HEPTA-Sat Training 2017~2018
Hepta9axisSensor Library
Dependents: Lab9-01_All_transmit Lab9-03_Thermal_chamber 3daf572bcae1 Team ... more
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Hepta9axis
by 
CLTP 8
Diff: Hepta9axis.cpp
- Revision:
- 3:d5eed0bb962e
- Parent:
- 2:306058b9d04e
- Child:
- 4:01941772f493
--- a/Hepta9axis.cpp Wed Aug 23 06:18:26 2017 +0000
+++ b/Hepta9axis.cpp Mon Sep 04 11:45:42 2017 +0000
@@ -1,91 +1,91 @@
#include"Hepta9axis.h"
#include"mbed.h"
-Hepta9axis::Hepta9axis(PinName sda, PinName scl, int aaddr, int agaddr) : _9axis(sda,scl),addr_accel_gyro(aaddr),addr_compus(agaddr)
+Hepta9axis::Hepta9axis(PinName sda, PinName scl, int aaddr, int agaddr) : n_axis(sda,scl),addr_accel_gyro(aaddr),addr_compus(agaddr)
{
- _9axis.frequency(100000);
+ n_axis.frequency(100000);
cmd[0]=0x6B;
cmd[1]=0x00;
- _9axis.write(addr_accel_gyro,cmd,2);
+ n_axis.write(addr_accel_gyro,cmd,2);
cmd[0] = 0x37;
cmd[1] = 0x02;
- _9axis.write(addr_accel_gyro,cmd,2);
- _9axis.stop();
+ n_axis.write(addr_accel_gyro,cmd,2);
+ n_axis.stop();
}
void Hepta9axis::setup()
{
- _9axis.frequency(100000);
+ n_axis.frequency(100000);
cmd[0]=0x6B;
cmd[1]=0x00;
- _9axis.write(addr_accel_gyro,cmd,2);
+ n_axis.write(addr_accel_gyro,cmd,2);
cmd[0] = 0x37;
cmd[1] = 0x02;
- _9axis.write(addr_accel_gyro,cmd,2);
- _9axis.stop();
+ n_axis.write(addr_accel_gyro,cmd,2);
+ n_axis.stop();
}
void Hepta9axis::sen_acc(float *ax,float *ay,float *az)
{
//x軸加速度
- _9axis.start();
- _9axis.write(addr_accel_gyro);
- _9axis.write(0x3B);
- _9axis.start();
- _9axis.write(addr_accel_gyro|0x01);
- xh = _9axis.read(0);
- _9axis.stop();
+ n_axis.start();
+ n_axis.write(addr_accel_gyro);
+ n_axis.write(0x3B);
+ n_axis.start();
+ n_axis.write(addr_accel_gyro|0x01);
+ xh = n_axis.read(0);
+ n_axis.stop();
- _9axis.start();
- _9axis.write(addr_accel_gyro);
- _9axis.write(0x3C);
- _9axis.start();
- _9axis.write(addr_accel_gyro|0x01);
- xl = _9axis.read(0);
- _9axis.stop();
+ n_axis.start();
+ n_axis.write(addr_accel_gyro);
+ n_axis.write(0x3C);
+ n_axis.start();
+ n_axis.write(addr_accel_gyro|0x01);
+ xl = n_axis.read(0);
+ n_axis.stop();
double acc_ax = short((xh<<8) | (xl));
*ax = (acc_ax)*2/32764*9.81;
//Y軸加速度
- _9axis.start();
- _9axis.write(addr_accel_gyro);
- _9axis.write(0x3D);
- _9axis.start();
- _9axis.write(addr_accel_gyro|0x01);
- yh = _9axis.read(0);
+ n_axis.start();
+ n_axis.write(addr_accel_gyro);
+ n_axis.write(0x3D);
+ n_axis.start();
+ n_axis.write(addr_accel_gyro|0x01);
+ yh = n_axis.read(0);
- _9axis.stop();
- _9axis.start();
- _9axis.write(addr_accel_gyro);
- _9axis.write(0x3E);
- _9axis.start();
- _9axis.write(addr_accel_gyro|0x01);
- yl = _9axis.read(0);
+ n_axis.stop();
+ n_axis.start();
+ n_axis.write(addr_accel_gyro);
+ n_axis.write(0x3E);
+ n_axis.start();
+ n_axis.write(addr_accel_gyro|0x01);
+ yl = n_axis.read(0);
- _9axis.stop();
+ n_axis.stop();
double acc_ay = short((yh<<8) | (yl));
