2021 ver of EPSON IMU
Dependencies: mbed QMC5883L SDFileSystem
main.cpp@0:3ba177faeee0, 2019-08-27 (annotated)
- Committer:
- Joeatsumi
- Date:
- Tue Aug 27 03:29:29 2019 +0000
- Revision:
- 0:3ba177faeee0
- Child:
- 1:bf98282e69a4
This program is for inertial measurement system and supposed to use EPSON G354 6axis sensor.
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
Joeatsumi | 0:3ba177faeee0 | 1 | /*EPSONのセンサを試すために組んだ20190827。*/ |
Joeatsumi | 0:3ba177faeee0 | 2 | |
Joeatsumi | 0:3ba177faeee0 | 3 | #include "mbed.h" |
Joeatsumi | 0:3ba177faeee0 | 4 | #include "string.h" |
Joeatsumi | 0:3ba177faeee0 | 5 | |
Joeatsumi | 0:3ba177faeee0 | 6 | #include "QMC5883L.h"//地磁気センサのライブラリ |
Joeatsumi | 0:3ba177faeee0 | 7 | #include "SDFileSystem.h"//sdカードを操作するためのライブラリ |
Joeatsumi | 0:3ba177faeee0 | 8 | |
Joeatsumi | 0:3ba177faeee0 | 9 | #define SCALE_FACTOR_GYRO 0.016 |
Joeatsumi | 0:3ba177faeee0 | 10 | #define SCALE_FACTOR_ACC 0.20 |
Joeatsumi | 0:3ba177faeee0 | 11 | #define GRAVITIONAL_ACCELERATION 9.80665 |
Joeatsumi | 0:3ba177faeee0 | 12 | |
Joeatsumi | 0:3ba177faeee0 | 13 | Serial pc(USBTX, USBRX); // tx, rx |
Joeatsumi | 0:3ba177faeee0 | 14 | QMC5883L compass(p9,p10); |
Joeatsumi | 0:3ba177faeee0 | 15 | Serial device(p13, p14); // tx, rx |
Joeatsumi | 0:3ba177faeee0 | 16 | SDFileSystem sd(p5, p6, p7, p8, "sd"); // the pinout on the mbed Cool Components workshop board |
Joeatsumi | 0:3ba177faeee0 | 17 | DigitalIn switch_blue(p21);//sdカードへの書き込みを終了させる |
Joeatsumi | 0:3ba177faeee0 | 18 | |
Joeatsumi | 0:3ba177faeee0 | 19 | /*-----------------プロトタイプ宣言----------------*/ |
Joeatsumi | 0:3ba177faeee0 | 20 | void pc_rx (); |
Joeatsumi | 0:3ba177faeee0 | 21 | void dev_rx (); |
Joeatsumi | 0:3ba177faeee0 | 22 | void call_window1(); |
Joeatsumi | 0:3ba177faeee0 | 23 | void call_window0(); |
Joeatsumi | 0:3ba177faeee0 | 24 | void GLOB_CMD_read(); |
Joeatsumi | 0:3ba177faeee0 | 25 | void DIAG_STAT_read(); |
Joeatsumi | 0:3ba177faeee0 | 26 | void UART_CTRL_write(); |
Joeatsumi | 0:3ba177faeee0 | 27 | /*サンプリングモードへの移行*/ |
Joeatsumi | 0:3ba177faeee0 | 28 | void move_to_sampling_mode(); |
Joeatsumi | 0:3ba177faeee0 | 29 | /*IMUが動作可能かどうかの確認*/ |
Joeatsumi | 0:3ba177faeee0 | 30 | void power_on_sequence1(); |
Joeatsumi | 0:3ba177faeee0 | 31 | /*IMUが動作可能かどうかの確認*/ |
Joeatsumi | 0:3ba177faeee0 | 32 | void power_on_sequence2(); |
Joeatsumi | 0:3ba177faeee0 | 33 | |
Joeatsumi | 0:3ba177faeee0 | 34 | /*X軸周りの角速度を算出*/ |
Joeatsumi | 0:3ba177faeee0 | 35 | float read_angular_rate_x(); |
Joeatsumi | 0:3ba177faeee0 | 36 | /*Y軸周りの角速度を算出*/ |
Joeatsumi | 0:3ba177faeee0 | 37 | float read_angular_rate_y(); |
Joeatsumi | 0:3ba177faeee0 | 38 | /*Z軸周りの角速度を算出*/ |
Joeatsumi | 0:3ba177faeee0 | 39 | float read_angular_rate_z(); |
Joeatsumi | 0:3ba177faeee0 | 40 | |
Joeatsumi | 0:3ba177faeee0 | 41 | /*X軸の加速度を算出*/ |
Joeatsumi | 0:3ba177faeee0 | 42 | float read_acceleration_x(); |
Joeatsumi | 0:3ba177faeee0 | 43 | /*Y軸の加速度を算出*/ |
Joeatsumi | 0:3ba177faeee0 | 44 | float read_acceleration_y(); |
Joeatsumi | 0:3ba177faeee0 | 45 | /*Z軸の加速度を算出*/ |
Joeatsumi | 0:3ba177faeee0 | 46 | float read_acceleration_z(); |
