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2020 Off season development Test of MPU6050 on the Nucleo Board STM32 F303K8
main.cpp@0:33cfed47c1a3, 2020-03-12 (annotated)
- Committer:
- st17099ng
- Date:
- Thu Mar 12 15:28:37 2020 +0000
- Revision:
- 0:33cfed47c1a3
Initial version
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
st17099ng | 0:33cfed47c1a3 | 1 | #include "mbed.h" |
st17099ng | 0:33cfed47c1a3 | 2 | #include "MPU6050.h" |
st17099ng | 0:33cfed47c1a3 | 3 | #include <string> |
st17099ng | 0:33cfed47c1a3 | 4 | |
st17099ng | 0:33cfed47c1a3 | 5 | #define NUM 10 |
st17099ng | 0:33cfed47c1a3 | 6 | |
st17099ng | 0:33cfed47c1a3 | 7 | DigitalOut myled(LED1); |
st17099ng | 0:33cfed47c1a3 | 8 | Serial pc(USBTX, USBRX); |
st17099ng | 0:33cfed47c1a3 | 9 | MPU6050 mpu; |
st17099ng | 0:33cfed47c1a3 | 10 | |
st17099ng | 0:33cfed47c1a3 | 11 | int16_t ax, ay, az; |
st17099ng | 0:33cfed47c1a3 | 12 | int16_t gx, gy, gz; |
st17099ng | 0:33cfed47c1a3 | 13 | int sum_ax,sum_ay,sum_az; |
st17099ng | 0:33cfed47c1a3 | 14 | int sum_gx,sum_gy,sum_gz; |
st17099ng | 0:33cfed47c1a3 | 15 | |
st17099ng | 0:33cfed47c1a3 | 16 | int main() |
st17099ng | 0:33cfed47c1a3 | 17 | { |
st17099ng | 0:33cfed47c1a3 | 18 | pc.printf("\033[2J"); |
st17099ng | 0:33cfed47c1a3 | 19 | pc.printf("MPU6050 test\n\n"); |
st17099ng | 0:33cfed47c1a3 | 20 | pc.printf("MPU6050 initialize \n"); |
st17099ng | 0:33cfed47c1a3 | 21 | |
st17099ng | 0:33cfed47c1a3 | 22 | mpu.initialize(); |
st17099ng | 0:33cfed47c1a3 | 23 | pc.printf("MPU6050 testConnection \n"); |
st17099ng | 0:33cfed47c1a3 | 24 | |
st17099ng | 0:33cfed47c1a3 | 25 | bool mpu6050TestResult = mpu.testConnection(); |
st17099ng | 0:33cfed47c1a3 | 26 | if(mpu6050TestResult) { |
st17099ng | 0:33cfed47c1a3 | 27 | pc.printf("MPU6050 test passed \n"); |
st17099ng | 0:33cfed47c1a3 | 28 | } else { |
st17099ng | 0:33cfed47c1a3 | 29 | pc.printf("MPU6050 test failed \n"); |
st17099ng | 0:33cfed47c1a3 | 30 | } |
st17099ng | 0:33cfed47c1a3 | 31 | pc.printf("\033[2J"); |
st17099ng | 0:33cfed47c1a3 | 32 | while(1) { |
st17099ng | 0:33cfed47c1a3 | 33 | // mpu.getMotion6(&ax, &ay, &az, &gx, &gy, &gz); |
st17099ng | 0:33cfed47c1a3 | 34 | // pc.printf("fa,%d:fg,%d",mpu.getFullScaleAccelRange(),mpu.getFullScaleGyroRange()); |
st17099ng | 0:33cfed47c1a3 | 35 | //writing current accelerometer and gyro position |
st17099ng | 0:33cfed47c1a3 | 36 | |
st17099ng | 0:33cfed47c1a3 | 37 | for(int i=0; i < NUM; i++) { |
st17099ng | 0:33cfed47c1a3 | 38 | mpu.getMotion6(&ax, &ay, &az, &gx, &gy, &gz); |
st17099ng | 0:33cfed47c1a3 | 39 | sum_ax += ax; |
st17099ng | 0:33cfed47c1a3 | 40 | sum_ay += ay; |
st17099ng | 0:33cfed47c1a3 | 41 | sum_az += az; |
st17099ng | 0:33cfed47c1a3 | 42 | |
st17099ng | 0:33cfed47c1a3 | 43 | sum_gx += gx; |
st17099ng | 0:33cfed47c1a3 | 44 | sum_gy += gy; |
st17099ng | 0:33cfed47c1a3 | 45 | sum_gz += gz; |
st17099ng | 0:33cfed47c1a3 | 46 | } |
st17099ng | 0:33cfed47c1a3 | 47 | pc.printf("\033[1;1HACCEL_x:%11fm/s^2",float(sum_ax)/(2048*NUM)); |
st17099ng | 0:33cfed47c1a3 | 48 | pc.printf("\033[1;1HACCEL_x:%11fm/s^2",float(sum_ax)/(2048*NUM)); |
st17099ng | 0:33cfed47c1a3 | 49 | pc.printf("\033[2;1HACCEL_y:%11fm/s^2",float(sum_ay)/(2048*NUM)); |
st17099ng | 0:33cfed47c1a3 | 50 | pc.printf("\033[3;1HACCEL_z:%11fm/s^2",float(sum_az)/(2048*NUM)); |
st17099ng | 0:33cfed47c1a3 | 51 | |
st17099ng | 0:33cfed47c1a3 | 52 | pc.printf("\033[5;1HGYRO_x:%12frad/s",float(sum_gx)/(16.4*NUM)); |
st17099ng | 0:33cfed47c1a3 | 53 | pc.printf("\033[6;1HGYRO_y:%12frad/s",float(sum_gy)/(16.4*NUM)); |
st17099ng | 0:33cfed47c1a3 | 54 | pc.printf("\033[7;1HGYRO_z:%12frad/s",float(sum_gz)/(16.4*NUM)); |
st17099ng | 0:33cfed47c1a3 | 55 | |
st17099ng | 0:33cfed47c1a3 | 56 | sum_ax = 0; |
st17099ng | 0:33cfed47c1a3 | 57 | sum_ay = 0; |
st17099ng | 0:33cfed47c1a3 | 58 | sum_az = 0; |
st17099ng | 0:33cfed47c1a3 | 59 | |
st17099ng | 0:33cfed47c1a3 | 60 | sum_gx = 0; |
st17099ng | 0:33cfed47c1a3 | 61 | sum_gy = 0; |
st17099ng | 0:33cfed47c1a3 | 62 | sum_gz = 0; |
st17099ng | 0:33cfed47c1a3 | 63 | } |
st17099ng | 0:33cfed47c1a3 | 64 | } |