Wataru Nakata / MPU-9250_nnct

This is a library of MPU-9250 9 axis sensor.

Hi,I'm Wataru Nakata. I am a student of Nagaoka National College of Technology ,JAPAN . I am a member of robotics club. So I'm using mbeds for robot controlling.

MPU-9250.cpp@3:73ca792a77af, 2015-02-27 (annotated)

Committer:
WAT34
Date:
Fri Feb 27 00:22:32 2015 +0000
Revision:
3:73ca792a77af
Parent:
2:2bc5dd0ab0f0 
ver1.4(Bugs were fixed)

Who changed what in which revision?

UserRevisionLine numberNew contents of line
WAT34 0:f29582d9e1fd 1 #include "MPU-9250.h"
WAT34 0:f29582d9e1fd 2
WAT34 2:2bc5dd0ab0f0 3 MPU9250::MPU9250 (PinName sda, PinName scl) : i2c(sda, scl)
WAT34 0:f29582d9e1fd 4 {
WAT34 0:f29582d9e1fd 5 }
WAT34 0:f29582d9e1fd 6
WAT34 2:2bc5dd0ab0f0 7 int MPU9250::start()
WAT34 0:f29582d9e1fd 8 {
WAT34 1:c7a984ee3409 9 i2c.frequency(400000);
WAT34 0:f29582d9e1fd 10 bdf[0] = 0x75;
WAT34 0:f29582d9e1fd 11 i2c.write(addr,bdf,1);
WAT34 0:f29582d9e1fd 12 i2c.read(raddr,bdf,1);
WAT34 0:f29582d9e1fd 13 if (bdf[0]== 0x71)
WAT34 0:f29582d9e1fd 14 {
WAT34 0:f29582d9e1fd 15 bdf[0] = 0x6b;
WAT34 0:f29582d9e1fd 16 bdf[1] = 0x00;
WAT34 0:f29582d9e1fd 17 i2c.write(addr,bdf,2);
WAT34 0:f29582d9e1fd 18 bdf[0] = 0x37;
WAT34 0:f29582d9e1fd 19 bdf[1] = 0x02;
WAT34 0:f29582d9e1fd 20 i2c.write(addr,bdf,2);
WAT34 0:f29582d9e1fd 21 return 0;
WAT34 0:f29582d9e1fd 22 }else{
WAT34 0:f29582d9e1fd 23 return 1;
WAT34 0:f29582d9e1fd 24 }
WAT34 0:f29582d9e1fd 25 }
WAT34 0:f29582d9e1fd 26
WAT34 2:2bc5dd0ab0f0 27 void MPU9250::read_data(int a,double *x,double *y,double *z)
WAT34 0:f29582d9e1fd 28 {
WAT34 0:f29582d9e1fd 29 char data[13] = {0};
WAT34 0:f29582d9e1fd 30 if (a == 0) //引数aが一のときx,y,zの地磁気の強さを返すよ。(単位はuT) If a = 1 This program will return each axis's magnetometer value.(Unit is uT)
WAT34 0:f29582d9e1fd 31 {
WAT34 0:f29582d9e1fd 32 bdf[0] = 0x0A;
WAT34 0:f29582d9e1fd 33 bdf[1] = 0x12;
WAT34 0:f29582d9e1fd 34 i2c.write(maddr,bdf,2);
WAT34 0:f29582d9e1fd 35 bdf[0] = 0x03;
WAT34 0:f29582d9e1fd 36 i2c.write(maddr,bdf,1);
WAT34 0:f29582d9e1fd 37 i2c.read(mraddr,data,6);
WAT34 0:f29582d9e1fd 38 *x = (short(data[0]+data[1]<<8)*0.15);
WAT34 0:f29582d9e1fd 39 *y = (short(data[2]+data[3]<<8)*0.15);
WAT34 0:f29582d9e1fd 40 *z = (short(data[4]+data[5]<<8)*0.15);
WAT34 0:f29582d9e1fd 41 }else if(a == 1){
WAT34 0:f29582d9e1fd 42 bdf[0] = 0x0A;
WAT34 0:f29582d9e1fd 43 bdf[1] = 0x12;
WAT34 0:f29582d9e1fd 44 i2c.write(maddr,bdf,2);
WAT34 0:f29582d9e1fd 45 bdf[0] = 0x03;
WAT34 0:f29582d9e1fd 46 i2c.write(maddr,bdf,1);
WAT34 0:f29582d9e1fd 47 i2c.read(mraddr,data,6);
WAT34 0:f29582d9e1fd 48 *x = (short(data[0]+data[1]<<8)*0.15);
WAT34 0:f29582d9e1fd 49 *y = (short(data[2]+data[3]<<8)*0.15);
WAT34 0:f29582d9e1fd 50 *z = (short(data[4]+data[5]<<8)*0.15);
WAT34 0:f29582d9e1fd 51 *x = atan2(*x,*y);
WAT34 0:f29582d9e1fd 52 if(*x>=0)
WAT34 0:f29582d9e1fd 53 {
WAT34 0:f29582d9e1fd 54 *x = *x/pi*180;
WAT34 0:f29582d9e1fd 55 }else{
WAT34 0:f29582d9e1fd 56 *x = (pi+*x)/pi*180+180;
WAT34 0:f29582d9e1fd 57 }
WAT34 0:f29582d9e1fd 58 }else{
WAT34 0:f29582d9e1fd 59 bdf[0] = 0x3b;
WAT34 0:f29582d9e1fd 60 i2c.write(addr,bdf,1);
WAT34 0:f29582d9e1fd 61 i2c.read(raddr,data,14);
WAT34 0:f29582d9e1fd 62 if (a == 2)
WAT34 0:f29582d9e1fd 63 {
WAT34 0:f29582d9e1fd 64 *x = (short(data[0]<<8+data[1])*0.061);
WAT34 0:f29582d9e1fd 65 *y = (short(data[2]<<8+data[3])*0.061);
WAT34 0:f29582d9e1fd 66 *z = (short(data[4]<<8+data[5])*0.061);
WAT34 0:f29582d9e1fd 67 }else if(a == 3){
WAT34 0:f29582d9e1fd 68 *x = (short(data[8]<<8+data[9])*0.00763);
WAT34 0:f29582d9e1fd 69 *y = (short(data[10]<<8+data[11])*0.00763);
WAT34 0:f29582d9e1fd 70 *z = (short(data[12]<<8+data[13])*0.00763);
WAT34 0:f29582d9e1fd 71 }
WAT34 0:f29582d9e1fd 72 }
WAT34 0:f29582d9e1fd 73 }
WAT34 0:f29582d9e1fd 74