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Accel
Dependencies: mbed PowerControl SDFileSystem
Fork of HeptaAccel by
hepta_sat/HeptaGyro.cpp@1:63c3921c608c, 2016-12-13 (annotated)
- Committer:
- tomoya123
- Date:
- Tue Dec 13 07:51:40 2016 +0000
- Revision:
- 1:63c3921c608c
- Parent:
- 0:d721efd58e4e
Accel
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
tomoya123 | 0:d721efd58e4e | 1 | #include "HeptaGyro.h" |
tomoya123 | 0:d721efd58e4e | 2 | #include "mbed.h" |
tomoya123 | 0:d721efd58e4e | 3 | |
tomoya123 | 0:d721efd58e4e | 4 | HeptaGyro::HeptaGyro(PinName sda, PinName scl, int aaddr ) : gyro(sda,scl),addr(aaddr) |
tomoya123 | 0:d721efd58e4e | 5 | { |
tomoya123 | 0:d721efd58e4e | 6 | _cmd[0] = 0x20; |
tomoya123 | 0:d721efd58e4e | 7 | _cmd[1] = 0x0F; |
tomoya123 | 0:d721efd58e4e | 8 | gyro.frequency(100000); |
tomoya123 | 0:d721efd58e4e | 9 | gyro.write(addr, _cmd, 2); |
tomoya123 | 0:d721efd58e4e | 10 | gyro.start(); |
tomoya123 | 0:d721efd58e4e | 11 | gyro.write(addr); |
tomoya123 | 0:d721efd58e4e | 12 | gyro.stop(); |
tomoya123 | 0:d721efd58e4e | 13 | } |
tomoya123 | 0:d721efd58e4e | 14 | |
tomoya123 | 0:d721efd58e4e | 15 | void HeptaGyro::setup() |
tomoya123 | 0:d721efd58e4e | 16 | { |
tomoya123 | 0:d721efd58e4e | 17 | _cmd[0] = 0x20; |
tomoya123 | 0:d721efd58e4e | 18 | _cmd[1] = 0x0F; |
tomoya123 | 0:d721efd58e4e | 19 | gyro.frequency(100000); |
tomoya123 | 0:d721efd58e4e | 20 | gyro.write(addr, _cmd, 2); |
tomoya123 | 0:d721efd58e4e | 21 | gyro.start(); |
tomoya123 | 0:d721efd58e4e | 22 | gyro.write(addr); |
tomoya123 | 0:d721efd58e4e | 23 | gyro.stop(); |
tomoya123 | 0:d721efd58e4e | 24 | } |
tomoya123 | 0:d721efd58e4e | 25 | |
tomoya123 | 0:d721efd58e4e | 26 | void HeptaGyro::sensing(float *gx,float *gy,float *gz) |
tomoya123 | 0:d721efd58e4e | 27 | { |
tomoya123 | 0:d721efd58e4e | 28 | gyro.start(); |
tomoya123 | 0:d721efd58e4e | 29 | gyro.write(addr); |
tomoya123 | 0:d721efd58e4e | 30 | gyro.write(0x28); |
tomoya123 | 0:d721efd58e4e | 31 | gyro.start(); |
tomoya123 | 0:d721efd58e4e | 32 | gyro.write(addr|0x01); |
tomoya123 | 0:d721efd58e4e | 33 | _xl = gyro.read(0); |
tomoya123 | 0:d721efd58e4e | 34 | gyro.stop(); |
tomoya123 | 0:d721efd58e4e | 35 | gyro.start(); |
tomoya123 | 0:d721efd58e4e | 36 | gyro.write(addr); |
tomoya123 | 0:d721efd58e4e | 37 | gyro.write(0x29); |
tomoya123 | 0:d721efd58e4e | 38 | gyro.start(); |
tomoya123 | 0:d721efd58e4e | 39 | gyro.write(addr|0x01); |
tomoya123 | 0:d721efd58e4e | 40 | _xh = gyro.read(0); |
tomoya123 | 0:d721efd58e4e | 41 | gyro.stop(); |