*ay = (acc_ay)*2/32764*9.81;
//z軸加速度
- _9axis.start();
- _9axis.write(addr_accel_gyro);
- _9axis.write(0x3F);
- _9axis.start();
- _9axis.write(addr_accel_gyro|0x01);
- zh = _9axis.read(0);
- _9axis.stop();
+ n_axis.start();
+ n_axis.write(addr_accel_gyro);
+ n_axis.write(0x3F);
+ n_axis.start();
+ n_axis.write(addr_accel_gyro|0x01);
+ zh = n_axis.read(0);
+ n_axis.stop();
- _9axis.start();
- _9axis.write(addr_accel_gyro);
- _9axis.write(0x40);
- _9axis.start();
- _9axis.write(addr_accel_gyro|0x01);
- zl = _9axis.read(0);
- _9axis.stop();
+ n_axis.start();
+ n_axis.write(addr_accel_gyro);
+ n_axis.write(0x40);
+ n_axis.start();
+ n_axis.write(addr_accel_gyro|0x01);
+ zl = n_axis.read(0);
+ n_axis.stop();
double acc_az = short((zh<<8) | (zl));
*az = (acc_az)*2/32764*9.81-0.1;
@@ -95,61 +95,61 @@
void Hepta9axis::sen_gyro(float *gx,float *gy,float *gz)
{
//x軸GYRO
- _9axis.start();
- _9axis.write(addr_accel_gyro);
- _9axis.write(0x43);
- _9axis.start();
- _9axis.write(addr_accel_gyro|0x01);
- gxh = _9axis.read(0);
- _9axis.stop();
+ n_axis.start();
+ n_axis.write(addr_accel_gyro);
+ n_axis.write(0x43);
+ n_axis.start();
+ n_axis.write(addr_accel_gyro|0x01);
+ gxh = n_axis.read(0);
+ n_axis.stop();
- _9axis.start();
- _9axis.write(addr_accel_gyro);
- _9axis.write(0x44);
- _9axis.start();
- _9axis.write(addr_accel_gyro|0x01);
- gxl = _9axis.read(0);
- _9axis.stop();
+ n_axis.start();
+ n_axis.write(addr_accel_gyro);
+ n_axis.write(0x44);
+ n_axis.start();
+ n_axis.write(addr_accel_gyro|0x01);
+ gxl = n_axis.read(0);
+ n_axis.stop();
double gyro_ax = short((gxh<<8) | (gxl));
*gx = (gyro_ax)*0.00763-1.6;
//y軸GYRO
- _9axis.start();
- _9axis.write(addr_accel_gyro);
- _9axis.write(0x45);
- _9axis.start();
- _9axis.write(addr_accel_gyro|0x01);
- gyh = _9axis.read(0);
- _9axis.stop();
+ n_axis.start();
+ n_axis.write(addr_accel_gyro);
+ n_axis.write(0x45);
+ n_axis.start();
+ n_axis.write(addr_accel_gyro|0x01);
+ gyh = n_axis.read(0);
+ n_axis.stop();
- _9axis.start();
- _9axis.write(addr_accel_gyro);
- _9axis.write(0x46);
- _9axis.start();
- _9axis.write(addr_accel_gyro|0x01);
- gyl = _9axis.read(0);
- _9axis.stop();
+ n_axis.start();
+ n_axis.write(addr_accel_gyro);
+ n_axis.write(0x46);
+ n_axis.start();
+ n_axis.write(addr_accel_gyro|0x01);
+ gyl = n_axis.read(0);
+ n_axis.stop();
double gyro_ay = short((gyh<<8) | (gyl));
*gy = (gyro_ay)*0.00763;
//z軸GYRO
- _9axis.start();
- _9axis.write(addr_accel_gyro);
- _9axis.write(0x47);
- _9axis.start();
- _9axis.write(addr_accel_gyro|0x01);
- gzh = _9axis.read(0);
- _9axis.stop();
+ n_axis.start();
+ n_axis.write(addr_accel_gyro);
+ n_axis.write(0x47);
+ n_axis.start();
+ n_axis.write(addr_accel_gyro|0x01);
+ gzh = n_axis.read(0);
+ n_axis.stop();
- _9axis.start();
- _9axis.write(addr_accel_gyro);
- _9axis.write(0x48);
- _9axis.start();
- _9axis.write(addr_accel_gyro|0x01);
- gzl = _9axis.read(0);
- _9axis.stop();
