HEPTA-Sat Training 2019
9axis-sensor library
Diff: Hepta9axis.cpp
- Revision:
- 2:306058b9d04e
- Parent:
- 1:5b35162b3b6a
- Child:
- 3:d5eed0bb962e
--- a/Hepta9axis.cpp Sat Aug 05 13:35:52 2017 +0000
+++ b/Hepta9axis.cpp Wed Aug 23 06:18:26 2017 +0000
@@ -1,256 +1,352 @@
#include"Hepta9axis.h"
#include"mbed.h"
-HeptaMPU9250::HeptaMPU9250(PinName sda, PinName scl, int aaddr, int agaddr) : MPU9250(sda,scl),addr_accel_gyro(aaddr),addr_compus(agaddr)
+Hepta9axis::Hepta9axis(PinName sda, PinName scl, int aaddr, int agaddr) : _9axis(sda,scl),addr_accel_gyro(aaddr),addr_compus(agaddr)
{
- MPU9250.frequency(100000);
+ _9axis.frequency(100000);
cmd[0]=0x6B;
cmd[1]=0x00;
- MPU9250.write(addr_accel_gyro,cmd,2);
+ _9axis.write(addr_accel_gyro,cmd,2);
cmd[0] = 0x37;
cmd[1] = 0x02;
- MPU9250.write(addr_accel_gyro,cmd,2);
- MPU9250.stop();
+ _9axis.write(addr_accel_gyro,cmd,2);
+ _9axis.stop();
}
-void HeptaMPU9250::setup()
+void Hepta9axis::setup()
{
- MPU9250.frequency(100000);
+ _9axis.frequency(100000);
cmd[0]=0x6B;
cmd[1]=0x00;
- MPU9250.write(addr_accel_gyro,cmd,2);
+ _9axis.write(addr_accel_gyro,cmd,2);
cmd[0] = 0x37;
cmd[1] = 0x02;
- MPU9250.write(addr_accel_gyro,cmd,2);
- MPU9250.stop();
+ _9axis.write(addr_accel_gyro,cmd,2);
+ _9axis.stop();
}
-void HeptaMPU9250::sen_acc(float *ax,float *ay,float *az)
+void Hepta9axis::sen_acc(float *ax,float *ay,float *az)
{
//x軸加速度
- MPU9250.start();
- MPU9250.write(addr_accel_gyro);
- MPU9250.write(0x3B);
- MPU9250.start();
- MPU9250.write(addr_accel_gyro|0x01);
- xh = MPU9250.read(0);
- MPU9250.stop();
+ _9axis.start();
+ _9axis.write(addr_accel_gyro);
+ _9axis.write(0x3B);
+ _9axis.start();
+ _9axis.write(addr_accel_gyro|0x01);
+ xh = _9axis.read(0);
+ _9axis.stop();
- MPU9250.start();
- MPU9250.write(addr_accel_gyro);
- MPU9250.write(0x3C);
- MPU9250.start();
- MPU9250.write(addr_accel_gyro|0x01);
- xl = MPU9250.read(0);
- MPU9250.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();
double acc_ax = short((xh<<8) | (xl));
- *ax = -(acc_ax)*2/32764*9.81;
+ *ax = (acc_ax)*2/32764*9.81;
//Y軸加速度
- MPU9250.start();
- MPU9250.write(addr_accel_gyro);
- MPU9250.write(0x3D);
- MPU9250.start();
- MPU9250.write(addr_accel_gyro|0x01);
- yh = MPU9250.read(0);
-
- MPU9250.stop();
- MPU9250.start();
- MPU9250.write(addr_accel_gyro);
- MPU9250.write(0x3E);
- MPU9250.start();
- MPU9250.write(addr_accel_gyro|0x01);
- yl = MPU9250.read(0);
-
- MPU9250.stop();
+ _9axis.start();
+ _9axis.write(addr_accel_gyro);
+ _9axis.write(0x3D);
+ _9axis.start();
+ _9axis.write(addr_accel_gyro|0x01);
+ yh = _9axis.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();
double acc_ay = short((yh<<8) | (yl));
