Revision 1:6ee85df13ebd, committed 2017-07-19

Comitter:

hepta2ume

Date:

Wed Jul 19 08:16:35 2017 +0000

Parent:

0:91fc70cdd15d

Commit message:

Hepta_9axis_sensor;

Changed in this revision

diff -r 91fc70cdd15d -r 6ee85df13ebd HeptaMPU9250.cpp
--- a/HeptaMPU9250.cpp	Wed Jul 19 07:35:07 2017 +0000
+++ /dev/null	Thu Jan 01 00:00:00 1970 +0000
@@ -1,474 +0,0 @@
-#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;
-    }
\ No newline at end of file

diff -r 91fc70cdd15d -r 6ee85df13ebd HeptaMPU9250.h
--- a/HeptaMPU9250.h	Wed Jul 19 07:35:07 2017 +0000
+++ /dev/null	Thu Jan 01 00:00:00 1970 +0000
@@ -1,36 +0,0 @@
-#ifndef MBED_HEPTAMPU9250_H
-#define MBED_HEPTAMPU9250_H
-#include "mbed.h"
-
-class HeptaMPU9250
-{
-public:
-    I2C MPU9250;
-    int addr_accel_gyro;
-    int addr_compus;
-    HeptaMPU9250(
-        PinName sda,
-        PinName scl,
-        int aaddr,
-        int agaddr
-    );
-    void setup();
-    void sen_acc(float *ax,float *ay,float *az);
-    void sen_gyro(float *gx,float *gy,float *gz);
-    void sen_mag(float *mx,float *my,float *mz);
-    void sen_gyro_u16(char* gx_u16,char* gy_u16,char* gz_u16, int *dsize);
-    void sen_acc_u16(char* ax_u16,char* ay_u16,char* az_u16, int *dsize);
-    void sen_mag_u16(char* mx_u16,char* my_u16,char* mz_u16, int *dsize);
-
-private:
-    char cmd[2];
-    char g1[8],g2[8];
-    char a1[8],a2[8];
-    char m1[8],m2[8];
-    short int xl,xh,yl,yh,zl,zh;
-    short int gxl,gxh,gyl,gyh,gzl,gzh;
-    short int mxl,mxh,myl,myh,mzl,mzh;
-
-};
-
-#endif
\ No newline at end of file

diff -r 91fc70cdd15d -r 6ee85df13ebd Hepta_9axis.lib
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/Hepta_9axis.lib	Wed Jul 19 08:16:35 2017 +0000
@@ -0,0 +1,1 @@
+https://developer.mbed.org/users/hepta2ume/code/Hepta2_9axis/#5aaec0996753

diff -r 91fc70cdd15d -r 6ee85df13ebd main.cpp
--- a/main.cpp	Wed Jul 19 07:35:07 2017 +0000
+++ b/main.cpp	Wed Jul 19 08:16:35 2017 +0000
@@ -1,5 +1,5 @@
 #include "mbed.h"
-#include"HeptaMPU9250.h"
+#include"Hepta9axis.h"
 
 //DigitalOut myled(LED1);
 HeptaMPU9250 MPU9250(p28,p27,0xD0,0x18);