hiroya taura / Mbed 2 deprecated LAURUS_program

MPU6050のサンプルプログラム２

Dependencies:   ConfigFile SDFileSystem mbed

Fork of LAURUS_program by LAURUS

main.cpp@0:bc6f14fc60c7, 2015-05-15 (annotated)

Committer:
ojan
Date:
Fri May 15 17:24:32 2015 +0000
Revision:
0:bc6f14fc60c7
Child:
1:6cd6d2760856
Laurus integrated program (ver.0.0)

Who changed what in which revision?

UserRevisionLine numberNew contents of line
ojan 0:bc6f14fc60c7 1 #include "mbed.h"
ojan 0:bc6f14fc60c7 2 #include "MPU6050.h"
ojan 0:bc6f14fc60c7 3 #include "HMC5883L.h"
ojan 0:bc6f14fc60c7 4 #include "LPS25H.h"
ojan 0:bc6f14fc60c7 5 #include "ErrorLogger.h"
ojan 0:bc6f14fc60c7 6 #include "Vector.h"
ojan 0:bc6f14fc60c7 7 #include "myConstants.h"
ojan 0:bc6f14fc60c7 8
ojan 0:bc6f14fc60c7 9 /********** private define **********/
ojan 0:bc6f14fc60c7 10 #define TRUE 1
ojan 0:bc6f14fc60c7 11 #define FALSE 0
ojan 0:bc6f14fc60c7 12 /********** private macro **********/
ojan 0:bc6f14fc60c7 13 /********** private typedef **********/
ojan 0:bc6f14fc60c7 14 /********** private variables **********/
ojan 0:bc6f14fc60c7 15 I2C i2c(I2C_SDA, I2C_SCL); // I2Cポート
ojan 0:bc6f14fc60c7 16 MPU6050 mpu(&i2c); // 加速度・角速度センサ
ojan 0:bc6f14fc60c7 17 HMC5883L hmc(&i2c); // 地磁気センサ
ojan 0:bc6f14fc60c7 18 LPS25H lps(&i2c); // 気圧センサ
ojan 0:bc6f14fc60c7 19 Serial pc(SERIAL_TX, SERIAL_RX); // PC通信用シリアルポート
ojan 0:bc6f14fc60c7 20 Ticker timer; // 割り込みタイマー
ojan 0:bc6f14fc60c7 21
ojan 0:bc6f14fc60c7 22 const float freq = 0.01f; // 割り込み周期（s）
ojan 0:bc6f14fc60c7 23
ojan 0:bc6f14fc60c7 24 int lps_cnt = 0; // 気圧センサ読み取りカウント
ojan 0:bc6f14fc60c7 25 uint8_t INT_flag = TRUE; // 割り込み可否フラグ
ojan 0:bc6f14fc60c7 26 float acc[3]; // 加速度(m/s^2)
ojan 0:bc6f14fc60c7 27 float gyro[3]; // 角速度(deg/s)
ojan 0:bc6f14fc60c7 28 float geomag[3]; // 地磁気(?)
ojan 0:bc6f14fc60c7 29 float press; // 気圧(hPa)
ojan 0:bc6f14fc60c7 30 /********** private functions **********/
ojan 0:bc6f14fc60c7 31 void INT_func(); // 割り込み用関数
ojan 0:bc6f14fc60c7 32 /********** main function **********/
ojan 0:bc6f14fc60c7 33
ojan 0:bc6f14fc60c7 34 int main() {
ojan 0:bc6f14fc60c7 35
ojan 0:bc6f14fc60c7 36 i2c.frequency(400000); // I2Cの通信速度を400kHzに設定
ojan 0:bc6f14fc60c7 37
ojan 0:bc6f14fc60c7 38 if(!mpu.init()) AbortWithMsg("mpu6050 Initialize Error !!"); // mpu6050初期化
ojan 0:bc6f14fc60c7 39 if(!hmc.init()) AbortWithMsg("hmc5883l Initialize Error !!"); // hmc5883l初期化
ojan 0:bc6f14fc60c7 40
ojan 0:bc6f14fc60c7 41 timer.attach(&INT_func, freq); // 割り込み有効化
ojan 0:bc6f14fc60c7 42
ojan 0:bc6f14fc60c7 43 while(1) {
ojan 0:bc6f14fc60c7 44
ojan 0:bc6f14fc60c7 45 INT_flag = FALSE; // 割り込みによる変数書き換えを阻止
ojan 0:bc6f14fc60c7 46
ojan 0:bc6f14fc60c7 47 // センサ類の全出力値をPCに送信
ojan 0:bc6f14fc60c7 48 printf("%f\t", acc[0]);
ojan 0:bc6f14fc60c7 49 printf("%f\t", acc[1]);
ojan 0:bc6f14fc60c7 50 printf("%f\t", acc[2]);
ojan 0:bc6f14fc60c7 51 printf("%f\t", gyro[0]);
ojan 0:bc6f14fc60c7 52 printf("%f\t", gyro[1]);
ojan 0:bc6f14fc60c7 53 printf("%f\t", gyro[2]);
ojan 0:bc6f14fc60c7 54 printf("%f\t", geomag[0]);
ojan 0:bc6f14fc60c7 55 printf("%f\t", geomag[1]);
ojan 0:bc6f14fc60c7 56 printf("%f\t", geomag[2]);
ojan 0:bc6f14fc60c7 57 printf("%f\r\n", press);
ojan 0:bc6f14fc60c7 58
ojan 0:bc6f14fc60c7 59 INT_flag = TRUE; // 割り込み許可
ojan 0:bc6f14fc60c7 60
ojan 0:bc6f14fc60c7 61 }
ojan 0:bc6f14fc60c7 62 }
ojan 0:bc6f14fc60c7 63
ojan 0:bc6f14fc60c7 64 void INT_func() {
ojan 0:bc6f14fc60c7 65 if(INT_flag == FALSE) {
ojan 0:bc6f14fc60c7 66
ojan 0:bc6f14fc60c7 67 mpu.read();
ojan 0:bc6f14fc60c7 68 hmc.read();
ojan 0:bc6f14fc60c7 69
ojan 0:bc6f14fc60c7 70 for(int i=0; i<3; i++) {
ojan 0:bc6f14fc60c7 71 acc[i] = (float)mpu.data.value.acc[i] * ACC_LSB_TO_G * G_TO_MPSS;
ojan 0:bc6f14fc60c7 72 gyro[i] = mpu.data.value.gyro[i] * GYRO_LSB_TO_DEG;
ojan 0:bc6f14fc60c7 73 geomag[i] = hmc.data.value[i];
ojan 0:bc6f14fc60c7 74 }
ojan 0:bc6f14fc60c7 75
ojan 0:bc6f14fc60c7 76 // LPS25Hによる気圧の取得は10Hz
ojan 0:bc6f14fc60c7 77 lps_cnt = (lps_cnt+1)%10;
ojan 0:bc6f14fc60c7 78 if(lps_cnt == 0) {
ojan 0:bc6f14fc60c7 79 press = (float)lps.pressure() * PRES_LSB_TO_HPA;
ojan 0:bc6f14fc60c7 80 }
ojan 0:bc6f14fc60c7 81 }
ojan 0:bc6f14fc60c7 82 }