Aloïs Wolff / Mbed 2 deprecated testI2C

a simple code with a not-so-simple mbed freeze

Dependencies:   MPU6050 mbed-rtos mbed

main.cpp@0:b1322cbc592f, 2013-02-14 (annotated)

Committer:
pommzorz
Date:
Thu Feb 14 20:12:51 2013 +0000
Revision:
0:b1322cbc592f
Child:
1:d2011078309d
temps ech constant

Who changed what in which revision?

UserRevisionLine numberNew contents of line
pommzorz 0:b1322cbc592f 1 #include "mbed.h"
pommzorz 0:b1322cbc592f 2 #include "MPU6050.h"
pommzorz 0:b1322cbc592f 3
pommzorz 0:b1322cbc592f 4
pommzorz 0:b1322cbc592f 5 DigitalOut myled(LED1);
pommzorz 0:b1322cbc592f 6 Serial pc(USBTX, USBRX);
pommzorz 0:b1322cbc592f 7 MPU6050 mpu(0x69);
pommzorz 0:b1322cbc592f 8
pommzorz 0:b1322cbc592f 9 int16_t ax, ay, az;
pommzorz 0:b1322cbc592f 10 int16_t gx, gy, gz;
pommzorz 0:b1322cbc592f 11 int16_t moy[64];
pommzorz 0:b1322cbc592f 12 int comptFin=0;
pommzorz 0:b1322cbc592f 13 int comptDeb=0;
pommzorz 0:b1322cbc592f 14 int moyZ=0;
pommzorz 0:b1322cbc592f 15
pommzorz 0:b1322cbc592f 16 void moyennage_Z()
pommzorz 0:b1322cbc592f 17 {
pommzorz 0:b1322cbc592f 18 for (int n=0; n<64; n++) {
pommzorz 0:b1322cbc592f 19 moyZ=moyZ+moy[n];
pommzorz 0:b1322cbc592f 20
pommzorz 0:b1322cbc592f 21
pommzorz 0:b1322cbc592f 22 }
pommzorz 0:b1322cbc592f 23 moyZ=moyZ/64;
pommzorz 0:b1322cbc592f 24 }
pommzorz 0:b1322cbc592f 25
pommzorz 0:b1322cbc592f 26
pommzorz 0:b1322cbc592f 27
pommzorz 0:b1322cbc592f 28
pommzorz 0:b1322cbc592f 29 int main()
pommzorz 0:b1322cbc592f 30 {
pommzorz 0:b1322cbc592f 31 pc.printf("MPU6050 test\n\n\r");
pommzorz 0:b1322cbc592f 32 pc.printf("MPU6050 initialize \n\r");
pommzorz 0:b1322cbc592f 33
pommzorz 0:b1322cbc592f 34 mpu.initialize();
pommzorz 0:b1322cbc592f 35 pc.printf("MPU6050 testConnection \n\r");
pommzorz 0:b1322cbc592f 36
pommzorz 0:b1322cbc592f 37 bool mpu6050TestResult = mpu.testConnection();
pommzorz 0:b1322cbc592f 38 if(mpu6050TestResult) {
pommzorz 0:b1322cbc592f 39 pc.printf("MPU6050 test passed \n\r");
pommzorz 0:b1322cbc592f 40
pommzorz 0:b1322cbc592f 41 while(comptFin<64) {
pommzorz 0:b1322cbc592f 42 mpu.getMotion6(&ax, &ay, &az, &gx, &gy, &gz);
pommzorz 0:b1322cbc592f 43 moy[comptFin]=az;
pommzorz 0:b1322cbc592f 44 comptFin++;
pommzorz 0:b1322cbc592f 45
pommzorz 0:b1322cbc592f 46 }
pommzorz 0:b1322cbc592f 47 moyennage_Z();
pommzorz 0:b1322cbc592f 48 while(1) {
pommzorz 0:b1322cbc592f 49 mpu.getMotion6(&ax, &ay, &az, &gx, &gy, &gz);
pommzorz 0:b1322cbc592f 50 moy[comptFin]=az;
pommzorz 0:b1322cbc592f 51 comptFin++;
pommzorz 0:b1322cbc592f 52 comptFin%=64;
pommzorz 0:b1322cbc592f 53 moyZ-=moy[comptDeb]/64;
pommzorz 0:b1322cbc592f 54 comptDeb++;
pommzorz 0:b1322cbc592f 55 comptDeb%=64;
pommzorz 0:b1322cbc592f 56 moyZ+=moy[comptFin]/64;
pommzorz 0:b1322cbc592f 57 // moyennage_Z();
pommzorz 0:b1322cbc592f 58 printf("%i\n\r",moyZ+17000);
pommzorz 0:b1322cbc592f 59 wait(.001);
pommzorz 0:b1322cbc592f 60
pommzorz 0:b1322cbc592f 61
pommzorz 0:b1322cbc592f 62
pommzorz 0:b1322cbc592f 63
pommzorz 0:b1322cbc592f 64
pommzorz 0:b1322cbc592f 65 }
pommzorz 0:b1322cbc592f 66
pommzorz 0:b1322cbc592f 67
pommzorz 0:b1322cbc592f 68 } else {
pommzorz 0:b1322cbc592f 69 pc.printf("MPU6050 test failed \n\r");
pommzorz 0:b1322cbc592f 70 }
pommzorz 0:b1322cbc592f 71
pommzorz 0:b1322cbc592f 72
pommzorz 0:b1322cbc592f 73 }