*ay = (acc_ay)*2/32764*9.81;
//z軸加速度
- MPU9250.start();
- MPU9250.write(addr_accel_gyro);
- MPU9250.write(0x3F);
- MPU9250.start();
- MPU9250.write(addr_accel_gyro|0x01);
- zh = MPU9250.read(0);
- MPU9250.stop();
-
- MPU9250.start();
- MPU9250.write(addr_accel_gyro);
- MPU9250.write(0x40);
- MPU9250.start();
- MPU9250.write(addr_accel_gyro|0x01);
- zl = MPU9250.read(0);
- MPU9250.stop();
-
+ _9axis.start();
+ _9axis.write(addr_accel_gyro);
+ _9axis.write(0x3F);
+ _9axis.start();
+ _9axis.write(addr_accel_gyro|0x01);
+ zh = _9axis.read(0);
+ _9axis.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();
+
double acc_az = short((zh<<8) | (zl));
*az = (acc_az)*2/32764*9.81-0.1;
}
-void HeptaMPU9250::sen_gyro(float *gx,float *gy,float *gz)
+void Hepta9axis::sen_gyro(float *gx,float *gy,float *gz)
{
//x軸GYRO
- MPU9250.start();
- MPU9250.write(addr_accel_gyro);
- MPU9250.write(0x43);
- MPU9250.start();
- MPU9250.write(addr_accel_gyro|0x01);
- gxh = MPU9250.read(0);
- MPU9250.stop();
-
- MPU9250.start();
- MPU9250.write(addr_accel_gyro);
- MPU9250.write(0x44);
- MPU9250.start();
- MPU9250.write(addr_accel_gyro|0x01);
- gxl = MPU9250.read(0);
- MPU9250.stop();
-
+ _9axis.start();
+ _9axis.write(addr_accel_gyro);
+ _9axis.write(0x43);
+ _9axis.start();
+ _9axis.write(addr_accel_gyro|0x01);
+ gxh = _9axis.read(0);
+ _9axis.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();
+
double gyro_ax = short((gxh<<8) | (gxl));
*gx = (gyro_ax)*0.00763-1.6;
//y軸GYRO
- MPU9250.start();
- MPU9250.write(addr_accel_gyro);
- MPU9250.write(0x45);
- MPU9250.start();
- MPU9250.write(addr_accel_gyro|0x01);
- gyh = MPU9250.read(0);
- MPU9250.stop();
-
- MPU9250.start();
- MPU9250.write(addr_accel_gyro);
- MPU9250.write(0x46);
- MPU9250.start();
- MPU9250.write(addr_accel_gyro|0x01);
- gyl = MPU9250.read(0);
- MPU9250.stop();
-
+ _9axis.start();
+ _9axis.write(addr_accel_gyro);
+ _9axis.write(0x45);
+ _9axis.start();
+ _9axis.write(addr_accel_gyro|0x01);
+ gyh = _9axis.read(0);
+ _9axis.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();
+
double gyro_ay = short((gyh<<8) | (gyl));
*gy = (gyro_ay)*0.00763;
//z軸GYRO
- MPU9250.start();
- MPU9250.write(addr_accel_gyro);
- MPU9250.write(0x47);
- MPU9250.start();
- MPU9250.write(addr_accel_gyro|0x01);
- gzh = MPU9250.read(0);
- MPU9250.stop();
-
- MPU9250.start();
- MPU9250.write(addr_accel_gyro);
- MPU9250.write(0x48);
- MPU9250.start();
- MPU9250.write(addr_accel_gyro|0x01);
- gzl = MPU9250.read(0);
- MPU9250.stop();
-
+ _9axis.start();
+ _9axis.write(addr_accel_gyro);
+ _9axis.write(0x47);
+ _9axis.start();
+ _9axis.write(addr_accel_gyro|0x01);
+ gzh = _9axis.read(0);