+ n_axis.start();
+ n_axis.write(addr_accel_gyro);
+ n_axis.write(0x48);
+ n_axis.start();
+ n_axis.write(addr_accel_gyro|0x01);
+ gzl = n_axis.read(0);
+ n_axis.stop();
double gyro_az = short((gzh<<8) | (gzl));
*gz = (gyro_az)*0.00763;
@@ -159,168 +159,168 @@
void Hepta9axis::sen_mag(float *mx,float *my,float *mz)
{
- _9axis.start();
- _9axis.write(addr_compus);
- _9axis.write(0x0A);
- _9axis.write(0x12);
- _9axis.stop();
+ n_axis.start();
+ n_axis.write(addr_compus);
+ n_axis.write(0x0A);
+ n_axis.write(0x12);
+ n_axis.stop();
- _9axis.start();
- _9axis.write(addr_compus);
- _9axis.write(0x03);
- _9axis.start();
- _9axis.write(addr_compus|0x01);
- mxl = _9axis.read(0);
- _9axis.stop();
- _9axis.start();
- _9axis.write(addr_compus);
- _9axis.write(0x04);
- _9axis.start();
- _9axis.write(addr_compus|0x01);
- mxh = _9axis.read(0);
- _9axis.stop();
+ n_axis.start();
+ n_axis.write(addr_compus);
+ n_axis.write(0x03);
+ n_axis.start();
+ n_axis.write(addr_compus|0x01);
+ mxl = n_axis.read(0);
+ n_axis.stop();
+ n_axis.start();
+ n_axis.write(addr_compus);
+ n_axis.write(0x04);
+ n_axis.start();
+ n_axis.write(addr_compus|0x01);
+ mxh = n_axis.read(0);
+ n_axis.stop();
/*
- _9axis.start();
- _9axis.write(addr_compus);
- _9axis.write(0x09);
- _9axis.write(addr_compus|0x01);
- _9axis.stop();
+ n_axis.start();
+ n_axis.write(addr_compus);
+ n_axis.write(0x09);
+ n_axis.write(addr_compus|0x01);
+ n_axis.stop();
*/
double mg_x = short((mxh<<8) | (mxl));
*mx = ( mg_x)*0.15;
//pc.printf("MGX = %f\t",mx);
- _9axis.start();
+ n_axis.start();
- _9axis.write(addr_compus);
- _9axis.write(0x05);
- _9axis.start();
- _9axis.write(addr_compus|0x01);
- myl = _9axis.read(0);
- _9axis.stop();
- _9axis.start();
- _9axis.write(addr_compus);
- _9axis.write(0x06);
- _9axis.start();
- _9axis.write(addr_compus|0x01);
- myh = _9axis.read(0);
- _9axis.stop();
+ n_axis.write(addr_compus);
+ n_axis.write(0x05);
+ n_axis.start();
+ n_axis.write(addr_compus|0x01);
+ myl = n_axis.read(0);
+ n_axis.stop();
+ n_axis.start();
+ n_axis.write(addr_compus);
+ n_axis.write(0x06);
+ n_axis.start();
+ n_axis.write(addr_compus|0x01);
+ myh = n_axis.read(0);
+ n_axis.stop();
/*
- _9axis.start();
- _9axis.write(addr_compus);
- _9axis.write(0x09);
- _9axis.write(addr_compus|0x01);
- _9axis.stop();
+ n_axis.start();
+ n_axis.write(addr_compus);
+ n_axis.write(0x09);
+ n_axis.write(addr_compus|0x01);
+ n_axis.stop();
*/
double mg_y = short((myh<<8) | (myl));
*my = ( mg_y)*0.15;
// pc.printf("MAGY = %f\t",my);
- _9axis.start();
+ n_axis.start();
- _9axis.write(addr_compus);
- _9axis.write(0x07);
- _9axis.start();
- _9axis.write(addr_compus|0x01);
- mzl = _9axis.read(0);
- _9axis.stop();
- _9axis.start();
- _9axis.write(addr_compus);
- _9axis.write(0x08);
- _9axis.start();
- _9axis.write(addr_compus|0x01);
- mzh = _9axis.read(0);
- _9axis.stop();
+ n_axis.write(addr_compus);
+ n_axis.write(0x07);