tomoya123 | 0:d721efd58e4e | 42 | *gx = (short((_xh<<8)|_xl)*0.00875); |
tomoya123 | 0:d721efd58e4e | 43 | |
tomoya123 | 0:d721efd58e4e | 44 | gyro.start(); |
tomoya123 | 0:d721efd58e4e | 45 | gyro.write(addr); |
tomoya123 | 0:d721efd58e4e | 46 | gyro.write(0x2A); |
tomoya123 | 0:d721efd58e4e | 47 | gyro.start(); |
tomoya123 | 0:d721efd58e4e | 48 | gyro.write(addr|0x01); |
tomoya123 | 0:d721efd58e4e | 49 | _yl = gyro.read(0); |
tomoya123 | 0:d721efd58e4e | 50 | gyro.stop(); |
tomoya123 | 0:d721efd58e4e | 51 | gyro.start(); |
tomoya123 | 0:d721efd58e4e | 52 | gyro.write(addr); |
tomoya123 | 0:d721efd58e4e | 53 | gyro.write(0x2B); |
tomoya123 | 0:d721efd58e4e | 54 | gyro.start(); |
tomoya123 | 0:d721efd58e4e | 55 | gyro.write(addr|0x01); |
tomoya123 | 0:d721efd58e4e | 56 | _yh = gyro.read(0); |
tomoya123 | 0:d721efd58e4e | 57 | gyro.stop(); |
tomoya123 | 0:d721efd58e4e | 58 | *gy = (short((_yh<<8)|_yl)*0.00875); |
tomoya123 | 0:d721efd58e4e | 59 | |
tomoya123 | 0:d721efd58e4e | 60 | gyro.start(); |
tomoya123 | 0:d721efd58e4e | 61 | gyro.write(addr); |
tomoya123 | 0:d721efd58e4e | 62 | gyro.write(0x2C); |
tomoya123 | 0:d721efd58e4e | 63 | gyro.start(); |
tomoya123 | 0:d721efd58e4e | 64 | gyro.write(addr|0x01); |
tomoya123 | 0:d721efd58e4e | 65 | _zl = gyro.read(0); |
tomoya123 | 0:d721efd58e4e | 66 | gyro.stop(); |
tomoya123 | 0:d721efd58e4e | 67 | gyro.start(); |
tomoya123 | 0:d721efd58e4e | 68 | gyro.write(addr); |
tomoya123 | 0:d721efd58e4e | 69 | gyro.write(0x2D); |
tomoya123 | 0:d721efd58e4e | 70 | gyro.start(); |
tomoya123 | 0:d721efd58e4e | 71 | gyro.write(addr|0x01); |
tomoya123 | 0:d721efd58e4e | 72 | _zh = gyro.read(0); |
tomoya123 | 0:d721efd58e4e | 73 | gyro.stop(); |
tomoya123 | 0:d721efd58e4e | 74 | *gz = (short((_zh<<8)|_zl)*0.00875); |
tomoya123 | 0:d721efd58e4e | 75 | } |
tomoya123 | 0:d721efd58e4e | 76 | |
tomoya123 | 0:d721efd58e4e | 77 | float HeptaGyro::x() |
tomoya123 | 0:d721efd58e4e | 78 | { |
tomoya123 | 0:d721efd58e4e | 79 | |
tomoya123 | 0:d721efd58e4e | 80 | gyro.start(); |
tomoya123 | 0:d721efd58e4e | 81 | gyro.write(addr); |
tomoya123 | 0:d721efd58e4e | 82 | gyro.write(0x28); |
tomoya123 | 0:d721efd58e4e | 83 | gyro.start(); |
tomoya123 | 0:d721efd58e4e | 84 | gyro.write(addr|0x01); |
tomoya123 | 0:d721efd58e4e | 85 | _xl = gyro.read(0); |
tomoya123 | 0:d721efd58e4e | 86 | gyro.stop(); |
tomoya123 | 0:d721efd58e4e | 87 | gyro.start(); |
tomoya123 | 0:d721efd58e4e | 88 | gyro.write(addr); |
tomoya123 | 0:d721efd58e4e | 89 | gyro.write(0x29); |
tomoya123 | 0:d721efd58e4e | 90 | gyro.start(); |
tomoya123 | 0:d721efd58e4e | 91 | gyro.write(addr|0x01); |