Joeatsumi | 0:3ba177faeee0 | 47 | /*-----------------------------------------------*/ |
Joeatsumi | 0:3ba177faeee0 | 48 | /*-------------タイマー関数---------------*/ |
Joeatsumi | 0:3ba177faeee0 | 49 | Timer passed_time; |
Joeatsumi | 0:3ba177faeee0 | 50 | /*---------------------------------------*/ |
Joeatsumi | 0:3ba177faeee0 | 51 | /*-------------------各種の変数-----------------*/ |
Joeatsumi | 0:3ba177faeee0 | 52 | float gyro_val[3];//角速度の値 |
Joeatsumi | 0:3ba177faeee0 | 53 | float angle_val[3];//角度の値 |
Joeatsumi | 0:3ba177faeee0 | 54 | |
Joeatsumi | 0:3ba177faeee0 | 55 | float acc_val[3];//加速度の値 |
Joeatsumi | 0:3ba177faeee0 | 56 | float acc_angle[2];//加速度から計算した角度の値 |
Joeatsumi | 0:3ba177faeee0 | 57 | |
Joeatsumi | 0:3ba177faeee0 | 58 | int16_t mag_val[3];//地磁気の値 |
Joeatsumi | 0:3ba177faeee0 | 59 | |
Joeatsumi | 0:3ba177faeee0 | 60 | float time_new,time_old; |
Joeatsumi | 0:3ba177faeee0 | 61 | /*---------------------------------------------*/ |
Joeatsumi | 0:3ba177faeee0 | 62 | |
Joeatsumi | 0:3ba177faeee0 | 63 | |
Joeatsumi | 0:3ba177faeee0 | 64 | int main() { |
Joeatsumi | 0:3ba177faeee0 | 65 | |
Joeatsumi | 0:3ba177faeee0 | 66 | pc.baud(460800); |
Joeatsumi | 0:3ba177faeee0 | 67 | device.baud(460800); |
Joeatsumi | 0:3ba177faeee0 | 68 | |
Joeatsumi | 0:3ba177faeee0 | 69 | // pc.attach(pc_rx, Serial::RxIrq); |
Joeatsumi | 0:3ba177faeee0 | 70 | //device.attach(dev_rx, Serial::RxIrq); |
Joeatsumi | 0:3ba177faeee0 | 71 | |
Joeatsumi | 0:3ba177faeee0 | 72 | /* |
Joeatsumi | 0:3ba177faeee0 | 73 | power on |
Joeatsumi | 0:3ba177faeee0 | 74 | wait 800ms |
Joeatsumi | 0:3ba177faeee0 | 75 | */ |
Joeatsumi | 0:3ba177faeee0 | 76 | wait(1.0); |
Joeatsumi | 0:3ba177faeee0 | 77 | |
Joeatsumi | 0:3ba177faeee0 | 78 | compass.init();//地磁気センサの起動 |
Joeatsumi | 0:3ba177faeee0 | 79 | |
Joeatsumi | 0:3ba177faeee0 | 80 | power_on_sequence1();//IMUが動作可能かどうかの確認 |
Joeatsumi | 0:3ba177faeee0 | 81 | power_on_sequence2();//IMUが動作可能かどうかの確認 |
Joeatsumi | 0:3ba177faeee0 | 82 | UART_CTRL_write();//IMUのボーレートを480600,手動モードへ移行 |
Joeatsumi | 0:3ba177faeee0 | 83 | move_to_sampling_mode();//サンプリングモードへの移行 |
Joeatsumi | 0:3ba177faeee0 | 84 | |
Joeatsumi | 0:3ba177faeee0 | 85 | passed_time.start(); |
Joeatsumi | 0:3ba177faeee0 | 86 | time_old=passed_time.read(); |
Joeatsumi | 0:3ba177faeee0 | 87 | |
Joeatsumi | 0:3ba177faeee0 | 88 | /*ジャイロで計算する初期角度の設定*/ |
Joeatsumi | 0:3ba177faeee0 | 89 | angle_val[0]=0.0; |
Joeatsumi | 0:3ba177faeee0 | 90 | angle_val[1]=0.0; |
Joeatsumi | 0:3ba177faeee0 | 91 | angle_val[2]=0.0; |
Joeatsumi | 0:3ba177faeee0 | 92 | /*----------------------------*/ |
Joeatsumi | 0:3ba177faeee0 | 93 | |
Joeatsumi | 0:3ba177faeee0 | 94 | /*sdカードにファイルを構成する そのファイルを書き込み状態にする*/ |
Joeatsumi | 0:3ba177faeee0 | 95 | mkdir("/sd/IMU_logger", 0777); |
Joeatsumi | 0:3ba177faeee0 | 96 | |
Joeatsumi | 0:3ba177faeee0 | 97 | FILE *fp = fopen("/sd/IMU_logger/log.csv", "w"); |
Joeatsumi | 0:3ba177faeee0 | 98 | |
Joeatsumi | 0:3ba177faeee0 | 99 | if(fp == NULL) { |
Joeatsumi | 0:3ba177faeee0 | 100 | error("Could not open file for write\n"); |
Joeatsumi | 0:3ba177faeee0 | 101 | } |