+ n_axis.start();
+ n_axis.write(addr_compus|0x01);
+ mzl = n_axis.read(0);
+ n_axis.stop();
+ n_axis.start();
+ n_axis.write(addr_compus);
+ n_axis.write(0x08);
+ n_axis.start();
+ n_axis.write(addr_compus|0x01);
+ mzh = n_axis.read(0);
+ n_axis.stop();
- _9axis.start();
- _9axis.write(addr_compus);
- _9axis.write(0x09);
- _9axis.start();
- _9axis.write(addr_compus|0x01);
- _9axis.stop();
+ n_axis.start();
+ n_axis.write(addr_compus);
+ n_axis.write(0x09);
+ n_axis.start();
+ n_axis.write(addr_compus|0x01);
+ n_axis.stop();
double mg_z= short((mzh<<8) | (mzl));
*mz = ( mg_z)*0.15;
/*
- _9axis.start();
- _9axis.write(addr_compus);
- _9axis.write(0x0a);
- _9axis.write(0x12);
- _9axis.stop();
+ n_axis.start();
+ n_axis.write(addr_compus);
+ n_axis.write(0x0a);
+ n_axis.write(0x12);
+ n_axis.stop();
- _9axis.start();
- _9axis.write(addr_compus);
- _9axis.write(0x03);
- _9axis.start();
- _9axis.write(addr_compus|0x01);
- mxl = _9axis.read(0);
- _9axis.stop();
- _9axis.start();
- _9axis.write(addr_compus);
- _9axis.write(0x04);
- _9axis.start();
- _9axis.write(addr_compus|0x01);
- mxh = _9axis.read(0);
- _9axis.stop();
+ n_axis.start();
+ n_axis.write(addr_compus);
+ n_axis.write(0x03);
+ n_axis.start();
+ n_axis.write(addr_compus|0x01);
+ mxl = n_axis.read(0);
+ n_axis.stop();
+ n_axis.start();
+ n_axis.write(addr_compus);
+ n_axis.write(0x04);
+ n_axis.start();
+ n_axis.write(addr_compus|0x01);
+ mxh = n_axis.read(0);
+ n_axis.stop();
- _9axis.start();
- _9axis.write(addr_compus);
- _9axis.write(0x09);
- _9axis.start();
- _9axis.write(addr_compus|0x01);
- _9axis.stop();
+ n_axis.start();
+ n_axis.write(addr_compus);
+ n_axis.write(0x09);
+ n_axis.start();
+ n_axis.write(addr_compus|0x01);
+ n_axis.stop();
double mg_x = short((mxh<<8) | (mxl));
*mx = ( mg_x)*0.15;
- _9axis.start();
+ n_axis.start();
- _9axis.write(addr_compus);
- _9axis.write(0x05);
- _9axis.start();
- _9axis.write(addr_compus|0x01);
- myl = _9axis.read(0);
- _9axis.stop();
- _9axis.start();
- _9axis.write(addr_compus);
- _9axis.write(0x06);
- _9axis.start();
- _9axis.write(addr_compus|0x01);
- myh = _9axis.read(0);
- _9axis.stop();
+ n_axis.write(addr_compus);
+ n_axis.write(0x05);
+ n_axis.start();
+ n_axis.write(addr_compus|0x01);
+ myl = n_axis.read(0);
+ n_axis.stop();
+ n_axis.start();
+ n_axis.write(addr_compus);
+ n_axis.write(0x06);
+ n_axis.start();
+ n_axis.write(addr_compus|0x01);
+ myh = n_axis.read(0);
+ n_axis.stop();
- _9axis.start();
- _9axis.write(addr_compus);
- _9axis.write(0x09);
- _9axis.start();
- _9axis.write(addr_compus|0x01);
- _9axis.stop();
+ n_axis.start();
+ n_axis.write(addr_compus);
+ n_axis.write(0x09);
+ n_axis.start();
+ n_axis.write(addr_compus|0x01);
+ n_axis.stop();
double mg_y = short((myh<<8) | (myl));
*my = ( mg_y)*0.15;
- _9axis.start();
+ n_axis.start();
- _9axis.write(addr_compus);
- _9axis.write(0x07);
- _9axis.start();
- _9axis.write(addr_compus|0x01);