tomoya123 | 0:d721efd58e4e | 92 | _xh = gyro.read(0); |
tomoya123 | 0:d721efd58e4e | 93 | gyro.stop(); |
tomoya123 | 0:d721efd58e4e | 94 | return(short((_xh<<8)|_xl)*0.00875); |
tomoya123 | 0:d721efd58e4e | 95 | } |
tomoya123 | 0:d721efd58e4e | 96 | |
tomoya123 | 0:d721efd58e4e | 97 | float HeptaGyro::y() |
tomoya123 | 0:d721efd58e4e | 98 | { |
tomoya123 | 0:d721efd58e4e | 99 | gyro.start(); |
tomoya123 | 0:d721efd58e4e | 100 | gyro.write(addr); |
tomoya123 | 0:d721efd58e4e | 101 | gyro.write(0x2A); |
tomoya123 | 0:d721efd58e4e | 102 | gyro.start(); |
tomoya123 | 0:d721efd58e4e | 103 | gyro.write(addr|0x01); |
tomoya123 | 0:d721efd58e4e | 104 | _yl = gyro.read(0); |
tomoya123 | 0:d721efd58e4e | 105 | gyro.stop(); |
tomoya123 | 0:d721efd58e4e | 106 | gyro.start(); |
tomoya123 | 0:d721efd58e4e | 107 | gyro.write(addr); |
tomoya123 | 0:d721efd58e4e | 108 | gyro.write(0x2B); |
tomoya123 | 0:d721efd58e4e | 109 | gyro.start(); |
tomoya123 | 0:d721efd58e4e | 110 | gyro.write(addr|0x01); |
tomoya123 | 0:d721efd58e4e | 111 | _yh = gyro.read(0); |
tomoya123 | 0:d721efd58e4e | 112 | gyro.stop(); |
tomoya123 | 0:d721efd58e4e | 113 | return(short((_yh<<8)|_yl)*0.00875); |
tomoya123 | 0:d721efd58e4e | 114 | } |
tomoya123 | 0:d721efd58e4e | 115 | |
tomoya123 | 0:d721efd58e4e | 116 | float HeptaGyro::z() |
tomoya123 | 0:d721efd58e4e | 117 | { |
tomoya123 | 0:d721efd58e4e | 118 | gyro.start(); |
tomoya123 | 0:d721efd58e4e | 119 | gyro.write(addr); |
tomoya123 | 0:d721efd58e4e | 120 | gyro.write(0x2C); |
tomoya123 | 0:d721efd58e4e | 121 | gyro.start(); |
tomoya123 | 0:d721efd58e4e | 122 | gyro.write(addr|0x01); |
tomoya123 | 0:d721efd58e4e | 123 | _zl = gyro.read(0); |
tomoya123 | 0:d721efd58e4e | 124 | gyro.stop(); |
tomoya123 | 0:d721efd58e4e | 125 | gyro.start(); |
tomoya123 | 0:d721efd58e4e | 126 | gyro.write(addr); |
tomoya123 | 0:d721efd58e4e | 127 | gyro.write(0x2D); |
tomoya123 | 0:d721efd58e4e | 128 | gyro.start(); |
tomoya123 | 0:d721efd58e4e | 129 | gyro.write(addr|0x01); |
tomoya123 | 0:d721efd58e4e | 130 | _zh = gyro.read(0); |
tomoya123 | 0:d721efd58e4e | 131 | gyro.stop(); |
tomoya123 | 0:d721efd58e4e | 132 | return(short((_zh<<8)|_zl)*0.00875); |
tomoya123 | 0:d721efd58e4e | 133 | } |
tomoya123 | 0:d721efd58e4e | 134 | |
tomoya123 | 0:d721efd58e4e | 135 | void HeptaGyro::sensing_u16(char* gx_u16,char* gy_u16,char* gz_u16, int *dsize) |
tomoya123 | 0:d721efd58e4e | 136 | { |
tomoya123 | 0:d721efd58e4e | 137 | char g1[8]={0x00},g2[8]={0x00}; |
tomoya123 | 0:d721efd58e4e | 138 | gyro.start(); |
tomoya123 | 0:d721efd58e4e | 139 | gyro.write(addr); |
