Funai Ryotaro / Mbed 2 deprecated mag_sensor

テスト

Dependencies:   mbed

Fork of mag_sensor by electronics-lab

main.cpp@0:ae23b58fc2d4, 2018-08-12 (annotated)

Committer:
ponpoko1939
Date:
Sun Aug 12 02:16:58 2018 +0000
Revision:
0:ae23b58fc2d4
Child:
1:21ba826811d6
mag??????

Who changed what in which revision?

UserRevisionLine numberNew contents of line
ponpoko1939 0:ae23b58fc2d4 1 /*MPU9250_PROGRAM ver2.2 PROGRAMED BY RYOTARO FUNAI 2018/08/10*/
ponpoko1939 0:ae23b58fc2d4 2 #include <mbed.h>
ponpoko1939 0:ae23b58fc2d4 3 #include <math.h>
ponpoko1939 0:ae23b58fc2d4 4
ponpoko1939 0:ae23b58fc2d4 5 I2C i2c(p9, p10);
ponpoko1939 0:ae23b58fc2d4 6 Serial pc(USBTX, USBRX); //TWELITE使う予定なら13,14ピン
ponpoko1939 0:ae23b58fc2d4 7
ponpoko1939 0:ae23b58fc2d4 8 #define MPU9250_ADDRESS 0x68<<1 //I2CでのMPU9250のスレーブアドレス
ponpoko1939 0:ae23b58fc2d4 9 #define AK8963_ADDRESS 0x0c<<1 //磁気センサのスレーブアドレス
ponpoko1939 0:ae23b58fc2d4 10 #define Whoami 0x75 //who_am_iレジスタのアドレス、0x71が返ってくる
ponpoko1939 0:ae23b58fc2d4 11 #define Magadd 0x00 //ak8963のWho_am_i
ponpoko1939 0:ae23b58fc2d4 12 #define PWR 0x6b //スリープモードをonにするためのアドレス
ponpoko1939 0:ae23b58fc2d4 13 #define MAG_OPN 0x37 //mpu9250から磁気センサにアクセスできるようにする
ponpoko1939 0:ae23b58fc2d4 14 #define ACC_CONFIG 0x1c //加速度センサ設定用のアドレス
ponpoko1939 0:ae23b58fc2d4 15 #define ACC_2G 0x00 //加速度センサのレンジ(2G)
ponpoko1939 0:ae23b58fc2d4 16 #define ACC_4G 0x08 //加速度センサのレンジ(4G)
ponpoko1939 0:ae23b58fc2d4 17 #define ACC_8G 0x10 //加速度センサのレンジ(8G)
ponpoko1939 0:ae23b58fc2d4 18 #define ACC_16G 0x18 //加速度センサのレンジ(16Gまで計測可能)
ponpoko1939 0:ae23b58fc2d4 19 #define MAG_CONFIG 0x0a //磁気センサ設定用のアドレス
ponpoko1939 0:ae23b58fc2d4 20 #define MAG_8HZ 0x12 //磁気センサの出力周期(8Hz)
ponpoko1939 0:ae23b58fc2d4 21 #define MAG_100HZ 0x16 //磁気センサの出力周期(100Hz)
ponpoko1939 0:ae23b58fc2d4 22 #define accRange 16.0 //加速度センサの測定レンジ
ponpoko1939 0:ae23b58fc2d4 23 #define ST2 0x02 //磁気センサのステータスが入っているアドレス
ponpoko1939 0:ae23b58fc2d4 24 #define Ain 35
ponpoko1939 0:ae23b58fc2d4 25 #define SDA 21
ponpoko1939 0:ae23b58fc2d4 26 #define SCL 22
ponpoko1939 0:ae23b58fc2d4 27 #define led 2 //チェック用のLEDピン
ponpoko1939 0:ae23b58fc2d4 28
ponpoko1939 0:ae23b58fc2d4 29 void Ac_Read(int16_t*, int16_t*, int16_t*); //9軸から加速度の値を取得
ponpoko1939 0:ae23b58fc2d4 30 void Mag_Read(int16_t*, int16_t*, int16_t*);