- mzl = _9axis.read(0);
- _9axis.stop();
- _9axis.start();
- _9axis.write(addr_compus);
- _9axis.write(0x08);
- _9axis.start();
- _9axis.write(addr_compus|0x01);
- mzh = _9axis.read(0);
- _9axis.stop();
+ n_axis.write(addr_compus);
+ n_axis.write(0x07);
+ n_axis.start();
+ n_axis.write(addr_compus|0x01);
+ mzl = n_axis.read(0);
+ n_axis.stop();
+ n_axis.start();
+ n_axis.write(addr_compus);
+ n_axis.write(0x08);
+ n_axis.start();
+ n_axis.write(addr_compus|0x01);
+ mzh = n_axis.read(0);
+ n_axis.stop();
- _9axis.start();
- _9axis.write(addr_compus);
- _9axis.write(0x09);
- _9axis.start();
- _9axis.write(addr_compus|0x01);
- _9axis.stop();
+ n_axis.start();
+ n_axis.write(addr_compus);
+ n_axis.write(0x09);
+ n_axis.start();
+ n_axis.write(addr_compus|0x01);
+ n_axis.stop();
double mg_z= short((mzh<<8) | (mzl));
*mz = ( mg_z)*0.15;*/
@@ -331,21 +331,21 @@
void Hepta9axis::sen_gyro_u16(char* gx_u16,char* gy_u16,char* gz_u16, int *dsize)
{
//x軸GYRO
- _9axis.start();
- _9axis.write(addr_accel_gyro);
- _9axis.write(0x43);
- _9axis.start();
- _9axis.write(addr_accel_gyro|0x01);
- gxh = _9axis.read(0);
- _9axis.stop();
+ n_axis.start();
+ n_axis.write(addr_accel_gyro);
+ n_axis.write(0x43);
+ n_axis.start();
+ n_axis.write(addr_accel_gyro|0x01);
+ gxh = n_axis.read(0);
+ n_axis.stop();
- _9axis.start();
- _9axis.write(addr_accel_gyro);
- _9axis.write(0x44);
- _9axis.start();
- _9axis.write(addr_accel_gyro|0x01);
- gxl = _9axis.read(0);
- _9axis.stop();
+ n_axis.start();
+ n_axis.write(addr_accel_gyro);
+ n_axis.write(0x44);
+ n_axis.start();
+ n_axis.write(addr_accel_gyro|0x01);
+ gxl = n_axis.read(0);
+ n_axis.stop();
sprintf( g1, "%02X", ((gxh)) & 0xFF);
sprintf( g2, "%02X", ((gxl)) & 0xFF);
@@ -355,21 +355,21 @@
gx_u16[3]=g2[1];
//y軸GYRO
- _9axis.start();
- _9axis.write(addr_accel_gyro);
- _9axis.write(0x45);
- _9axis.start();
- _9axis.write(addr_accel_gyro|0x01);
- gyh = _9axis.read(0);
- _9axis.stop();
+ n_axis.start();
+ n_axis.write(addr_accel_gyro);
+ n_axis.write(0x45);
+ n_axis.start();
+ n_axis.write(addr_accel_gyro|0x01);
+ gyh = n_axis.read(0);
+ n_axis.stop();
- _9axis.start();
- _9axis.write(addr_accel_gyro);
- _9axis.write(0x46);
- _9axis.start();
- _9axis.write(addr_accel_gyro|0x01);
- gyl = _9axis.read(0);
- _9axis.stop();
+ n_axis.start();
+ n_axis.write(addr_accel_gyro);
+ n_axis.write(0x46);
+ n_axis.start();
+ n_axis.write(addr_accel_gyro|0x01);
+ gyl = n_axis.read(0);
+ n_axis.stop();
sprintf( g1, "%02X", (gyh) & 0xFF);
sprintf( g2, "%02X", (gyl) & 0xFF);
gy_u16[0]=g1[0];
@@ -378,21 +378,21 @@
gy_u16[3]=g2[1];
//z軸GYRO
- _9axis.start();
- _9axis.write(addr_accel_gyro);
- _9axis.write(0x47);
- _9axis.start();
- _9axis.write(addr_accel_gyro|0x01);
- gzh = _9axis.read(0);
- _9axis.stop();
+ n_axis.start();
+ n_axis.write(addr_accel_gyro);
+ n_axis.write(0x47);
+ n_axis.start();
+ n_axis.write(addr_accel_gyro|0x01);
+ gzh = n_axis.read(0);
