Diff: library/GY521.hpp

Revision:

1:17051435cfc5

Parent:

0:a8a56075e947

diff -r a8a56075e947 -r 17051435cfc5 library/GY521.hpp
--- a/library/GY521.hpp	Sat May 18 12:09:43 2019 +0000
+++ b/library/GY521.hpp	Tue Jul 09 07:56:07 2019 +0000
@@ -1,27 +1,21 @@
-#pragma once
+#ifndef GY521_H
+#define GY521_H
 #include "mbed.h"
 
-const double GY521_LSB_MAP[4] = {131, 65.5, 32.8, 16.4};
-enum GY521RegisterMap {
-  WHO_AM_I = 0x75,
-  PWR_MGMT_1 = 0x6B,
-  LPF = 0x1A,
-  FS_SEL = 0x1B,
-  AFS_SEL = 0x1C,
-  ACCEL_XOUT_H = 0x3B,
-  ACCEL_YOUT_H = 0x3D,
-  ACCEL_ZOUT_H = 0x3F,
-  //TEMPERATURE  = 0x41,
-  //GYRO_XOUT_H = 0x43,
-  //GYRO_YOUT_H = 0x45,
-  GYRO_ZOUT_H = 0x47
-};
+/*GY521を使う。
+ *I2Cオブジェクトを渡す
+ *GY521(I2C &i2c,int bit = 2,int calibration = 1000,double user_reg = 1.0);
+ *example
+ *L432KC : SDA = PB_7 , SCL = PB_6
+ *F446RE : SDA = PB_3 , SCL = PB_10
+ */
+//I2C i2c(SDA,SCL);
+//GY521 gyro(i2c);
 
 class GY521{
 public:
     GY521(I2C &i2c,int bit = 2,int calibration = 1000,double user_reg = 1.0);
     double yaw;
-    double diffyaw;
     //double temp;
     void updata();
     void reset(int user);
@@ -30,15 +24,17 @@
     }
     double checkStatus(int mode);
 private:
-    I2C &i2c;
-    Timer time;
-    unsigned int dev_id;
+    I2C &i2c_;
+    Timer timer_;
     int16_t gyroRead2(enum GY521RegisterMap reg);
-    double gyro_z_aver;
-    double gyro_z_now;
-    double gyro_z_prev;
-    double gyro_LSB;
+    double gyro_z_aver_;
+    double gyro_z_now_;
+    double gyro_z_prev_;
+    double gyro_LSB_;
+    double diff_yaw_;
     int bit_;
-    int calibration;
-    bool flag;
-};
\ No newline at end of file
+    int calibration_;
+    bool flag_;
+};
+
+#endif /* GY521_H */
\ No newline at end of file