Takeuchi Kouichi / Mbed 2 deprecated 25h0922_IMU2_V1

Tamagawaseiki IMU2 Ver1

Dependencies:   mbed

Fork of AQM0802_test by Yoshihiro TSUBOI

main.cpp@1:20b0a21f3b43, 2013-09-22 (annotated)

Committer:
takeuchi
Date:
Sun Sep 22 03:04:05 2013 +0000
Revision:
1:20b0a21f3b43
Parent:
0:0543430a6bd1 
Tamagawaseiki IMU2 Ver1

Who changed what in which revision?

UserRevisionLine numberNew contents of line
takeuchi 1:20b0a21f3b43 1 // IMU2 Ver1
takeuchi 1:20b0a21f3b43 2 // Subete Suuji hyouji
takeuchi 1:20b0a21f3b43 3
takeuchi 1:20b0a21f3b43 4 #include "mbed.h"
takeuchi 1:20b0a21f3b43 5 #include "I2cLCD.h"
ytsuboi 0:0543430a6bd1 6
takeuchi 1:20b0a21f3b43 7 I2cLCD lcd(p28,p27,p26); //sda scl reset
takeuchi 1:20b0a21f3b43 8 Serial IMU(p9,p10);// p9=Tx,p10=Rx
ytsuboi 0:0543430a6bd1 9
takeuchi 1:20b0a21f3b43 10 DigitalOut mled0(LED1);
takeuchi 1:20b0a21f3b43 11 DigitalOut mled1(LED2);
takeuchi 1:20b0a21f3b43 12 DigitalIn tsw(p11);
ytsuboi 0:0543430a6bd1 13
takeuchi 1:20b0a21f3b43 14 #define ON 1
takeuchi 1:20b0a21f3b43 15 #define OFF 0
takeuchi 1:20b0a21f3b43 16 #define XON 0
takeuchi 1:20b0a21f3b43 17 #define XOFF 1
ytsuboi 0:0543430a6bd1 18
takeuchi 1:20b0a21f3b43 19 float rx,px,hx;
ytsuboi 0:0543430a6bd1 20
takeuchi 1:20b0a21f3b43 21 void offset_can(){
takeuchi 1:20b0a21f3b43 22 int i;
takeuchi 1:20b0a21f3b43 23 lcd.cls();
takeuchi 1:20b0a21f3b43 24 IMU.printf("$TSC,OFC,10*CC\r\n");
takeuchi 1:20b0a21f3b43 25 IMU.printf("$TSC,HRST*75\r\n");
takeuchi 1:20b0a21f3b43 26 lcd.printf("Offset cansel\n");
takeuchi 1:20b0a21f3b43 27 for(i=0;i<5;i++){
takeuchi 1:20b0a21f3b43 28 lcd.printf(".");
takeuchi 1:20b0a21f3b43 29 wait(0.5);
takeuchi 1:20b0a21f3b43 30 }
takeuchi 1:20b0a21f3b43 31 lcd.cls();
ytsuboi 0:0543430a6bd1 32 }
ytsuboi 0:0543430a6bd1 33
takeuchi 1:20b0a21f3b43 34 void IMU_get(){
takeuchi 1:20b0a21f3b43 35 int i;
takeuchi 1:20b0a21f3b43 36 unsigned char c1,c2;
ytsuboi 0:0543430a6bd1 37
takeuchi 1:20b0a21f3b43 38 while(IMU.getc()!='$'){
takeuchi 1:20b0a21f3b43 39 }
takeuchi 1:20b0a21f3b43 40 for(i=1;i<=8;i++){
takeuchi 1:20b0a21f3b43 41 c1=IMU.getc();
takeuchi 1:20b0a21f3b43 42 }
takeuchi 1:20b0a21f3b43 43 for(i=1;i<=20;i++){
takeuchi 1:20b0a21f3b43 44 c1=IMU.getc();
ytsuboi 0:0543430a6bd1 45 }
takeuchi 1:20b0a21f3b43 46 c1=IMU.getc();
takeuchi 1:20b0a21f3b43 47 c2=IMU.getc();
takeuchi 1:20b0a21f3b43 48 rx=float((c1 << 8) | c2);
takeuchi 1:20b0a21f3b43 49 c1=IMU.getc();
takeuchi 1:20b0a21f3b43 50 c2=IMU.getc();
takeuchi 1:20b0a21f3b43 51 px=float((c1 << 8) | c2);
takeuchi 1:20b0a21f3b43 52 c1=IMU.getc();
takeuchi 1:20b0a21f3b43 53 c2=IMU.getc();
takeuchi 1:20b0a21f3b43 54 hx=float((c1 << 8) | c2);
ytsuboi 0:0543430a6bd1 55 }
ytsuboi 0:0543430a6bd1 56
ytsuboi 0:0543430a6bd1 57
ytsuboi 0:0543430a6bd1 58 int main() {
takeuchi 1:20b0a21f3b43 59
takeuchi 1:20b0a21f3b43 60 IMU.baud(119200);
takeuchi 1:20b0a21f3b43 61 lcd.cls();
takeuchi 1:20b0a21f3b43 62 lcd.locate(0,0);
takeuchi 1:20b0a21f3b43 63 lcd.printf("IMU2 Test03\n");
takeuchi 1:20b0a21f3b43 64 lcd.printf("Init now...");
takeuchi 1:20b0a21f3b43 65 IMU.printf("$TSC,HRST*75\r\n");
takeuchi 1:20b0a21f3b43 66 wait(0.1);
takeuchi 1:20b0a21f3b43 67 IMU.printf("$TSC,RAW,10\r\n");
takeuchi 1:20b0a21f3b43 68 wait(0.1);
takeuchi 1:20b0a21f3b43 69
takeuchi 1:20b0a21f3b43 70 lcd.cls();
takeuchi 1:20b0a21f3b43 71 wait(0.1);
takeuchi 1:20b0a21f3b43 72 mled0=OFF;
takeuchi 1:20b0a21f3b43 73
takeuchi 1:20b0a21f3b43 74 while (1) {
takeuchi 1:20b0a21f3b43 75 if(tsw==XON){
takeuchi 1:20b0a21f3b43 76 mled0=ON;
takeuchi 1:20b0a21f3b43 77 offset_can();
ytsuboi 0:0543430a6bd1 78 }
takeuchi 1:20b0a21f3b43 79 mled0=OFF;
takeuchi 1:20b0a21f3b43 80
takeuchi 1:20b0a21f3b43 81 IMU_get();
takeuchi 1:20b0a21f3b43 82
takeuchi 1:20b0a21f3b43 83 lcd.locate(0,0);
takeuchi 1:20b0a21f3b43 84 lcd.printf("r:%5.1f,p:%5.1f",180*rx/32768,180*px/32768);
takeuchi 1:20b0a21f3b43 85 lcd.locate(0,1);
takeuchi 1:20b0a21f3b43 86 lcd.printf("h:%5.1f",180*hx/32768);
takeuchi 1:20b0a21f3b43 87
takeuchi 1:20b0a21f3b43 88 }//while
takeuchi 1:20b0a21f3b43 89 }//main