Joeatsumi | 0:3ba177faeee0 | 102 | /*-------------------------------------------------------*/ |
Joeatsumi | 0:3ba177faeee0 | 103 | |
Joeatsumi | 0:3ba177faeee0 | 104 | pc.printf("Writing start!\r\n"); |
Joeatsumi | 0:3ba177faeee0 | 105 | |
Joeatsumi | 0:3ba177faeee0 | 106 | while(1){ |
Joeatsumi | 0:3ba177faeee0 | 107 | |
Joeatsumi | 0:3ba177faeee0 | 108 | gyro_val[0]=read_angular_rate_x();//X軸周りの角速度の算出 |
Joeatsumi | 0:3ba177faeee0 | 109 | gyro_val[1]=read_angular_rate_y();//Y軸周りの角速度の算出 |
Joeatsumi | 0:3ba177faeee0 | 110 | gyro_val[2]=read_angular_rate_z();//Z軸周りの角速度の算出 |
Joeatsumi | 0:3ba177faeee0 | 111 | |
Joeatsumi | 0:3ba177faeee0 | 112 | acc_val[0]=read_acceleration_x();//X軸の加速度の算出 |
Joeatsumi | 0:3ba177faeee0 | 113 | acc_val[1]=read_acceleration_y();//Y軸の加速度の算出 |
Joeatsumi | 0:3ba177faeee0 | 114 | acc_val[2]=read_acceleration_z();//Z軸の加速度の算出 |
Joeatsumi | 0:3ba177faeee0 | 115 | |
Joeatsumi | 0:3ba177faeee0 | 116 | mag_val[0]=compass.getMagXvalue();//X軸の地磁気の算出 |
Joeatsumi | 0:3ba177faeee0 | 117 | mag_val[1]=compass.getMagYvalue();//Y軸の地磁気の算出 |
Joeatsumi | 0:3ba177faeee0 | 118 | mag_val[2]=compass.getMagZvalue();//Z軸の地磁気の算出 |
Joeatsumi | 0:3ba177faeee0 | 119 | |
Joeatsumi | 0:3ba177faeee0 | 120 | time_new=passed_time.read();//時間更新 |
Joeatsumi | 0:3ba177faeee0 | 121 | |
Joeatsumi | 0:3ba177faeee0 | 122 | angle_val[0]+=(time_new-time_old)*gyro_val[0];//X軸周りの角度の算出 |
Joeatsumi | 0:3ba177faeee0 | 123 | angle_val[1]+=(time_new-time_old)*gyro_val[1];//Y軸周りの角度の算出 |
Joeatsumi | 0:3ba177faeee0 | 124 | angle_val[2]+=(time_new-time_old)*gyro_val[2];//Z軸周りの角度の算出 |
Joeatsumi | 0:3ba177faeee0 | 125 | |
Joeatsumi | 0:3ba177faeee0 | 126 | //pc.printf("%f:%f:%f\r\n",gyro_val[0],gyro_val[1],gyro_val[2]); |
Joeatsumi | 0:3ba177faeee0 | 127 | //pc.printf("%f:%f:%f\r\n",angle_val[0],angle_val[1],angle_val[2]); |
Joeatsumi | 0:3ba177faeee0 | 128 | //pc.printf("%f:%f:%f\r\n",acc_val[0],acc_val[1],acc_val[2]); |
Joeatsumi | 0:3ba177faeee0 | 129 | |
Joeatsumi | 0:3ba177faeee0 | 130 | fprintf(fp,"%f,%f,%f,%f\r\n",time_new,angle_val[0],angle_val[1],angle_val[2]);//sdファイルに書き込み |
Joeatsumi | 0:3ba177faeee0 | 131 | |
Joeatsumi | 0:3ba177faeee0 | 132 | time_old=time_new; |
Joeatsumi | 0:3ba177faeee0 | 133 | |
Joeatsumi | 0:3ba177faeee0 | 134 | if(switch_blue==1){//青いタクトスイッチが押されている事が確認されたら |
Joeatsumi | 0:3ba177faeee0 | 135 | |
Joeatsumi | 0:3ba177faeee0 | 136 | fclose(fp);//sdカードに作ったファイルを閉じる(書き込みをやめる) |
Joeatsumi | 0:3ba177faeee0 | 137 | pc.printf("Writing finish!"); |
Joeatsumi | 0:3ba177faeee0 | 138 | break;//while文から離脱 |
Joeatsumi | 0:3ba177faeee0 | 139 | |
Joeatsumi | 0:3ba177faeee0 | 140 | }else{} |
Joeatsumi | 0:3ba177faeee0 | 141 | |
Joeatsumi | 0:3ba177faeee0 | 142 | wait(0.01); |
Joeatsumi | 0:3ba177faeee0 | 143 | |
Joeatsumi | 0:3ba177faeee0 | 144 | }//while 終わり |
Joeatsumi | 0:3ba177faeee0 | 145 | }//main終わり |
Joeatsumi | 0:3ba177faeee0 | 146 | |
Joeatsumi | 0:3ba177faeee0 | 147 | /*------------------関数の宣言------------------*/ |
Joeatsumi | 0:3ba177faeee0 | 148 | void pc_rx () { |
Joeatsumi | 0:3ba177faeee0 | 149 | device.putc(pc.getc()); |
