Diff: BMX055.h

Revision:

0:c317a0f96763

Child:

1:fed25406cc14

Child:

2:e25b321f54ba

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/BMX055.h	Mon Nov 28 10:48:59 2016 +0000
@@ -0,0 +1,106 @@
+#ifndef BMX055_H
+#define BMX055_H
+
+/*
+//example
+BMX055 bmx(D11,D12,D13,D10,D9,D8);//(mosi,miso,sck,CSB1,CSB2,CSB3) conntect 4-wire spi mode
+
+int main() {
+
+    
+    while(1) {
+      float mag[4];
+      while(bmx.read_mag(mag)==false);
+      printf("%d,%d,%d,%d\r\n",(int)mag[0],(int)mag[1],(int)mag[2],(int)mag[3]);
+    }
+    
+    while(1) {
+      float gyr[3];
+      while(bmx.read_gyr(gyr)==false);
+      printf("%d,%d,%d\r\n",(int)gyr[0],(int)gyr[1],(int)gyr[2]);
+    }
+    
+    while(1) {
+      float acc[3];
+      while(bmx.read_acc(acc)==false);
+      printf("%d,%d,%d\r\n",(int)acc[0],(int)acc[1],(int)acc[2]);
+    }
+}
+*/
+
+
+#define RANGE_2G 0b0011 //acc range
+#define RANGE_4G 0b0101
+#define RANGE_8G 0b1000
+#define RANGE_16G 0b1100
+
+#define BW_7_81 0b01000 //acc bandwidth
+#define BW_15_63 0b01001
+#define BW_31_25 0b01010
+#define BW_62_5 0b01011
+#define BW_125 0b01100
+#define BW_250 0b01101
+#define BW_500 0b01110
+#define BW_1000 0b01111
+
+#define RANGE_2000 0b000 //gyro range
+#define RANGE_1000 0b001
+#define RANGE_500 0b010
+#define RANGE_250 0b011
+#define RANGE_125 0b100
+
+
+#define ODR_BW_100_32 0b0111 //gyro output data rate and bandwidth
+#define ODR_BW_200_64 0b0110
+#define ODR_BW_100_12 0b0101
+#define ODR_BW_200_23 0b0100
+#define ODR_BW_400_47 0b0111
+#define ODR_BW_1000_116 0b0110
+#define ODR_BW_2000_230 0b0101
+#define ODR_BW_2000_523 0b0100
+
+
+
+
+#include "mbed.h"
+
+class BMX055 {
+public:
+    BMX055(PinName mosi,PinName miso,PinName sck,PinName _accss,PinName _gyrss,PinName _magss);
+    
+    char readbyte_acc(char adr);
+    void readnbyte_acc(char adr,char *data,char num);//numは配列の数
+    void writebyte_acc(char adr,char data);
+    bool read_acc(float *acc);
+    char read_temp();
+    void calib_acc();
+    void init_acc(char range,char bw);
+    
+    
+    char readbyte_gyr(char adr);
+    void readnbyte_gyr(char adr,char *data,char num);//numは配列の数
+    void writebyte_gyr(char adr,char data);
+    bool read_gyr(float *gyr);
+    void calib_gyr();
+    void init_gyr(char range,char odr_bw);
+    
+    char readbyte_mag(char adr);
+    void writebyte_mag(char adr,char data);
+    void readnbyte_mag(char adr,char *data,char num);//numは配列の数
+    bool read_mag(float *mag);
+    void init_mag();
+    
+    
+
+    void offset();
+  
+ private:
+    SPI bmx;
+    
+    DigitalOut accss;
+    DigitalOut gyrss;
+    DigitalOut magss;
+    
+};
+
+#endif
\ No newline at end of file