nucleo-l432kcのテンプレートです。
Dependencies: mbed ros_lib_kinetic
library/GY521.hpp@0:a8a56075e947, 2019-05-18 (annotated)
- Committer:
- TanakaRobo
- Date:
- Sat May 18 12:09:43 2019 +0000
- Revision:
- 0:a8a56075e947
- Child:
- 1:17051435cfc5
first commit
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
TanakaRobo | 0:a8a56075e947 | 1 | #pragma once |
TanakaRobo | 0:a8a56075e947 | 2 | #include "mbed.h" |
TanakaRobo | 0:a8a56075e947 | 3 | |
TanakaRobo | 0:a8a56075e947 | 4 | const double GY521_LSB_MAP[4] = {131, 65.5, 32.8, 16.4}; |
TanakaRobo | 0:a8a56075e947 | 5 | enum GY521RegisterMap { |
TanakaRobo | 0:a8a56075e947 | 6 | WHO_AM_I = 0x75, |
TanakaRobo | 0:a8a56075e947 | 7 | PWR_MGMT_1 = 0x6B, |
TanakaRobo | 0:a8a56075e947 | 8 | LPF = 0x1A, |
TanakaRobo | 0:a8a56075e947 | 9 | FS_SEL = 0x1B, |
TanakaRobo | 0:a8a56075e947 | 10 | AFS_SEL = 0x1C, |
TanakaRobo | 0:a8a56075e947 | 11 | ACCEL_XOUT_H = 0x3B, |
TanakaRobo | 0:a8a56075e947 | 12 | ACCEL_YOUT_H = 0x3D, |
TanakaRobo | 0:a8a56075e947 | 13 | ACCEL_ZOUT_H = 0x3F, |
TanakaRobo | 0:a8a56075e947 | 14 | //TEMPERATURE = 0x41, |
TanakaRobo | 0:a8a56075e947 | 15 | //GYRO_XOUT_H = 0x43, |
TanakaRobo | 0:a8a56075e947 | 16 | //GYRO_YOUT_H = 0x45, |
TanakaRobo | 0:a8a56075e947 | 17 | GYRO_ZOUT_H = 0x47 |
TanakaRobo | 0:a8a56075e947 | 18 | }; |
TanakaRobo | 0:a8a56075e947 | 19 | |
TanakaRobo | 0:a8a56075e947 | 20 | class GY521{ |
TanakaRobo | 0:a8a56075e947 | 21 | public: |
TanakaRobo | 0:a8a56075e947 | 22 | GY521(I2C &i2c,int bit = 2,int calibration = 1000,double user_reg = 1.0); |
TanakaRobo | 0:a8a56075e947 | 23 | double yaw; |
TanakaRobo | 0:a8a56075e947 | 24 | double diffyaw; |
TanakaRobo | 0:a8a56075e947 | 25 | //double temp; |
TanakaRobo | 0:a8a56075e947 | 26 | void updata(); |
TanakaRobo | 0:a8a56075e947 | 27 | void reset(int user); |
TanakaRobo | 0:a8a56075e947 | 28 | void start(double start = 0){ |
TanakaRobo | 0:a8a56075e947 | 29 | yaw = start; |
TanakaRobo | 0:a8a56075e947 | 30 | } |
TanakaRobo | 0:a8a56075e947 | 31 | double checkStatus(int mode); |
TanakaRobo | 0:a8a56075e947 | 32 | private: |
TanakaRobo | 0:a8a56075e947 | 33 | I2C &i2c; |
TanakaRobo | 0:a8a56075e947 | 34 | Timer time; |
TanakaRobo | 0:a8a56075e947 | 35 | unsigned int dev_id; |
TanakaRobo | 0:a8a56075e947 | 36 | int16_t gyroRead2(enum GY521RegisterMap reg); |
TanakaRobo | 0:a8a56075e947 | 37 | double gyro_z_aver; |
TanakaRobo | 0:a8a56075e947 | 38 | double gyro_z_now; |
TanakaRobo | 0:a8a56075e947 | 39 | double gyro_z_prev; |
TanakaRobo | 0:a8a56075e947 | 40 | double gyro_LSB; |
TanakaRobo | 0:a8a56075e947 | 41 | int bit_; |
TanakaRobo | 0:a8a56075e947 | 42 | int calibration; |
TanakaRobo | 0:a8a56075e947 | 43 | bool flag; |
TanakaRobo | 0:a8a56075e947 | 44 | }; |