Joeatsumi | 0:3ba177faeee0 | 150 | } |
Joeatsumi | 0:3ba177faeee0 | 151 | |
Joeatsumi | 0:3ba177faeee0 | 152 | void dev_rx () { |
Joeatsumi | 0:3ba177faeee0 | 153 | pc.putc(device.getc()); |
Joeatsumi | 0:3ba177faeee0 | 154 | } |
Joeatsumi | 0:3ba177faeee0 | 155 | |
Joeatsumi | 0:3ba177faeee0 | 156 | void call_window1(){ |
Joeatsumi | 0:3ba177faeee0 | 157 | device.putc(0xFE); |
Joeatsumi | 0:3ba177faeee0 | 158 | device.putc(0x01); |
Joeatsumi | 0:3ba177faeee0 | 159 | device.putc(0x0d); |
Joeatsumi | 0:3ba177faeee0 | 160 | } |
Joeatsumi | 0:3ba177faeee0 | 161 | |
Joeatsumi | 0:3ba177faeee0 | 162 | void call_window0(){ |
Joeatsumi | 0:3ba177faeee0 | 163 | device.putc(0xFE); |
Joeatsumi | 0:3ba177faeee0 | 164 | device.putc(0x00); |
Joeatsumi | 0:3ba177faeee0 | 165 | device.putc(0x0d); |
Joeatsumi | 0:3ba177faeee0 | 166 | } |
Joeatsumi | 0:3ba177faeee0 | 167 | |
Joeatsumi | 0:3ba177faeee0 | 168 | void GLOB_CMD_read(){//IMUが使えるかどうかの確認 |
Joeatsumi | 0:3ba177faeee0 | 169 | |
Joeatsumi | 0:3ba177faeee0 | 170 | char val[2]; |
Joeatsumi | 0:3ba177faeee0 | 171 | short i; |
Joeatsumi | 0:3ba177faeee0 | 172 | |
Joeatsumi | 0:3ba177faeee0 | 173 | device.putc(0x0A); |
Joeatsumi | 0:3ba177faeee0 | 174 | device.putc(0x00); |
Joeatsumi | 0:3ba177faeee0 | 175 | device.putc(0x0d); |
Joeatsumi | 0:3ba177faeee0 | 176 | |
Joeatsumi | 0:3ba177faeee0 | 177 | while(device.getc()!=0x0A){ |
Joeatsumi | 0:3ba177faeee0 | 178 | } |
Joeatsumi | 0:3ba177faeee0 | 179 | val[0] = device.getc(); |
Joeatsumi | 0:3ba177faeee0 | 180 | val[1] = device.getc(); |
Joeatsumi | 0:3ba177faeee0 | 181 | |
Joeatsumi | 0:3ba177faeee0 | 182 | i=(val[0]<<8)+val[1]; |
Joeatsumi | 0:3ba177faeee0 | 183 | if(i==0){ |
Joeatsumi | 0:3ba177faeee0 | 184 | pc.printf("IMU is ready.1\r\n"); |
Joeatsumi | 0:3ba177faeee0 | 185 | }else{ |
Joeatsumi | 0:3ba177faeee0 | 186 | pc.printf("IMU is not ready.1\r\n"); |
Joeatsumi | 0:3ba177faeee0 | 187 | } |
Joeatsumi | 0:3ba177faeee0 | 188 | |
Joeatsumi | 0:3ba177faeee0 | 189 | } |
Joeatsumi | 0:3ba177faeee0 | 190 | |
Joeatsumi | 0:3ba177faeee0 | 191 | void DIAG_STAT_read(){ |
Joeatsumi | 0:3ba177faeee0 | 192 | |
Joeatsumi | 0:3ba177faeee0 | 193 | char val[2]; |
Joeatsumi | 0:3ba177faeee0 | 194 | short i; |
Joeatsumi | 0:3ba177faeee0 | 195 | |
Joeatsumi | 0:3ba177faeee0 | 196 | device.putc(0x04); |
Joeatsumi | 0:3ba177faeee0 | 197 | device.putc(0x00); |
Joeatsumi | 0:3ba177faeee0 | 198 | device.putc(0x0d); |
Joeatsumi | 0:3ba177faeee0 | 199 | |
Joeatsumi | 0:3ba177faeee0 | 200 | |
Joeatsumi | 0:3ba177faeee0 | 201 | while(device.getc()!=0x04){ |
Joeatsumi | 0:3ba177faeee0 | 202 | } |
Joeatsumi | 0:3ba177faeee0 | 203 | val[0] = device.getc(); |
Joeatsumi | 0:3ba177faeee0 | 204 | val[1] = device.getc(); |
Joeatsumi | 0:3ba177faeee0 | 205 | |
Joeatsumi | 0:3ba177faeee0 | 206 | i=(val[0]<<8)+val[1]; |
Joeatsumi | 0:3ba177faeee0 | 207 | if(i==0){ |
Joeatsumi | 0:3ba177faeee0 | 208 | pc.printf("IMU is ready.2\r\n"); |
Joeatsumi | 0:3ba177faeee0 | 209 | }else{ |
Joeatsumi | 0:3ba177faeee0 | 210 | pc.printf("IMU is not ready.2\r\n"); |
Joeatsumi | 0:3ba177faeee0 | 211 | } |
