ChargeControl
Dependencies: mbed PowerControl SDFileSystem
Fork of ChargeControl by
hepta_sat/HeptaGyro.cpp@0:0842f00470eb, 2016-12-09 (annotated)
- Committer:
- tomoya123
- Date:
- Fri Dec 09 05:04:37 2016 +0000
- Revision:
- 0:0842f00470eb
Charge control
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
tomoya123 | 0:0842f00470eb | 1 | #include "HeptaGyro.h" |
tomoya123 | 0:0842f00470eb | 2 | #include "mbed.h" |
tomoya123 | 0:0842f00470eb | 3 | |
tomoya123 | 0:0842f00470eb | 4 | HeptaGyro::HeptaGyro(PinName sda, PinName scl, int aaddr ) : gyro(sda,scl),addr(aaddr) |
tomoya123 | 0:0842f00470eb | 5 | { |
tomoya123 | 0:0842f00470eb | 6 | _cmd[0] = 0x20; |
tomoya123 | 0:0842f00470eb | 7 | _cmd[1] = 0x0F; |
tomoya123 | 0:0842f00470eb | 8 | gyro.frequency(100000); |
tomoya123 | 0:0842f00470eb | 9 | gyro.write(addr, _cmd, 2); |
tomoya123 | 0:0842f00470eb | 10 | gyro.start(); |
tomoya123 | 0:0842f00470eb | 11 | gyro.write(addr); |
tomoya123 | 0:0842f00470eb | 12 | gyro.stop(); |
tomoya123 | 0:0842f00470eb | 13 | } |
tomoya123 | 0:0842f00470eb | 14 | |
tomoya123 | 0:0842f00470eb | 15 | void HeptaGyro::setup() |
tomoya123 | 0:0842f00470eb | 16 | { |
tomoya123 | 0:0842f00470eb | 17 | _cmd[0] = 0x20; |
tomoya123 | 0:0842f00470eb | 18 | _cmd[1] = 0x0F; |
tomoya123 | 0:0842f00470eb | 19 | gyro.frequency(100000); |
tomoya123 | 0:0842f00470eb | 20 | gyro.write(addr, _cmd, 2); |
tomoya123 | 0:0842f00470eb | 21 | gyro.start(); |
tomoya123 | 0:0842f00470eb | 22 | gyro.write(addr); |
tomoya123 | 0:0842f00470eb | 23 | gyro.stop(); |
tomoya123 | 0:0842f00470eb | 24 | } |
tomoya123 | 0:0842f00470eb | 25 | |
tomoya123 | 0:0842f00470eb | 26 | void HeptaGyro::sensing(float *gx,float *gy,float *gz) |
tomoya123 | 0:0842f00470eb | 27 | { |
tomoya123 | 0:0842f00470eb | 28 | gyro.start(); |
tomoya123 | 0:0842f00470eb | 29 | gyro.write(addr); |
tomoya123 | 0:0842f00470eb | 30 | gyro.write(0x28); |
tomoya123 | 0:0842f00470eb | 31 | gyro.start(); |
tomoya123 | 0:0842f00470eb | 32 | gyro.write(addr|0x01); |
tomoya123 | 0:0842f00470eb | 33 | _xl = gyro.read(0); |
tomoya123 | 0:0842f00470eb | 34 | gyro.stop(); |
tomoya123 | 0:0842f00470eb | 35 | gyro.start(); |
tomoya123 | 0:0842f00470eb | 36 | gyro.write(addr); |
tomoya123 | 0:0842f00470eb | 37 | gyro.write(0x29); |
tomoya123 | 0:0842f00470eb | 38 | gyro.start(); |
tomoya123 | 0:0842f00470eb | 39 | gyro.write(addr|0x01); |
tomoya123 | 0:0842f00470eb | 40 | _xh = gyro.read(0); |
tomoya123 | 0:0842f00470eb | 41 | gyro.stop(); |
tomoya123 | 0:0842f00470eb | 42 | *gx = (short((_xh<<8)|_xl)*0.00875); |