+ n_axis.stop();
- _9axis.start();
- _9axis.write(addr_accel_gyro);
- _9axis.write(0x48);
- _9axis.start();
- _9axis.write(addr_accel_gyro|0x01);
- gzl = _9axis.read(0);
- _9axis.stop();
+ n_axis.start();
+ n_axis.write(addr_accel_gyro);
+ n_axis.write(0x48);
+ n_axis.start();
+ n_axis.write(addr_accel_gyro|0x01);
+ gzl = n_axis.read(0);
+ n_axis.stop();
sprintf( g1, "%02X", ((gzh)) & 0xFF);
sprintf( g2, "%02X", ((gzl)) & 0xFF);
@@ -406,21 +406,21 @@
void Hepta9axis::sen_acc_u16(char* ax_u16,char* ay_u16,char* az_u16, int *dsize)
{
//x軸加速度
- _9axis.start();
- _9axis.write(addr_accel_gyro);
- _9axis.write(0x3B);
- _9axis.start();
- _9axis.write(addr_accel_gyro|0x01);
- xh = _9axis.read(0);
- _9axis.stop();
+ n_axis.start();
+ n_axis.write(addr_accel_gyro);
+ n_axis.write(0x3B);
+ n_axis.start();
+ n_axis.write(addr_accel_gyro|0x01);
+ xh = n_axis.read(0);
+ n_axis.stop();
- _9axis.start();
- _9axis.write(addr_accel_gyro);
- _9axis.write(0x3C);
- _9axis.start();
- _9axis.write(addr_accel_gyro|0x01);
- xl = _9axis.read(0);
- _9axis.stop();
+ n_axis.start();
+ n_axis.write(addr_accel_gyro);
+ n_axis.write(0x3C);
+ n_axis.start();
+ n_axis.write(addr_accel_gyro|0x01);
+ xl = n_axis.read(0);
+ n_axis.stop();
sprintf( a1, "%02X", ((xh)) & 0xFF);
sprintf( a2, "%02X", ((xl)) & 0xFF);
@@ -430,21 +430,21 @@
ax_u16[3]=a2[1];
//Y軸加速度
- _9axis.start();
- _9axis.write(addr_accel_gyro);
- _9axis.write(0x3D);
- _9axis.start();
- _9axis.write(addr_accel_gyro|0x01);
- yh = _9axis.read(0);
+ n_axis.start();
+ n_axis.write(addr_accel_gyro);
+ n_axis.write(0x3D);
+ n_axis.start();
+ n_axis.write(addr_accel_gyro|0x01);
+ yh = n_axis.read(0);
- _9axis.stop();
- _9axis.start();
- _9axis.write(addr_accel_gyro);
- _9axis.write(0x3E);
- _9axis.start();
- _9axis.write(addr_accel_gyro|0x01);
- yl = _9axis.read(0);
- _9axis.stop();
+ n_axis.stop();
+ n_axis.start();
+ n_axis.write(addr_accel_gyro);
+ n_axis.write(0x3E);
+ n_axis.start();
+ n_axis.write(addr_accel_gyro|0x01);
+ yl = n_axis.read(0);
+ n_axis.stop();
sprintf( a1, "%02X", ((yh)) & 0xFF);
sprintf( a2, "%02X", ((yl)) & 0xFF);
@@ -453,21 +453,21 @@
ay_u16[2]=a2[0];
ay_u16[3]=a2[1];
//z軸加速度
- _9axis.start();
- _9axis.write(addr_accel_gyro);
- _9axis.write(0x3F);
- _9axis.start();
- _9axis.write(addr_accel_gyro|0x01);
- zh = _9axis.read(0);
- _9axis.stop();
+ n_axis.start();
+ n_axis.write(addr_accel_gyro);
+ n_axis.write(0x3F);
+ n_axis.start();
+ n_axis.write(addr_accel_gyro|0x01);
+ zh = n_axis.read(0);
+ n_axis.stop();
- _9axis.start();
- _9axis.write(addr_accel_gyro);
- _9axis.write(0x40);
- _9axis.start();
- _9axis.write(addr_accel_gyro|0x01);
- zl = _9axis.read(0);
- _9axis.stop();
+ n_axis.start();
+ n_axis.write(addr_accel_gyro);
+ n_axis.write(0x40);
+ n_axis.start();
+ n_axis.write(addr_accel_gyro|0x01);
+ zl = n_axis.read(0);
+ n_axis.stop();
sprintf( a1, "%02X", ((zh)) & 0xFF);
sprintf( a2, "%02X", ((zl)) & 0xFF);
