mpuうごくん?

Dependencies:   mbed

Fork of MPU6050IMU by Kris Winer

Revision:
3:b7223a307029
Parent:
1:cea9d83b8636
diff -r e0381ca0edac -r b7223a307029 main.cpp
--- a/main.cpp	Sun Jun 29 21:53:23 2014 +0000
+++ b/main.cpp	Wed Jan 06 12:04:32 2016 +0000
@@ -28,7 +28,6 @@
  
 #include "mbed.h"
 #include "MPU6050.h"
-#include "N5110.h"
 
 // Using NOKIA 5110 monochrome 84 x 48 pixel display
 // pin 9 - Serial clock out (SCLK)
@@ -48,7 +47,6 @@
    Serial pc(USBTX, USBRX); // tx, rx
 
    //        VCC,   SCE,  RST,  D/C,  MOSI,S CLK, LED
-   N5110 lcd(PA_8, PB_10, PA_9, PA_6, PA_7, PA_5, PC_7);
         
 int main()
 {
@@ -56,66 +54,43 @@
 
   //Set up I2C
   i2c.frequency(400000);  // use fast (400 kHz) I2C   
-  
   t.start();        
-  
-  lcd.init();
-  lcd.setBrightness(0.05);
-  
-    
   // Read the WHO_AM_I register, this is a good test of communication
   uint8_t whoami = mpu6050.readByte(MPU6050_ADDRESS, WHO_AM_I_MPU6050);  // Read WHO_AM_I register for MPU-6050
-  pc.printf("I AM 0x%x\n\r", whoami); pc.printf("I SHOULD BE 0x68\n\r");
+  //pc.printf("I AM 0x%x\n\r", whoami); pc.printf("I SHOULD BE 0x68\n\r");
   
   if (whoami == 0x68) // WHO_AM_I should always be 0x68
   {  
-    pc.printf("MPU6050 is online...");
+    //pc.printf("MPU6050 is online...");
     wait(1);
-    lcd.clear();
-    lcd.printString("MPU6050 OK", 0, 0);
-
     
     mpu6050.MPU6050SelfTest(SelfTest); // Start by performing self test and reporting values
-    pc.printf("x-axis self test: acceleration trim within : "); pc.printf("%f", SelfTest[0]); pc.printf("% of factory value \n\r");
-    pc.printf("y-axis self test: acceleration trim within : "); pc.printf("%f", SelfTest[1]); pc.printf("% of factory value \n\r");
-    pc.printf("z-axis self test: acceleration trim within : "); pc.printf("%f", SelfTest[2]); pc.printf("% of factory value \n\r");
-    pc.printf("x-axis self test: gyration trim within : "); pc.printf("%f", SelfTest[3]); pc.printf("% of factory value \n\r");
-    pc.printf("y-axis self test: gyration trim within : "); pc.printf("%f", SelfTest[4]); pc.printf("% of factory value \n\r");
-    pc.printf("z-axis self test: gyration trim within : "); pc.printf("%f", SelfTest[5]); pc.printf("% of factory value \n\r");
+    //pc.printf("x-axis self test: acceleration trim within : "); pc.printf("%f", SelfTest[0]); pc.printf("% of factory value \n\r");
+    //pc.printf("y-axis self test: acceleration trim within : "); pc.printf("%f", SelfTest[1]); pc.printf("% of factory value \n\r");
+    //pc.printf("z-axis self test: acceleration trim within : "); pc.printf("%f", SelfTest[2]); pc.printf("% of factory value \n\r");
+    //pc.printf("x-axis self test: gyration trim within : "); pc.printf("%f", SelfTest[3]); pc.printf("% of factory value \n\r");
+    //pc.printf("y-axis self test: gyration trim within : "); pc.printf("%f", SelfTest[4]); pc.printf("% of factory value \n\r");
+    //pc.printf("z-axis self test: gyration trim within : "); pc.printf("%f", SelfTest[5]); pc.printf("% of factory value \n\r");
     wait(1);
 
     if(SelfTest[0] < 1.0f && SelfTest[1] < 1.0f && SelfTest[2] < 1.0f && SelfTest[3] < 1.0f && SelfTest[4] < 1.0f && SelfTest[5] < 1.0f) 
     {
     mpu6050.resetMPU6050(); // Reset registers to default in preparation for device calibration
     mpu6050.calibrateMPU6050(gyroBias, accelBias); // Calibrate gyro and accelerometers, load biases in bias registers  
-    mpu6050.initMPU6050(); pc.printf("MPU6050 initialized for active data mode....\n\r"); // Initialize device for active mode read of acclerometer, gyroscope, and temperature
+    mpu6050.initMPU6050(); //pc.printf("MPU6050 initialized for active data mode....\n\r"); // Initialize device for active mode read of acclerometer, gyroscope, and temperature
 