tomoya123 | 0:0842f00470eb | 43 | |
tomoya123 | 0:0842f00470eb | 44 | gyro.start(); |
tomoya123 | 0:0842f00470eb | 45 | gyro.write(addr); |
tomoya123 | 0:0842f00470eb | 46 | gyro.write(0x2A); |
tomoya123 | 0:0842f00470eb | 47 | gyro.start(); |
tomoya123 | 0:0842f00470eb | 48 | gyro.write(addr|0x01); |
tomoya123 | 0:0842f00470eb | 49 | _yl = gyro.read(0); |
tomoya123 | 0:0842f00470eb | 50 | gyro.stop(); |
tomoya123 | 0:0842f00470eb | 51 | gyro.start(); |
tomoya123 | 0:0842f00470eb | 52 | gyro.write(addr); |
tomoya123 | 0:0842f00470eb | 53 | gyro.write(0x2B); |
tomoya123 | 0:0842f00470eb | 54 | gyro.start(); |
tomoya123 | 0:0842f00470eb | 55 | gyro.write(addr|0x01); |
tomoya123 | 0:0842f00470eb | 56 | _yh = gyro.read(0); |
tomoya123 | 0:0842f00470eb | 57 | gyro.stop(); |
tomoya123 | 0:0842f00470eb | 58 | *gy = (short((_yh<<8)|_yl)*0.00875); |
tomoya123 | 0:0842f00470eb | 59 | |
tomoya123 | 0:0842f00470eb | 60 | gyro.start(); |
tomoya123 | 0:0842f00470eb | 61 | gyro.write(addr); |
tomoya123 | 0:0842f00470eb | 62 | gyro.write(0x2C); |
tomoya123 | 0:0842f00470eb | 63 | gyro.start(); |
tomoya123 | 0:0842f00470eb | 64 | gyro.write(addr|0x01); |
tomoya123 | 0:0842f00470eb | 65 | _zl = gyro.read(0); |
tomoya123 | 0:0842f00470eb | 66 | gyro.stop(); |
tomoya123 | 0:0842f00470eb | 67 | gyro.start(); |
tomoya123 | 0:0842f00470eb | 68 | gyro.write(addr); |
tomoya123 | 0:0842f00470eb | 69 | gyro.write(0x2D); |
tomoya123 | 0:0842f00470eb | 70 | gyro.start(); |
tomoya123 | 0:0842f00470eb | 71 | gyro.write(addr|0x01); |
tomoya123 | 0:0842f00470eb | 72 | _zh = gyro.read(0); |
tomoya123 | 0:0842f00470eb | 73 | gyro.stop(); |
tomoya123 | 0:0842f00470eb | 74 | *gz = (short((_zh<<8)|_zl)*0.00875); |
tomoya123 | 0:0842f00470eb | 75 | } |
tomoya123 | 0:0842f00470eb | 76 | |
tomoya123 | 0:0842f00470eb | 77 | float HeptaGyro::x() |
tomoya123 | 0:0842f00470eb | 78 | { |
tomoya123 | 0:0842f00470eb | 79 | |
tomoya123 | 0:0842f00470eb | 80 | gyro.start(); |
tomoya123 | 0:0842f00470eb | 81 | gyro.write(addr); |
tomoya123 | 0:0842f00470eb | 82 | gyro.write(0x28); |
tomoya123 | 0:0842f00470eb | 83 | gyro.start(); |
tomoya123 | 0:0842f00470eb | 84 | gyro.write(addr|0x01); |
tomoya123 | 0:0842f00470eb | 85 | _xl = gyro.read(0); |
tomoya123 | 0:0842f00470eb | 86 | gyro.stop(); |
tomoya123 | 0:0842f00470eb | 87 | gyro.start(); |
tomoya123 | 0:0842f00470eb | 88 | gyro.write(addr); |
tomoya123 | 0:0842f00470eb | 89 | gyro.write(0x29); |
tomoya123 | 0:0842f00470eb | 90 | gyro.start(); |
tomoya123 | 0:0842f00470eb | 91 | gyro.write(addr|0x01); |
tomoya123 | 0:0842f00470eb | 92 | _xh = gyro.read(0); |
