Diff: MG354PDH0.h

Revision:

0:9e92f863fde5

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/MG354PDH0.h	Wed Apr 28 07:39:09 2021 +0000
@@ -0,0 +1,61 @@
+
+class MG354PDH0 {
+    
+public: 
+    MG354PDH0(Serial* ps);
+
+    void call_window1();
+    void call_window0();
+    void GLOB_CMD_read();
+    void DIAG_STAT_read();
+    void UART_CTRL_write();
+    /*サンプリングモードへの移行*/
+    void move_to_sampling_mode();
+    /*IMUが動作可能かどうかの確認*/
+    void power_on_sequence1();
+    /*IMUが動作可能かどうかの確認*/
+    void power_on_sequence2();
+    
+    /*X軸周りの角速度を算出*/
+    float read_angular_rate_x();
+    /*Y軸周りの角速度を算出*/
+    float read_angular_rate_y();
+    /*Z軸周りの角速度を算出*/
+    float read_angular_rate_z();
+    
+    /*X軸の加速度を算出*/
+    float read_acceleration_x();
+    /*Y軸の加速度を算出*/
+    float read_acceleration_y();
+    /*Z軸の加速度を算出*/
+    float read_acceleration_z();
+        
+    float gyro_val[3];//角速度の値
+    float acc_val[3];//加速度の値
+     
+    
+private: 
+    Serial* p_port;
+    
+    #define SCALE_FACTOR_GYRO 0.016
+    #define SCALE_FACTOR_ACC 0.20
+    #define GRAVITIONAL_ACCELERATION 9.80665
+
+    char val_GLOB_CMD_read[2];
+    short i_GLOB_CMD_read;
+    
+    char val_DIAG_STAT_read[2];
+    short i_DIAG_STAT_read;
+    
+    char val_rate_x[4];
+    char val_rate_y[4];
+    char val_rate_z[4];
+    
+    char val_acc_x[4];
+    char val_acc_y[4];
+    char val_acc_z[4];
+    
+    float gyro_x,gyro_y,gyro_z;
+    float acceleration_x,acceleration_y,acceleration_z;
+    
+};
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