Atsumi Toda / MPU6050_alter

mpu6050内で指定されていたIDを　0x69から0x68へ変更した。 （２回目）

MPU6050.cpp@3:44c458576810, 2019-02-23 (annotated)

Committer:
Joeatsumi
Date:
Sat Feb 23 06:18:54 2019 +0000
Revision:
3:44c458576810
Parent:
1:a3366f09e95c 
I changed the indicated sensor ID 69 to 68.

Who changed what in which revision?

UserRevisionLine numberNew contents of line
Sissors 0:6757f7363a9f 1 /**
Sissors 0:6757f7363a9f 2 * Includes
Sissors 0:6757f7363a9f 3 */
Sissors 0:6757f7363a9f 4 #include "MPU6050.h"
Sissors 0:6757f7363a9f 5
Sissors 0:6757f7363a9f 6 MPU6050::MPU6050(PinName sda, PinName scl) : connection(sda, scl) {
Sissors 0:6757f7363a9f 7 this->setSleepMode(false);
Sissors 0:6757f7363a9f 8
Joeatsumi 3:44c458576810 9 //connection
Joeatsumi 3:44c458576810 10 connection.frequency( 400 * 1000 ); // SCL周波数を400kHzに変更
Sissors 0:6757f7363a9f 11 //Initializations:
Sissors 0:6757f7363a9f 12 currentGyroRange = 0;
Sissors 0:6757f7363a9f 13 currentAcceleroRange=0;
Joeatsumi 3:44c458576810 14
Sissors 0:6757f7363a9f 15 }
Sissors 0:6757f7363a9f 16
Sissors 0:6757f7363a9f 17 //--------------------------------------------------
Sissors 0:6757f7363a9f 18 //-------------------General------------------------
Sissors 0:6757f7363a9f 19 //--------------------------------------------------
Sissors 0:6757f7363a9f 20
Sissors 0:6757f7363a9f 21 void MPU6050::write(char address, char data) {
Sissors 0:6757f7363a9f 22 char temp[2];
Sissors 0:6757f7363a9f 23 temp[0]=address;
Sissors 0:6757f7363a9f 24 temp[1]=data;
Sissors 0:6757f7363a9f 25
Sissors 0:6757f7363a9f 26 connection.write(MPU6050_ADDRESS * 2,temp,2);
Sissors 0:6757f7363a9f 27 }
Sissors 0:6757f7363a9f 28
Sissors 0:6757f7363a9f 29 char MPU6050::read(char address) {
Sissors 0:6757f7363a9f 30 char retval;
Sissors 0:6757f7363a9f 31 connection.write(MPU6050_ADDRESS * 2, &address, 1, true);
Sissors 0:6757f7363a9f 32 connection.read(MPU6050_ADDRESS * 2, &retval, 1);
Sissors 0:6757f7363a9f 33 return retval;
Sissors 0:6757f7363a9f 34 }
Sissors 0:6757f7363a9f 35
Sissors 0:6757f7363a9f 36 void MPU6050::read(char address, char *data, int length) {
Sissors 0:6757f7363a9f 37 connection.write(MPU6050_ADDRESS * 2, &address, 1, true);
Sissors 0:6757f7363a9f 38 connection.read(MPU6050_ADDRESS * 2, data, length);
Sissors 0:6757f7363a9f 39 }
Sissors 0:6757f7363a9f 40
Sissors 0:6757f7363a9f 41 void MPU6050::setSleepMode(bool state) {
Sissors 0:6757f7363a9f 42 char temp;
Sissors 0:6757f7363a9f 43 temp = this->read(MPU6050_PWR_MGMT_1_REG);
Sissors 0:6757f7363a9f 44 if (state == true)
