Diff: main.cpp

Revision:

1:b38a436a0059

Parent:

0:bf86efb237ca

--- a/main.cpp	Fri Apr 22 17:24:36 2022 +0000
+++ b/main.cpp	Fri Apr 22 19:03:26 2022 +0000
@@ -7,7 +7,6 @@
 「マスターが受信する」によって、取得するため
 
 1.slave address(スレーブアドレス→内部レジスタ)
-
 2.ack(受信)
 3.data1(8bits)
 4.ack=1(送信)
@@ -24,9 +23,13 @@
 
 const int addr = 0xD0;   //加速度とジャイロのスレーブアドレス
 
-short int xl,xh; //x軸の加速度
-short int yl,yh; //y軸の加速度
-short int zl,zh;
+short int axl,axh; //x軸の加速度
+short int ayl,ayh; //y軸の加速度
+short int azl,azh; //z軸の加速度
+
+short int gxl,gxh; //xの角速度
+short int gyl,gyh; //yの角速度
+short int gzl,gzh; //zの角速度
 
 int main()
 {
@@ -34,6 +37,7 @@
     pc.printf("Start!!\r\n");
     
     while(1) {
+        //加速度
         //x軸加速度取得
         
         //1.slave address(スレーブアドレス→内部レジスタ)
@@ -52,7 +56,7 @@
         //4.ack=0(送信)
         i2c.start();
         i2c.write(addr|0x01); //ack=1(送信)
-        xh = i2c.read(0);//data取り出す
+        axh = i2c.read(0);//data取り出す
         i2c.stop();
         
         i2c.start();
@@ -60,7 +64,7 @@
         i2c.write(0x3d);//data2(61)2
         //6.ack=1(送信)
         i2c.write(addr|0x01); //ack=1(受信)
-        xl = i2c.read(0);//data取り出す
+        axl = i2c.read(0);//data取り出す
         i2c.stop();
         
         //以下2～6を繰り返す。
@@ -74,13 +78,13 @@
         
         i2c.start();
         i2c.write(addr|0x01); //ack=1(送信)
-        yh = i2c.read(0);//data取り出す
+        ayh = i2c.read(0);//data取り出す
         i2c.stop();
         
         i2c.start();
         i2c.write(0x3f); //data(63)4
         i2c.write(addr|0x01); //ack=1(送信)
-        yl = i2c.read(0);//data取り出す
+        ayl = i2c.read(0);//data取り出す
         i2c.stop();
         
         //z軸加速度取得
@@ -91,27 +95,87 @@
         
         i2c.start();
         i2c.write(addr|0x01); //ack=1(送信)
-        zh = i2c.read(0);//data取り出す
+        azh = i2c.read(0);//data取り出す
         i2c.stop();
         
         i2c.start();
         i2c.write(0x41); //data(65)6
         i2c.write(addr|0x01); //ack=1(送信)
-        zl = i2c.read(0);//data取り出す
+        azl = i2c.read(0);//data取り出す
         i2c.stop();
         
         
+        //ジャイロセンサ
+        //x
+        i2c.start();
+        i2c.read(false); //ack(受信)
+        i2c.write(0x42); //data
+        i2c.stop();
+        
+        i2c.start();
+        i2c.write(addr|0x01); //ack=1(送信)
+        gxh = i2c.read(0);//data取り出す
+        i2c.stop();
+        
+        i2c.start();
+        i2c.write(0x43); //data
+        i2c.write(addr|0x01); //ack=1(送信)
+        gxl = i2c.read(0);//data取り出す
+        i2c.stop();
+        
+        //y
+        i2c.start();
+        i2c.read(false); //ack(受信)
+        i2c.write(0x44); //data
+        i2c.stop();
+        
+        i2c.start();
+        i2c.write(addr|0x01); //ack=1(送信)
+        gyh = i2c.read(0);//data取り出す
+        i2c.stop();
+        
+        i2c.start();
+        i2c.write(0x45); //data
+        i2c.write(addr|0x01); //ack=1(送信)
+        gyl = i2c.read(0);//data取り出す
+        i2c.stop();
+        
+        //z
+        i2c.start();
+        i2c.read(false); //ack(受信)
+        i2c.write(0x46); //data
+        i2c.stop();
+        
+        i2c.start();
+        i2c.write(addr|0x01); //ack=1(送信)
+        gzh = i2c.read(0);//data取り出す
+        i2c.stop();
+        
+        i2c.start();
+        i2c.write(0x47); //data
+        i2c.write(addr|0x01); //ack=1(送信)
+        gzl = i2c.read(0);//data取り出す
+        i2c.stop();
         
         
-        double  acc_ax = short((xh<<8) | (xl));
-        double  acc_ay = short((yh<<8) | (yl));
-        double  acc_az = short((zh<<8) | (zl));
+        double  acc_ax = short((axh<<8) | (axl));
+        double  acc_ay = short((ayh<<8) | (ayl));
+        double  acc_az = short((azh<<8) | (azl));
+        
+        double  acc_gx = short((gxh<<8) | (gxl));
+        double  acc_gy = short((gyh<<8) | (gyl));
+        double  acc_gz = short((gzh<<8) | (gzl));
         
         double AX = (acc_ax)*2/32768*9.81;
         double AY = (acc_ay)*2/32768*9.81;
         double AZ = (acc_az)*2/32768*9.81;
         
+        double GX = (acc_gx)*0.0128114995; //0.02562299
+        double GY = (acc_gy)*0.0128114995; //0.0128114995(測定レンジ±500)
+        double GZ = (acc_gz)*0.0128114995;
+        
         pc.printf("%f %f %f\r\n",AX,AY,AZ);
+        pc.printf("%f %f %f\r\n",GX,GY,GZ);                             //GXがずれている
         wait(0.01);
     }
 }
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