tomoya123 | 0:d721efd58e4e | 140 | gyro.write(0x28); |
tomoya123 | 0:d721efd58e4e | 141 | gyro.start(); |
tomoya123 | 0:d721efd58e4e | 142 | gyro.write(addr|0x01); |
tomoya123 | 0:d721efd58e4e | 143 | _xl = gyro.read(0); |
tomoya123 | 0:d721efd58e4e | 144 | gyro.stop(); |
tomoya123 | 0:d721efd58e4e | 145 | gyro.start(); |
tomoya123 | 0:d721efd58e4e | 146 | gyro.write(addr); |
tomoya123 | 0:d721efd58e4e | 147 | gyro.write(0x29); |
tomoya123 | 0:d721efd58e4e | 148 | gyro.start(); |
tomoya123 | 0:d721efd58e4e | 149 | gyro.write(addr|0x01); |
tomoya123 | 0:d721efd58e4e | 150 | _xh = gyro.read(0); |
tomoya123 | 0:d721efd58e4e | 151 | gyro.stop(); |
tomoya123 | 0:d721efd58e4e | 152 | sprintf( g1, "%02X", ((_xh)) & 0xFF); |
tomoya123 | 0:d721efd58e4e | 153 | sprintf( g2, "%02X", ((_xl)) & 0xFF); |
tomoya123 | 0:d721efd58e4e | 154 | gx_u16[0]=g1[0]; |
tomoya123 | 0:d721efd58e4e | 155 | gx_u16[1]=g1[1]; |
tomoya123 | 0:d721efd58e4e | 156 | gx_u16[2]=g2[0]; |
tomoya123 | 0:d721efd58e4e | 157 | gx_u16[3]=g2[1]; |
tomoya123 | 0:d721efd58e4e | 158 | |
tomoya123 | 0:d721efd58e4e | 159 | gyro.start(); |
tomoya123 | 0:d721efd58e4e | 160 | gyro.write(addr); |
tomoya123 | 0:d721efd58e4e | 161 | gyro.write(0x2A); |
tomoya123 | 0:d721efd58e4e | 162 | gyro.start(); |
tomoya123 | 0:d721efd58e4e | 163 | gyro.write(addr|0x01); |
tomoya123 | 0:d721efd58e4e | 164 | _yl = gyro.read(0); |
tomoya123 | 0:d721efd58e4e | 165 | gyro.stop(); |
tomoya123 | 0:d721efd58e4e | 166 | gyro.start(); |
tomoya123 | 0:d721efd58e4e | 167 | gyro.write(addr); |
tomoya123 | 0:d721efd58e4e | 168 | gyro.write(0x2B); |
tomoya123 | 0:d721efd58e4e | 169 | gyro.start(); |
tomoya123 | 0:d721efd58e4e | 170 | gyro.write(addr|0x01); |
tomoya123 | 0:d721efd58e4e | 171 | _yh = gyro.read(0); |
tomoya123 | 0:d721efd58e4e | 172 | gyro.stop(); |
tomoya123 | 0:d721efd58e4e | 173 | sprintf( g1, "%02X", ((_yh)) & 0xFF); |
tomoya123 | 0:d721efd58e4e | 174 | sprintf( g2, "%02X", ((_yl)) & 0xFF); |
tomoya123 | 0:d721efd58e4e | 175 | gy_u16[0]=g1[0]; |
tomoya123 | 0:d721efd58e4e | 176 | gy_u16[1]=g1[1]; |
tomoya123 | 0:d721efd58e4e | 177 | gy_u16[2]=g2[0]; |
tomoya123 | 0:d721efd58e4e | 178 | gy_u16[3]=g2[1]; |
tomoya123 | 0:d721efd58e4e | 179 | |
tomoya123 | 0:d721efd58e4e | 180 | gyro.start(); |
tomoya123 | 0:d721efd58e4e | 181 | gyro.write(addr); |
tomoya123 | 0:d721efd58e4e | 182 | gyro.write(0x2C); |
tomoya123 | 0:d721efd58e4e | 183 | gyro.start(); |
tomoya123 | 0:d721efd58e4e | 184 | gyro.write(addr|0x01); |
tomoya123 | 0:d721efd58e4e | 185 | _zl = gyro.read(0); |
tomoya123 | 0:d721efd58e4e | 186 | gyro.stop(); |
