Hiroki Tanaka / Mbed 2 deprecated L432KC_temp

nucleo-l432kcのテンプレートです。

Dependencies:   mbed ros_lib_kinetic

library/gy521.cpp@4:47f17b5ac6e7, 2019-08-15 (annotated)

Committer:
TanakaRobo
Date:
Thu Aug 15 08:58:21 2019 +0000
Revision:
4:47f17b5ac6e7
Parent:
2:a84e3730c6cb 
scrp_master added

Who changed what in which revision?

UserRevisionLine numberNew contents of line
TanakaRobo 2:a84e3730c6cb 1 #include "gy521.hpp"
TanakaRobo 0:a8a56075e947 2
TanakaRobo 1:17051435cfc5 3 const double GY521_LSB_MAP[4] = {131, 65.5, 32.8, 16.4};
TanakaRobo 1:17051435cfc5 4 const unsigned int dev_id = 0x68 << 1;
TanakaRobo 1:17051435cfc5 5
TanakaRobo 1:17051435cfc5 6 GY521::GY521(I2C &i2c,int bit,int calibration,double user_reg):i2c_(i2c),bit_(bit),calibration_(calibration){
TanakaRobo 0:a8a56075e947 7 char check;
TanakaRobo 0:a8a56075e947 8 char data[2] = {WHO_AM_I,0x00};
TanakaRobo 1:17051435cfc5 9 i2c_.write(dev_id,data,1,true);
TanakaRobo 1:17051435cfc5 10 i2c_.read(dev_id,&check,1);
TanakaRobo 0:a8a56075e947 11 if(check == dev_id >> 1){
TanakaRobo 0:a8a56075e947 12 data[0] = PWR_MGMT_1;
TanakaRobo 1:17051435cfc5 13 i2c_.write(dev_id,data,1,true);
TanakaRobo 1:17051435cfc5 14 i2c_.read(dev_id,&check,1);
TanakaRobo 0:a8a56075e947 15 if(check == 0x40){
TanakaRobo 1:17051435cfc5 16 i2c_.write(dev_id,data,2);
TanakaRobo 0:a8a56075e947 17 }
TanakaRobo 0:a8a56075e947 18 }
TanakaRobo 0:a8a56075e947 19 data[0] = LPF;
TanakaRobo 0:a8a56075e947 20 data[1] = 0x00;
TanakaRobo 1:17051435cfc5 21 i2c_.write(dev_id,data,2);
TanakaRobo 0:a8a56075e947 22 data[0] = AFS_SEL;
TanakaRobo 0:a8a56075e947 23 data[1] = 0x00;
TanakaRobo 1:17051435cfc5 24 i2c_.write(dev_id,data,2);
TanakaRobo 0:a8a56075e947 25 short accel_x_now = 0,accel_y_now = 0,accel_z_now = 0;
TanakaRobo 0:a8a56075e947 26 double accel_x_aver = 0, accel_y_aver = 0, accel_z_aver = 0;
TanakaRobo 1:17051435cfc5 27 for (int i = 0; i < calibration_; ++i) {
TanakaRobo 0:a8a56075e947 28 accel_x_now = gyroRead2(ACCEL_XOUT_H);
TanakaRobo 0:a8a56075e947 29 accel_y_now = gyroRead2(ACCEL_YOUT_H);
TanakaRobo 0:a8a56075e947 30 accel_z_now = gyroRead2(ACCEL_ZOUT_H);
TanakaRobo 0:a8a56075e947 31 accel_x_aver += accel_x_now;
TanakaRobo 0:a8a56075e947 32 accel_y_aver += accel_y_now;
TanakaRobo 0:a8a56075e947 33 accel_z_aver += accel_z_now;
TanakaRobo 0:a8a56075e947 34 }
TanakaRobo 1:17051435cfc5 35 accel_x_aver /= calibration_;
TanakaRobo 1:17051435cfc5 36 accel_y_aver /= calibration_;
TanakaRobo 1:17051435cfc5 37 accel_z_aver /= calibration_;
TanakaRobo 0:a8a56075e947 38 double gyro_reg = hypot(hypot(accel_x_aver, accel_y_aver), accel_z_aver) / accel_z_aver;
TanakaRobo 0:a8a56075e947 39 data[0] = FS_SEL;
TanakaRobo 0:a8a56075e947 40 data[1] = bit << 3;
TanakaRobo 1:17051435cfc5 41 i2c_.write(dev_id,data,2);
TanakaRobo 1:17051435cfc5 42 gyro_LSB_ = GY521_LSB_MAP[bit_] / gyro_reg / user_reg;
TanakaRobo 0:a8a56075e947 43
TanakaRobo 1:17051435cfc5 44 short gyro_z_now_;
TanakaRobo 1:17051435cfc5 45 gyro_z_aver_ = 0;