Joeatsumi | 0:3ba177faeee0 | 212 | } |
Joeatsumi | 0:3ba177faeee0 | 213 | |
Joeatsumi | 0:3ba177faeee0 | 214 | void UART_CTRL_write(){//IMUのボーレートを480600,手動モードへ移行 |
Joeatsumi | 0:3ba177faeee0 | 215 | |
Joeatsumi | 0:3ba177faeee0 | 216 | call_window1(); |
Joeatsumi | 0:3ba177faeee0 | 217 | |
Joeatsumi | 0:3ba177faeee0 | 218 | device.putc(0x09); |
Joeatsumi | 0:3ba177faeee0 | 219 | device.putc(0x00); |
Joeatsumi | 0:3ba177faeee0 | 220 | device.putc(0x0d); |
Joeatsumi | 0:3ba177faeee0 | 221 | |
Joeatsumi | 0:3ba177faeee0 | 222 | device.putc(0x08); |
Joeatsumi | 0:3ba177faeee0 | 223 | device.putc(0x00); |
Joeatsumi | 0:3ba177faeee0 | 224 | device.putc(0x0d); |
Joeatsumi | 0:3ba177faeee0 | 225 | |
Joeatsumi | 0:3ba177faeee0 | 226 | } |
Joeatsumi | 0:3ba177faeee0 | 227 | |
Joeatsumi | 0:3ba177faeee0 | 228 | /*IMUが動作可能かどうかの確認*/ |
Joeatsumi | 0:3ba177faeee0 | 229 | void power_on_sequence1(){ |
Joeatsumi | 0:3ba177faeee0 | 230 | call_window1(); |
Joeatsumi | 0:3ba177faeee0 | 231 | GLOB_CMD_read(); |
Joeatsumi | 0:3ba177faeee0 | 232 | } |
Joeatsumi | 0:3ba177faeee0 | 233 | |
Joeatsumi | 0:3ba177faeee0 | 234 | /*IMUが動作可能かどうかの確認*/ |
Joeatsumi | 0:3ba177faeee0 | 235 | void power_on_sequence2(){ |
Joeatsumi | 0:3ba177faeee0 | 236 | call_window0(); |
Joeatsumi | 0:3ba177faeee0 | 237 | DIAG_STAT_read(); |
Joeatsumi | 0:3ba177faeee0 | 238 | } |
Joeatsumi | 0:3ba177faeee0 | 239 | |
Joeatsumi | 0:3ba177faeee0 | 240 | void move_to_sampling_mode(){ |
Joeatsumi | 0:3ba177faeee0 | 241 | call_window0(); |
Joeatsumi | 0:3ba177faeee0 | 242 | |
Joeatsumi | 0:3ba177faeee0 | 243 | device.putc(0x83); |
Joeatsumi | 0:3ba177faeee0 | 244 | device.putc(0x01); |
Joeatsumi | 0:3ba177faeee0 | 245 | device.putc(0x0d); |
Joeatsumi | 0:3ba177faeee0 | 246 | } |
Joeatsumi | 0:3ba177faeee0 | 247 | |
Joeatsumi | 0:3ba177faeee0 | 248 | float read_angular_rate_x(){ |
Joeatsumi | 0:3ba177faeee0 | 249 | |
Joeatsumi | 0:3ba177faeee0 | 250 | char val[4]; |
Joeatsumi | 0:3ba177faeee0 | 251 | float gyro_x; |
Joeatsumi | 0:3ba177faeee0 | 252 | |
Joeatsumi | 0:3ba177faeee0 | 253 | call_window0(); |
Joeatsumi | 0:3ba177faeee0 | 254 | |
Joeatsumi | 0:3ba177faeee0 | 255 | device.putc(0x12);//register of gyro x (High) |
Joeatsumi | 0:3ba177faeee0 | 256 | device.putc(0x00); |
Joeatsumi | 0:3ba177faeee0 | 257 | device.putc(0x0d); |
Joeatsumi | 0:3ba177faeee0 | 258 | |
Joeatsumi | 0:3ba177faeee0 | 259 | while(device.getc()!=0x12){ |
Joeatsumi | 0:3ba177faeee0 | 260 | } |
Joeatsumi | 0:3ba177faeee0 | 261 | val[0] = device.getc(); |
Joeatsumi | 0:3ba177faeee0 | 262 | val[1] = device.getc(); |
Joeatsumi | 0:3ba177faeee0 | 263 | |
Joeatsumi | 0:3ba177faeee0 | 264 | device.putc(0x14);//register of gyro x (Low) |
Joeatsumi | 0:3ba177faeee0 | 265 | device.putc(0x00); |
Joeatsumi | 0:3ba177faeee0 | 266 | device.putc(0x0d); |
Joeatsumi | 0:3ba177faeee0 | 267 | |
Joeatsumi | 0:3ba177faeee0 | 268 | while(device.getc()!=0x14){ |
Joeatsumi | 0:3ba177faeee0 | 269 | } |
Joeatsumi | 0:3ba177faeee0 | 270 | val[2] = device.getc(); |
Joeatsumi | 0:3ba177faeee0 | 271 | val[3] = device.getc(); |
Joeatsumi | 0:3ba177faeee0 | 272 | |