tomoya123 | 0:d721efd58e4e | 187 | gyro.start(); |
tomoya123 | 0:d721efd58e4e | 188 | gyro.write(addr); |
tomoya123 | 0:d721efd58e4e | 189 | gyro.write(0x2D); |
tomoya123 | 0:d721efd58e4e | 190 | gyro.start(); |
tomoya123 | 0:d721efd58e4e | 191 | gyro.write(addr|0x01); |
tomoya123 | 0:d721efd58e4e | 192 | _zh = gyro.read(0); |
tomoya123 | 0:d721efd58e4e | 193 | gyro.stop(); |
tomoya123 | 0:d721efd58e4e | 194 | sprintf( g1, "%02X", ((_zh)) & 0xFF); |
tomoya123 | 0:d721efd58e4e | 195 | sprintf( g2, "%02X", ((_zl)) & 0xFF); |
tomoya123 | 0:d721efd58e4e | 196 | gz_u16[0]=g1[0]; |
tomoya123 | 0:d721efd58e4e | 197 | gz_u16[1]=g1[1]; |
tomoya123 | 0:d721efd58e4e | 198 | gz_u16[2]=g2[0]; |
tomoya123 | 0:d721efd58e4e | 199 | gz_u16[3]=g2[1]; |
tomoya123 | 0:d721efd58e4e | 200 | *dsize = 4; |
tomoya123 | 0:d721efd58e4e | 201 | } |
tomoya123 | 0:d721efd58e4e | 202 | |
tomoya123 | 0:d721efd58e4e | 203 | void HeptaGyro::x_u16(char* g_u16, int *dsize) |
tomoya123 | 0:d721efd58e4e | 204 | { |
tomoya123 | 0:d721efd58e4e | 205 | char g1[8]={0x00},g2[8]={0x00}; |
tomoya123 | 0:d721efd58e4e | 206 | gyro.start(); |
tomoya123 | 0:d721efd58e4e | 207 | gyro.write(addr); |
tomoya123 | 0:d721efd58e4e | 208 | gyro.write(0x28); |
tomoya123 | 0:d721efd58e4e | 209 | gyro.start(); |
tomoya123 | 0:d721efd58e4e | 210 | gyro.write(addr|0x01); |
tomoya123 | 0:d721efd58e4e | 211 | _xl = gyro.read(0); |
tomoya123 | 0:d721efd58e4e | 212 | gyro.stop(); |
tomoya123 | 0:d721efd58e4e | 213 | gyro.start(); |
tomoya123 | 0:d721efd58e4e | 214 | gyro.write(addr); |
tomoya123 | 0:d721efd58e4e | 215 | gyro.write(0x29); |
tomoya123 | 0:d721efd58e4e | 216 | gyro.start(); |
tomoya123 | 0:d721efd58e4e | 217 | gyro.write(addr|0x01); |
tomoya123 | 0:d721efd58e4e | 218 | _xh = gyro.read(0); |
tomoya123 | 0:d721efd58e4e | 219 | gyro.stop(); |
tomoya123 | 0:d721efd58e4e | 220 | sprintf( g1, "%02X", ((_xh)) & 0xFF); |
tomoya123 | 0:d721efd58e4e | 221 | sprintf( g2, "%02X", ((_xl)) & 0xFF); |
tomoya123 | 0:d721efd58e4e | 222 | g_u16[0]=g1[0]; |
tomoya123 | 0:d721efd58e4e | 223 | g_u16[1]=g1[1]; |
tomoya123 | 0:d721efd58e4e | 224 | g_u16[2]=g2[0]; |
tomoya123 | 0:d721efd58e4e | 225 | g_u16[3]=g2[1]; |
tomoya123 | 0:d721efd58e4e | 226 | *dsize = 4; |
tomoya123 | 0:d721efd58e4e | 227 | } |
tomoya123 | 0:d721efd58e4e | 228 | |
tomoya123 | 0:d721efd58e4e | 229 | void HeptaGyro::y_u16(char* g_u16, int *dsize) |
tomoya123 | 0:d721efd58e4e | 230 | { |
tomoya123 | 0:d721efd58e4e | 231 | char g1[8]={0x00},g2[8]={0x00}; |
tomoya123 | 0:d721efd58e4e | 232 | gyro.start(); |
