Revision 3:7644f7b86ae0, committed 2018-08-12

Comitter:

ponpoko1939

Date:

Sun Aug 12 08:44:07 2018 +0000

Parent:

1:21ba826811d6

Child:

4:1d0dbfceeaed

Commit message:

magnetometar??

Changed in this revision

--- a/main.cpp	Sun Aug 12 06:34:00 2018 +0000
+++ b/main.cpp	Sun Aug 12 08:44:07 2018 +0000
@@ -1,4 +1,4 @@
-/*MPU9250_PROGRAM ver2.2 PROGRAMED BY RYOTARO FUNAI 2018/08/10*/
+/*MPU9250_PROGRAM ver? PROGRAMED BY RYOTARO FUNAI 2018/08/12*/
 #include <mbed.h>
 #include <math.h>
 
@@ -126,39 +126,10 @@
   char cmd[2];
   cmd[0] = reg;     //レジスタ指定
   cmd[1] = data;    //送信するデータ
-  i2c.write(addr, cmd, 2); //レジスタ指定はどうする?
-}
-/*
-void readMagData(int16_t * destination)
-{
-  uint8_t rawData[7];  // x/y/z gyro register data, ST2 register stored here, must read ST2 at end of data acquisition
-  if(readByte(AK8963_ADDRESS, AK8963_ST1) & 0x01) { // wait for magnetometer data ready bit to be set
-  readBytes(AK8963_ADDRESS, AK8963_XOUT_L, 7, &rawData[0]);  // Read the six raw data and ST2 registers sequentially into data array
-  uint8_t c = rawData[6]; // End data read by reading ST2 register
-    if(!(c & 0x08)) { // Check if magnetic sensor overflow set, if not then report data
-    destination[0] = (int16_t)(((int16_t)rawData[1] << 8) | rawData[0]);  // Turn the MSB and LSB into a signed 16-bit value
-    destination[1] = (int16_t)(((int16_t)rawData[3] << 8) | rawData[2]) ;  // Data stored as little Endian
-    destination[2] = (int16_t)(((int16_t)rawData[5] << 8) | rawData[4]) ; 
-   }
-  }
+  i2c.write(addr, cmd, 2); //レジスタ指定はこうする
 }
 
-void getMres() {
-  switch (Mscale)
-  {
-    // Possible magnetometer scales (and their register bit settings) are:
-    // 14 bit resolution (0) and 16 bit resolution (1)
-    case MFS_14BITS:
-          mRes = 10.0*4912.0/8190.0; // Proper scale to return milliGauss
-          break;
-    case MFS_16BITS:
-          mRes = 10.0*4912.0/32760.0; // Proper scale to return milliGauss
-          break;
-  }
-}
-*/
-
-//Who_am_Iアドレスで接続確認ができる。0x48もしくは10進数で72が返ってくればok
+//Who_am_Iアドレスで接続確認ができる。0x48もしくは10進数で72が返ってくればおk
 uint8_t IDcheck(){
   uint8_t address;
   i2cRead(AK8963_ADDRESS, Magadd, 1, &address);