Joeatsumi | 0:3ba177faeee0 | 273 | gyro_x=(val[0]<<24)+(val[1]<<16)+(val[2]<<8)+val[3]; |
Joeatsumi | 0:3ba177faeee0 | 274 | //SCALE_FACTOR 0.016 |
Joeatsumi | 0:3ba177faeee0 | 275 | gyro_x*=(SCALE_FACTOR_GYRO/65536); |
Joeatsumi | 0:3ba177faeee0 | 276 | |
Joeatsumi | 0:3ba177faeee0 | 277 | return gyro_x; |
Joeatsumi | 0:3ba177faeee0 | 278 | |
Joeatsumi | 0:3ba177faeee0 | 279 | } |
Joeatsumi | 0:3ba177faeee0 | 280 | |
Joeatsumi | 0:3ba177faeee0 | 281 | float read_angular_rate_y(){ |
Joeatsumi | 0:3ba177faeee0 | 282 | |
Joeatsumi | 0:3ba177faeee0 | 283 | char val[4]; |
Joeatsumi | 0:3ba177faeee0 | 284 | float gyro_y; |
Joeatsumi | 0:3ba177faeee0 | 285 | |
Joeatsumi | 0:3ba177faeee0 | 286 | call_window0(); |
Joeatsumi | 0:3ba177faeee0 | 287 | |
Joeatsumi | 0:3ba177faeee0 | 288 | device.putc(0x16);//register of gyro y (High) |
Joeatsumi | 0:3ba177faeee0 | 289 | device.putc(0x00); |
Joeatsumi | 0:3ba177faeee0 | 290 | device.putc(0x0d); |
Joeatsumi | 0:3ba177faeee0 | 291 | |
Joeatsumi | 0:3ba177faeee0 | 292 | while(device.getc()!=0x16){ |
Joeatsumi | 0:3ba177faeee0 | 293 | } |
Joeatsumi | 0:3ba177faeee0 | 294 | val[0] = device.getc(); |
Joeatsumi | 0:3ba177faeee0 | 295 | val[1] = device.getc(); |
Joeatsumi | 0:3ba177faeee0 | 296 | |
Joeatsumi | 0:3ba177faeee0 | 297 | device.putc(0x18);//register of gyro y (Low) |
Joeatsumi | 0:3ba177faeee0 | 298 | device.putc(0x00); |
Joeatsumi | 0:3ba177faeee0 | 299 | device.putc(0x0d); |
Joeatsumi | 0:3ba177faeee0 | 300 | |
Joeatsumi | 0:3ba177faeee0 | 301 | while(device.getc()!=0x18){ |
Joeatsumi | 0:3ba177faeee0 | 302 | } |
Joeatsumi | 0:3ba177faeee0 | 303 | val[2] = device.getc(); |
Joeatsumi | 0:3ba177faeee0 | 304 | val[3] = device.getc(); |
Joeatsumi | 0:3ba177faeee0 | 305 | |
Joeatsumi | 0:3ba177faeee0 | 306 | gyro_y=(val[0]<<24)+(val[1]<<16)+(val[2]<<8)+val[3]; |
Joeatsumi | 0:3ba177faeee0 | 307 | //SCALE_FACTOR 0.016 |
Joeatsumi | 0:3ba177faeee0 | 308 | gyro_y*=(SCALE_FACTOR_GYRO/65536); |
Joeatsumi | 0:3ba177faeee0 | 309 | |
Joeatsumi | 0:3ba177faeee0 | 310 | return gyro_y; |
Joeatsumi | 0:3ba177faeee0 | 311 | |
Joeatsumi | 0:3ba177faeee0 | 312 | } |
Joeatsumi | 0:3ba177faeee0 | 313 | |
Joeatsumi | 0:3ba177faeee0 | 314 | float read_angular_rate_z(){ |
Joeatsumi | 0:3ba177faeee0 | 315 | |
Joeatsumi | 0:3ba177faeee0 | 316 | char val[4]; |
Joeatsumi | 0:3ba177faeee0 | 317 | float gyro_z; |
Joeatsumi | 0:3ba177faeee0 | 318 | |
Joeatsumi | 0:3ba177faeee0 | 319 | call_window0(); |
Joeatsumi | 0:3ba177faeee0 | 320 | |
Joeatsumi | 0:3ba177faeee0 | 321 | device.putc(0x1A);//register of gyro z (High) |
Joeatsumi | 0:3ba177faeee0 | 322 | device.putc(0x00); |
Joeatsumi | 0:3ba177faeee0 | 323 | device.putc(0x0d); |
Joeatsumi | 0:3ba177faeee0 | 324 | |
Joeatsumi | 0:3ba177faeee0 | 325 | while(device.getc()!=0x1A){ |
Joeatsumi | 0:3ba177faeee0 | 326 | } |
Joeatsumi | 0:3ba177faeee0 | 327 | val[0] = device.getc(); |
Joeatsumi | 0:3ba177faeee0 | 328 | val[1] = device.getc(); |
Joeatsumi | 0:3ba177faeee0 | 329 | |
Joeatsumi | 0:3ba177faeee0 | 330 | device.putc(0x1C);//register of gyro z (Low) |
Joeatsumi | 0:3ba177faeee0 | 331 | device.putc(0x00); |
