2020/08/26
Dependents: STM32_MR_NOT_IM_REV2 STM32_MR_NOT_IM_REV2 STM32_MR_NOT_IM_REV2_829 STM32_MR_include_IM_rev2
BMX055.h@1:43c83e461ea4, 2019-09-02 (annotated)
- Committer:
- makidia
- Date:
- Mon Sep 02 09:12:25 2019 +0000
- Revision:
- 1:43c83e461ea4
- Parent:
- 0:d56d821617b6
- Child:
- 3:58349cbf9ed9
9
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
makidia | 1:43c83e461ea4 | 1 | /* |
makidia | 1:43c83e461ea4 | 2 | 宣言方法 |
makidia | 1:43c83e461ea4 | 3 | BMX055 bmx(SDA_pin,SCL_pin); |
makidia | 1:43c83e461ea4 | 4 | |
makidia | 1:43c83e461ea4 | 5 | bmx.getAcc(); |
makidia | 1:43c83e461ea4 | 6 | bmx.getGyro(); |
makidia | 1:43c83e461ea4 | 7 | bmx.getMag(); で値をゲット! |
makidia | 1:43c83e461ea4 | 8 | |
makidia | 1:43c83e461ea4 | 9 | 値は |
makidia | 1:43c83e461ea4 | 10 | bmx.accel[3]; |
makidia | 1:43c83e461ea4 | 11 | bmx.gyroscope[3]; |
makidia | 1:43c83e461ea4 | 12 | bmx.magnet[3]; に入っている! |
makidia | 1:43c83e461ea4 | 13 | |
makidia | 1:43c83e461ea4 | 14 | |
makidia | 1:43c83e461ea4 | 15 | |
makidia | 1:43c83e461ea4 | 16 | 用例----------------------------------------------------------- |
makidia | 1:43c83e461ea4 | 17 | #include "mbed.h" |
makidia | 1:43c83e461ea4 | 18 | #include "BMX055.h" |
makidia | 1:43c83e461ea4 | 19 | |
makidia | 1:43c83e461ea4 | 20 | |
makidia | 1:43c83e461ea4 | 21 | BMX055 bmx(D14,D15); //SDA SCL |
makidia | 1:43c83e461ea4 | 22 | DigitalOut myled(LED1); |
makidia | 1:43c83e461ea4 | 23 | DigitalIn sw(PC_13); |
makidia | 1:43c83e461ea4 | 24 | Timer t; |
makidia | 1:43c83e461ea4 | 25 | |
makidia | 1:43c83e461ea4 | 26 | int main() { |
makidia | 1:43c83e461ea4 | 27 | float preAngle=0, AngGyr=0, gy=0, acc[2]={0}, angleAccel=0; |
makidia | 1:43c83e461ea4 | 28 | int angle=0, use_angle=0; |
makidia | 1:43c83e461ea4 | 29 | const double dt = 0.01; |
makidia | 1:43c83e461ea4 | 30 | |
makidia | 1:43c83e461ea4 | 31 | printf("\r\nrun\r\n"); |
makidia | 1:43c83e461ea4 | 32 | |
makidia | 1:43c83e461ea4 | 33 | while(sw==0){} |
makidia | 1:43c83e461ea4 | 34 | while(sw==1){} |
makidia | 1:43c83e461ea4 | 35 | while(1) { |
makidia | 1:43c83e461ea4 | 36 | |
makidia | 1:43c83e461ea4 | 37 | // getAcc(accel); |
makidia | 1:43c83e461ea4 | 38 | // printf("%2.4f, %2.4f, %2.4f\r\n",(accel[0]/512)*9.8,(accel[1]/512)*9.8,(accel[2]/512)*9.8); |
makidia | 1:43c83e461ea4 | 39 | // getGyro(gyroscope); |
makidia | 1:43c83e461ea4 | 40 | // printf("%2.4f, %2.4f, %2.4f\r\n",gyroscope[0]*125/2048,gyroscope[1]*125/2048,gyroscope[2]*125/2048); |
makidia | 1:43c83e461ea4 | 41 | // getMag(magnet); |
