Hepta UplinkData
Dependencies: mbed PowerControl SDFileSystem
Fork of Hepta_UplinkData by
hepta_sat/HeptaGyro.cpp@4:4f34143d3f6e, 2016-12-23 (annotated)
- Committer:
- MEXT1
- Date:
- Fri Dec 23 04:44:57 2016 +0000
- Revision:
- 4:4f34143d3f6e
- Parent:
- 0:b96079b7d167
UplinkData
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
tomoya123 | 0:b96079b7d167 | 1 | #include "HeptaGyro.h" |
tomoya123 | 0:b96079b7d167 | 2 | #include "mbed.h" |
tomoya123 | 0:b96079b7d167 | 3 | |
tomoya123 | 0:b96079b7d167 | 4 | HeptaGyro::HeptaGyro(PinName sda, PinName scl, int aaddr ) : gyro(sda,scl),addr(aaddr) |
tomoya123 | 0:b96079b7d167 | 5 | { |
tomoya123 | 0:b96079b7d167 | 6 | _cmd[0] = 0x20; |
tomoya123 | 0:b96079b7d167 | 7 | _cmd[1] = 0x0F; |
tomoya123 | 0:b96079b7d167 | 8 | gyro.frequency(100000); |
tomoya123 | 0:b96079b7d167 | 9 | gyro.write(addr, _cmd, 2); |
tomoya123 | 0:b96079b7d167 | 10 | gyro.start(); |
tomoya123 | 0:b96079b7d167 | 11 | gyro.write(addr); |
tomoya123 | 0:b96079b7d167 | 12 | gyro.stop(); |
tomoya123 | 0:b96079b7d167 | 13 | } |
tomoya123 | 0:b96079b7d167 | 14 | |
tomoya123 | 0:b96079b7d167 | 15 | void HeptaGyro::setup() |
tomoya123 | 0:b96079b7d167 | 16 | { |
tomoya123 | 0:b96079b7d167 | 17 | _cmd[0] = 0x20; |
tomoya123 | 0:b96079b7d167 | 18 | _cmd[1] = 0x0F; |
tomoya123 | 0:b96079b7d167 | 19 | gyro.frequency(100000); |
tomoya123 | 0:b96079b7d167 | 20 | gyro.write(addr, _cmd, 2); |
tomoya123 | 0:b96079b7d167 | 21 | gyro.start(); |
tomoya123 | 0:b96079b7d167 | 22 | gyro.write(addr); |
tomoya123 | 0:b96079b7d167 | 23 | gyro.stop(); |
tomoya123 | 0:b96079b7d167 | 24 | } |
tomoya123 | 0:b96079b7d167 | 25 | |
tomoya123 | 0:b96079b7d167 | 26 | void HeptaGyro::sensing(float *gx,float *gy,float *gz) |
tomoya123 | 0:b96079b7d167 | 27 | { |
tomoya123 | 0:b96079b7d167 | 28 | gyro.start(); |
tomoya123 | 0:b96079b7d167 | 29 | gyro.write(addr); |
tomoya123 | 0:b96079b7d167 | 30 | gyro.write(0x28); |
tomoya123 | 0:b96079b7d167 | 31 | gyro.start(); |
tomoya123 | 0:b96079b7d167 | 32 | gyro.write(addr|0x01); |
tomoya123 | 0:b96079b7d167 | 33 | _xl = gyro.read(0); |
tomoya123 | 0:b96079b7d167 | 34 | gyro.stop(); |
tomoya123 | 0:b96079b7d167 | 35 | gyro.start(); |
tomoya123 | 0:b96079b7d167 | 36 | gyro.write(addr); |
tomoya123 | 0:b96079b7d167 | 37 | gyro.write(0x29); |
tomoya123 | 0:b96079b7d167 | 38 | gyro.start(); |
tomoya123 | 0:b96079b7d167 | 39 | gyro.write(addr|0x01); |
tomoya123 | 0:b96079b7d167 | 40 | _xh = gyro.read(0); |
tomoya123 | 0:b96079b7d167 | 41 | gyro.stop(); |
tomoya123 | 0:b96079b7d167 | 42 | *gx = (short((_xh<<8)|_xl)*0.00875); |