Sissors 0:6757f7363a9f 45 temp |= 1<<MPU6050_SLP_BIT;
Sissors 0:6757f7363a9f 46 if (state == false)
Sissors 0:6757f7363a9f 47 temp &= ~(1<<MPU6050_SLP_BIT);
Sissors 0:6757f7363a9f 48 this->write(MPU6050_PWR_MGMT_1_REG, temp);
Sissors 0:6757f7363a9f 49 }
Sissors 0:6757f7363a9f 50
Sissors 0:6757f7363a9f 51 bool MPU6050::testConnection( void ) {
Sissors 0:6757f7363a9f 52 char temp;
Sissors 0:6757f7363a9f 53 temp = this->read(MPU6050_WHO_AM_I_REG);
Sissors 0:6757f7363a9f 54 return (temp == (MPU6050_ADDRESS & 0xFE));
Sissors 0:6757f7363a9f 55 }
Sissors 0:6757f7363a9f 56
Sissors 0:6757f7363a9f 57 void MPU6050::setBW(char BW) {
Sissors 0:6757f7363a9f 58 char temp;
Sissors 0:6757f7363a9f 59 BW=BW & 0x07;
Sissors 0:6757f7363a9f 60 temp = this->read(MPU6050_CONFIG_REG);
Sissors 0:6757f7363a9f 61 temp &= 0xF8;
Sissors 0:6757f7363a9f 62 temp = temp + BW;
Sissors 0:6757f7363a9f 63 this->write(MPU6050_CONFIG_REG, temp);
Sissors 0:6757f7363a9f 64 }
Sissors 0:6757f7363a9f 65
Sissors 0:6757f7363a9f 66 void MPU6050::setI2CBypass(bool state) {
Sissors 0:6757f7363a9f 67 char temp;
Sissors 0:6757f7363a9f 68 temp = this->read(MPU6050_INT_PIN_CFG);
Sissors 0:6757f7363a9f 69 if (state == true)
Sissors 0:6757f7363a9f 70 temp |= 1<<MPU6050_BYPASS_BIT;
Sissors 0:6757f7363a9f 71 if (state == false)
Sissors 0:6757f7363a9f 72 temp &= ~(1<<MPU6050_BYPASS_BIT);
Sissors 0:6757f7363a9f 73 this->write(MPU6050_INT_PIN_CFG, temp);
Sissors 0:6757f7363a9f 74 }
Sissors 0:6757f7363a9f 75
Sissors 0:6757f7363a9f 76 //--------------------------------------------------
Sissors 0:6757f7363a9f 77 //----------------Accelerometer---------------------
Sissors 0:6757f7363a9f 78 //--------------------------------------------------
Sissors 0:6757f7363a9f 79
Sissors 0:6757f7363a9f 80 void MPU6050::setAcceleroRange( char range ) {
Sissors 0:6757f7363a9f 81 char temp;
Sissors 0:6757f7363a9f 82 range = range & 0x03;
Sissors 0:6757f7363a9f 83 currentAcceleroRange = range;
Sissors 0:6757f7363a9f 84
Sissors 0:6757f7363a9f 85 temp = this->read(MPU6050_ACCELERO_CONFIG_REG);
Sissors 0:6757f7363a9f 86 temp &= ~(3<<3);
Sissors 0:6757f7363a9f 87 temp = temp + (range<<3);
Sissors 0:6757f7363a9f 88 this->write(MPU6050_ACCELERO_CONFIG_REG, temp);
Sissors 0:6757f7363a9f 89 }
Sissors 0:6757f7363a9f 90
Sissors 0:6757f7363a9f 91 int MPU6050::getAcceleroRawX( void ) {
Sissors 0:6757f7363a9f 92 short retval;
Sissors 0:6757f7363a9f 93 char data[2];
Sissors 0:6757f7363a9f 94 this->read(MPU6050_ACCEL_XOUT_H_REG, data, 2);
Sissors 0:6757f7363a9f 95 retval = (data[0]<<8) + data[1];
Sissors 0:6757f7363a9f 96 return (int)retval;
