
+ sum_gx += gx;
+ sum_gy += gy;
+ sum_gz += gz;
+ }
+
+ for(int i=0; i<4; i++) {
+ if ( !(Slides[i]) ) but |= (0x01<<i);
+ if ( !(Tacts[i]) ) but |= (0x10<<i);
+ if( Slides[i] ^ Tacts[i] ) leds[i] = 0;
+ else leds[i] = 1;
+ }
+
+ sprintf(str_ax, "%+08.5g", float(sum_ax)/(2048*NUM));
+ sprintf(str_ay, "%+08.5g", float(sum_ay)/(2048*NUM));
+ sprintf(str_az, "%+08.5g", float(sum_az)/(2048*NUM));
+
+ sprintf(str_gx, "%+08.5g", float(sum_gx)/(16.4*NUM));
+ sprintf(str_gy, "%+08.5g", float(sum_gy)/(16.4*NUM));
+ sprintf(str_gz, "%+08.5g", float(sum_gz)/(16.4*NUM));
+
+ oled.setTextCursor(0,8);
+ print(str_ax);
+ oled.setTextCursor(0,16);
+ print(str_ay);
+ oled.setTextCursor(0,24);
+ print(str_az);
+
+ oled.setTextCursor(64,8);
+ print(str_gx);
+ oled.setTextCursor(64,16);
+ print(str_gy);
+ oled.setTextCursor(64,24);
+ print(str_gz);
+
+// pc.printf("\033[1;10H%s",str_ax);
+// pc.printf("\033[2;10H%s",str_ay);
+// pc.printf("\033[3;10H%s",str_az);
+//
+// pc.printf("\033[5;9H%s",str_gx);
+// pc.printf("\033[6;9H%s",str_gy);
+// pc.printf("\033[7;9H%s",str_gz);
+// pc.printf("\033[8;1Hbut:0x%x",but);
+
+ sum_ax = 0;
+ sum_ay = 0;
+ sum_az = 0;
+
+ sum_gx = 0;
+ sum_gy = 0;
+ sum_gz = 0;
+
+ but=0x00;
+ }
+}
+
+void print(std::string str)
+{
+ for(size_t i=0; i<str.size() ; i++) {
+ oled._putc(str[i]);
+ }
+ // 表示を更新
+ oled.display();
+}
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/mbed.bld Thu Mar 12 15:55:31 2020 +0000 @@ -0,0 +1,1 @@ +https://os.mbed.com/users/mbed_official/code/mbed/builds/65be27845400 \ No newline at end of file