ponpoko1939 0:ae23b58fc2d4 31 //addrにスレーブアドレス、regにアクセスするアドレスを入力する
ponpoko1939 0:ae23b58fc2d4 32 void i2cRead(uint8_t addr,uint8_t reg, uint8_t bytes,uint8_t* data);
ponpoko1939 0:ae23b58fc2d4 33 void i2cWrite(uint8_t addr,uint8_t reg, uint8_t data);
ponpoko1939 0:ae23b58fc2d4 34 uint8_t IDcheck();
ponpoko1939 0:ae23b58fc2d4 35
ponpoko1939 0:ae23b58fc2d4 36 uint8_t accgyrodata[14];
ponpoko1939 0:ae23b58fc2d4 37 uint8_t magneticdata[7];
ponpoko1939 0:ae23b58fc2d4 38 uint8_t ST2_Bit; //磁気センサのステータスを入れておく
ponpoko1939 0:ae23b58fc2d4 39
ponpoko1939 0:ae23b58fc2d4 40 int16_t mx, my, mz;
ponpoko1939 0:ae23b58fc2d4 41 double magX, magY, magZ, mag;
ponpoko1939 0:ae23b58fc2d4 42 float rad;
ponpoko1939 0:ae23b58fc2d4 43 float degree;
ponpoko1939 0:ae23b58fc2d4 44 float ID;
ponpoko1939 0:ae23b58fc2d4 45 int main() {
ponpoko1939 0:ae23b58fc2d4 46 i2cWrite(MPU9250_ADDRESS, PWR, 0x00); //スリープモードの解除
ponpoko1939 0:ae23b58fc2d4 47 i2cWrite(MPU9250_ADDRESS, MAG_OPN, 0x02); //磁気センサの起動
ponpoko1939 0:ae23b58fc2d4 48 i2cWrite(AK8963_ADDRESS, MAG_CONFIG, MAG_100HZ);//磁気センサの測定レンジの設定
ponpoko1939 0:ae23b58fc2d4 49 double maveX = 0, maveY = 0, maveZ = 0;
ponpoko1939 0:ae23b58fc2d4 50 while(1) {
ponpoko1939 0:ae23b58fc2d4 51 for(int i = 0;i < 100;i++){
ponpoko1939 0:ae23b58fc2d4 52 Mag_Read(&mx, &my, &mz);
ponpoko1939 0:ae23b58fc2d4 53 maveX += mx;
ponpoko1939 0:ae23b58fc2d4 54 maveY += my;
ponpoko1939 0:ae23b58fc2d4 55 maveZ += mz;
ponpoko1939 0:ae23b58fc2d4 56 wait_ms(15);
ponpoko1939 0:ae23b58fc2d4 57 }
ponpoko1939 0:ae23b58fc2d4 58 maveX /= 100;
ponpoko1939 0:ae23b58fc2d4 59 maveY /= 100;
ponpoko1939 0:ae23b58fc2d4 60 maveZ /= 100;
ponpoko1939 0:ae23b58fc2d4 61 magX = (maveX - 168.75) / 32768.0f * 4800.0f;//[uT]に変換
ponpoko1939 0:ae23b58fc2d4 62 magY = (maveY - 18.75) / 32768.0f * 4800.0f;//[uT]に変換
ponpoko1939 0:ae23b58fc2d4 63 pc.printf("%f,%f\n\r", magX, magY);
ponpoko1939 0:ae23b58fc2d4 64 ID = IDcheck();
ponpoko1939 0:ae23b58fc2d4 65 //pc.printf("%f\n\r", ID);
ponpoko1939 0:ae23b58fc2d4 66 //magZ = mz / 32768.0f * 4800.0f;//[uT]に変換
ponpoko1939 0:ae23b58fc2d4 67 rad = atan2(magY, magX);
ponpoko1939 0:ae23b58fc2d4 68 degree = (180.0 * rad / 3.14);
ponpoko1939 0:ae23b58fc2d4 69 if(degree < 0){
ponpoko1939 0:ae23b58fc2d4 70 degree += 360;
ponpoko1939 0:ae23b58fc2d4 71 }
