Diff: main.cpp

Revision:

1:d2011078309d

Parent:

0:b1322cbc592f

Child:

2:141571165c57

--- a/main.cpp	Thu Feb 14 20:12:51 2013 +0000
+++ b/main.cpp	Mon Feb 18 11:02:59 2013 +0000
@@ -1,17 +1,14 @@
 #include "mbed.h"
 #include "MPU6050.h"
-
+#include "rtos.h"
 
 DigitalOut myled(LED1);
-Serial pc(USBTX, USBRX);
+Serial pc1(USBTX, USBRX);
 MPU6050 mpu(0x69);
 
-int16_t ax, ay, az;
-int16_t gx, gy, gz;
+int moyZ=0;
 int16_t moy[64];
-int comptFin=0;
-int comptDeb=0;
-int moyZ=0;
+
 
 void moyennage_Z()
 {
@@ -20,23 +17,40 @@
 
 
     }
-    moyZ=moyZ/64;
+    moyZ=(int)moyZ/64;
 }
 
 
+void mon_thr(void const *args)
+{
+    while (true) {
+        myled=!myled;
+    }
+}
 
 
 int main()
+
 {
-    pc.printf("MPU6050 test\n\n\r");
-    pc.printf("MPU6050 initialize \n\r");
+
+    Thread thread(mon_thr); 
+    pc1.printf("MPU6050 test\n\n\r");
+    pc1.printf("MPU6050 initialize \n\r");
 
     mpu.initialize();
-    pc.printf("MPU6050 testConnection \n\r");
+    pc1.printf("MPU6050 testConnection \n\r");
+
+    int16_t ax, ay, az;
+    int16_t gx, gy, gz;
+    
+
+int comptFin=0;
+int comptDeb=0;
+
 
     bool mpu6050TestResult = mpu.testConnection();
     if(mpu6050TestResult) {
-        pc.printf("MPU6050 test passed \n\r");
+        pc1.printf("MPU6050 test passed \n\r");
 
         while(comptFin<64) {
             mpu.getMotion6(&ax, &ay, &az, &gx, &gy, &gz);
@@ -46,18 +60,22 @@
         }
         moyennage_Z();
         while(1) {
-            mpu.getMotion6(&ax, &ay, &az, &gx, &gy, &gz);
-            moy[comptFin]=az;
-            comptFin++;
+            while(comptFin<64) {
+                mpu.getMotion6(&ax, &ay, &az, &gx, &gy, &gz);
+                moy[comptFin]=az;
+                comptFin++;
+                wait(0.01);
+            }
+
+
             comptFin%=64;
-            moyZ-=moy[comptDeb]/64;            
+            moyZ-=(int)moy[comptDeb]/64;
             comptDeb++;
             comptDeb%=64;
-            moyZ+=moy[comptFin]/64;
-          //  moyennage_Z();
+            moyZ+=(int)moy[comptFin]/64;
+            //moyennage_Z();
             printf("%i\n\r",moyZ+17000);
-            wait(.001);
-
+            wait(0.01);
 
 
 
@@ -66,8 +84,8 @@
 
 
     } else {
-        pc.printf("MPU6050 test failed \n\r");
+        pc1.printf("MPU6050 test failed \n\r");
     }
 
-    
+
 }