tomoya123 | 0:b96079b7d167 | 43 | |
tomoya123 | 0:b96079b7d167 | 44 | gyro.start(); |
tomoya123 | 0:b96079b7d167 | 45 | gyro.write(addr); |
tomoya123 | 0:b96079b7d167 | 46 | gyro.write(0x2A); |
tomoya123 | 0:b96079b7d167 | 47 | gyro.start(); |
tomoya123 | 0:b96079b7d167 | 48 | gyro.write(addr|0x01); |
tomoya123 | 0:b96079b7d167 | 49 | _yl = gyro.read(0); |
tomoya123 | 0:b96079b7d167 | 50 | gyro.stop(); |
tomoya123 | 0:b96079b7d167 | 51 | gyro.start(); |
tomoya123 | 0:b96079b7d167 | 52 | gyro.write(addr); |
tomoya123 | 0:b96079b7d167 | 53 | gyro.write(0x2B); |
tomoya123 | 0:b96079b7d167 | 54 | gyro.start(); |
tomoya123 | 0:b96079b7d167 | 55 | gyro.write(addr|0x01); |
tomoya123 | 0:b96079b7d167 | 56 | _yh = gyro.read(0); |
tomoya123 | 0:b96079b7d167 | 57 | gyro.stop(); |
tomoya123 | 0:b96079b7d167 | 58 | *gy = (short((_yh<<8)|_yl)*0.00875); |
tomoya123 | 0:b96079b7d167 | 59 | |
tomoya123 | 0:b96079b7d167 | 60 | gyro.start(); |
tomoya123 | 0:b96079b7d167 | 61 | gyro.write(addr); |
tomoya123 | 0:b96079b7d167 | 62 | gyro.write(0x2C); |
tomoya123 | 0:b96079b7d167 | 63 | gyro.start(); |
tomoya123 | 0:b96079b7d167 | 64 | gyro.write(addr|0x01); |
tomoya123 | 0:b96079b7d167 | 65 | _zl = gyro.read(0); |
tomoya123 | 0:b96079b7d167 | 66 | gyro.stop(); |
tomoya123 | 0:b96079b7d167 | 67 | gyro.start(); |
tomoya123 | 0:b96079b7d167 | 68 | gyro.write(addr); |
tomoya123 | 0:b96079b7d167 | 69 | gyro.write(0x2D); |
tomoya123 | 0:b96079b7d167 | 70 | gyro.start(); |
tomoya123 | 0:b96079b7d167 | 71 | gyro.write(addr|0x01); |
tomoya123 | 0:b96079b7d167 | 72 | _zh = gyro.read(0); |
tomoya123 | 0:b96079b7d167 | 73 | gyro.stop(); |
tomoya123 | 0:b96079b7d167 | 74 | *gz = (short((_zh<<8)|_zl)*0.00875); |
tomoya123 | 0:b96079b7d167 | 75 | } |
tomoya123 | 0:b96079b7d167 | 76 | |
tomoya123 | 0:b96079b7d167 | 77 | float HeptaGyro::x() |
tomoya123 | 0:b96079b7d167 | 78 | { |
tomoya123 | 0:b96079b7d167 | 79 | |
tomoya123 | 0:b96079b7d167 | 80 | gyro.start(); |
tomoya123 | 0:b96079b7d167 | 81 | gyro.write(addr); |
tomoya123 | 0:b96079b7d167 | 82 | gyro.write(0x28); |
tomoya123 | 0:b96079b7d167 | 83 | gyro.start(); |
tomoya123 | 0:b96079b7d167 | 84 | gyro.write(addr|0x01); |
tomoya123 | 0:b96079b7d167 | 85 | _xl = gyro.read(0); |
tomoya123 | 0:b96079b7d167 | 86 | gyro.stop(); |
tomoya123 | 0:b96079b7d167 | 87 | gyro.start(); |
tomoya123 | 0:b96079b7d167 | 88 | gyro.write(addr); |
tomoya123 | 0:b96079b7d167 | 89 | gyro.write(0x29); |
tomoya123 | 0:b96079b7d167 | 90 | gyro.start(); |
tomoya123 | 0:b96079b7d167 | 91 | gyro.write(addr|0x01); |
