2020_CEES_Model_Rocket / BMX0552

マイナスの定義は消しました。 まだFFが出力されます。

Dependents:   BMX055

BMX055.cpp@0:d56d821617b6, 2019-09-02 (annotated)

Committer:
makidia
Date:
Mon Sep 02 09:01:59 2019 +0000
Revision:
0:d56d821617b6
Child:
2:3058c35bdf80
; ;

Who changed what in which revision?

UserRevisionLine numberNew contents of line
makidia 0:d56d821617b6 1 #include "mbed.h"
makidia 0:d56d821617b6 2 #include "BMX055.h"
makidia 0:d56d821617b6 3
makidia 0:d56d821617b6 4 BMX055::BMX055(PinName SDA, PinName SCL) : bmx055(SDA,SCL){
makidia 0:d56d821617b6 5 bmx055.frequency(100000);
makidia 0:d56d821617b6 6 bmx_init();
makidia 0:d56d821617b6 7 }
makidia 0:d56d821617b6 8
makidia 0:d56d821617b6 9 void BMX055::bmx_init(void)
makidia 0:d56d821617b6 10 {
makidia 0:d56d821617b6 11 char buf[2]={0};
makidia 0:d56d821617b6 12 printf("accel setting\r\n");
makidia 0:d56d821617b6 13 buf[0]=0x14; buf[1]=0xB6;
makidia 0:d56d821617b6 14 bmx055.write(ACC,buf,2); wait_ms(2);
makidia 0:d56d821617b6 15 buf[0]=0x0F; buf[1]=0x05;
makidia 0:d56d821617b6 16 buf[0]=0x10; buf[1]=0x08;
makidia 0:d56d821617b6 17 bmx055.write(ACC,buf,2);
makidia 0:d56d821617b6 18 buf[0]=0x11; buf[1]=0x00;
makidia 0:d56d821617b6 19 bmx055.write(ACC,buf,2); wait_ms(2);
makidia 0:d56d821617b6 20
makidia 0:d56d821617b6 21 printf("gyroscope setting\r\n");
makidia 0:d56d821617b6 22 buf[0]=0x0F; buf[1]=0x04;
makidia 0:d56d821617b6 23 bmx055.write(GYRO,buf,2); wait(0.1);
makidia 0:d56d821617b6 24 buf[0]=0x10; buf[1]=0x07;
makidia 0:d56d821617b6 25 bmx055.write(GYRO,buf,2); wait(0.1);
makidia 0:d56d821617b6 26 buf[0]=0x11; buf[1]=0x00;
makidia 0:d56d821617b6 27 bmx055.write(GYRO,buf,2); wait(0.1);
makidia 0:d56d821617b6 28
makidia 0:d56d821617b6 29 printf("magnet setting\r\n");
makidia 0:d56d821617b6 30 buf[0]=0x4B; buf[1]=0x82;
makidia 0:d56d821617b6 31 bmx055.write(MAG,buf,2); wait(0.1);
makidia 0:d56d821617b6 32 buf[0]=0x4B; buf[1]=0x01;
makidia 0:d56d821617b6 33 bmx055.write(MAG,buf,2); wait(0.1);
makidia 0:d56d821617b6 34 buf[0]=0x4C; buf[1]=0x00;
makidia 0:d56d821617b6 35 bmx055.write(MAG,buf,2);
makidia 0:d56d821617b6 36 buf[0]=0x4E; buf[1]=0x84;
makidia 0:d56d821617b6 37 bmx055.write(MAG,buf,2);
makidia 0:d56d821617b6 38 buf[0]=0x51; buf[1]=0x04;
makidia 0:d56d821617b6 39 bmx055.write(MAG,buf,2);
makidia 0:d56d821617b6 40 buf[0]=0x52; buf[1]=0x16;
makidia 0:d56d821617b6 41 bmx055.write(MAG,buf,2);
makidia 0:d56d821617b6 42 wait(0.1);
makidia 0:d56d821617b6 43
makidia 0:d56d821617b6 44 buf[0]=0x00;
makidia 0:d56d821617b6 45 bmx055.write(MAG,buf,1,1);
makidia 0:d56d821617b6 46 bmx055.read(MAG,buf,1);
makidia 0:d56d821617b6 47 printf("read:0x%02x\r\n",buf[0]);
