main.cpp

00001 //include libraries in cpp file
00002 #include "mbed.h"
00003 #include "MPU6050.h"
00004 #include "SDFileSystem.h"
00005 #include "HMC5883L.h"
00006 SDFileSystem sd(PC_12, PC_11, PC_10, PD_2, "sd");
00007 FILE* fp;
00008 Timer t;
00009 //Ticker timer;
00010 double n=0;
00011 //creating an object of serial class
00012 //so that we can communicate with PC
00013 Serial pc(SERIAL_TX, SERIAL_RX);
00014 //setting LED1 to give digital output
00015 DigitalOut myled(LED1);
00016 //creating onject of MPU6050 class
00017 MPU6050 ark(PB_9,PB_8);
00018 HMC5883L MG(PB_9,PB_8);
00019 //int main()
00020 /*void time()
00021 {       
00022         reading Temprature
00023         float temp = ark.getTemp();
00024         pc.printf("temprature = %0.2f ^C\r\n",temp);
00025         
00026         //reading Grometer readings
00027         float gyro[3];
00028         ark.getGyro(gyro);
00029         //pc.printf("Gyro0=%f,\tGyro1=%f,\tGyro2=%f\r\n",gyro[0],gyro[1],gyro[2]);
00030         
00031         //reading Acclerometer readings
00032         float acce[3];
00033         ark.getAccelero(acce);
00034         //pc.printf("Acce0=%f,Acce1=%f,Acce2=%f\r\n",acce[0],acce[1],acce[2]);
00035         //pc.printf("%f,%f,%f,%f,%f,%f,%f\r\n",acce[0],acce[1],acce[2],gyro[0],gyro[1],gyro[2]);
00036           pc.printf("t=%f\r\n",t);
00037          t+=5;
00038         fprintf(fp,"%f,%f,%f,%f,%f,%f,%f\r\n",acce[0],acce[1],acce[2],gyro[0],gyro[1],gyro[2]);
00039         if(t>=(20)){
00040             timer.detach();
00041             fclose(fp);
00042             printf("Goodbye World!\n");  
00043         }
00044     }
00045 */    
00046 int main(){
00047     pc.printf("start\r\n");
00048       /*ディレクトリ作成*/
00049     mkdir("/sd/test", 0777);
00050       /*ファイル作成*/
00051     fp = fopen("/sd/test/sensor_log_AGM.csv", "wb");
00052     
00053     t.start();
00054     if(fp == NULL) {
00055         error("Could not open file for write\n");
00056     }
00057     //timer.attach(&time,5);
00058     while(1){
00059     float gyro[3];
00060     ark.getGyro(gyro);
00061     float acce[3];
00062     ark.getAccelero(acce);
00063     int16_t Mg[3];
00064     MG.getXYZ(Mg);
00065     n+=0.01;
00066     fprintf(fp,"%f,%f,%f,%f,%f,%f,%d,%d,%d\r\n",acce[0],acce[1],acce[2],gyro[0],gyro[1],gyro[2],Mg[0],Mg[1],Mg[2]);
00067     wait(0.01);
00068     if(n>=(60)){
00069         //timer.detach();
00070         t.stop();
00071         fprintf(fp,"t=%f",t.read_ms());
00072         fclose(fp);
00073         printf("Goodbye World!\r\n");  
00074         break;
00075     }
00076     }
00077     }
00078     
00079     
00080     /*
00081     #include "mbed.h"
00082 #include "SDFileSystem.h"
00083  
00084 SDFileSystem sd(PC_12, PC_11, PC_10, PD_2, "sd"); //CMD(MOSI),DAT0(MISO),CLK(CSK),CD/DAT3(CS)
00085  
00086 int main() {
00087     printf("Hello World!\n");   
00088  
00089     mkdir("/sd/mydir", 0777);
00090     
00091     FILE *fp = fopen("/sd/mydir/sdtest.txt", "w");
00092     if(fp == NULL) {
00093         error("Could not open file for write\n");
00094     }
00095     fprintf(fp, "Hello fun SD Card World!");
00096     fclose(fp); 
00097  
00098     printf("Goodbye World!\n");
00099 }*/