makidia | 1:43c83e461ea4 | 42 | // printf("%2.4f, %2.4f, %2.4f\r\n",magnet[0],magnet[1],magnet[2]); |
makidia | 1:43c83e461ea4 | 43 | |
makidia | 1:43c83e461ea4 | 44 | bmx.getGyro(); |
makidia | 1:43c83e461ea4 | 45 | |
makidia | 1:43c83e461ea4 | 46 | while(sw==0){ |
makidia | 1:43c83e461ea4 | 47 | angle=0; |
makidia | 1:43c83e461ea4 | 48 | use_angle=0; |
makidia | 1:43c83e461ea4 | 49 | printf("Setting now!\r\n"); |
makidia | 1:43c83e461ea4 | 50 | } |
makidia | 1:43c83e461ea4 | 51 | |
makidia | 1:43c83e461ea4 | 52 | gy=bmx.gyroscope[2]*125/2048; |
makidia | 1:43c83e461ea4 | 53 | angleAccel=bmx.gyroscope[2]*125/2560; |
makidia | 1:43c83e461ea4 | 54 | AngGyr = preAngle+gy*dt; |
makidia | 1:43c83e461ea4 | 55 | angle = (int)(0.905*AngGyr+0.09*angleAccel); //回転の検知幅小さくすると遅いのができて、大きくすると早いのができる |
makidia | 1:43c83e461ea4 | 56 | //回転の検知制度を調整:上と反比例 |
makidia | 1:43c83e461ea4 | 57 | use_angle += angle; |
makidia | 1:43c83e461ea4 | 58 | |
makidia | 1:43c83e461ea4 | 59 | printf("%3d\r\n", use_angle/48); |
makidia | 1:43c83e461ea4 | 60 | preAngle=angle; |
makidia | 1:43c83e461ea4 | 61 | acc[1]=acc[0]; |
makidia | 1:43c83e461ea4 | 62 | |
makidia | 1:43c83e461ea4 | 63 | wait(dt); |
makidia | 1:43c83e461ea4 | 64 | } |
makidia | 1:43c83e461ea4 | 65 | } |
makidia | 1:43c83e461ea4 | 66 | ---------------------------------------------------------------------- |
makidia | 1:43c83e461ea4 | 67 | 回転角がわかるよV |
makidia | 1:43c83e461ea4 | 68 | */ |
makidia | 1:43c83e461ea4 | 69 | |
makidia | 0:d56d821617b6 | 70 | #ifndef BMX055_H_ |
makidia | 0:d56d821617b6 | 71 | #define BMX055_H_ |
makidia | 0:d56d821617b6 | 72 | |
makidia | 0:d56d821617b6 | 73 | #define ACC 0x19<<1 |
makidia | 0:d56d821617b6 | 74 | #define GYRO 0x69<<1 |
makidia | 0:d56d821617b6 | 75 | #define MAG 0x13<<1 |
makidia | 0:d56d821617b6 | 76 | |
makidia | 0:d56d821617b6 | 77 | class BMX055 |
makidia | 0:d56d821617b6 | 78 | { |
makidia | 0:d56d821617b6 | 79 | public: |
makidia | 0:d56d821617b6 | 80 | BMX055(PinName SDA, PinName SCL); |
makidia | 0:d56d821617b6 | 81 | float accel[3]; |
makidia | 0:d56d821617b6 | 82 | float gyroscope[3]; |
makidia | 0:d56d821617b6 | 83 | float magnet[3]; |
makidia | 0:d56d821617b6 | 84 | void getAcc(void); |
makidia | 0:d56d821617b6 | 85 | void getGyro(void); |
makidia | 0:d56d821617b6 | 86 | void getMag(void); |
makidia | 0:d56d821617b6 | 87 | private: |
makidia | 0:d56d821617b6 | 88 | I2C bmx055; |
makidia | 0:d56d821617b6 | 89 | void bmx_init(void); |
makidia | 0:d56d821617b6 | 90 | }; |
makidia | 0:d56d821617b6 | 91 | |
makidia | 0:d56d821617b6 | 92 | #endif /* BMX055_H_ */ |