tomoya123 | 0:0842f00470eb | 93 | gyro.stop(); |
tomoya123 | 0:0842f00470eb | 94 | return(short((_xh<<8)|_xl)*0.00875); |
tomoya123 | 0:0842f00470eb | 95 | } |
tomoya123 | 0:0842f00470eb | 96 | |
tomoya123 | 0:0842f00470eb | 97 | float HeptaGyro::y() |
tomoya123 | 0:0842f00470eb | 98 | { |
tomoya123 | 0:0842f00470eb | 99 | gyro.start(); |
tomoya123 | 0:0842f00470eb | 100 | gyro.write(addr); |
tomoya123 | 0:0842f00470eb | 101 | gyro.write(0x2A); |
tomoya123 | 0:0842f00470eb | 102 | gyro.start(); |
tomoya123 | 0:0842f00470eb | 103 | gyro.write(addr|0x01); |
tomoya123 | 0:0842f00470eb | 104 | _yl = gyro.read(0); |
tomoya123 | 0:0842f00470eb | 105 | gyro.stop(); |
tomoya123 | 0:0842f00470eb | 106 | gyro.start(); |
tomoya123 | 0:0842f00470eb | 107 | gyro.write(addr); |
tomoya123 | 0:0842f00470eb | 108 | gyro.write(0x2B); |
tomoya123 | 0:0842f00470eb | 109 | gyro.start(); |
tomoya123 | 0:0842f00470eb | 110 | gyro.write(addr|0x01); |
tomoya123 | 0:0842f00470eb | 111 | _yh = gyro.read(0); |
tomoya123 | 0:0842f00470eb | 112 | gyro.stop(); |
tomoya123 | 0:0842f00470eb | 113 | return(short((_yh<<8)|_yl)*0.00875); |
tomoya123 | 0:0842f00470eb | 114 | } |
tomoya123 | 0:0842f00470eb | 115 | |
tomoya123 | 0:0842f00470eb | 116 | float HeptaGyro::z() |
tomoya123 | 0:0842f00470eb | 117 | { |
tomoya123 | 0:0842f00470eb | 118 | gyro.start(); |
tomoya123 | 0:0842f00470eb | 119 | gyro.write(addr); |
tomoya123 | 0:0842f00470eb | 120 | gyro.write(0x2C); |
tomoya123 | 0:0842f00470eb | 121 | gyro.start(); |
tomoya123 | 0:0842f00470eb | 122 | gyro.write(addr|0x01); |
tomoya123 | 0:0842f00470eb | 123 | _zl = gyro.read(0); |
tomoya123 | 0:0842f00470eb | 124 | gyro.stop(); |
tomoya123 | 0:0842f00470eb | 125 | gyro.start(); |
tomoya123 | 0:0842f00470eb | 126 | gyro.write(addr); |
tomoya123 | 0:0842f00470eb | 127 | gyro.write(0x2D); |
tomoya123 | 0:0842f00470eb | 128 | gyro.start(); |
tomoya123 | 0:0842f00470eb | 129 | gyro.write(addr|0x01); |
tomoya123 | 0:0842f00470eb | 130 | _zh = gyro.read(0); |
tomoya123 | 0:0842f00470eb | 131 | gyro.stop(); |
tomoya123 | 0:0842f00470eb | 132 | return(short((_zh<<8)|_zl)*0.00875); |
tomoya123 | 0:0842f00470eb | 133 | } |
tomoya123 | 0:0842f00470eb | 134 | |
tomoya123 | 0:0842f00470eb | 135 | void HeptaGyro::sensing_u16(char* gx_u16,char* gy_u16,char* gz_u16, int *dsize) |
tomoya123 | 0:0842f00470eb | 136 | { |
tomoya123 | 0:0842f00470eb | 137 | char g1[8]={0x00},g2[8]={0x00}; |
tomoya123 | 0:0842f00470eb | 138 | gyro.start(); |
tomoya123 | 0:0842f00470eb | 139 | gyro.write(addr); |
