Hepta 2 / Mbed 2 deprecated HEPTA_9axis

HEPTA2 9軸センサー

Dependencies:   Hepta2_9axis mbed

Diff: HeptaMPU9250.cpp

Revision:
0:91fc70cdd15d
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/HeptaMPU9250.cpp	Wed Jul 19 07:35:07 2017 +0000
@@ -0,0 +1,474 @@
+#include"HeptaMPU9250.h"
+#include"mbed.h"
+
+HeptaMPU9250::HeptaMPU9250(PinName sda, PinName scl, int aaddr, int agaddr) : MPU9250(sda,scl),addr_accel_gyro(aaddr),addr_compus(agaddr)
+{
+    MPU9250.frequency(100000);
+    cmd[0]=0x6B;
+    cmd[1]=0x00;
+    MPU9250.write(addr_accel_gyro,cmd,2);
+    cmd[0] = 0x37;
+    cmd[1] = 0x02;
+    MPU9250.write(addr_accel_gyro,cmd,2);
+    MPU9250.stop();
+}
+
+void HeptaMPU9250::setup()
+{
+
+    MPU9250.frequency(100000);
+    cmd[0]=0x6B;
+    cmd[1]=0x00;
+    MPU9250.write(addr_accel_gyro,cmd,2);
+    cmd[0] = 0x37;
+    cmd[1] = 0x02;
+    MPU9250.write(addr_accel_gyro,cmd,2);
+    MPU9250.stop();
+}
+
+void HeptaMPU9250::sen_acc(float *ax,float *ay,float *az)
+{
+//x軸加速度
+    MPU9250.start();
+    MPU9250.write(addr_accel_gyro);
+    MPU9250.write(0x3B);
+    MPU9250.start();
+    MPU9250.write(addr_accel_gyro|0x01);
+    xh = MPU9250.read(0);
+    MPU9250.stop();
+
+    MPU9250.start();
+    MPU9250.write(addr_accel_gyro);
+    MPU9250.write(0x3C);
+    MPU9250.start();
+    MPU9250.write(addr_accel_gyro|0x01);
+    xl = MPU9250.read(0);
+    MPU9250.stop();
+
+    double  acc_ax = short((xh<<8) | (xl));
+    *ax = -(acc_ax)*2/32764*9.81;
+
+
+//Y軸加速度
+    MPU9250.start();
+    MPU9250.write(addr_accel_gyro);
+    MPU9250.write(0x3D);
+    MPU9250.start();
+    MPU9250.write(addr_accel_gyro|0x01);
+    yh = MPU9250.read(0);
+   
+    MPU9250.stop();
+    MPU9250.start();
+    MPU9250.write(addr_accel_gyro);
+    MPU9250.write(0x3E);
+    MPU9250.start();
+    MPU9250.write(addr_accel_gyro|0x01);
+    yl = MPU9250.read(0);
+    
+    MPU9250.stop();
+    double  acc_ay = short((yh<<8) | (yl));
+    *ay = (acc_ay)*2/32764*9.81;
+
+
+//z軸加速度
+    MPU9250.start();
+    MPU9250.write(addr_accel_gyro);
+    MPU9250.write(0x3F);
+    MPU9250.start();
+    MPU9250.write(addr_accel_gyro|0x01);
+    zh = MPU9250.read(0);
+    MPU9250.stop();
+    
+    MPU9250.start();
+    MPU9250.write(addr_accel_gyro);
+    MPU9250.write(0x40);
+    MPU9250.start();
+    MPU9250.write(addr_accel_gyro|0x01);
+    zl = MPU9250.read(0);
+    MPU9250.stop();
+    
+    double  acc_az = short((zh<<8) | (zl));
+    *az = (acc_az)*2/32764*9.81-0.1;
+
+}
+
+void HeptaMPU9250::sen_gyro(float *gx,float *gy,float *gz)
+{
+//x軸GYRO
+    MPU9250.start();
+    MPU9250.write(addr_accel_gyro);
+    MPU9250.write(0x43);
+    MPU9250.start();
+    MPU9250.write(addr_accel_gyro|0x01);
+    gxh = MPU9250.read(0);
+    MPU9250.stop();
+    
+    MPU9250.start();
+    MPU9250.write(addr_accel_gyro);
+    MPU9250.write(0x44);
+    MPU9250.start();
+    MPU9250.write(addr_accel_gyro|0x01);
+    gxl = MPU9250.read(0);
+    MPU9250.stop();
+    
+    double  gyro_ax = short((gxh<<8) | (gxl));
+    *gx = (gyro_ax)*0.00763-1.6;
+
+//y軸GYRO
