nucleo-l432kcのテンプレートです。
Dependencies: mbed ros_lib_kinetic
library/GY521.cpp
- Committer:
- TanakaRobo
- Date:
- 2019-05-18
- Revision:
- 0:a8a56075e947
- Child:
- 1:17051435cfc5
File content as of revision 0:a8a56075e947:
#include "GY521.hpp" GY521::GY521(I2C &i2c,int bit,int calibration,double user_reg):i2c(i2c),calibration(calibration){ dev_id = 0x68 << 1; char check; char data[2] = {WHO_AM_I,0x00}; i2c.write(dev_id,data,1,true); i2c.read(dev_id,&check,1); if(check == dev_id >> 1){ data[0] = PWR_MGMT_1; i2c.write(dev_id,data,1,true); i2c.read(dev_id,&check,1); if(check == 0x40){ i2c.write(dev_id,data,2); } } data[0] = LPF; data[1] = 0x00; i2c.write(dev_id,data,2); data[0] = AFS_SEL; data[1] = 0x00; i2c.write(dev_id,data,2); short accel_x_now = 0,accel_y_now = 0,accel_z_now = 0; double accel_x_aver = 0, accel_y_aver = 0, accel_z_aver = 0; for (int i = 0; i < calibration; ++i) { accel_x_now = gyroRead2(ACCEL_XOUT_H); accel_y_now = gyroRead2(ACCEL_YOUT_H); accel_z_now = gyroRead2(ACCEL_ZOUT_H); accel_x_aver += accel_x_now; accel_y_aver += accel_y_now; accel_z_aver += accel_z_now; } accel_x_aver /= calibration; accel_y_aver /= calibration; accel_z_aver /= calibration; double gyro_reg = hypot(hypot(accel_x_aver, accel_y_aver), accel_z_aver) / accel_z_aver; data[0] = FS_SEL; data[1] = bit << 3; i2c.write(dev_id,data,2); bit_ = bit; gyro_LSB = GY521_LSB_MAP[bit_] / gyro_reg / user_reg; short gyro_z_now; gyro_z_aver = 0; for (int i = 0; i < calibration; ++i) { gyro_z_now = gyroRead2(GYRO_ZOUT_H); gyro_z_aver += gyro_z_now; } gyro_z_aver /= calibration; yaw = diffyaw = 0; time.start(); flag = false; } void GY521::updata(){ if(flag)return; short gyro_z_now_ = gyroRead2(GYRO_ZOUT_H); gyro_z_now = ((double)gyro_z_now_ - gyro_z_aver) / gyro_LSB; diffyaw = (gyro_z_now + gyro_z_prev) / 2 * time.read(); time.reset(); yaw += diffyaw; gyro_z_prev = gyro_z_now; //temp = (double)gyroRead2(TEMPERATURE)/340+36.53; if (yaw > 180) { yaw -= 360; } else if (yaw <= -180) { yaw += 360; } } void GY521::reset(int user){ yaw = user; short gyro_z_now; flag = true; gyro_z_aver = 0; for (int i = 0; i < calibration; i++) { gyro_z_now = gyroRead2(GYRO_ZOUT_H); gyro_z_aver += gyro_z_now; } gyro_z_aver /= calibration; flag = false; } double GY521::checkStatus(int mode) { if (mode == 0) { return gyro_LSB; } else if (mode == 1) { return gyro_z_aver; } else if (mode == 2) { return acos(gyro_LSB / GY521_LSB_MAP[bit_]); } return 0; } int16_t GY521::gyroRead2(enum GY521RegisterMap reg) { char data[2]; char addr = reg; i2c.write(dev_id,&addr,1,true); i2c.read(dev_id,data,2); return (data[0] << 8) + data[1]; }