これは MMA7361 3軸アナログ加速度センサ の Nucleo F401RE 用のライブラリです。詳しい説明はLibrary中のReadMe.hに記載しています。文字化けや開けない場合はダウンロードしてみてください。Google Chrome では見れるはずです。
Dependents: Nucleo_L3GD20_MMA7361_Kalman
Diff: mma7361.h
- Revision:
- 6:ca882e5e2686
- Parent:
- 5:83a3021f51f8
--- a/mma7361.h Fri Sep 30 04:44:48 2016 +0000 +++ b/mma7361.h Fri Sep 30 06:50:24 2016 +0000 @@ -32,11 +32,6 @@ DigitalOut GS; Serial pcdev; int range; //0 : 1.5G 1 : 6.0G - - /** matrix - * - * the matrix which use to calcurate the gravity - */ int mat[4][3]; public: @@ -56,28 +51,141 @@ * do the calibration, you need to conect terminal (ex.TeraTerm) by USB\n * the serial port is set in this class, but it's private\n * please follow the sentence on the terminal\n - * this function set the matrix\n + * this function set the matrix which use to calculate the gravity\n * if you don't want to do this or know the data, you can use set_each_num() or set_num() to set matrix */ void calibration(); /** function * - * + * this function set the matrix which use to calculate the gravity and the range of sensitivity\n + * the matrix's paramater is this\n + * | A00 A10 A20 | : middle bits (=0G) of each axes when range is 1.5G\n + * | A01 A11 A21 | : middle bits (=0G) of each axes when range is 6.0G\n + * | G00 G10 G20 | : bits/G of each axes when range is 1.5G\n + * | G01 G11 G21 | : bits/G of each axes when range is 6.0G + * @param ax_0_0 A00 in the matrix (=-1:use default = 31356) + * @param ay_0_0 A10 in the matrix (=-1:use default = 34040) + * @param az_0_0 A20 in the matrix (=-1:use default = 28639) + * @param ax_1_0 A01 in the matrix (=-1:use default = 32717) + * @param ay_1_0 A11 in the matrix (=-1:use default = 33388) + * @param az_1_0 A21 in the matrix (=-1:use default = 31475) + * @param gx_0_0 G00 in the matrix (=-1:use default = 15633) + * @param gy_0_0 G10 in the matrix (=-1:use default = 15797) + * @param gz_0_0 G20 in the matrix (=-1:use default = 15187) + * @param gx_1_0 G01 in the matrix (=-1:use default = 5416) + * @param gy_1_0 G11 in the matrix (=-1:use default = 3220) + * @param gz_1_0 G21 in the matrix (=-1:use default = 7131) + * @param new_range range of sensitivity (0:1.5G 1:6.0G default = 0) */ - void set_each_num(int ax_0_0,int ay_0_0,int az_0_0,int ax_1_0,int ay_1_0,int az_1_0,int gx_0_0,int gy_0_0,int gz_0_0,int gx_1_0,int gy_1_0,int gz_1_0,int new_range); - void set_num(int (*new_mat)[3],int new_range); - void set_range(int new_range); + void set_each_num(int ax_0_0,int ay_0_0,int az_0_0,int ax_1_0,int ay_1_0,int az_1_0,int gx_0_0,int gy_0_0,int gz_0_0,int gx_1_0,int gy_1_0,int gz_1_0,int new_range = 0); + + /** function + * + * this function set the matrix which use to calculate the gravity and the range of sensitivity\n + * the matrix's paramater is this\n + * | A00 A10 A20 | : middle bits (=0G) of each axes when range is 1.5G\n + * | A01 A11 A21 | : middle bits (=0G) of each axes when range is 6.0G\n + * | G00 G10 G20 | : bits/G of each axes when range is 1.5G\n + * | G01 G11 G21 | : bits/G of each axes when range is 6.0G + * @param new_mat this matrix means {{A00,A10,A20},{A01,A11,A21},{G00,G10,G20},{G01,G11,G21}}, if elements have the value of -1 then it's value is default + * @param new_range range of sensitivity (0:1.5G 1:6.0G default = 0) + */ + void set_num(int (*new_mat)[3],int new_range = 0); + + /** function + * + * this function set the range of sensitivity + * @param new_range range of sensitivity (0:1.5G 1:6.0G default = 0) + */ + void set_range(int new_range = 0); + + /** function + * + * this function set the matrix to default + */ void clear_mat(); + + /** function + * + * this function read the bit data (the result of ADC) of axis (x:x_axis y:y_axis z:z_axis) + * @param axis select what you want to read (x:x_axis y:y_axis z:z_axis) + * @return same as Analog class' read_u16() + */ int read_bit(int axis); + + /** function + * + * this function read the bit data (the result of ADC) and remove the effect of the gravity of axis (x:x_axis y:y_axis z:z_axis) + * @param axis select what you want to read (x:x_axis y:y_axis z:z_axis) + * @return do Analog class' read_u16() and remove the effect of gravity, data is from matrix + */ int read_bit_0(int axis); + + /** function + * + * this function read the acceleration by G + * @param axis select what you want to read (x:x_axis y:y_axis z:z_axis) + * @return the acceleration by G + */ float read_by_g(int axis); + + /** function + * + * this function do the low pass filter by program\n + * this filter use the last bit data and get new bit data when this function is done\n + * so when you use this, do loop if you want to use data from LPF\n + * before you use this function, you should use set_1st_bit() to be short the time which the data be convergence\n + * if you don't use set_1st_bit(), you must through about 300 data + * @param int_bit the pointer of the variable which has acceleration + * @param axis select what you want to do (x:x_axis y:y_axis z:z_axis) + */ void low_pass_filter(int *int_bit,int axis); + + /** function + * + * show the matrix on terminal + */ void show_mat(); + + /** function + * + * change the acceleration data from bit to G + * @param bit original bit data + * @param axis select what you want to change (x:x_axis y:y_axis z:z_axis) + * @return the acceleration by G + */ float bit_to_g(int bit,int axis); + + /** function + * + * use before low_pass_filter()\n + * set direction_G to the unti direction of gravity from -1 to be short the time which the data be convergence\n + * read the description of low_pass_filter() + * @param variable the pointer of the variable which will have acceleration + * @param axis select what you want to do (x:x_axis y:y_axis z:z_axis) + * @param direction_G the unti direction of gravity from -1 to be short the time which the data be convergence (no need to be set completely) + */ void set_1st_bit(int *variable,int axis,float direction_G); + /** function + * + * calculate the rotation acceleration from a_axis to b_axis\n + * if the acceleration is smoller than THHO (0.01G), then the acceleration is 0G + * @param a_value the pointer of the variable which will have acceleration + * @param a_axis select what you want to do (x:x_axis y:y_axis z:z_axis) + * @param b_value the pointer of the variable which will have acceleration + * @param b_axis select what you want to do (x:x_axis y:y_axis z:z_axis) + * @return the rotation acceleration by radian + */ float rotate(int *a_value,int a_axis,int *b_value,int b_axis); + + /** function + * + * change the radian to degree + * @param rad radian which you want to change + * @return return changed degree + */ float rad_to_deg(float rad); };