+    MPU9250.start();
+    MPU9250.write(addr_accel_gyro);
+    MPU9250.write(0x45);
+    MPU9250.start();
+    MPU9250.write(addr_accel_gyro|0x01);
+    gyh = MPU9250.read(0);
+    MPU9250.stop();
+    
+    MPU9250.start();
+    MPU9250.write(addr_accel_gyro);
+    MPU9250.write(0x46);
+    MPU9250.start();
+    MPU9250.write(addr_accel_gyro|0x01);
+    gyl = MPU9250.read(0);
+    MPU9250.stop();
+    
+    double  gyro_ay = short((gyh<<8) | (gyl));
+    *gy = (gyro_ay)*0.00763;
+
+//z軸GYRO
+    MPU9250.start();
+    MPU9250.write(addr_accel_gyro);
+    MPU9250.write(0x47);
+    MPU9250.start();
+    MPU9250.write(addr_accel_gyro|0x01);
+    gzh = MPU9250.read(0);
+    MPU9250.stop();
+    
+    MPU9250.start();
+    MPU9250.write(addr_accel_gyro);
+    MPU9250.write(0x48);
+    MPU9250.start();
+    MPU9250.write(addr_accel_gyro|0x01);
+    gzl = MPU9250.read(0);
+    MPU9250.stop();
+    
+    double  gyro_az = short((gzh<<8) | (gzl));
+    *gz = (gyro_az)*0.00763;
+
+}
+
+void HeptaMPU9250::sen_mag(float *mx,float *my,float *mz)
+{
+
+    MPU9250.start();
+    MPU9250.write(addr_compus);
+    MPU9250.write(0x03);
+    MPU9250.start();
+    MPU9250.write(addr_compus|0x01);
+    mxl = MPU9250.read(0);
+    MPU9250.stop();
+    MPU9250.start();
+    MPU9250.write(addr_compus);
+    MPU9250.write(0x04);
+    MPU9250.start();
+    MPU9250.write(addr_compus|0x01);
+    mxh = MPU9250.read(0);
+    MPU9250.stop();
+    cmd[0] = 0x0a;
+    cmd[1] = 0x12;
+    MPU9250.write( addr_compus,cmd,2);
+    cmd[0]=0x09;
+    MPU9250.write( addr_compus,cmd,1);
+    double  mg_x = short((mxh<<8) | (mxl));
+    *mx = ( mg_x)*0.15;
+    //pc.printf("MGX = %f\t",mx);
+
+    MPU9250.start();
+
+    MPU9250.write(addr_compus);
+    MPU9250.write(0x05);
+    MPU9250.start();
+    MPU9250.write(addr_compus|0x01);
+    myl = MPU9250.read(0);
+    MPU9250.stop();
+    MPU9250.start();
+    MPU9250.write(addr_compus);
+    MPU9250.write(0x06);
+    MPU9250.start();
+    MPU9250.write(addr_compus|0x01);
+    myh = MPU9250.read(0);
+    MPU9250.stop();
+    cmd[0] = 0x0a;
+    cmd[1] = 0x12;
+    MPU9250.write( addr_compus,cmd,2);
+    cmd[0]=0x09;
+    MPU9250.write( addr_compus,cmd,1);
+    double  mg_y = short((myh<<8) | (myl));
+    *my = ( mg_y)*0.15;
+    // pc.printf("MAGY = %f\t",my);
+
+    MPU9250.start();
+
+    MPU9250.write(addr_compus);
+    MPU9250.write(0x07);
+    MPU9250.start();
+    MPU9250.write(addr_compus|0x01);
+    mzl = MPU9250.read(0);
+    MPU9250.stop();
+    MPU9250.start();
+    MPU9250.write(addr_compus);
+    MPU9250.write(0x08);
+    MPU9250.start();
+    MPU9250.write(addr_compus|0x01);
+    mzh = MPU9250.read(0);
+    MPU9250.stop();
+    cmd[0] = 0x0a;
+    cmd[1] = 0x12;
+    MPU9250.write( addr_compus,cmd,2);
+    cmd[0]=0x09;
+    MPU9250.write( addr_compus,cmd,1);
+    double  mg_z= short((mzh<<8) | (mzl));
+    *mz = ( mg_z)*0.15;
+    //pc.printf("MAGZ = %f\r\n",mz);
+}
+
+//////////////16進数表記/////////////////////////////////////////