Joeatsumi | 0:3ba177faeee0 | 332 | device.putc(0x0d); |
Joeatsumi | 0:3ba177faeee0 | 333 | |
Joeatsumi | 0:3ba177faeee0 | 334 | while(device.getc()!=0x1C){ |
Joeatsumi | 0:3ba177faeee0 | 335 | } |
Joeatsumi | 0:3ba177faeee0 | 336 | val[2] = device.getc(); |
Joeatsumi | 0:3ba177faeee0 | 337 | val[3] = device.getc(); |
Joeatsumi | 0:3ba177faeee0 | 338 | |
Joeatsumi | 0:3ba177faeee0 | 339 | gyro_z=(val[0]<<24)+(val[1]<<16)+(val[2]<<8)+val[3]; |
Joeatsumi | 0:3ba177faeee0 | 340 | //SCALE_FACTOR 0.016 |
Joeatsumi | 0:3ba177faeee0 | 341 | gyro_z*=(SCALE_FACTOR_GYRO/65536); |
Joeatsumi | 0:3ba177faeee0 | 342 | |
Joeatsumi | 0:3ba177faeee0 | 343 | return gyro_z; |
Joeatsumi | 0:3ba177faeee0 | 344 | |
Joeatsumi | 0:3ba177faeee0 | 345 | } |
Joeatsumi | 0:3ba177faeee0 | 346 | |
Joeatsumi | 0:3ba177faeee0 | 347 | float read_acceleration_x(){ |
Joeatsumi | 0:3ba177faeee0 | 348 | |
Joeatsumi | 0:3ba177faeee0 | 349 | char val[4]; |
Joeatsumi | 0:3ba177faeee0 | 350 | float acceleration_x; |
Joeatsumi | 0:3ba177faeee0 | 351 | |
Joeatsumi | 0:3ba177faeee0 | 352 | call_window0(); |
Joeatsumi | 0:3ba177faeee0 | 353 | |
Joeatsumi | 0:3ba177faeee0 | 354 | device.putc(0x1E);//register of gyro z (High) |
Joeatsumi | 0:3ba177faeee0 | 355 | device.putc(0x00); |
Joeatsumi | 0:3ba177faeee0 | 356 | device.putc(0x0d); |
Joeatsumi | 0:3ba177faeee0 | 357 | |
Joeatsumi | 0:3ba177faeee0 | 358 | while(device.getc()!=0x1E){ |
Joeatsumi | 0:3ba177faeee0 | 359 | } |
Joeatsumi | 0:3ba177faeee0 | 360 | val[0] = device.getc(); |
Joeatsumi | 0:3ba177faeee0 | 361 | val[1] = device.getc(); |
Joeatsumi | 0:3ba177faeee0 | 362 | |
Joeatsumi | 0:3ba177faeee0 | 363 | device.putc(0x20);//register of gyro z (Low) |
Joeatsumi | 0:3ba177faeee0 | 364 | device.putc(0x00); |
Joeatsumi | 0:3ba177faeee0 | 365 | device.putc(0x0d); |
Joeatsumi | 0:3ba177faeee0 | 366 | |
Joeatsumi | 0:3ba177faeee0 | 367 | while(device.getc()!=0x20){ |
Joeatsumi | 0:3ba177faeee0 | 368 | } |
Joeatsumi | 0:3ba177faeee0 | 369 | val[2] = device.getc(); |
Joeatsumi | 0:3ba177faeee0 | 370 | val[3] = device.getc(); |
Joeatsumi | 0:3ba177faeee0 | 371 | |
Joeatsumi | 0:3ba177faeee0 | 372 | acceleration_x=(val[0]<<24)+(val[1]<<16)+(val[2]<<8)+val[3]; |
Joeatsumi | 0:3ba177faeee0 | 373 | //SCALE_FACTOR 0.016 |
Joeatsumi | 0:3ba177faeee0 | 374 | acceleration_x*=((SCALE_FACTOR_ACC/65536)* (GRAVITIONAL_ACCELERATION/1000.0)); |
Joeatsumi | 0:3ba177faeee0 | 375 | |
Joeatsumi | 0:3ba177faeee0 | 376 | return acceleration_x; |
Joeatsumi | 0:3ba177faeee0 | 377 | |
Joeatsumi | 0:3ba177faeee0 | 378 | } |
Joeatsumi | 0:3ba177faeee0 | 379 | |
Joeatsumi | 0:3ba177faeee0 | 380 | float read_acceleration_y(){ |
Joeatsumi | 0:3ba177faeee0 | 381 | |
Joeatsumi | 0:3ba177faeee0 | 382 | char val[4]; |
Joeatsumi | 0:3ba177faeee0 | 383 | float acceleration_y; |
Joeatsumi | 0:3ba177faeee0 | 384 | |
Joeatsumi | 0:3ba177faeee0 | 385 | call_window0(); |
Joeatsumi | 0:3ba177faeee0 | 386 | |
Joeatsumi | 0:3ba177faeee0 | 387 | device.putc(0x22);//register of gyro z (High) |
Joeatsumi | 0:3ba177faeee0 | 388 | device.putc(0x00); |