tomoya123 | 0:0842f00470eb | 140 | gyro.write(0x28); |
tomoya123 | 0:0842f00470eb | 141 | gyro.start(); |
tomoya123 | 0:0842f00470eb | 142 | gyro.write(addr|0x01); |
tomoya123 | 0:0842f00470eb | 143 | _xl = gyro.read(0); |
tomoya123 | 0:0842f00470eb | 144 | gyro.stop(); |
tomoya123 | 0:0842f00470eb | 145 | gyro.start(); |
tomoya123 | 0:0842f00470eb | 146 | gyro.write(addr); |
tomoya123 | 0:0842f00470eb | 147 | gyro.write(0x29); |
tomoya123 | 0:0842f00470eb | 148 | gyro.start(); |
tomoya123 | 0:0842f00470eb | 149 | gyro.write(addr|0x01); |
tomoya123 | 0:0842f00470eb | 150 | _xh = gyro.read(0); |
tomoya123 | 0:0842f00470eb | 151 | gyro.stop(); |
tomoya123 | 0:0842f00470eb | 152 | sprintf( g1, "%02X", ((_xh)) & 0xFF); |
tomoya123 | 0:0842f00470eb | 153 | sprintf( g2, "%02X", ((_xl)) & 0xFF); |
tomoya123 | 0:0842f00470eb | 154 | gx_u16[0]=g1[0]; |
tomoya123 | 0:0842f00470eb | 155 | gx_u16[1]=g1[1]; |
tomoya123 | 0:0842f00470eb | 156 | gx_u16[2]=g2[0]; |
tomoya123 | 0:0842f00470eb | 157 | gx_u16[3]=g2[1]; |
tomoya123 | 0:0842f00470eb | 158 | |
tomoya123 | 0:0842f00470eb | 159 | gyro.start(); |
tomoya123 | 0:0842f00470eb | 160 | gyro.write(addr); |
tomoya123 | 0:0842f00470eb | 161 | gyro.write(0x2A); |
tomoya123 | 0:0842f00470eb | 162 | gyro.start(); |
tomoya123 | 0:0842f00470eb | 163 | gyro.write(addr|0x01); |
tomoya123 | 0:0842f00470eb | 164 | _yl = gyro.read(0); |
tomoya123 | 0:0842f00470eb | 165 | gyro.stop(); |
tomoya123 | 0:0842f00470eb | 166 | gyro.start(); |
tomoya123 | 0:0842f00470eb | 167 | gyro.write(addr); |
tomoya123 | 0:0842f00470eb | 168 | gyro.write(0x2B); |
tomoya123 | 0:0842f00470eb | 169 | gyro.start(); |
tomoya123 | 0:0842f00470eb | 170 | gyro.write(addr|0x01); |
tomoya123 | 0:0842f00470eb | 171 | _yh = gyro.read(0); |
tomoya123 | 0:0842f00470eb | 172 | gyro.stop(); |
tomoya123 | 0:0842f00470eb | 173 | sprintf( g1, "%02X", ((_yh)) & 0xFF); |
tomoya123 | 0:0842f00470eb | 174 | sprintf( g2, "%02X", ((_yl)) & 0xFF); |
tomoya123 | 0:0842f00470eb | 175 | gy_u16[0]=g1[0]; |
tomoya123 | 0:0842f00470eb | 176 | gy_u16[1]=g1[1]; |
tomoya123 | 0:0842f00470eb | 177 | gy_u16[2]=g2[0]; |
tomoya123 | 0:0842f00470eb | 178 | gy_u16[3]=g2[1]; |
tomoya123 | 0:0842f00470eb | 179 | |
tomoya123 | 0:0842f00470eb | 180 | gyro.start(); |
tomoya123 | 0:0842f00470eb | 181 | gyro.write(addr); |
tomoya123 | 0:0842f00470eb | 182 | gyro.write(0x2C); |
tomoya123 | 0:0842f00470eb | 183 | gyro.start(); |
tomoya123 | 0:0842f00470eb | 184 | gyro.write(addr|0x01); |
tomoya123 | 0:0842f00470eb | 185 | _zl = gyro.read(0); |
tomoya123 | 0:0842f00470eb | 186 | gyro.stop(); |
