Revision 5:6a93542b8922, committed 2019-04-15

Comitter:

AlexQian

Date:

Mon Apr 15 05:16:57 2019 +0000

Parent:

4:1b985e622d26

Commit message:

Fly

Changed in this revision

--- a/MPU6050.h	Wed Mar 20 10:44:31 2019 +0000
+++ b/MPU6050.h	Mon Apr 15 05:16:57 2019 +0000
@@ -696,9 +696,9 @@
     
   // Read the WHO_AM_I register, this is a good test of communication
   uint8_t whoami = 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");
+//  Serial_2.printf("I AM 0x%x\n\r", whoami); Serial_2.printf("I SHOULD BE 0x68\n\r");
   
-  if (whoami == 0x68) // WHO_AM_I should always be 0x68
+  if (whoami == 0x98) // WHO_AM_I should always be 0x68
   {  
     //pc.printf("MPU6050 is online...");
     wait(1);

--- a/main.cpp	Wed Mar 20 10:44:31 2019 +0000
+++ b/main.cpp	Mon Apr 15 05:16:57 2019 +0000
@@ -1,62 +0,0 @@
-#define HIGH 1
-#define LOW 0
-#include "mbed.h"
-#include <string>
-typedef bool boolean;
-typedef std::string String;
-#include "nRF24L01P.h"
-#include "MPU6050.h"
-
-char rxdata[12] ;
-float Yaw;
-float Pitch;
-float Roll;
-int Power;
-int Yaw_t;
-int Pitch_t;
-int Roll_t;
-long CycleCount;
-long ReceiveCount;
-
-#define NRF24_TRANSFER_SIZE 12
-nRF24L01P nrf24_PB_15(PB_15,PB_14,PB_13,PB_6,PB_5,PB_7);
-Serial Serial_2(PA_2,PA_3);
-mpu6050 mpu6050_I2C_1(PB_9,PB_8);
-DigitalOut myDigitalOutPA_7(PA_7);
-DigitalOut myDigitalOutPA_6(PA_6);
-
-int main() {
-nrf24_PB_15.powerUp();
-nrf24_PB_15.setTransferSize( NRF24_TRANSFER_SIZE );
-nrf24_PB_15.setReceiveMode();
-nrf24_PB_15.setRxAddress(12345ull);
-nrf24_PB_15.setTxAddress(12345ull);
-nrf24_PB_15.enable();
-
-Serial_2.baud(9600);
-
-mpu6050_I2C_1.Init();
-
-CycleCount = 0;
-ReceiveCount = 0;
-while (true) {
-CycleCount = CycleCount + 1;
-mpu6050_I2C_1.receiveData(&Yaw,&Pitch,&Roll);
-Serial_2.printf("Yaw=%.2f, Pitch=%.2f, Roll=%.2f \n",Yaw,Pitch,Roll);
-if (nrf24_PB_15.readable()) {
-ReceiveCount = ReceiveCount + 1;
-myDigitalOutPA_7.write((ReceiveCount % 2 == 0));
-nrf24_PB_15.read( NRF24L01P_PIPE_P0, rxdata, NRF24_TRANSFER_SIZE);
-if (rxdata[0] == 82) {
-Power = rxdata[1];
-Yaw_t = rxdata[2] - 45;
-Pitch_t = rxdata[3] - 45;
-Roll_t = rxdata[4] - 45;
-Serial_2.printf("Power=%d, Yaw=%d, Pitch=%d, Roll=%d \n",Power,Yaw_t,Pitch_t,Roll_t);
-}
-}
-myDigitalOutPA_6.write((CycleCount % 2 == 0));
-wait(0.05);
-}
-
-}
\ No newline at end of file