Sissors 0:6757f7363a9f 97 }
Sissors 0:6757f7363a9f 98
Sissors 0:6757f7363a9f 99 int MPU6050::getAcceleroRawY( void ) {
Sissors 0:6757f7363a9f 100 short retval;
Sissors 0:6757f7363a9f 101 char data[2];
Sissors 0:6757f7363a9f 102 this->read(MPU6050_ACCEL_YOUT_H_REG, data, 2);
Sissors 0:6757f7363a9f 103 retval = (data[0]<<8) + data[1];
Sissors 0:6757f7363a9f 104 return (int)retval;
Sissors 0:6757f7363a9f 105 }
Sissors 0:6757f7363a9f 106
Sissors 0:6757f7363a9f 107 int MPU6050::getAcceleroRawZ( void ) {
Sissors 0:6757f7363a9f 108 short retval;
Sissors 0:6757f7363a9f 109 char data[2];
Sissors 0:6757f7363a9f 110 this->read(MPU6050_ACCEL_ZOUT_H_REG, data, 2);
Sissors 0:6757f7363a9f 111 retval = (data[0]<<8) + data[1];
Sissors 0:6757f7363a9f 112 return (int)retval;
Sissors 0:6757f7363a9f 113 }
Sissors 0:6757f7363a9f 114
Sissors 0:6757f7363a9f 115 void MPU6050::getAcceleroRaw( int *data ) {
Sissors 0:6757f7363a9f 116 char temp[6];
Sissors 0:6757f7363a9f 117 this->read(MPU6050_ACCEL_XOUT_H_REG, temp, 6);
Sissors 0:6757f7363a9f 118 data[0] = (int)(short)((temp[0]<<8) + temp[1]);
Sissors 0:6757f7363a9f 119 data[1] = (int)(short)((temp[2]<<8) + temp[3]);
Sissors 0:6757f7363a9f 120 data[2] = (int)(short)((temp[4]<<8) + temp[5]);
Sissors 0:6757f7363a9f 121 }
Sissors 0:6757f7363a9f 122
Sissors 0:6757f7363a9f 123 void MPU6050::getAccelero( float *data ) {
Sissors 0:6757f7363a9f 124 int temp[3];
Sissors 0:6757f7363a9f 125 this->getAcceleroRaw(temp);
Sissors 0:6757f7363a9f 126 if (currentAcceleroRange == MPU6050_ACCELERO_RANGE_2G) {
Sissors 0:6757f7363a9f 127 data[0]=(float)temp[0] / 16384.0 * 9.81;
Sissors 0:6757f7363a9f 128 data[1]=(float)temp[1] / 16384.0 * 9.81;
Sissors 0:6757f7363a9f 129 data[2]=(float)temp[2] / 16384.0 * 9.81;
Sissors 0:6757f7363a9f 130 }
Sissors 0:6757f7363a9f 131 if (currentAcceleroRange == MPU6050_ACCELERO_RANGE_4G){
Sissors 0:6757f7363a9f 132 data[0]=(float)temp[0] / 8192.0 * 9.81;
Sissors 0:6757f7363a9f 133 data[1]=(float)temp[1] / 8192.0 * 9.81;
Sissors 0:6757f7363a9f 134 data[2]=(float)temp[2] / 8192.0 * 9.81;
Sissors 0:6757f7363a9f 135 }
Sissors 0:6757f7363a9f 136 if (currentAcceleroRange == MPU6050_ACCELERO_RANGE_8G){
Sissors 0:6757f7363a9f 137 data[0]=(float)temp[0] / 4096.0 * 9.81;
Sissors 0:6757f7363a9f 138 data[1]=(float)temp[1] / 4096.0 * 9.81;
Sissors 0:6757f7363a9f 139 data[2]=(float)temp[2] / 4096.0 * 9.81;
Sissors 0:6757f7363a9f 140 }
Sissors 0:6757f7363a9f 141 if (currentAcceleroRange == MPU6050_ACCELERO_RANGE_16G){
Sissors 0:6757f7363a9f 142 data[0]=(float)temp[0] / 2048.0 * 9.81;
