2020/10/29
BMX055.cpp
- Committer:
- makidia
- Date:
- 2019-09-02
- Revision:
- 0:d56d821617b6
- Child:
- 2:f42c49d6360b
File content as of revision 0:d56d821617b6:
#include "mbed.h" #include "BMX055.h" BMX055::BMX055(PinName SDA, PinName SCL) : bmx055(SDA,SCL){ bmx055.frequency(100000); bmx_init(); } void BMX055::bmx_init(void) { char buf[2]={0}; printf("accel setting\r\n"); buf[0]=0x14; buf[1]=0xB6; bmx055.write(ACC,buf,2); wait_ms(2); buf[0]=0x0F; buf[1]=0x05; buf[0]=0x10; buf[1]=0x08; bmx055.write(ACC,buf,2); buf[0]=0x11; buf[1]=0x00; bmx055.write(ACC,buf,2); wait_ms(2); printf("gyroscope setting\r\n"); buf[0]=0x0F; buf[1]=0x04; bmx055.write(GYRO,buf,2); wait(0.1); buf[0]=0x10; buf[1]=0x07; bmx055.write(GYRO,buf,2); wait(0.1); buf[0]=0x11; buf[1]=0x00; bmx055.write(GYRO,buf,2); wait(0.1); printf("magnet setting\r\n"); buf[0]=0x4B; buf[1]=0x82; bmx055.write(MAG,buf,2); wait(0.1); buf[0]=0x4B; buf[1]=0x01; bmx055.write(MAG,buf,2); wait(0.1); buf[0]=0x4C; buf[1]=0x00; bmx055.write(MAG,buf,2); buf[0]=0x4E; buf[1]=0x84; bmx055.write(MAG,buf,2); buf[0]=0x51; buf[1]=0x04; bmx055.write(MAG,buf,2); buf[0]=0x52; buf[1]=0x16; bmx055.write(MAG,buf,2); wait(0.1); buf[0]=0x00; bmx055.write(MAG,buf,1,1); bmx055.read(MAG,buf,1); printf("read:0x%02x\r\n",buf[0]); } void BMX055::getAcc(void){ uint8_t data[6]={0}; char send[1], get[1]; char temp; send[0]=(char)(2); bmx055.write(ACC,send,1,true); bmx055.read(ACC,(char*)data,6); for(int i=0;i<3;i++){ accel[i]=(int16_t)(((int16_t)data[i*2+1]<<8) | data[i*2]) >> 4; if(accel[i]>2047)accel[i]-=4096; } } void BMX055::getGyro(void){ int data[6]={0}; char send[1],get[1]; char temp; for(int i=0;i<6;i++){ send[0]=(char)(2+i); bmx055.write(GYRO,send,1); bmx055.read(GYRO,get,1); temp=get[0]; data[i]=temp; } for(int i=0;i<3;i++){ gyroscope[i]=(int16_t)(((int16_t)data[i*2+1]<<8) | data[i*2]) >> 4; if(gyroscope[i]>32767)gyroscope[i]-=65536; // gyroscope[i]=gyroscope[i]*0.0038; } } void BMX055::getMag(void){ int data[8]={0}; char send[1],get[1]; char temp; for(int i=0;i<8;i++){ send[0]=(char)(0x42+i); bmx055.write(MAG,send,1); bmx055.read(MAG,get,1); // printf("%02X ",get[0]); temp=get[0]; data[i]=temp; } for(int i=0;i<3;i++){ if(i!=2)magnet[i]=(int16_t)(((int16_t)data[i*2+1]<<8) | data[i*2]) >> 3; else magnet[i]=(int16_t)(((int16_t)data[i*2+1]<<8) | data[i*2]) >> 1; if(i==2 && magnet[i]>16383)magnet[i]-=32768; else if(i!=2 && magnet[i]>4095)magnet[i]-=8092; } }