Diff: headerfile_use/bno055_use.h

Revision:

66:1664ee92539d

Parent:

46:4af9df24b94c

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/headerfile_use/bno055_use.h	Sun Sep 24 05:25:03 2017 +0000
@@ -0,0 +1,201 @@
+/*************************************************
+[使い方]
+1.  #include "bno005_lib.h"     //BNO055 本家ライブラリ
+    #include "bno005_use.h"     //BNO055 データ取得用Class
+    を読み込ませる
+2.  bno055_use.hの#defineでI2Cピン指定をする
+3.  main()内での初期設定を行う
+        wait(1);        //センサの位置取得待ち時間
+        .begin();       //センサ起動処理
+        wait(1);        //センサの位置取得待ち時間
+        .firstRead();   //初期値設定
+        
+[Function] 
+    .begin()        //センサ起動処理
+    .firstRead()    //初期値設定(センサ正面を0度設定)
+    .getYaw()       //Yawセンサ値(回転角上限なし)  値取得   (返り値 float)
+    .getYaw180()    //Yaw(-180~0~180)           値取得   (返り値 float)
+    .getYaw360()    //Yaw(0~360)(時計回り)       値取得   (返り値 float)
+    .getYaw360Rev() //Yaw(0~360)(反時計回り)     値取得   (返り値 float)
+    .init()
+    .yaw_origin()
+    
+**************************************************/
+//p28 p27 or p9 p10
+
+#define BNO005_SDA p9
+#define BNO005_SCL p10
+#define timer_dt 0.010
+#define ifaceI2C_frequency 200000
+
+I2C ifaceI2C(BNO005_SDA,BNO005_SCL);//BNO055用 I2C宣言
+BOARDC_BNO055 sensor1(&ifaceI2C);   //BNO055用 ライブラリ使用宣言
+
+class Bno055 {
+public  :
+        Bno055(){
+            shortdata_yaw = 0;
+            count = 0;
+            data_scEUL = 0;
+            data_yaw = 0;
+            data_firstYaw = 0;
+            data_yaw180 = 0;
+            data_yaw360 = 0;
+            data_yaw360Rev = 0;
+            data_yawRad = 0;
+        }
+        
+        void begin(){
+            cal_timer.attach(this, &Bno055::getData, timer_dt);
+            ifaceI2C.frequency(ifaceI2C_frequency);
+            sensor1.initialize(true);
+            init();
+        }
+        
+        void init(){
+            yaw_state = 1;
+            shortdata_yaw = 0;
+            count = 0;
+            data_scEUL = 0;
+            data_yaw = 0;
+            data_firstYaw = 0;
+            data_yaw180 = 0;
+            data_yaw360 = 0;
+            data_yaw360Rev = 0;
+            data_yawRad = 0;   
+        }
+        
+        void firstRead(){
+            data_scEUL = sensor1.getEulerScale();
+            shortdata_yaw = sensor1.getEulerDataHeading();
+            data_firstYaw = (float)shortdata_yaw * data_scEUL;
+        }
+        
+        void yaw_origin(){
+            data_firstYaw = data_yaw;
+        }
+        
+        float getYaw(){
+            return data_yaw;
+        }
+        
+        float getFirstYaw(){
+            return data_firstYaw;
+        }
+        
+        float getscEUL(){
+            return data_scEUL;
+        }
+        
+        float getYaw180(){
+            //正面0基準変換
+            if(data_yaw < data_firstYaw){
+                data_yaw180 = 360.0 + data_yaw - data_firstYaw;   
+            }else{
+                data_yaw180 = data_yaw - data_firstYaw;
+            }
+            //-180~0~180に変換
+            if(data_yaw180 >= 180){
+                data_yaw180 = (360 - data_yaw180) * -1;
+            }
+            return data_yaw180;
+        }
+        
+        float getYaw360(){
+            //正面0基準変換
+            if(data_yaw < data_firstYaw){
+                data_yaw360 = 360.0 + data_yaw - data_firstYaw;   
+            }else{
+                data_yaw360 = data_yaw - data_firstYaw;
+            }
+            return data_yaw360;
+        }
+        
+        float getYaw360Rev(){
+            //正面0基準変換
+            if(data_yaw < data_firstYaw){
+                data_yaw360Rev = 360.0 + data_yaw - data_firstYaw;   
+            }else{
+                data_yaw360Rev = data_yaw - data_firstYaw;
+            }
+            //反時計周りに増加
+            data_yaw360Rev = 360 - data_yaw360Rev;
+            return data_yaw360Rev;
+        }
+        
+        float getYawRad(){
+            return data_yawRad;
+        }
+        
+        int getYawState(){
+            return yaw_state;
+        }
+        
+        void calc_yawRad(){
+            switch(yaw_state){
+                
+                case 1:
+                    if(data_yaw180 >= 90){
+                        yaw_state = 2;
+                    }else if(data_yaw180 <= -90){
+                        yaw_state = 3;
+                    }
+                    data_yawRad = 360.0 * count + data_yaw180;
+                    break;
+                
+                case 2:
+                    if(data_yaw360 > 270){
+                        yaw_state = 1;
+                        count++;
+                    }else if(data_yaw360 < 90){
+                        yaw_state = 1;
+                    }
+                    data_yawRad = 360.0 * count + data_yaw360;
+                    break;
+                    
+                case 3:
+                    if(data_yaw360 < 90){
+                        yaw_state = 1;
+                        count--;
+                    }else if(data_yaw360 > 270){
+                        yaw_state = 1;
+                    }
+                    data_yawRad = 360.0 * count - data_yaw360Rev;
+                    break;
+            }
+        }
+        
+        int getCount(){
+            return count;
+        }
+        
+        int getYaw_state(){
+            return yaw_state;    
+        }
+        
+        
+private :
+    Ticker cal_timer;
+    
+    short BNO055_dataBox[12];
+    short shortdata_yaw;
+    int   count;
+    int   yaw_state;
+    float data_scAcc, data_scMag, data_scGyro, data_scEUL, data_scTemp;
+    float data_ax, data_ay, data_az,
+          data_mx, data_my, data_mz,
+          data_gx, data_gy, data_gz,
+          data_yaw, data_roll, data_pitch,
+          data_temp,
+          data_firstYaw, data_yaw180, data_yaw360, data_yaw360Rev
+          ,data_yawRad;
+        
+    void getData(){
+        shortdata_yaw = sensor1.getEulerDataHeading();
+        data_yaw = (float)shortdata_yaw * data_scEUL;
+        getYaw180();
+        getYaw360();
+        getYaw360Rev();
+        calc_yawRad();
+    }
+};
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