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Hepta9axis
by 
CLTP 8
Revision 4:01941772f493, committed 2017-09-04
- Comitter:
- HEPTA
- Date:
- Mon Sep 04 16:27:17 2017 +0000
- Parent:
- 3:d5eed0bb962e
- Child:
- 5:098423fb0371
- Commit message:
- Hepta9axis
Changed in this revision
| Hepta9axis.cpp | Show annotated file Show diff for this revision Revisions of this file |
| Hepta9axis.h | Show annotated file Show diff for this revision Revisions of this file |
--- a/Hepta9axis.cpp Mon Sep 04 11:45:42 2017 +0000
+++ b/Hepta9axis.cpp Mon Sep 04 16:27:17 2017 +0000
@@ -88,7 +88,7 @@
n_axis.stop();
double acc_az = short((zh<<8) | (zl));
- *az = (acc_az)*2/32764*9.81-0.1;
+ *az = (acc_az)*2/32764*9.81;
}
@@ -112,7 +112,7 @@
n_axis.stop();
double gyro_ax = short((gxh<<8) | (gxl));
- *gx = (gyro_ax)*0.00763-1.6;
+ *gx = (gyro_ax)*0.00763;
//y軸GYRO
n_axis.start();
@@ -179,100 +179,9 @@
n_axis.write(addr_compus|0x01);
mxh = n_axis.read(0);
n_axis.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);
-
- n_axis.start();
-
- 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();
- /*
- 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);
-
- n_axis.start();
-
- 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();
-
- 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;
- /*
- n_axis.start();
- n_axis.write(addr_compus);
- n_axis.write(0x0a);
- n_axis.write(0x12);
- n_axis.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();
-
- 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;
-
n_axis.start();
@@ -290,12 +199,6 @@
myh = n_axis.read(0);
n_axis.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;
@@ -320,11 +223,11 @@
n_axis.write(0x09);
n_axis.start();
n_axis.write(addr_compus|0x01);
+ st2 = n_axis.read(0);
n_axis.stop();
-
double mg_z= short((mzh<<8) | (mzl));
- *mz = ( mg_z)*0.15;*/
- //pc.printf("MAGZ = %f\r\n",mz);
+ *mz = ( mg_z)*0.15;
+
}
//////////////16進数表記/////////////////////////////////////////
@@ -508,8 +411,6 @@
mx_u16[2]=m2[0];
mx_u16[3]=m2[1];
- //pc.printf("MGX = %f\t",mx);
-
n_axis.start();
n_axis.write(addr_compus);
@@ -532,7 +433,6 @@
my_u16[1]=m1[1];
my_u16[2]=m2[0];
my_u16[3]=m2[1];
- // pc.printf("MAGY = %f\t",my);
n_axis.start();
@@ -555,6 +455,7 @@
n_axis.write(0x09);
n_axis.start();
n_axis.write(addr_compus|0x01);
+ st2 = n_axis.read(0);
n_axis.stop();
sprintf( m1, "%02X", ((mzh)) & 0xFF);
--- a/Hepta9axis.h Mon Sep 04 11:45:42 2017 +0000
+++ b/Hepta9axis.h Mon Sep 04 16:27:17 2017 +0000
@@ -27,6 +27,7 @@
char g1[8],g2[8];
char a1[8],a2[8];
char m1[8],m2[8];
+ short int st2;
short int xl,xh,yl,yh,zl,zh;
short int gxl,gxh,gyl,gyh,gzl,gzh;
short int mxl,mxh,myl,myh,mzl,mzh;