Sissors 0:6757f7363a9f 143 data[1]=(float)temp[1] / 2048.0 * 9.81;
Sissors 0:6757f7363a9f 144 data[2]=(float)temp[2] / 2048.0 * 9.81;
Sissors 0:6757f7363a9f 145 }
Sissors 0:6757f7363a9f 146
Sissors 0:6757f7363a9f 147 #ifdef DOUBLE_ACCELERO
Sissors 0:6757f7363a9f 148 data[0]*=2;
Sissors 0:6757f7363a9f 149 data[1]*=2;
Sissors 0:6757f7363a9f 150 data[2]*=2;
Sissors 0:6757f7363a9f 151 #endif
Sissors 0:6757f7363a9f 152 }
Sissors 0:6757f7363a9f 153
Sissors 0:6757f7363a9f 154 //--------------------------------------------------
Sissors 0:6757f7363a9f 155 //------------------Gyroscope-----------------------
Sissors 0:6757f7363a9f 156 //--------------------------------------------------
Sissors 0:6757f7363a9f 157 void MPU6050::setGyroRange( char range ) {
Sissors 0:6757f7363a9f 158 char temp;
Sissors 0:6757f7363a9f 159 currentGyroRange = range;
Sissors 0:6757f7363a9f 160 range = range & 0x03;
Sissors 0:6757f7363a9f 161 temp = this->read(MPU6050_GYRO_CONFIG_REG);
Sissors 0:6757f7363a9f 162 temp &= ~(3<<3);
Sissors 0:6757f7363a9f 163 temp = temp + range<<3;
Sissors 0:6757f7363a9f 164 this->write(MPU6050_GYRO_CONFIG_REG, temp);
Sissors 0:6757f7363a9f 165 }
Sissors 0:6757f7363a9f 166
Sissors 0:6757f7363a9f 167 int MPU6050::getGyroRawX( void ) {
Sissors 0:6757f7363a9f 168 short retval;
Sissors 0:6757f7363a9f 169 char data[2];
Sissors 0:6757f7363a9f 170 this->read(MPU6050_GYRO_XOUT_H_REG, data, 2);
Sissors 0:6757f7363a9f 171 retval = (data[0]<<8) + data[1];
Sissors 0:6757f7363a9f 172 return (int)retval;
Sissors 0:6757f7363a9f 173 }
Sissors 0:6757f7363a9f 174
Sissors 0:6757f7363a9f 175 int MPU6050::getGyroRawY( void ) {
Sissors 0:6757f7363a9f 176 short retval;
Sissors 0:6757f7363a9f 177 char data[2];
Sissors 0:6757f7363a9f 178 this->read(MPU6050_GYRO_YOUT_H_REG, data, 2);
Sissors 0:6757f7363a9f 179 retval = (data[0]<<8) + data[1];
Sissors 0:6757f7363a9f 180 return (int)retval;
Sissors 0:6757f7363a9f 181 }
Sissors 0:6757f7363a9f 182
Sissors 0:6757f7363a9f 183 int MPU6050::getGyroRawZ( void ) {
Sissors 0:6757f7363a9f 184 short retval;
Sissors 0:6757f7363a9f 185 char data[2];
Sissors 0:6757f7363a9f 186 this->read(MPU6050_GYRO_ZOUT_H_REG, data, 2);
Sissors 0:6757f7363a9f 187 retval = (data[0]<<8) + data[1];
Sissors 0:6757f7363a9f 188 return (int)retval;
Sissors 0:6757f7363a9f 189 }
Sissors 0:6757f7363a9f 190
Sissors 0:6757f7363a9f 191 void MPU6050::getGyroRaw( int *data ) {
Sissors 0:6757f7363a9f 192 char temp[6];
Sissors 0:6757f7363a9f 193 this->read(MPU6050_GYRO_XOUT_H_REG, temp, 6);