-    lcd.clear();
-    lcd.printString("MPU6050", 0, 0);
-    lcd.printString("pass self test", 0, 1);
-    lcd.printString("initializing", 0, 2);  
     wait(2);
        }
     else
     {
-    pc.printf("Device did not the pass self-test!\n\r");
+    //pc.printf("Device did not the pass self-test!\n\r");
  
-       lcd.clear();
-       lcd.printString("MPU6050", 0, 0);
-       lcd.printString("no pass", 0, 1);
-       lcd.printString("self test", 0, 2);      
       }
     }
     else
     {
-    pc.printf("Could not connect to MPU6050: \n\r");
-    pc.printf("%#x \n",  whoami);
- 
-    lcd.clear();
-    lcd.printString("MPU6050", 0, 0);
-    lcd.printString("no connection", 0, 1);
-    lcd.printString("0x", 0, 2);  lcd.setXYAddress(20, 2); lcd.printChar(whoami);
- 
+    //pc.printf("Could not connect to MPU6050: \n\r");
+    //pc.printf("%#x \n",  whoami);
     while(1) ; // Loop forever if communication doesn't happen
   }
 
@@ -164,28 +139,20 @@
     delt_t = t.read_ms() - count;
     if (delt_t > 500) { // update LCD once per half-second independent of read rate
 
-    pc.printf("ax = %f", 1000*ax); 
-    pc.printf(" ay = %f", 1000*ay); 
-    pc.printf(" az = %f  mg\n\r", 1000*az); 
+    //pc.printf("ax = %f", 1000*ax); 
+    //pc.printf(" ay = %f", 1000*ay); 
+    //pc.printf(" az = %f  mg\n\r", 1000*az); 
 
-    pc.printf("gx = %f", gx); 
-    pc.printf(" gy = %f", gy); 
-    pc.printf(" gz = %f  deg/s\n\r", gz); 
-    
-    pc.printf(" temperature = %f  C\n\r", temperature); 
+    //pc.printf("gx = %f", gx); 
+    //pc.printf(" gy = %f", gy); 
+    //pc.printf(" gz = %f  deg/s\n\r", gz); 
     
-    pc.printf("q0 = %f\n\r", q[0]);
-    pc.printf("q1 = %f\n\r", q[1]);
-    pc.printf("q2 = %f\n\r", q[2]);
-    pc.printf("q3 = %f\n\r", q[3]);      
+    //pc.printf(" temperature = %f  C\n\r", temperature); 
     
-    lcd.clear();
-    lcd.printString("MPU6050", 0, 0);
-    lcd.printString("x   y   z", 0, 1);
-    lcd.setXYAddress(0, 2); lcd.printChar((char)(1000*ax));
-    lcd.setXYAddress(20, 2); lcd.printChar((char)(1000*ay));
-    lcd.setXYAddress(40, 2); lcd.printChar((char)(1000*az)); lcd.printString("mg", 66, 2);
-    
+    //pc.printf("q0 = %f\n\r", q[0]);
+    //pc.printf("q1 = %f\n\r", q[1]);
+    //pc.printf("q2 = %f\n\r", q[2]);
+    //pc.printf("q3 = %f\n\r", q[3]);      
     
   // Define output variables from updated quaternion---these are Tait-Bryan angles, commonly used in aircraft orientation.
   // In this coordinate system, the positive z-axis is down toward Earth. 
@@ -212,7 +179,7 @@
 //    pc.printf("average rate = "); pc.printf("%f", (sumCount/sum)); pc.printf(" Hz\n\r");
 
      pc.printf("Yaw, Pitch, Roll: %f %f %f\n\r", yaw, pitch, roll);
-     pc.printf("average rate = %f\n\r", (float) sumCount/sum);
+     //pc.printf("average rate = %f\n\r", (float) sumCount/sum);
  
     myled= !myled;
     count = t.read_ms();