@@ -480,26 +480,26 @@
void Hepta9axis::sen_mag_u16(char* mx_u16,char* my_u16,char* mz_u16, int *dsize)
{
- _9axis.start();
- _9axis.write(addr_compus);
- _9axis.write(0x0a);
- _9axis.write(0x12);
- _9axis.stop();
+ n_axis.start();
+ n_axis.write(addr_compus);
+ n_axis.write(0x0a);
+ n_axis.write(0x12);
+ n_axis.stop();
- _9axis.start();
- _9axis.write(addr_compus);
- _9axis.write(0x03);
- _9axis.start();
- _9axis.write(addr_compus|0x01);
- mxl = _9axis.read(0);
- _9axis.stop();
- _9axis.start();
- _9axis.write(addr_compus);
- _9axis.write(0x04);
- _9axis.start();
- _9axis.write(addr_compus|0x01);
- mxh = _9axis.read(0);
- _9axis.stop();
+ n_axis.start();
+ n_axis.write(addr_compus);
+ n_axis.write(0x03);
+ n_axis.start();
+ n_axis.write(addr_compus|0x01);
+ mxl = n_axis.read(0);
+ n_axis.stop();
+ n_axis.start();
+ n_axis.write(addr_compus);
+ n_axis.write(0x04);
+ n_axis.start();
+ n_axis.write(addr_compus|0x01);
+ mxh = n_axis.read(0);
+ n_axis.stop();
sprintf( m1, "%02X", ((mxh)) & 0xFF);
sprintf( m2, "%02X", ((mxl)) & 0xFF);
@@ -510,21 +510,21 @@
//pc.printf("MGX = %f\t",mx);
- _9axis.start();
+ n_axis.start();
- _9axis.write(addr_compus);
- _9axis.write(0x05);
- _9axis.start();
- _9axis.write(addr_compus|0x01);
- myl = _9axis.read(0);
- _9axis.stop();
- _9axis.start();
- _9axis.write(addr_compus);
- _9axis.write(0x06);
- _9axis.start();
- _9axis.write(addr_compus|0x01);
- myh = _9axis.read(0);
- _9axis.stop();
+ n_axis.write(addr_compus);
+ n_axis.write(0x05);
+ n_axis.start();
+ n_axis.write(addr_compus|0x01);
+ myl = n_axis.read(0);
+ n_axis.stop();
+ n_axis.start();
+ n_axis.write(addr_compus);
+ n_axis.write(0x06);
+ n_axis.start();
+ n_axis.write(addr_compus|0x01);
+ myh = n_axis.read(0);
+ n_axis.stop();
sprintf( m1, "%02X", ((myh)) & 0xFF);
sprintf( m2, "%02X", ((myl)) & 0xFF);
@@ -534,28 +534,28 @@
my_u16[3]=m2[1];
// pc.printf("MAGY = %f\t",my);
- _9axis.start();
+ n_axis.start();
- _9axis.write(addr_compus);
- _9axis.write(0x07);
- _9axis.start();
- _9axis.write(addr_compus|0x01);
- mzl = _9axis.read(0);
- _9axis.stop();
- _9axis.start();
- _9axis.write(addr_compus);
- _9axis.write(0x08);
- _9axis.start();
- _9axis.write(addr_compus|0x01);
- mzh = _9axis.read(0);
- _9axis.stop();
+ n_axis.write(addr_compus);
+ n_axis.write(0x07);
+ n_axis.start();
+ n_axis.write(addr_compus|0x01);
+ mzl = n_axis.read(0);
+ n_axis.stop();
+ n_axis.start();
+ n_axis.write(addr_compus);
+ n_axis.write(0x08);
+ n_axis.start();
+ n_axis.write(addr_compus|0x01);
+ mzh = n_axis.read(0);
+ n_axis.stop();
- _9axis.start();
- _9axis.write(addr_compus);
- _9axis.write(0x09);
- _9axis.start();
- _9axis.write(addr_compus|0x01);
- _9axis.stop();
+ n_axis.start();
+ n_axis.write(addr_compus);
+ n_axis.write(0x09);
+ n_axis.start();
+ n_axis.write(addr_compus|0x01);
+ n_axis.stop();
sprintf( m1, "%02X", ((mzh)) & 0xFF);
sprintf( m2, "%02X", ((mzl)) & 0xFF);