tomoya123 | 0:d721efd58e4e | 233 | gyro.write(addr); |
tomoya123 | 0:d721efd58e4e | 234 | gyro.write(0x2A); |
tomoya123 | 0:d721efd58e4e | 235 | gyro.start(); |
tomoya123 | 0:d721efd58e4e | 236 | gyro.write(addr|0x01); |
tomoya123 | 0:d721efd58e4e | 237 | _yl = gyro.read(0); |
tomoya123 | 0:d721efd58e4e | 238 | gyro.stop(); |
tomoya123 | 0:d721efd58e4e | 239 | gyro.start(); |
tomoya123 | 0:d721efd58e4e | 240 | gyro.write(addr); |
tomoya123 | 0:d721efd58e4e | 241 | gyro.write(0x2B); |
tomoya123 | 0:d721efd58e4e | 242 | gyro.start(); |
tomoya123 | 0:d721efd58e4e | 243 | gyro.write(addr|0x01); |
tomoya123 | 0:d721efd58e4e | 244 | _yh = gyro.read(0); |
tomoya123 | 0:d721efd58e4e | 245 | gyro.stop(); |
tomoya123 | 0:d721efd58e4e | 246 | sprintf( g1, "%02X", ((_yh)) & 0xFF); |
tomoya123 | 0:d721efd58e4e | 247 | sprintf( g2, "%02X", ((_yl)) & 0xFF); |
tomoya123 | 0:d721efd58e4e | 248 | g_u16[0]=g1[0]; |
tomoya123 | 0:d721efd58e4e | 249 | g_u16[1]=g1[1]; |
tomoya123 | 0:d721efd58e4e | 250 | g_u16[2]=g2[0]; |
tomoya123 | 0:d721efd58e4e | 251 | g_u16[3]=g2[1]; |
tomoya123 | 0:d721efd58e4e | 252 | *dsize = 4; |
tomoya123 | 0:d721efd58e4e | 253 | } |
tomoya123 | 0:d721efd58e4e | 254 | |
tomoya123 | 0:d721efd58e4e | 255 | void HeptaGyro::z_u16(char* g_u16, int *dsize) |
tomoya123 | 0:d721efd58e4e | 256 | { |
tomoya123 | 0:d721efd58e4e | 257 | char g1[8]={0x00},g2[8]={0x00}; |
tomoya123 | 0:d721efd58e4e | 258 | gyro.start(); |
tomoya123 | 0:d721efd58e4e | 259 | gyro.write(addr); |
tomoya123 | 0:d721efd58e4e | 260 | gyro.write(0x2C); |
tomoya123 | 0:d721efd58e4e | 261 | gyro.start(); |
tomoya123 | 0:d721efd58e4e | 262 | gyro.write(addr|0x01); |
tomoya123 | 0:d721efd58e4e | 263 | _zl = gyro.read(0); |
tomoya123 | 0:d721efd58e4e | 264 | gyro.stop(); |
tomoya123 | 0:d721efd58e4e | 265 | gyro.start(); |
tomoya123 | 0:d721efd58e4e | 266 | gyro.write(addr); |
tomoya123 | 0:d721efd58e4e | 267 | gyro.write(0x2D); |
tomoya123 | 0:d721efd58e4e | 268 | gyro.start(); |
tomoya123 | 0:d721efd58e4e | 269 | gyro.write(addr|0x01); |
tomoya123 | 0:d721efd58e4e | 270 | _zh = gyro.read(0); |
tomoya123 | 0:d721efd58e4e | 271 | gyro.stop(); |
tomoya123 | 0:d721efd58e4e | 272 | sprintf( g1, "%02X", ((_zh)) & 0xFF); |
tomoya123 | 0:d721efd58e4e | 273 | sprintf( g2, "%02X", ((_zl)) & 0xFF); |
tomoya123 | 0:d721efd58e4e | 274 | g_u16[0]=g1[0]; |
tomoya123 | 0:d721efd58e4e | 275 | g_u16[1]=g1[1]; |
tomoya123 | 0:d721efd58e4e | 276 | g_u16[2]=g2[0]; |
tomoya123 | 0:d721efd58e4e | 277 | g_u16[3]=g2[1]; |
tomoya123 | 0:d721efd58e4e | 278 | *dsize = 4; |
tomoya123 | 0:d721efd58e4e | 279 | } |