tomoya123 | 0:b96079b7d167 | 92 | _xh = gyro.read(0); |
tomoya123 | 0:b96079b7d167 | 93 | gyro.stop(); |
tomoya123 | 0:b96079b7d167 | 94 | return(short((_xh<<8)|_xl)*0.00875); |
tomoya123 | 0:b96079b7d167 | 95 | } |
tomoya123 | 0:b96079b7d167 | 96 | |
tomoya123 | 0:b96079b7d167 | 97 | float HeptaGyro::y() |
tomoya123 | 0:b96079b7d167 | 98 | { |
tomoya123 | 0:b96079b7d167 | 99 | gyro.start(); |
tomoya123 | 0:b96079b7d167 | 100 | gyro.write(addr); |
tomoya123 | 0:b96079b7d167 | 101 | gyro.write(0x2A); |
tomoya123 | 0:b96079b7d167 | 102 | gyro.start(); |
tomoya123 | 0:b96079b7d167 | 103 | gyro.write(addr|0x01); |
tomoya123 | 0:b96079b7d167 | 104 | _yl = gyro.read(0); |
tomoya123 | 0:b96079b7d167 | 105 | gyro.stop(); |
tomoya123 | 0:b96079b7d167 | 106 | gyro.start(); |
tomoya123 | 0:b96079b7d167 | 107 | gyro.write(addr); |
tomoya123 | 0:b96079b7d167 | 108 | gyro.write(0x2B); |
tomoya123 | 0:b96079b7d167 | 109 | gyro.start(); |
tomoya123 | 0:b96079b7d167 | 110 | gyro.write(addr|0x01); |
tomoya123 | 0:b96079b7d167 | 111 | _yh = gyro.read(0); |
tomoya123 | 0:b96079b7d167 | 112 | gyro.stop(); |
tomoya123 | 0:b96079b7d167 | 113 | return(short((_yh<<8)|_yl)*0.00875); |
tomoya123 | 0:b96079b7d167 | 114 | } |
tomoya123 | 0:b96079b7d167 | 115 | |
tomoya123 | 0:b96079b7d167 | 116 | float HeptaGyro::z() |
tomoya123 | 0:b96079b7d167 | 117 | { |
tomoya123 | 0:b96079b7d167 | 118 | gyro.start(); |
tomoya123 | 0:b96079b7d167 | 119 | gyro.write(addr); |
tomoya123 | 0:b96079b7d167 | 120 | gyro.write(0x2C); |
tomoya123 | 0:b96079b7d167 | 121 | gyro.start(); |
tomoya123 | 0:b96079b7d167 | 122 | gyro.write(addr|0x01); |
tomoya123 | 0:b96079b7d167 | 123 | _zl = gyro.read(0); |
tomoya123 | 0:b96079b7d167 | 124 | gyro.stop(); |
tomoya123 | 0:b96079b7d167 | 125 | gyro.start(); |
tomoya123 | 0:b96079b7d167 | 126 | gyro.write(addr); |
tomoya123 | 0:b96079b7d167 | 127 | gyro.write(0x2D); |
tomoya123 | 0:b96079b7d167 | 128 | gyro.start(); |
tomoya123 | 0:b96079b7d167 | 129 | gyro.write(addr|0x01); |
tomoya123 | 0:b96079b7d167 | 130 | _zh = gyro.read(0); |
tomoya123 | 0:b96079b7d167 | 131 | gyro.stop(); |
tomoya123 | 0:b96079b7d167 | 132 | return(short((_zh<<8)|_zl)*0.00875); |
tomoya123 | 0:b96079b7d167 | 133 | } |
tomoya123 | 0:b96079b7d167 | 134 | |
tomoya123 | 0:b96079b7d167 | 135 | void HeptaGyro::sensing_u16(char* gx_u16,char* gy_u16,char* gz_u16, int *dsize) |
tomoya123 | 0:b96079b7d167 | 136 | { |
tomoya123 | 0:b96079b7d167 | 137 | char g1[8]={0x00},g2[8]={0x00}; |
tomoya123 | 0:b96079b7d167 | 138 | gyro.start(); |
tomoya123 | 0:b96079b7d167 | 139 | gyro.write(addr); |