tomoya123 | 0:0842f00470eb | 187 | gyro.start(); |
tomoya123 | 0:0842f00470eb | 188 | gyro.write(addr); |
tomoya123 | 0:0842f00470eb | 189 | gyro.write(0x2D); |
tomoya123 | 0:0842f00470eb | 190 | gyro.start(); |
tomoya123 | 0:0842f00470eb | 191 | gyro.write(addr|0x01); |
tomoya123 | 0:0842f00470eb | 192 | _zh = gyro.read(0); |
tomoya123 | 0:0842f00470eb | 193 | gyro.stop(); |
tomoya123 | 0:0842f00470eb | 194 | sprintf( g1, "%02X", ((_zh)) & 0xFF); |
tomoya123 | 0:0842f00470eb | 195 | sprintf( g2, "%02X", ((_zl)) & 0xFF); |
tomoya123 | 0:0842f00470eb | 196 | gz_u16[0]=g1[0]; |
tomoya123 | 0:0842f00470eb | 197 | gz_u16[1]=g1[1]; |
tomoya123 | 0:0842f00470eb | 198 | gz_u16[2]=g2[0]; |
tomoya123 | 0:0842f00470eb | 199 | gz_u16[3]=g2[1]; |
tomoya123 | 0:0842f00470eb | 200 | *dsize = 4; |
tomoya123 | 0:0842f00470eb | 201 | } |
tomoya123 | 0:0842f00470eb | 202 | |
tomoya123 | 0:0842f00470eb | 203 | void HeptaGyro::x_u16(char* g_u16, int *dsize) |
tomoya123 | 0:0842f00470eb | 204 | { |
tomoya123 | 0:0842f00470eb | 205 | char g1[8]={0x00},g2[8]={0x00}; |
tomoya123 | 0:0842f00470eb | 206 | gyro.start(); |
tomoya123 | 0:0842f00470eb | 207 | gyro.write(addr); |
tomoya123 | 0:0842f00470eb | 208 | gyro.write(0x28); |
tomoya123 | 0:0842f00470eb | 209 | gyro.start(); |
tomoya123 | 0:0842f00470eb | 210 | gyro.write(addr|0x01); |
tomoya123 | 0:0842f00470eb | 211 | _xl = gyro.read(0); |
tomoya123 | 0:0842f00470eb | 212 | gyro.stop(); |
tomoya123 | 0:0842f00470eb | 213 | gyro.start(); |
tomoya123 | 0:0842f00470eb | 214 | gyro.write(addr); |
tomoya123 | 0:0842f00470eb | 215 | gyro.write(0x29); |
tomoya123 | 0:0842f00470eb | 216 | gyro.start(); |
tomoya123 | 0:0842f00470eb | 217 | gyro.write(addr|0x01); |
tomoya123 | 0:0842f00470eb | 218 | _xh = gyro.read(0); |
tomoya123 | 0:0842f00470eb | 219 | gyro.stop(); |
tomoya123 | 0:0842f00470eb | 220 | sprintf( g1, "%02X", ((_xh)) & 0xFF); |
tomoya123 | 0:0842f00470eb | 221 | sprintf( g2, "%02X", ((_xl)) & 0xFF); |
tomoya123 | 0:0842f00470eb | 222 | g_u16[0]=g1[0]; |
tomoya123 | 0:0842f00470eb | 223 | g_u16[1]=g1[1]; |
tomoya123 | 0:0842f00470eb | 224 | g_u16[2]=g2[0]; |
tomoya123 | 0:0842f00470eb | 225 | g_u16[3]=g2[1]; |
tomoya123 | 0:0842f00470eb | 226 | *dsize = 4; |
tomoya123 | 0:0842f00470eb | 227 | } |
tomoya123 | 0:0842f00470eb | 228 | |
tomoya123 | 0:0842f00470eb | 229 | void HeptaGyro::y_u16(char* g_u16, int *dsize) |
tomoya123 | 0:0842f00470eb | 230 | { |
tomoya123 | 0:0842f00470eb | 231 | char g1[8]={0x00},g2[8]={0x00}; |
tomoya123 | 0:0842f00470eb | 232 | gyro.start(); |