TanakaRobo 1:17051435cfc5 46 for (int i = 0; i < calibration_; ++i) {
TanakaRobo 1:17051435cfc5 47 gyro_z_now_ = gyroRead2(GYRO_ZOUT_H);
TanakaRobo 1:17051435cfc5 48 gyro_z_aver_ += gyro_z_now_;
TanakaRobo 0:a8a56075e947 49 }
TanakaRobo 1:17051435cfc5 50 gyro_z_aver_ /= calibration_;
TanakaRobo 0:a8a56075e947 51
TanakaRobo 1:17051435cfc5 52 yaw = diff_yaw_ = 0;
TanakaRobo 1:17051435cfc5 53 timer_.start();
TanakaRobo 1:17051435cfc5 54 flag_ = false;
TanakaRobo 0:a8a56075e947 55 }
TanakaRobo 0:a8a56075e947 56
TanakaRobo 0:a8a56075e947 57 void GY521::updata(){
TanakaRobo 1:17051435cfc5 58 if(flag_){
TanakaRobo 1:17051435cfc5 59 return;
TanakaRobo 1:17051435cfc5 60 }
TanakaRobo 0:a8a56075e947 61 short gyro_z_now_ = gyroRead2(GYRO_ZOUT_H);
TanakaRobo 1:17051435cfc5 62 gyro_z_now_ = ((double)gyro_z_now_ - gyro_z_aver_) / gyro_LSB_;
TanakaRobo 1:17051435cfc5 63 diff_yaw_ = (gyro_z_now_ + gyro_z_prev_) / 2 * timer_.read();
TanakaRobo 1:17051435cfc5 64 timer_.reset();
TanakaRobo 1:17051435cfc5 65 yaw += diff_yaw_;
TanakaRobo 1:17051435cfc5 66 gyro_z_prev_ = gyro_z_now_;
TanakaRobo 0:a8a56075e947 67 //temp = (double)gyroRead2(TEMPERATURE)/340+36.53;
TanakaRobo 0:a8a56075e947 68 if (yaw > 180) {
TanakaRobo 0:a8a56075e947 69 yaw -= 360;
TanakaRobo 0:a8a56075e947 70 } else if (yaw <= -180) {
TanakaRobo 0:a8a56075e947 71 yaw += 360;
TanakaRobo 0:a8a56075e947 72 }
TanakaRobo 0:a8a56075e947 73 }
TanakaRobo 0:a8a56075e947 74
TanakaRobo 0:a8a56075e947 75 void GY521::reset(int user){
TanakaRobo 0:a8a56075e947 76 yaw = user;
TanakaRobo 1:17051435cfc5 77 short gyro_z_now_;
TanakaRobo 1:17051435cfc5 78 flag_ = true;
TanakaRobo 1:17051435cfc5 79 gyro_z_aver_ = 0;
TanakaRobo 1:17051435cfc5 80 for (int i = 0; i < calibration_; i++) {
TanakaRobo 1:17051435cfc5 81 gyro_z_now_ = gyroRead2(GYRO_ZOUT_H);
TanakaRobo 1:17051435cfc5 82 gyro_z_aver_ += gyro_z_now_;
TanakaRobo 0:a8a56075e947 83 }
TanakaRobo 1:17051435cfc5 84 gyro_z_aver_ /= calibration_;
TanakaRobo 1:17051435cfc5 85 flag_ = false;
TanakaRobo 0:a8a56075e947 86 }
TanakaRobo 0:a8a56075e947 87
TanakaRobo 0:a8a56075e947 88 double GY521::checkStatus(int mode) {
TanakaRobo 0:a8a56075e947 89 if (mode == 0) {
TanakaRobo 1:17051435cfc5 90 return gyro_LSB_;
TanakaRobo 0:a8a56075e947 91 } else if (mode == 1) {
TanakaRobo 1:17051435cfc5 92 return gyro_z_aver_;
TanakaRobo 0:a8a56075e947 93 } else if (mode == 2) {
TanakaRobo 1:17051435cfc5 94 return acos(gyro_LSB_ / GY521_LSB_MAP[bit_]);
TanakaRobo 0:a8a56075e947 95 }
TanakaRobo 0:a8a56075e947 96 return 0;
TanakaRobo 0:a8a56075e947 97 }
TanakaRobo 0:a8a56075e947 98
TanakaRobo 0:a8a56075e947 99 int16_t GY521::gyroRead2(enum GY521RegisterMap reg) {
TanakaRobo 0:a8a56075e947 100 char data[2];
TanakaRobo 0:a8a56075e947 101 char addr = reg;
TanakaRobo 1:17051435cfc5 102 i2c_.write(dev_id,&addr,1,true);
TanakaRobo 1:17051435cfc5 103 i2c_.read(dev_id,data,2);
TanakaRobo 0:a8a56075e947 104 return (data[0] << 8) + data[1];
TanakaRobo 0:a8a56075e947 105 }