tomoya123 | 0:b96079b7d167 | 140 | gyro.write(0x28); |
tomoya123 | 0:b96079b7d167 | 141 | gyro.start(); |
tomoya123 | 0:b96079b7d167 | 142 | gyro.write(addr|0x01); |
tomoya123 | 0:b96079b7d167 | 143 | _xl = gyro.read(0); |
tomoya123 | 0:b96079b7d167 | 144 | gyro.stop(); |
tomoya123 | 0:b96079b7d167 | 145 | gyro.start(); |
tomoya123 | 0:b96079b7d167 | 146 | gyro.write(addr); |
tomoya123 | 0:b96079b7d167 | 147 | gyro.write(0x29); |
tomoya123 | 0:b96079b7d167 | 148 | gyro.start(); |
tomoya123 | 0:b96079b7d167 | 149 | gyro.write(addr|0x01); |
tomoya123 | 0:b96079b7d167 | 150 | _xh = gyro.read(0); |
tomoya123 | 0:b96079b7d167 | 151 | gyro.stop(); |
tomoya123 | 0:b96079b7d167 | 152 | sprintf( g1, "%02X", ((_xh)) & 0xFF); |
tomoya123 | 0:b96079b7d167 | 153 | sprintf( g2, "%02X", ((_xl)) & 0xFF); |
tomoya123 | 0:b96079b7d167 | 154 | gx_u16[0]=g1[0]; |
tomoya123 | 0:b96079b7d167 | 155 | gx_u16[1]=g1[1]; |
tomoya123 | 0:b96079b7d167 | 156 | gx_u16[2]=g2[0]; |
tomoya123 | 0:b96079b7d167 | 157 | gx_u16[3]=g2[1]; |
tomoya123 | 0:b96079b7d167 | 158 | |
tomoya123 | 0:b96079b7d167 | 159 | gyro.start(); |
tomoya123 | 0:b96079b7d167 | 160 | gyro.write(addr); |
tomoya123 | 0:b96079b7d167 | 161 | gyro.write(0x2A); |
tomoya123 | 0:b96079b7d167 | 162 | gyro.start(); |
tomoya123 | 0:b96079b7d167 | 163 | gyro.write(addr|0x01); |
tomoya123 | 0:b96079b7d167 | 164 | _yl = gyro.read(0); |
tomoya123 | 0:b96079b7d167 | 165 | gyro.stop(); |
tomoya123 | 0:b96079b7d167 | 166 | gyro.start(); |
tomoya123 | 0:b96079b7d167 | 167 | gyro.write(addr); |
tomoya123 | 0:b96079b7d167 | 168 | gyro.write(0x2B); |
tomoya123 | 0:b96079b7d167 | 169 | gyro.start(); |
tomoya123 | 0:b96079b7d167 | 170 | gyro.write(addr|0x01); |
tomoya123 | 0:b96079b7d167 | 171 | _yh = gyro.read(0); |
tomoya123 | 0:b96079b7d167 | 172 | gyro.stop(); |
tomoya123 | 0:b96079b7d167 | 173 | sprintf( g1, "%02X", ((_yh)) & 0xFF); |
tomoya123 | 0:b96079b7d167 | 174 | sprintf( g2, "%02X", ((_yl)) & 0xFF); |
tomoya123 | 0:b96079b7d167 | 175 | gy_u16[0]=g1[0]; |
tomoya123 | 0:b96079b7d167 | 176 | gy_u16[1]=g1[1]; |
tomoya123 | 0:b96079b7d167 | 177 | gy_u16[2]=g2[0]; |
tomoya123 | 0:b96079b7d167 | 178 | gy_u16[3]=g2[1]; |
tomoya123 | 0:b96079b7d167 | 179 | |
tomoya123 | 0:b96079b7d167 | 180 | gyro.start(); |
tomoya123 | 0:b96079b7d167 | 181 | gyro.write(addr); |
tomoya123 | 0:b96079b7d167 | 182 | gyro.write(0x2C); |
tomoya123 | 0:b96079b7d167 | 183 | gyro.start(); |
tomoya123 | 0:b96079b7d167 | 184 | gyro.write(addr|0x01); |
tomoya123 | 0:b96079b7d167 | 185 | _zl = gyro.read(0); |
tomoya123 | 0:b96079b7d167 | 186 | gyro.stop(); |