tomoya123 | 0:0842f00470eb | 233 | gyro.write(addr); |
tomoya123 | 0:0842f00470eb | 234 | gyro.write(0x2A); |
tomoya123 | 0:0842f00470eb | 235 | gyro.start(); |
tomoya123 | 0:0842f00470eb | 236 | gyro.write(addr|0x01); |
tomoya123 | 0:0842f00470eb | 237 | _yl = gyro.read(0); |
tomoya123 | 0:0842f00470eb | 238 | gyro.stop(); |
tomoya123 | 0:0842f00470eb | 239 | gyro.start(); |
tomoya123 | 0:0842f00470eb | 240 | gyro.write(addr); |
tomoya123 | 0:0842f00470eb | 241 | gyro.write(0x2B); |
tomoya123 | 0:0842f00470eb | 242 | gyro.start(); |
tomoya123 | 0:0842f00470eb | 243 | gyro.write(addr|0x01); |
tomoya123 | 0:0842f00470eb | 244 | _yh = gyro.read(0); |
tomoya123 | 0:0842f00470eb | 245 | gyro.stop(); |
tomoya123 | 0:0842f00470eb | 246 | sprintf( g1, "%02X", ((_yh)) & 0xFF); |
tomoya123 | 0:0842f00470eb | 247 | sprintf( g2, "%02X", ((_yl)) & 0xFF); |
tomoya123 | 0:0842f00470eb | 248 | g_u16[0]=g1[0]; |
tomoya123 | 0:0842f00470eb | 249 | g_u16[1]=g1[1]; |
tomoya123 | 0:0842f00470eb | 250 | g_u16[2]=g2[0]; |
tomoya123 | 0:0842f00470eb | 251 | g_u16[3]=g2[1]; |
tomoya123 | 0:0842f00470eb | 252 | *dsize = 4; |
tomoya123 | 0:0842f00470eb | 253 | } |
tomoya123 | 0:0842f00470eb | 254 | |
tomoya123 | 0:0842f00470eb | 255 | void HeptaGyro::z_u16(char* g_u16, int *dsize) |
tomoya123 | 0:0842f00470eb | 256 | { |
tomoya123 | 0:0842f00470eb | 257 | char g1[8]={0x00},g2[8]={0x00}; |
tomoya123 | 0:0842f00470eb | 258 | gyro.start(); |
tomoya123 | 0:0842f00470eb | 259 | gyro.write(addr); |
tomoya123 | 0:0842f00470eb | 260 | gyro.write(0x2C); |
tomoya123 | 0:0842f00470eb | 261 | gyro.start(); |
tomoya123 | 0:0842f00470eb | 262 | gyro.write(addr|0x01); |
tomoya123 | 0:0842f00470eb | 263 | _zl = gyro.read(0); |
tomoya123 | 0:0842f00470eb | 264 | gyro.stop(); |
tomoya123 | 0:0842f00470eb | 265 | gyro.start(); |
tomoya123 | 0:0842f00470eb | 266 | gyro.write(addr); |
tomoya123 | 0:0842f00470eb | 267 | gyro.write(0x2D); |
tomoya123 | 0:0842f00470eb | 268 | gyro.start(); |
tomoya123 | 0:0842f00470eb | 269 | gyro.write(addr|0x01); |
tomoya123 | 0:0842f00470eb | 270 | _zh = gyro.read(0); |
tomoya123 | 0:0842f00470eb | 271 | gyro.stop(); |
tomoya123 | 0:0842f00470eb | 272 | sprintf( g1, "%02X", ((_zh)) & 0xFF); |
tomoya123 | 0:0842f00470eb | 273 | sprintf( g2, "%02X", ((_zl)) & 0xFF); |
tomoya123 | 0:0842f00470eb | 274 | g_u16[0]=g1[0]; |
tomoya123 | 0:0842f00470eb | 275 | g_u16[1]=g1[1]; |
tomoya123 | 0:0842f00470eb | 276 | g_u16[2]=g2[0]; |
tomoya123 | 0:0842f00470eb | 277 | g_u16[3]=g2[1]; |
tomoya123 | 0:0842f00470eb | 278 | *dsize = 4; |
tomoya123 | 0:0842f00470eb | 279 | } |