+ _9axis.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();
+
double gyro_az = short((gzh<<8) | (gzl));
*gz = (gyro_az)*0.00763;
}
-void HeptaMPU9250::sen_mag(float *mx,float *my,float *mz)
+void Hepta9axis::sen_mag(float *mx,float *my,float *mz)
{
- MPU9250.start();
- MPU9250.write(addr_compus);
- MPU9250.write(0x03);
- MPU9250.start();
- MPU9250.write(addr_compus|0x01);
- mxl = MPU9250.read(0);
- MPU9250.stop();
- MPU9250.start();
- MPU9250.write(addr_compus);
- MPU9250.write(0x04);
- MPU9250.start();
- MPU9250.write(addr_compus|0x01);
- mxh = MPU9250.read(0);
- MPU9250.stop();
- cmd[0] = 0x0a;
- cmd[1] = 0x12;
- MPU9250.write( addr_compus,cmd,2);
- cmd[0]=0x09;
- MPU9250.write( addr_compus,cmd,1);
+ _9axis.start();
+ _9axis.write(addr_compus);
+ _9axis.write(0x0A);
+ _9axis.write(0x12);
+ _9axis.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();
+ /*
+ _9axis.start();
+ _9axis.write(addr_compus);
+ _9axis.write(0x09);
+ _9axis.write(addr_compus|0x01);
+ _9axis.stop();
+ */
double mg_x = short((mxh<<8) | (mxl));
*mx = ( mg_x)*0.15;
//pc.printf("MGX = %f\t",mx);
- MPU9250.start();
+ _9axis.start();
- MPU9250.write(addr_compus);
- MPU9250.write(0x05);
- MPU9250.start();
- MPU9250.write(addr_compus|0x01);
- myl = MPU9250.read(0);
- MPU9250.stop();
- MPU9250.start();
- MPU9250.write(addr_compus);
- MPU9250.write(0x06);
- MPU9250.start();
- MPU9250.write(addr_compus|0x01);
- myh = MPU9250.read(0);
- MPU9250.stop();
- cmd[0] = 0x0a;
- cmd[1] = 0x12;
- MPU9250.write( addr_compus,cmd,2);
- cmd[0]=0x09;
- MPU9250.write( addr_compus,cmd,1);
+ _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();
+ /*
+ _9axis.start();
+ _9axis.write(addr_compus);
+ _9axis.write(0x09);
+ _9axis.write(addr_compus|0x01);
+ _9axis.stop();
+ */
double mg_y = short((myh<<8) | (myl));
*my = ( mg_y)*0.15;
// pc.printf("MAGY = %f\t",my);
- MPU9250.start();
+ _9axis.start();
- MPU9250.write(addr_compus);
- MPU9250.write(0x07);
- MPU9250.start();
- MPU9250.write(addr_compus|0x01);
- mzl = MPU9250.read(0);
- MPU9250.stop();
- MPU9250.start();
- MPU9250.write(addr_compus);
- MPU9250.write(0x08);
- MPU9250.start();
- MPU9250.write(addr_compus|0x01);
- mzh = MPU9250.read(0);
- MPU9250.stop();
- cmd[0] = 0x0a;
- cmd[1] = 0x12;
- MPU9250.write( addr_compus,cmd,2);
- cmd[0]=0x09;
- MPU9250.write( addr_compus,cmd,1);
+ _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();
+
+ _9axis.start();
+ _9axis.write(addr_compus);
+ _9axis.write(0x09);
+ _9axis.start();
+ _9axis.write(addr_compus|0x01);
+ _9axis.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();
+
+ _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();
+
+ _9axis.start();
+ _9axis.write(addr_compus);