tomoya123 | 0:b96079b7d167 | 187 | gyro.start(); |
tomoya123 | 0:b96079b7d167 | 188 | gyro.write(addr); |
tomoya123 | 0:b96079b7d167 | 189 | gyro.write(0x2D); |
tomoya123 | 0:b96079b7d167 | 190 | gyro.start(); |
tomoya123 | 0:b96079b7d167 | 191 | gyro.write(addr|0x01); |
tomoya123 | 0:b96079b7d167 | 192 | _zh = gyro.read(0); |
tomoya123 | 0:b96079b7d167 | 193 | gyro.stop(); |
tomoya123 | 0:b96079b7d167 | 194 | sprintf( g1, "%02X", ((_zh)) & 0xFF); |
tomoya123 | 0:b96079b7d167 | 195 | sprintf( g2, "%02X", ((_zl)) & 0xFF); |
tomoya123 | 0:b96079b7d167 | 196 | gz_u16[0]=g1[0]; |
tomoya123 | 0:b96079b7d167 | 197 | gz_u16[1]=g1[1]; |
tomoya123 | 0:b96079b7d167 | 198 | gz_u16[2]=g2[0]; |
tomoya123 | 0:b96079b7d167 | 199 | gz_u16[3]=g2[1]; |
tomoya123 | 0:b96079b7d167 | 200 | *dsize = 4; |
tomoya123 | 0:b96079b7d167 | 201 | } |
tomoya123 | 0:b96079b7d167 | 202 | |
tomoya123 | 0:b96079b7d167 | 203 | void HeptaGyro::x_u16(char* g_u16, int *dsize) |
tomoya123 | 0:b96079b7d167 | 204 | { |
tomoya123 | 0:b96079b7d167 | 205 | char g1[8]={0x00},g2[8]={0x00}; |
tomoya123 | 0:b96079b7d167 | 206 | gyro.start(); |
tomoya123 | 0:b96079b7d167 | 207 | gyro.write(addr); |
tomoya123 | 0:b96079b7d167 | 208 | gyro.write(0x28); |
tomoya123 | 0:b96079b7d167 | 209 | gyro.start(); |
tomoya123 | 0:b96079b7d167 | 210 | gyro.write(addr|0x01); |
tomoya123 | 0:b96079b7d167 | 211 | _xl = gyro.read(0); |
tomoya123 | 0:b96079b7d167 | 212 | gyro.stop(); |
tomoya123 | 0:b96079b7d167 | 213 | gyro.start(); |
tomoya123 | 0:b96079b7d167 | 214 | gyro.write(addr); |
tomoya123 | 0:b96079b7d167 | 215 | gyro.write(0x29); |
tomoya123 | 0:b96079b7d167 | 216 | gyro.start(); |
tomoya123 | 0:b96079b7d167 | 217 | gyro.write(addr|0x01); |
tomoya123 | 0:b96079b7d167 | 218 | _xh = gyro.read(0); |
tomoya123 | 0:b96079b7d167 | 219 | gyro.stop(); |
tomoya123 | 0:b96079b7d167 | 220 | sprintf( g1, "%02X", ((_xh)) & 0xFF); |
tomoya123 | 0:b96079b7d167 | 221 | sprintf( g2, "%02X", ((_xl)) & 0xFF); |
tomoya123 | 0:b96079b7d167 | 222 | g_u16[0]=g1[0]; |
tomoya123 | 0:b96079b7d167 | 223 | g_u16[1]=g1[1]; |
tomoya123 | 0:b96079b7d167 | 224 | g_u16[2]=g2[0]; |
tomoya123 | 0:b96079b7d167 | 225 | g_u16[3]=g2[1]; |
tomoya123 | 0:b96079b7d167 | 226 | *dsize = 4; |
tomoya123 | 0:b96079b7d167 | 227 | } |
tomoya123 | 0:b96079b7d167 | 228 | |
tomoya123 | 0:b96079b7d167 | 229 | void HeptaGyro::y_u16(char* g_u16, int *dsize) |
tomoya123 | 0:b96079b7d167 | 230 | { |
tomoya123 | 0:b96079b7d167 | 231 | char g1[8]={0x00},g2[8]={0x00}; |
tomoya123 | 0:b96079b7d167 | 232 | gyro.start(); |