makidia 0:d56d821617b6 48 }
makidia 0:d56d821617b6 49
makidia 0:d56d821617b6 50 void BMX055::getAcc(void){
makidia 0:d56d821617b6 51 uint8_t data[6]={0};
makidia 0:d56d821617b6 52 char send[1], get[1];
makidia 0:d56d821617b6 53 char temp;
makidia 0:d56d821617b6 54
makidia 0:d56d821617b6 55 send[0]=(char)(2);
makidia 0:d56d821617b6 56 bmx055.write(ACC,send,1,true);
makidia 0:d56d821617b6 57 bmx055.read(ACC,(char*)data,6);
makidia 0:d56d821617b6 58
makidia 0:d56d821617b6 59 for(int i=0;i<3;i++){
makidia 0:d56d821617b6 60 accel[i]=(int16_t)(((int16_t)data[i*2+1]<<8) | data[i*2]) >> 4;
makidia 0:d56d821617b6 61 if(accel[i]>2047)accel[i]-=4096;
makidia 0:d56d821617b6 62 }
makidia 0:d56d821617b6 63 }
makidia 0:d56d821617b6 64
makidia 0:d56d821617b6 65 void BMX055::getGyro(void){
makidia 0:d56d821617b6 66 int data[6]={0};
makidia 0:d56d821617b6 67 char send[1],get[1];
makidia 0:d56d821617b6 68 char temp;
makidia 0:d56d821617b6 69
makidia 0:d56d821617b6 70 for(int i=0;i<6;i++){
makidia 0:d56d821617b6 71 send[0]=(char)(2+i);
makidia 0:d56d821617b6 72 bmx055.write(GYRO,send,1);
makidia 0:d56d821617b6 73 bmx055.read(GYRO,get,1);
makidia 0:d56d821617b6 74 temp=get[0];
makidia 0:d56d821617b6 75 data[i]=temp;
makidia 0:d56d821617b6 76 }
makidia 0:d56d821617b6 77
makidia 0:d56d821617b6 78 for(int i=0;i<3;i++){
makidia 0:d56d821617b6 79 gyroscope[i]=(int16_t)(((int16_t)data[i*2+1]<<8) | data[i*2]) >> 4;
makidia 0:d56d821617b6 80 if(gyroscope[i]>32767)gyroscope[i]-=65536;
makidia 0:d56d821617b6 81 // gyroscope[i]=gyroscope[i]*0.0038;
makidia 0:d56d821617b6 82 }
makidia 0:d56d821617b6 83 }
makidia 0:d56d821617b6 84
makidia 0:d56d821617b6 85 void BMX055::getMag(void){
makidia 0:d56d821617b6 86 int data[8]={0};
makidia 0:d56d821617b6 87 char send[1],get[1];
makidia 0:d56d821617b6 88 char temp;
makidia 0:d56d821617b6 89
makidia 0:d56d821617b6 90 for(int i=0;i<8;i++){
makidia 0:d56d821617b6 91 send[0]=(char)(0x42+i);
makidia 0:d56d821617b6 92 bmx055.write(MAG,send,1);
makidia 0:d56d821617b6 93 bmx055.read(MAG,get,1);
makidia 0:d56d821617b6 94 // printf("%02X ",get[0]);
makidia 0:d56d821617b6 95 temp=get[0];
makidia 0:d56d821617b6 96 data[i]=temp;
makidia 0:d56d821617b6 97 }
makidia 0:d56d821617b6 98
makidia 0:d56d821617b6 99 for(int i=0;i<3;i++){
makidia 0:d56d821617b6 100 if(i!=2)magnet[i]=(int16_t)(((int16_t)data[i*2+1]<<8) | data[i*2]) >> 3;
makidia 0:d56d821617b6 101 else magnet[i]=(int16_t)(((int16_t)data[i*2+1]<<8) | data[i*2]) >> 1;
makidia 0:d56d821617b6 102 if(i==2 && magnet[i]>16383)magnet[i]-=32768;
makidia 0:d56d821617b6 103 else if(i!=2 && magnet[i]>4095)magnet[i]-=8092;
makidia 0:d56d821617b6 104 }
makidia 0:d56d821617b6 105 }