+ _9axis.write(0x09);
+ _9axis.start();
+ _9axis.write(addr_compus|0x01);
+ _9axis.stop();
+
+
+ double mg_x = short((mxh<<8) | (mxl));
+ *mx = ( mg_x)*0.15;
+
+
+ _9axis.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();
+
+ _9axis.start();
+ _9axis.write(addr_compus);
+ _9axis.write(0x09);
+ _9axis.start();
+ _9axis.write(addr_compus|0x01);
+ _9axis.stop();
+ double mg_y = short((myh<<8) | (myl));
+ *my = ( mg_y)*0.15;
+
+ _9axis.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();
+
+ _9axis.start();
+ _9axis.write(addr_compus);
+ _9axis.write(0x09);
+ _9axis.start();
+ _9axis.write(addr_compus|0x01);
+ _9axis.stop();
+
+ double mg_z= short((mzh<<8) | (mzl));
+ *mz = ( mg_z)*0.15;*/
//pc.printf("MAGZ = %f\r\n",mz);
}
//////////////16進数表記/////////////////////////////////////////
-void HeptaMPU9250::sen_gyro_u16(char* gx_u16,char* gy_u16,char* gz_u16, int *dsize)
+void Hepta9axis::sen_gyro_u16(char* gx_u16,char* gy_u16,char* gz_u16, int *dsize)
{
//x軸GYRO
- MPU9250.start();
- MPU9250.write(addr_accel_gyro);
- MPU9250.write(0x43);
- MPU9250.start();
- MPU9250.write(addr_accel_gyro|0x01);
- gxh = MPU9250.read(0);
- MPU9250.stop();
-
- MPU9250.start();
- MPU9250.write(addr_accel_gyro);
- MPU9250.write(0x44);
- MPU9250.start();
- MPU9250.write(addr_accel_gyro|0x01);
- gxl = MPU9250.read(0);
- MPU9250.stop();
-
+ _9axis.start();
+ _9axis.write(addr_accel_gyro);
+ _9axis.write(0x43);
+ _9axis.start();
+ _9axis.write(addr_accel_gyro|0x01);
+ gxh = _9axis.read(0);
+ _9axis.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();
+
sprintf( g1, "%02X", ((gxh)) & 0xFF);
sprintf( g2, "%02X", ((gxl)) & 0xFF);
gx_u16[0]=g1[0];
@@ -259,45 +355,45 @@
gx_u16[3]=g2[1];
//y軸GYRO
- MPU9250.start();
- MPU9250.write(addr_accel_gyro);
- MPU9250.write(0x45);
- MPU9250.start();
- MPU9250.write(addr_accel_gyro|0x01);
- gyh = MPU9250.read(0);
- MPU9250.stop();
-
- MPU9250.start();
- MPU9250.write(addr_accel_gyro);
- MPU9250.write(0x46);
- MPU9250.start();
- MPU9250.write(addr_accel_gyro|0x01);
- gyl = MPU9250.read(0);
- MPU9250.stop();
+ _9axis.start();
+ _9axis.write(addr_accel_gyro);
+ _9axis.write(0x45);
+ _9axis.start();
+ _9axis.write(addr_accel_gyro|0x01);
+ gyh = _9axis.read(0);
+ _9axis.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();
sprintf( g1, "%02X", (gyh) & 0xFF);
sprintf( g2, "%02X", (gyl) & 0xFF);
gy_u16[0]=g1[0];
gy_u16[1]=g1[1];
gy_u16[2]=g2[0];
gy_u16[3]=g2[1];
-
+
//z軸GYRO
- MPU9250.start();
- MPU9250.write(addr_accel_gyro);
- MPU9250.write(0x47);
- MPU9250.start();
- MPU9250.write(addr_accel_gyro|0x01);
- gzh = MPU9250.read(0);
- MPU9250.stop();
-
- MPU9250.start();
- MPU9250.write(addr_accel_gyro);
