島根短大　ライントレーサ制作チーム / Mbed 2 deprecated i2c_gyro_mpu_6050

ジャイロセンサを使用してLCDディスプレイに角速度情報を表示するプログラム

Dependencies:   mbed

Dependents:   line_trace_sample line_trace_sample_saitou line_trace_sample_tamada line_trace_ver2

Diff: mpu6050.cpp

Revision:
1:6f743fe9a027
Parent:
0:abd3a0fd55a9
Child:
3:ebd656a9c89f
diff -r abd3a0fd55a9 -r 6f743fe9a027 mpu6050.cpp
--- a/mpu6050.cpp	Wed Dec 12 12:42:30 2018 +0000
+++ b/mpu6050.cpp	Thu Dec 13 03:00:27 2018 +0000
@@ -1,23 +1,22 @@
 #include "mpu6050.h"
 
-DigitalOut led(LED3);
-
-static double RATE_ACC_LIST[4] = {
+static const double RATE_ACC_LIST[4] = {
     16384.0,
     8192.0,
     4096.0,
     2048.0,
 };
 
-static double RATE_GYRO_LIST[4] = {
+static const double RATE_GYRO_LIST[4] = {
     131.0,
     65.5,
     32.8,
     16.4,
 };
 
-MPU6050::MPU6050(PinName i2c_sda, PinName i2c_scl) : i2c(i2c_sda, i2c_scl), address(208), rate_accelemeter(16384.0), rate_gyroscope(131.0)
+MPU6050::MPU6050(PinName i2c_sda, PinName i2c_scl) : i2c(i2c_sda, i2c_scl), address(0x68 << 1), rate_accelemeter(16384.0), rate_gyroscope(131.0)
 {
+    setSleep(false);
     setMaxScale(MAX_ACC_2G, MAX_GYRO_250degpersec);
 }
 
@@ -30,15 +29,11 @@
     int result_write = i2c.write(address, &reg, 1);
     if(result_write) {
         // failed
-        //pc.printf("i2c error\r\n");
-        led = 1;
     }
     char read_data;
     int result_read = i2c.read(address, &read_data, 1);
     if(result_read) {
         // failed
-        //pc.printf("i2c error\r\n");
-        led = 1;
     }
     return read_data;
 }
@@ -51,8 +46,6 @@
     int result = i2c.write(address, buf, 2);
     if(result) {
         // failed
-        //pc.printf("i2c error\r\n");
-        led = 1;
     }
 }
 
@@ -62,7 +55,7 @@
     short x, y, z;
     // read X
     h = readByte(0x3B);
-    l = readByte(0x3C);
+    l = readByte(0x75);
     x = h << 8 | l;
     // read Y
     h = readByte(0x3D);
@@ -140,3 +133,16 @@
     }
     rate_gyroscope = RATE_GYRO_LIST[max_gyro];
 }
+
+void MPU6050::setSleep(bool sleep)
+{
+    const char reg_sleep = 0x6B;
+    const char current_state = readByte(reg_sleep);
+    char write_data;
+    if(sleep) {
+        write_data = current_state | 0x40;
+    } else {
+        write_data = current_state & (~0x40);
+    }
+    writeByte(reg_sleep, write_data);
+}