Hiroki Tanaka / Mbed 2 deprecated arrc_mbed

明石高専ロボ研 mbedライブラリ

Dependencies:   mbed

Dependents:   MDD_L432KC USB2RS485 pathtracking odometry ... more

gy521.hpp@14:bdd394483434, 2021-10-13 (annotated)

Committer:
TanakaRobo
Date:
Wed Oct 13 09:12:48 2021 +0000
Revision:
14:bdd394483434
Parent:
4:39ef4d91dc34 
first? commit

Who changed what in which revision?

UserRevisionLine numberNew contents of line
TanakaRobo 0:ca84ed7518f5 1 #ifndef GY521_H
TanakaRobo 0:ca84ed7518f5 2 #define GY521_H
TanakaRobo 0:ca84ed7518f5 3 #include "mbed.h"
TanakaRobo 0:ca84ed7518f5 4
TanakaRobo 0:ca84ed7518f5 5 /*GY521を使う。
TanakaRobo 0:ca84ed7518f5 6 *I2Cオブジェクトを渡す
TanakaRobo 0:ca84ed7518f5 7 *GY521(I2C &i2c,int bit = 2,int calibration = 1000,double user_reg = 1.0);
TanakaRobo 0:ca84ed7518f5 8 *example
TanakaRobo 0:ca84ed7518f5 9 *L432KC : SDA = PB_7 , SCL = PB_6
TanakaRobo 0:ca84ed7518f5 10 *F446RE : SDA = PB_3 , SCL = PB_10
TanakaRobo 3:28c77df7c0b6 11 *ループ内で毎回
TanakaRobo 3:28c77df7c0b6 12 *<obj>.update()
TanakaRobo 3:28c77df7c0b6 13 *を呼び出してください。
TanakaRobo 0:ca84ed7518f5 14 */
TanakaRobo 0:ca84ed7518f5 15 //I2C i2c(SDA,SCL);
TanakaRobo 0:ca84ed7518f5 16 //GY521 gyro(i2c);
TanakaRobo 0:ca84ed7518f5 17
TanakaRobo 4:39ef4d91dc34 18 enum GY521RegisterMap {
TanakaRobo 4:39ef4d91dc34 19 WHO_AM_I = 0x75,
TanakaRobo 4:39ef4d91dc34 20 PWR_MGMT_1 = 0x6B,
TanakaRobo 4:39ef4d91dc34 21 LPF = 0x1A,
TanakaRobo 4:39ef4d91dc34 22 FS_SEL = 0x1B,
TanakaRobo 4:39ef4d91dc34 23 AFS_SEL = 0x1C,
TanakaRobo 4:39ef4d91dc34 24 ACCEL_XOUT_H = 0x3B,
TanakaRobo 4:39ef4d91dc34 25 ACCEL_YOUT_H = 0x3D,
TanakaRobo 4:39ef4d91dc34 26 ACCEL_ZOUT_H = 0x3F,
TanakaRobo 4:39ef4d91dc34 27 //TEMPERATURE = 0x41,
TanakaRobo 4:39ef4d91dc34 28 //GYRO_XOUT_H = 0x43,
TanakaRobo 4:39ef4d91dc34 29 //GYRO_YOUT_H = 0x45,
TanakaRobo 4:39ef4d91dc34 30 GYRO_ZOUT_H = 0x47
TanakaRobo 4:39ef4d91dc34 31 };
TanakaRobo 4:39ef4d91dc34 32
TanakaRobo 0:ca84ed7518f5 33 class GY521{
TanakaRobo 0:ca84ed7518f5 34 public:
TanakaRobo 0:ca84ed7518f5 35 GY521(I2C &i2c,int bit = 2,int calibration = 1000,double user_reg = 1.0);
TanakaRobo 0:ca84ed7518f5 36 double yaw;
TanakaRobo 0:ca84ed7518f5 37 //double temp;
TanakaRobo 3:28c77df7c0b6 38 void update();
TanakaRobo 0:ca84ed7518f5 39 void reset(int user);
TanakaRobo 0:ca84ed7518f5 40 void start(double start = 0){
TanakaRobo 0:ca84ed7518f5 41 yaw = start;
TanakaRobo 0:ca84ed7518f5 42 }
TanakaRobo 0:ca84ed7518f5 43 double checkStatus(int mode);
TanakaRobo 0:ca84ed7518f5 44 private:
TanakaRobo 0:ca84ed7518f5 45 I2C &i2c_;
TanakaRobo 0:ca84ed7518f5 46 Timer timer_;
TanakaRobo 0:ca84ed7518f5 47 int16_t gyroRead2(enum GY521RegisterMap reg);
TanakaRobo 0:ca84ed7518f5 48 double gyro_z_aver_;
TanakaRobo 0:ca84ed7518f5 49 double gyro_z_now_;
TanakaRobo 0:ca84ed7518f5 50 double gyro_z_prev_;
TanakaRobo 0:ca84ed7518f5 51 double gyro_LSB_;
TanakaRobo 0:ca84ed7518f5 52 double diff_yaw_;
TanakaRobo 0:ca84ed7518f5 53 int bit_;
TanakaRobo 0:ca84ed7518f5 54 int calibration_;
TanakaRobo 0:ca84ed7518f5 55 bool flag_;
TanakaRobo 0:ca84ed7518f5 56 };
TanakaRobo 0:ca84ed7518f5 57
TanakaRobo 0:ca84ed7518f5 58 #endif /* GY521_H */