Sissors 0:6757f7363a9f 194 data[0] = (int)(short)((temp[0]<<8) + temp[1]);
Sissors 0:6757f7363a9f 195 data[1] = (int)(short)((temp[2]<<8) + temp[3]);
Sissors 0:6757f7363a9f 196 data[2] = (int)(short)((temp[4]<<8) + temp[5]);
Sissors 0:6757f7363a9f 197 }
Sissors 0:6757f7363a9f 198
Sissors 0:6757f7363a9f 199 void MPU6050::getGyro( float *data ) {
Sissors 0:6757f7363a9f 200 int temp[3];
Sissors 0:6757f7363a9f 201 this->getGyroRaw(temp);
Sissors 1:a3366f09e95c 202 if (currentGyroRange == MPU6050_GYRO_RANGE_250) {
Sissors 0:6757f7363a9f 203 data[0]=(float)temp[0] / 7505.7;
Sissors 0:6757f7363a9f 204 data[1]=(float)temp[1] / 7505.7;
Sissors 0:6757f7363a9f 205 data[2]=(float)temp[2] / 7505.7;
Sissors 0:6757f7363a9f 206 }
Sissors 1:a3366f09e95c 207 if (currentGyroRange == MPU6050_GYRO_RANGE_500){
Sissors 0:6757f7363a9f 208 data[0]=(float)temp[0] / 3752.9;
Sissors 0:6757f7363a9f 209 data[1]=(float)temp[1] / 3752.9;
Sissors 0:6757f7363a9f 210 data[2]=(float)temp[2] / 3752.9;
Sissors 0:6757f7363a9f 211 }
Sissors 1:a3366f09e95c 212 if (currentGyroRange == MPU6050_GYRO_RANGE_1000){
Joeatsumi 3:44c458576810 213 data[0]=(float)temp[0] / 1879.3;
Sissors 0:6757f7363a9f 214 data[1]=(float)temp[1] / 1879.3;
Sissors 0:6757f7363a9f 215 data[2]=(float)temp[2] / 1879.3;
Sissors 0:6757f7363a9f 216 }
Sissors 1:a3366f09e95c 217 if (currentGyroRange == MPU6050_GYRO_RANGE_2000){
Sissors 0:6757f7363a9f 218 data[0]=(float)temp[0] / 939.7;
Sissors 0:6757f7363a9f 219 data[1]=(float)temp[1] / 939.7;
Sissors 0:6757f7363a9f 220 data[2]=(float)temp[2] / 939.7;
Joeatsumi 3:44c458576810 221
Sissors 0:6757f7363a9f 222 }
Sissors 0:6757f7363a9f 223 }
Sissors 0:6757f7363a9f 224 //--------------------------------------------------
Sissors 0:6757f7363a9f 225 //-------------------Temperature--------------------
Sissors 0:6757f7363a9f 226 //--------------------------------------------------
Sissors 0:6757f7363a9f 227 int MPU6050::getTempRaw( void ) {
Sissors 0:6757f7363a9f 228 short retval;
Sissors 0:6757f7363a9f 229 char data[2];
Sissors 0:6757f7363a9f 230 this->read(MPU6050_TEMP_H_REG, data, 2);
Sissors 0:6757f7363a9f 231 retval = (data[0]<<8) + data[1];
Sissors 0:6757f7363a9f 232 return (int)retval;
Sissors 0:6757f7363a9f 233 }
Sissors 0:6757f7363a9f 234
Sissors 0:6757f7363a9f 235 float MPU6050::getTemp( void ) {
Sissors 0:6757f7363a9f 236 float retval;
Sissors 0:6757f7363a9f 237 retval=(float)this->getTempRaw();
Sissors 0:6757f7363a9f 238 retval=(retval+521.0)/340.0+35.0;
Sissors 0:6757f7363a9f 239 return retval;
Sissors 0:6757f7363a9f 240 }
Sissors 0:6757f7363a9f 241