+void HeptaMPU9250::sen_gyro_u16(char* gx_u16,char* gy_u16,char* gz_u16, int *dsize)
+{
+    //x軸GYRO
+    MPU9250.start();
+    MPU9250.write(addr_accel_gyro);
+    MPU9250.write(0x43);
+    MPU9250.start();
+    MPU9250.write(addr_accel_gyro|0x01);
+    gxh = MPU9250.read(0);
+    MPU9250.stop();
+    
+    MPU9250.start();
+    MPU9250.write(addr_accel_gyro);
+    MPU9250.write(0x44);
+    MPU9250.start();
+    MPU9250.write(addr_accel_gyro|0x01);
+    gxl = MPU9250.read(0);
+    MPU9250.stop();
+    
+    sprintf( g1, "%02X", ((gxh)) & 0xFF);
+    sprintf( g2, "%02X", ((gxl)) & 0xFF);
+    gx_u16[0]=g1[0];
+    gx_u16[1]=g1[1];
+    gx_u16[2]=g2[0];
+    gx_u16[3]=g2[1];
+
+//y軸GYRO
+    MPU9250.start();
+    MPU9250.write(addr_accel_gyro);
+    MPU9250.write(0x45);
+    MPU9250.start();
+    MPU9250.write(addr_accel_gyro|0x01);
+    gyh = MPU9250.read(0);
+    MPU9250.stop();
+    
+    MPU9250.start();
+    MPU9250.write(addr_accel_gyro);
+    MPU9250.write(0x46);
+    MPU9250.start();
+    MPU9250.write(addr_accel_gyro|0x01);
+    gyl = MPU9250.read(0);
+    MPU9250.stop();
+    sprintf( g1, "%02X", ((gyh)) & 0xFF);
+    sprintf( g2, "%02X", ((gyl)) & 0xFF);
+    gy_u16[0]=g1[0];
+    gy_u16[1]=g1[1];
+    gy_u16[2]=g2[0];
+    gy_u16[3]=g2[1];
+    
+//z軸GYRO
+    MPU9250.start();
+    MPU9250.write(addr_accel_gyro);
+    MPU9250.write(0x47);
+    MPU9250.start();
+    MPU9250.write(addr_accel_gyro|0x01);
+    gzh = MPU9250.read(0);
+    MPU9250.stop();
+    
+    MPU9250.start();
+    MPU9250.write(addr_accel_gyro);
+    MPU9250.write(0x48);
+    MPU9250.start();
+    MPU9250.write(addr_accel_gyro|0x01);
+    gzl = MPU9250.read(0);
+    MPU9250.stop();
+    
+    sprintf( g1, "%02X", ((gzh)) & 0xFF);
+    sprintf( g2, "%02X", ((gzl)) & 0xFF);
+    gz_u16[0]=g1[0];
+    gz_u16[1]=g1[1];
+    gz_u16[2]=g2[0];
+    gz_u16[3]=g2[1];
+    *dsize = 4;
+    }
+    
+void HeptaMPU9250::sen_acc_u16(char* ax_u16,char* ay_u16,char* az_u16, int *dsize)
+{
+   //x軸加速度
+    MPU9250.start();
+    MPU9250.write(addr_accel_gyro);
+    MPU9250.write(0x3B);
+    MPU9250.start();
+    MPU9250.write(addr_accel_gyro|0x01);
+    xh = MPU9250.read(0);
+    MPU9250.stop();
+
+    MPU9250.start();
+    MPU9250.write(addr_accel_gyro);
+    MPU9250.write(0x3C);
+    MPU9250.start();
+    MPU9250.write(addr_accel_gyro|0x01);
+    xl = MPU9250.read(0);
+    MPU9250.stop();
+    
+    sprintf( a1, "%02X", ((xh)) & 0xFF);
+    sprintf( a2, "%02X", ((xl)) & 0xFF);
+    ax_u16[0]=a1[0];
+    ax_u16[1]=a1[1];
+    ax_u16[2]=a2[0];
+    ax_u16[3]=a2[1];
+
+//Y軸加速度
+    MPU9250.start();
+    MPU9250.write(addr_accel_gyro);
+    MPU9250.write(0x3D);
+    MPU9250.start();
+    MPU9250.write(addr_accel_gyro|0x01);
+    yh = MPU9250.read(0);
+   
+    MPU9250.stop();
+    MPU9250.start();
+    MPU9250.write(addr_accel_gyro);
+    MPU9250.write(0x3E);
+    MPU9250.start();
+    MPU9250.write(addr_accel_gyro|0x01);
+    yl = MPU9250.read(0);    
+    MPU9250.stop();
+    
+    sprintf( a1, "%02X", ((yh)) & 0xFF);
+    sprintf( a2, "%02X", ((yl)) & 0xFF);
