Ryusuke Iwata
Detecting z-axis acceralation
Revision 0:99043f8d668d, committed 2021-08-03
- Comitter:
- RyusukeIwata
- Date:
- Tue Aug 03 06:57:44 2021 +0000
- Commit message:
- first commit;
Changed in this revision
| main.cpp | Show annotated file Show diff for this revision Revisions of this file |
| mbed.bld | Show annotated file Show diff for this revision Revisions of this file |
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp Tue Aug 03 06:57:44 2021 +0000
@@ -0,0 +1,63 @@
+//icm20601 最新版
+#include "mbed.h"
+Serial pc(USBTX, USBRX);
+I2C i2c(PB_7,PB_6);
+DigitalOut conv(PA_4);
+
+const int addr_accel_gyro = 0xD0;
+char cmd[2];
+char data[1];
+char xh[1];
+char xl[1];
+
+int main()
+{
+ conv = 1;
+ i2c.frequency(100000);
+ char cmdd;
+ wait(2);
+ data[0] = 0x75;
+ i2c.write(addr_accel_gyro,data,1);
+ i2c.read(addr_accel_gyro|0x01,xh,1);
+ pc.printf("xh = 0x%02X\r\n",xh[0]);
+ while(1){
+ cmdd = pc.getc();
+ if(cmdd == 'a'){
+ data[0] = 0x75;
+ i2c.write(addr_accel_gyro,data,1);
+ i2c.read(addr_accel_gyro|0x01,xh,1);
+ pc.printf("xh = 0x%02X\r\n",xh[0]);
+
+ cmd[0]=0x6B;
+ cmd[1]=0x00;
+ i2c.write(addr_accel_gyro,cmd,2);
+
+ cmd[0]=0x6C;
+ cmd[1]=0x00;
+ i2c.write(addr_accel_gyro,cmd,2);
+
+
+ cmd[0] = 0x37;
+ cmd[1] = 0x02;
+ i2c.write(addr_accel_gyro,cmd,2);
+
+
+ while(1) {
+ data[0] = 0x3F;
+ i2c.write(addr_accel_gyro,data,1);
+ i2c.read(addr_accel_gyro|0x01,xh,1);
+ data[0] = 0x40;
+ i2c.write(addr_accel_gyro,data,1);
+ i2c.read(addr_accel_gyro|0x01,xl,1);
+ //pc.printf("xh = 0x%02X,xl = 0x%02X\r\n",xh[0],xl[0]);
+ double acc_ax = short((xh[0]<<8) | (xl[0]));
+ double AX = (acc_ax)*4/32764*9.81;
+ pc.printf("AZ = %f\r\n",AX);
+ wait(0.5);
+ }
+ }
+ }
+
+
+
+}
\ No newline at end of file
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/mbed.bld Tue Aug 03 06:57:44 2021 +0000 @@ -0,0 +1,1 @@ +https://os.mbed.com/users/mbed_official/code/mbed/builds/65be27845400 \ No newline at end of file