- MPU9250.write(0x48);
- MPU9250.start();
- MPU9250.write(addr_accel_gyro|0x01);
- gzl = MPU9250.read(0);
- MPU9250.stop();
-
+ _9axis.start();
+ _9axis.write(addr_accel_gyro);
+ _9axis.write(0x47);
+ _9axis.start();
+ _9axis.write(addr_accel_gyro|0x01);
+ gzh = _9axis.read(0);
+ _9axis.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();
+
sprintf( g1, "%02X", ((gzh)) & 0xFF);
sprintf( g2, "%02X", ((gzl)) & 0xFF);
gz_u16[0]=g1[0];
@@ -305,27 +401,27 @@
gz_u16[2]=g2[0];
gz_u16[3]=g2[1];
*dsize = 4;
- }
-
-void HeptaMPU9250::sen_acc_u16(char* ax_u16,char* ay_u16,char* az_u16, int *dsize)
+}
+
+void Hepta9axis::sen_acc_u16(char* ax_u16,char* ay_u16,char* az_u16, int *dsize)
{
- //x軸加速度
- MPU9250.start();
- MPU9250.write(addr_accel_gyro);
- MPU9250.write(0x3B);
- MPU9250.start();
- MPU9250.write(addr_accel_gyro|0x01);
- xh = MPU9250.read(0);
- MPU9250.stop();
+ //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();
- MPU9250.start();
- MPU9250.write(addr_accel_gyro);
- MPU9250.write(0x3C);
- MPU9250.start();
- MPU9250.write(addr_accel_gyro|0x01);
- xl = MPU9250.read(0);
- MPU9250.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();
+
sprintf( a1, "%02X", ((xh)) & 0xFF);
sprintf( a2, "%02X", ((xl)) & 0xFF);
ax_u16[0]=a1[0];
@@ -334,22 +430,22 @@
ax_u16[3]=a2[1];
//Y軸加速度
- MPU9250.start();
- MPU9250.write(addr_accel_gyro);
- MPU9250.write(0x3D);
- MPU9250.start();
- MPU9250.write(addr_accel_gyro|0x01);
- yh = MPU9250.read(0);
-
- MPU9250.stop();
- MPU9250.start();
- MPU9250.write(addr_accel_gyro);
- MPU9250.write(0x3E);
- MPU9250.start();
- MPU9250.write(addr_accel_gyro|0x01);
- yl = MPU9250.read(0);
- MPU9250.stop();
-
+ _9axis.start();
+ _9axis.write(addr_accel_gyro);
+ _9axis.write(0x3D);
+ _9axis.start();
+ _9axis.write(addr_accel_gyro|0x01);
+ yh = _9axis.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();
+
sprintf( a1, "%02X", ((yh)) & 0xFF);
sprintf( a2, "%02X", ((yl)) & 0xFF);
ay_u16[0]=a1[0];
@@ -357,22 +453,22 @@
ay_u16[2]=a2[0];
ay_u16[3]=a2[1];
//z軸加速度
- MPU9250.start();
- MPU9250.write(addr_accel_gyro);
- MPU9250.write(0x3F);
- MPU9250.start();
- MPU9250.write(addr_accel_gyro|0x01);
- zh = MPU9250.read(0);
- MPU9250.stop();
-
- MPU9250.start();
- MPU9250.write(addr_accel_gyro);
- MPU9250.write(0x40);
- MPU9250.start();
- MPU9250.write(addr_accel_gyro|0x01);
- zl = MPU9250.read(0);
- MPU9250.stop();
-
+ _9axis.start();
+ _9axis.write(addr_accel_gyro);
+ _9axis.write(0x3F);
+ _9axis.start();
+ _9axis.write(addr_accel_gyro|0x01);
+ zh = _9axis.read(0);
+ _9axis.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();
+
sprintf( a1, "%02X", ((zh)) & 0xFF);
sprintf( a2, "%02X", ((zl)) & 0xFF);
az_u16[0]=a1[0];