+    ay_u16[0]=a1[0];
+    ay_u16[1]=a1[1];
+    ay_u16[2]=a2[0];
+    ay_u16[3]=a2[1];
+//z軸加速度
+    MPU9250.start();
+    MPU9250.write(addr_accel_gyro);
+    MPU9250.write(0x3F);
+    MPU9250.start();
+    MPU9250.write(addr_accel_gyro|0x01);
+    zh = MPU9250.read(0);
+    MPU9250.stop();
+    
+    MPU9250.start();
+    MPU9250.write(addr_accel_gyro);
+    MPU9250.write(0x40);
+    MPU9250.start();
+    MPU9250.write(addr_accel_gyro|0x01);
+    zl = MPU9250.read(0);
+    MPU9250.stop();
+    
+    sprintf( a1, "%02X", ((zh)) & 0xFF);
+    sprintf( a2, "%02X", ((zl)) & 0xFF);
+    az_u16[0]=a1[0];
+    az_u16[1]=a1[1];
+    az_u16[2]=a2[0];
+    az_u16[3]=a2[1];
+    *dsize = 4;
+    }
+    
+void HeptaMPU9250::sen_mag_u16(char* mx_u16,char* my_u16,char* mz_u16, int *dsize)
+{
+    
+    MPU9250.start();
+    MPU9250.write(addr_compus);
+    MPU9250.write(0x03);
+    MPU9250.start();
+    MPU9250.write(addr_compus|0x01);
+    mxl = MPU9250.read(0);
+    MPU9250.stop();
+    MPU9250.start();
+    MPU9250.write(addr_compus);
+    MPU9250.write(0x04);
+    MPU9250.start();
+    MPU9250.write(addr_compus|0x01);
+    mxh = MPU9250.read(0);
+    MPU9250.stop();
+    cmd[0] = 0x0a;
+    cmd[1] = 0x12;
+    MPU9250.write( addr_compus,cmd,2);
+    cmd[0]=0x09;
+    MPU9250.write( addr_compus,cmd,1);
+    
+    sprintf( m1, "%02X", ((mxh)) & 0xFF);
+    sprintf( m2, "%02X", ((mxl)) & 0xFF);
+    mx_u16[0]=m1[0];
+    mx_u16[1]=m1[1];
+    mx_u16[2]=m2[0];
+    mx_u16[3]=m2[1];
+    
+    //pc.printf("MGX = %f\t",mx);
+
+    MPU9250.start();
+
+    MPU9250.write(addr_compus);
+    MPU9250.write(0x05);
+    MPU9250.start();
+    MPU9250.write(addr_compus|0x01);
+    myl = MPU9250.read(0);
+    MPU9250.stop();
+    MPU9250.start();
+    MPU9250.write(addr_compus);
+    MPU9250.write(0x06);
+    MPU9250.start();
+    MPU9250.write(addr_compus|0x01);
+    myh = MPU9250.read(0);
+    MPU9250.stop();
+    cmd[0] = 0x0a;
+    cmd[1] = 0x12;
+    MPU9250.write( addr_compus,cmd,2);
+    cmd[0]=0x09;
+    MPU9250.write( addr_compus,cmd,1);
+    
+    sprintf( m1, "%02X", ((myh)) & 0xFF);
+    sprintf( m2, "%02X", ((myl)) & 0xFF);
+    my_u16[0]=m1[0];
+    my_u16[1]=m1[1];
+    my_u16[2]=m2[0];
+    my_u16[3]=m2[1];
+    // pc.printf("MAGY = %f\t",my);
+
+    MPU9250.start();
+
+    MPU9250.write(addr_compus);
+    MPU9250.write(0x07);
+    MPU9250.start();
+    MPU9250.write(addr_compus|0x01);
+    mzl = MPU9250.read(0);
+    MPU9250.stop();
+    MPU9250.start();
+    MPU9250.write(addr_compus);
+    MPU9250.write(0x08);
+    MPU9250.start();
+    MPU9250.write(addr_compus|0x01);
+    mzh = MPU9250.read(0);
+    MPU9250.stop();
+    cmd[0] = 0x0a;
+    cmd[1] = 0x12;
+    MPU9250.write( addr_compus,cmd,2);
+    cmd[0]=0x09;
+    MPU9250.write( addr_compus,cmd,1);
+   
+    sprintf( m1, "%02X", ((mzh)) & 0xFF);
+    sprintf( m2, "%02X", ((mzl)) & 0xFF);
+    mz_u16[0]=m1[0];
+    mz_u16[1]=m1[1];
+    mz_u16[2]=m2[0];
+    mz_u16[3]=m2[1];
+    *dsize = 4;
+    }
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