tomoya123 | 0:b96079b7d167 | 233 | gyro.write(addr); |
tomoya123 | 0:b96079b7d167 | 234 | gyro.write(0x2A); |
tomoya123 | 0:b96079b7d167 | 235 | gyro.start(); |
tomoya123 | 0:b96079b7d167 | 236 | gyro.write(addr|0x01); |
tomoya123 | 0:b96079b7d167 | 237 | _yl = gyro.read(0); |
tomoya123 | 0:b96079b7d167 | 238 | gyro.stop(); |
tomoya123 | 0:b96079b7d167 | 239 | gyro.start(); |
tomoya123 | 0:b96079b7d167 | 240 | gyro.write(addr); |
tomoya123 | 0:b96079b7d167 | 241 | gyro.write(0x2B); |
tomoya123 | 0:b96079b7d167 | 242 | gyro.start(); |
tomoya123 | 0:b96079b7d167 | 243 | gyro.write(addr|0x01); |
tomoya123 | 0:b96079b7d167 | 244 | _yh = gyro.read(0); |
tomoya123 | 0:b96079b7d167 | 245 | gyro.stop(); |
tomoya123 | 0:b96079b7d167 | 246 | sprintf( g1, "%02X", ((_yh)) & 0xFF); |
tomoya123 | 0:b96079b7d167 | 247 | sprintf( g2, "%02X", ((_yl)) & 0xFF); |
tomoya123 | 0:b96079b7d167 | 248 | g_u16[0]=g1[0]; |
tomoya123 | 0:b96079b7d167 | 249 | g_u16[1]=g1[1]; |
tomoya123 | 0:b96079b7d167 | 250 | g_u16[2]=g2[0]; |
tomoya123 | 0:b96079b7d167 | 251 | g_u16[3]=g2[1]; |
tomoya123 | 0:b96079b7d167 | 252 | *dsize = 4; |
tomoya123 | 0:b96079b7d167 | 253 | } |
tomoya123 | 0:b96079b7d167 | 254 | |
tomoya123 | 0:b96079b7d167 | 255 | void HeptaGyro::z_u16(char* g_u16, int *dsize) |
tomoya123 | 0:b96079b7d167 | 256 | { |
tomoya123 | 0:b96079b7d167 | 257 | char g1[8]={0x00},g2[8]={0x00}; |
tomoya123 | 0:b96079b7d167 | 258 | gyro.start(); |
tomoya123 | 0:b96079b7d167 | 259 | gyro.write(addr); |
tomoya123 | 0:b96079b7d167 | 260 | gyro.write(0x2C); |
tomoya123 | 0:b96079b7d167 | 261 | gyro.start(); |
tomoya123 | 0:b96079b7d167 | 262 | gyro.write(addr|0x01); |
tomoya123 | 0:b96079b7d167 | 263 | _zl = gyro.read(0); |
tomoya123 | 0:b96079b7d167 | 264 | gyro.stop(); |
tomoya123 | 0:b96079b7d167 | 265 | gyro.start(); |
tomoya123 | 0:b96079b7d167 | 266 | gyro.write(addr); |
tomoya123 | 0:b96079b7d167 | 267 | gyro.write(0x2D); |
tomoya123 | 0:b96079b7d167 | 268 | gyro.start(); |
tomoya123 | 0:b96079b7d167 | 269 | gyro.write(addr|0x01); |
tomoya123 | 0:b96079b7d167 | 270 | _zh = gyro.read(0); |
tomoya123 | 0:b96079b7d167 | 271 | gyro.stop(); |
tomoya123 | 0:b96079b7d167 | 272 | sprintf( g1, "%02X", ((_zh)) & 0xFF); |
tomoya123 | 0:b96079b7d167 | 273 | sprintf( g2, "%02X", ((_zl)) & 0xFF); |
tomoya123 | 0:b96079b7d167 | 274 | g_u16[0]=g1[0]; |
tomoya123 | 0:b96079b7d167 | 275 | g_u16[1]=g1[1]; |
tomoya123 | 0:b96079b7d167 | 276 | g_u16[2]=g2[0]; |
tomoya123 | 0:b96079b7d167 | 277 | g_u16[3]=g2[1]; |
tomoya123 | 0:b96079b7d167 | 278 | *dsize = 4; |
tomoya123 | 0:b96079b7d167 | 279 | } |