Nikita Ivanykov
5
Dependencies: mbed LCD_DISCO_F746NG MPU6050 BSP_DISCO_F746NG
Revision 0:a3739a2e895d, committed 2019-11-13
- Comitter:
- troshha
- Date:
- Wed Nov 13 10:28:00 2019 +0000
- Commit message:
- 5
Changed in this revision
diff -r 000000000000 -r a3739a2e895d BSP_DISCO_F746NG.lib --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/BSP_DISCO_F746NG.lib Wed Nov 13 10:28:00 2019 +0000 @@ -0,0 +1,1 @@ +https://os.mbed.com/teams/ST/code/BSP_DISCO_F746NG/#df2ea349c37a
diff -r 000000000000 -r a3739a2e895d LCD_DISCO_F746NG.lib --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/LCD_DISCO_F746NG.lib Wed Nov 13 10:28:00 2019 +0000 @@ -0,0 +1,1 @@ +https://os.mbed.com/teams/ST/code/LCD_DISCO_F746NG/#d44525b1de98
diff -r 000000000000 -r a3739a2e895d MPU6050.lib --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/MPU6050.lib Wed Nov 13 10:28:00 2019 +0000 @@ -0,0 +1,1 @@ +https://os.mbed.com/users/Sissors/code/MPU6050/#5c63e20c50f3
diff -r 000000000000 -r a3739a2e895d main.cpp
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp Wed Nov 13 10:28:00 2019 +0000
@@ -0,0 +1,106 @@
+#include "mbed.h"
+#include "MPU6050.h"
+#include "LCD_DISCO_F746NG.h"
+#include "stm32746g_discovery_lcd.h"
+
+LCD_DISCO_F746NG lcd;
+DigitalOut myled(LED1);
+MPU6050 mpu(D14, D15);
+
+int main()
+{
+ float GyroBuffer[3];
+ float zero_level[3] = {0, 0, 0};
+ uint8_t buffer[100];
+ lcd.Init();
+ lcd.DisplayStringAt(10, 10, (uint8_t*)"Gyros_star", CENTER_MODE);
+ uint8_t tmpreg = 0;
+ read(MPU6050_GYRO_CONFIG_REG,&tmpreg,1);
+ switch(tmpreg & MPU6050_GYRO_XOUT_H_REG)
+ {
+ case MPU6050_GYRO_RANGE_250:
+ lcd.DisplayStringAt(20, 20, (uint8_t*)"250", CENTER_MODE);
+ break;
+
+ case MPU6050_GYRO_RANGE_500:
+ lcd.DisplayStringAt(20, 20, (uint8_t*)"500", CENTER_MODE);
+ break;
+
+ case MPU6050_GYRO_RANGE_2000:
+ lcd.DisplayStringAt(20, 20, (uint8_t*)"2000", CENTER_MODE);
+ break;
+ }
+ read(MPU6050_GYRO_YOUT_H_REG ,&tmpreg , 1);
+ switch(tmpreg >> 6) {
+ case 0:
+ lcd.DisplayStringAt(20, 40, (uint8_t*)"", CENTER_MODE);
+ break;
+ case 1:
+ lcd.DisplayStringAt(20, 40, (uint8_t*)"190", CENTER_MODE);
+ break;
+ case 2:
+ lcd.DisplayStringAt(20, 40, (uint8_t*)"380", CENTER_MODE);
+ break;
+ case 3:
+ lcd.DisplayStringAt(20, 40, (uint8_t*)"760", CENTER_MODE);
+ break;
+ }
+
+ for (int i = 0; i < 50; i++) {
+ mpu.getGyro(GyroBuffer);
+ zero_level[0] += GyroBuffer[0] / 131;
+ zero_level[1] += GyroBuffer[1] / 131;
+ zero_level[2] += GyroBuffer[2] / 131;
+
+ wait_ms(10);
+ }
+ for (int i = 0; i < 3; i++)
+ zero_level[i] /= 50;
+
+
+ float noise_level = 0.0;
+ for (int i = 0; i < 50; i++) {
+ mpu.getGyroRaw(GyroBuffer[0]);
+ if ((GyroBuffer[0] / 131 - zero_level[0]) > noise_level) {
+ noise_level = (GyroBuffer[0] / 131 - zero_level[0]);
+ }
+ else if ((GyroBuffer[0] / 131 - zero_level[0]) < -noise_level) {
+ noise_level = -(GyroBuffer[0] / 131 - zero_level[0]);
+ }
+ wait_ms(10);
+ }
+ sprintf((char*)buffer, "Noise = %.2f\n", noise_level);
+ lcd.DisplayStringAt(20, 70, buffer, CENTER_MODE);
+ sprintf((char*)buffer, "Zero = %.2f\n", zero_level[0]);
+ lcd.DisplayStringAt(20, 170, buffer, CENTER_MODE);
+ float angle = 0.0, prev_value = 0.0;
+ bool status1 = false, status2 = false;
+ while(1) {
+ // Read Gyroscope values
+ wait(0.02);
+
+ mpu.getGyroRaw(GyroBuffer);
+ float value = GyroBuffer[0] / 131 - zero_level[0];
+ if (value >= noise_level || value <= -noise_level) {
+ angle += (value + prev_value) / 2 * 0.02f ;
+ }
+ if (angle > 45.0){
+ status1 = true;
+
+
+ }else if (angle < -45.0){
+ status2 = true;
+
+ } else if (status1 == true && status2 == true){
+ sprintf((char*)buffer, "Angle = %.3f\n", angle);
+ lcd.DisplayStringAt(20, 100, buffer, CENTER_MODE);
+ lcd.DisplayStringAt(20, 120, (uint8_t*)"All Right", CENTER_MODE);
+ }
+
+ prev_value = value;
+ sprintf((char*)buffer, "Angle = %.3f\n", angle);
+ lcd.DisplayStringAt(20, 100, buffer, CENTER_MODE);
+
+
+ }
+}
\ No newline at end of file
diff -r 000000000000 -r a3739a2e895d mbed.bld --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/mbed.bld Wed Nov 13 10:28:00 2019 +0000 @@ -0,0 +1,1 @@ +https://os.mbed.com/users/mbed_official/code/mbed/builds/65be27845400 \ No newline at end of file