@@ -380,61 +476,56 @@
az_u16[2]=a2[0];
az_u16[3]=a2[1];
*dsize = 4;
- }
-
-void HeptaMPU9250::sen_mag_u16(char* mx_u16,char* my_u16,char* mz_u16, int *dsize)
+}
+
+void Hepta9axis::sen_mag_u16(char* mx_u16,char* my_u16,char* mz_u16, int *dsize)
{
-
- MPU9250.start();
- MPU9250.write(addr_compus);
- MPU9250.write(0x03);
- MPU9250.start();
- MPU9250.write(addr_compus|0x01);
- mxl = MPU9250.read(0);
- MPU9250.stop();
- MPU9250.start();
- MPU9250.write(addr_compus);
- MPU9250.write(0x04);
- MPU9250.start();
- MPU9250.write(addr_compus|0x01);
- mxh = MPU9250.read(0);
- MPU9250.stop();
- cmd[0] = 0x0a;
- cmd[1] = 0x12;
- MPU9250.write( addr_compus,cmd,2);
- cmd[0]=0x09;
- MPU9250.write( addr_compus,cmd,1);
-
+ _9axis.start();
+ _9axis.write(addr_compus);
+ _9axis.write(0x0a);
+ _9axis.write(0x12);
+ _9axis.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();
+
sprintf( m1, "%02X", ((mxh)) & 0xFF);
sprintf( m2, "%02X", ((mxl)) & 0xFF);
mx_u16[0]=m1[0];
mx_u16[1]=m1[1];
mx_u16[2]=m2[0];
mx_u16[3]=m2[1];
-
+
//pc.printf("MGX = %f\t",mx);
- MPU9250.start();
+ _9axis.start();
- MPU9250.write(addr_compus);
- MPU9250.write(0x05);
- MPU9250.start();
- MPU9250.write(addr_compus|0x01);
- myl = MPU9250.read(0);
- MPU9250.stop();
- MPU9250.start();
- MPU9250.write(addr_compus);
- MPU9250.write(0x06);
- MPU9250.start();
- MPU9250.write(addr_compus|0x01);
- myh = MPU9250.read(0);
- MPU9250.stop();
- cmd[0] = 0x0a;
- cmd[1] = 0x12;
- MPU9250.write( addr_compus,cmd,2);
- cmd[0]=0x09;
- MPU9250.write( addr_compus,cmd,1);
-
+ _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();
+
sprintf( m1, "%02X", ((myh)) & 0xFF);
sprintf( m2, "%02X", ((myl)) & 0xFF);
my_u16[0]=m1[0];
@@ -443,27 +534,29 @@
my_u16[3]=m2[1];
// pc.printf("MAGY = %f\t",my);
- MPU9250.start();
+ _9axis.start();
- MPU9250.write(addr_compus);
- MPU9250.write(0x07);
- MPU9250.start();
- MPU9250.write(addr_compus|0x01);
- mzl = MPU9250.read(0);
- MPU9250.stop();
- MPU9250.start();
- MPU9250.write(addr_compus);
- MPU9250.write(0x08);
- MPU9250.start();
- MPU9250.write(addr_compus|0x01);
- mzh = MPU9250.read(0);
- MPU9250.stop();
- cmd[0] = 0x0a;
- cmd[1] = 0x12;
- MPU9250.write( addr_compus,cmd,2);
- cmd[0]=0x09;
- MPU9250.write( addr_compus,cmd,1);
-
+ _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();
+
+ _9axis.start();
+ _9axis.write(addr_compus);
+ _9axis.write(0x09);
+ _9axis.start();
+ _9axis.write(addr_compus|0x01);
+ _9axis.stop();
+
sprintf( m1, "%02X", ((mzh)) & 0xFF);
sprintf( m2, "%02X", ((mzl)) & 0xFF);
mz_u16[0]=m1[0];
@@ -471,4 +564,4 @@
mz_u16[2]=m2[0];
mz_u16[3]=m2[1];
*dsize = 4;
- }
\ No newline at end of file
+}
\ No newline at end of file