Joeatsumi | 0:3ba177faeee0 | 389 | device.putc(0x0d); |
Joeatsumi | 0:3ba177faeee0 | 390 | |
Joeatsumi | 0:3ba177faeee0 | 391 | while(device.getc()!=0x22){ |
Joeatsumi | 0:3ba177faeee0 | 392 | } |
Joeatsumi | 0:3ba177faeee0 | 393 | val[0] = device.getc(); |
Joeatsumi | 0:3ba177faeee0 | 394 | val[1] = device.getc(); |
Joeatsumi | 0:3ba177faeee0 | 395 | |
Joeatsumi | 0:3ba177faeee0 | 396 | device.putc(0x24);//register of gyro z (Low) |
Joeatsumi | 0:3ba177faeee0 | 397 | device.putc(0x00); |
Joeatsumi | 0:3ba177faeee0 | 398 | device.putc(0x0d); |
Joeatsumi | 0:3ba177faeee0 | 399 | |
Joeatsumi | 0:3ba177faeee0 | 400 | while(device.getc()!=0x24){ |
Joeatsumi | 0:3ba177faeee0 | 401 | } |
Joeatsumi | 0:3ba177faeee0 | 402 | val[2] = device.getc(); |
Joeatsumi | 0:3ba177faeee0 | 403 | val[3] = device.getc(); |
Joeatsumi | 0:3ba177faeee0 | 404 | |
Joeatsumi | 0:3ba177faeee0 | 405 | acceleration_y=(val[0]<<24)+(val[1]<<16)+(val[2]<<8)+val[3]; |
Joeatsumi | 0:3ba177faeee0 | 406 | acceleration_y*=((SCALE_FACTOR_ACC/65536)* (GRAVITIONAL_ACCELERATION/1000.0)); |
Joeatsumi | 0:3ba177faeee0 | 407 | |
Joeatsumi | 0:3ba177faeee0 | 408 | return acceleration_y; |
Joeatsumi | 0:3ba177faeee0 | 409 | |
Joeatsumi | 0:3ba177faeee0 | 410 | } |
Joeatsumi | 0:3ba177faeee0 | 411 | |
Joeatsumi | 0:3ba177faeee0 | 412 | float read_acceleration_z(){ |
Joeatsumi | 0:3ba177faeee0 | 413 | |
Joeatsumi | 0:3ba177faeee0 | 414 | char val[4]; |
Joeatsumi | 0:3ba177faeee0 | 415 | float acceleration_z; |
Joeatsumi | 0:3ba177faeee0 | 416 | |
Joeatsumi | 0:3ba177faeee0 | 417 | call_window0(); |
Joeatsumi | 0:3ba177faeee0 | 418 | |
Joeatsumi | 0:3ba177faeee0 | 419 | device.putc(0x26);//register of gyro z (High) |
Joeatsumi | 0:3ba177faeee0 | 420 | device.putc(0x00); |
Joeatsumi | 0:3ba177faeee0 | 421 | device.putc(0x0d); |
Joeatsumi | 0:3ba177faeee0 | 422 | |
Joeatsumi | 0:3ba177faeee0 | 423 | while(device.getc()!=0x26){ |
Joeatsumi | 0:3ba177faeee0 | 424 | } |
Joeatsumi | 0:3ba177faeee0 | 425 | val[0] = device.getc(); |
Joeatsumi | 0:3ba177faeee0 | 426 | val[1] = device.getc(); |
Joeatsumi | 0:3ba177faeee0 | 427 | |
Joeatsumi | 0:3ba177faeee0 | 428 | device.putc(0x28);//register of gyro z (Low) |
Joeatsumi | 0:3ba177faeee0 | 429 | device.putc(0x00); |
Joeatsumi | 0:3ba177faeee0 | 430 | device.putc(0x0d); |
Joeatsumi | 0:3ba177faeee0 | 431 | |
Joeatsumi | 0:3ba177faeee0 | 432 | while(device.getc()!=0x28){ |
Joeatsumi | 0:3ba177faeee0 | 433 | } |
Joeatsumi | 0:3ba177faeee0 | 434 | val[2] = device.getc(); |
Joeatsumi | 0:3ba177faeee0 | 435 | val[3] = device.getc(); |
Joeatsumi | 0:3ba177faeee0 | 436 | |
Joeatsumi | 0:3ba177faeee0 | 437 | acceleration_z=(val[0]<<24)+(val[1]<<16)+(val[2]<<8)+val[3]; |
Joeatsumi | 0:3ba177faeee0 | 438 | acceleration_z*=((SCALE_FACTOR_ACC/65536)* (GRAVITIONAL_ACCELERATION/1000.0)); |
Joeatsumi | 0:3ba177faeee0 | 439 | |
Joeatsumi | 0:3ba177faeee0 | 440 | return acceleration_z; |
Joeatsumi | 0:3ba177faeee0 | 441 | |
Joeatsumi | 0:3ba177faeee0 | 442 | } |
Joeatsumi | 0:3ba177faeee0 | 443 | |
Joeatsumi | 0:3ba177faeee0 | 444 | /*-------------------------------------------*/ |