ponpoko1939 0:ae23b58fc2d4 72 //pc.printf("%f\n\r",degree);
ponpoko1939 0:ae23b58fc2d4 73 }
ponpoko1939 0:ae23b58fc2d4 74 }
ponpoko1939 0:ae23b58fc2d4 75
ponpoko1939 0:ae23b58fc2d4 76 //mpu9250から磁気センサのみ引っ張ってくる
ponpoko1939 0:ae23b58fc2d4 77 void Mag_Read(int16_t* mx, int16_t* my, int16_t* mz){
ponpoko1939 0:ae23b58fc2d4 78 i2cRead(AK8963_ADDRESS, ST2, 1, &ST2_Bit);//読み出し準備ができたか確認
ponpoko1939 0:ae23b58fc2d4 79 if(ST2_Bit & 0x01){ //ちゃんと読めたかをST2レジスタの値を読んで確認
ponpoko1939 0:ae23b58fc2d4 80 i2cRead(AK8963_ADDRESS, 0x03, 7, magneticdata);
ponpoko1939 0:ae23b58fc2d4 81 }
ponpoko1939 0:ae23b58fc2d4 82 else pc.printf("ERROR!!\n");
ponpoko1939 0:ae23b58fc2d4 83 *mx = (magneticdata[0] << 8) | magneticdata[1];
ponpoko1939 0:ae23b58fc2d4 84 *my = (magneticdata[2] << 8) | magneticdata[3];
ponpoko1939 0:ae23b58fc2d4 85 *mz = (magneticdata[4] << 8) | magneticdata[5];
ponpoko1939 0:ae23b58fc2d4 86 }
ponpoko1939 0:ae23b58fc2d4 87
ponpoko1939 0:ae23b58fc2d4 88 //mpu9250からデータを取得(bytesに受け取るデータのバイト数、dataに実際のデータを挿入していく)
ponpoko1939 0:ae23b58fc2d4 89 void i2cRead(uint8_t addr,uint8_t reg, uint8_t bytes,uint8_t* data){
ponpoko1939 0:ae23b58fc2d4 90 char cmd[1];
ponpoko1939 0:ae23b58fc2d4 91 char written_data[14];
ponpoko1939 0:ae23b58fc2d4 92 cmd[0] = reg;
ponpoko1939 0:ae23b58fc2d4 93 i2c.write(addr, cmd, 1, 1);
ponpoko1939 0:ae23b58fc2d4 94 i2c.read(addr, written_data, bytes, 0);
ponpoko1939 0:ae23b58fc2d4 95 for(int ii = 0; ii < bytes; ii++) {
ponpoko1939 0:ae23b58fc2d4 96 data[ii] = written_data[ii];
ponpoko1939 0:ae23b58fc2d4 97 }
ponpoko1939 0:ae23b58fc2d4 98 }
ponpoko1939 0:ae23b58fc2d4 99
ponpoko1939 0:ae23b58fc2d4 100 //mpu9250にデータを送信(dataに送信するデータを入力する)
ponpoko1939 0:ae23b58fc2d4 101 void i2cWrite(uint8_t addr,uint8_t reg, uint8_t data){
ponpoko1939 0:ae23b58fc2d4 102 char cmd[2];
ponpoko1939 0:ae23b58fc2d4 103 cmd[0] = reg; //レジスタ指定
ponpoko1939 0:ae23b58fc2d4 104 cmd[1] = data; //送信するデータ
ponpoko1939 0:ae23b58fc2d4 105 i2c.write(addr, cmd, 2); //レジスタ指定はどうする?
ponpoko1939 0:ae23b58fc2d4 106 }
ponpoko1939 0:ae23b58fc2d4 107 /*
ponpoko1939 0:ae23b58fc2d4 108 void readMagData(int16_t * destination)
ponpoko1939 0:ae23b58fc2d4 109 {
ponpoko1939 0:ae23b58fc2d4 110 uint8_t rawData[7]; // x/y/z gyro register data, ST2 register stored here, must read ST2 at end of data acquisition
ponpoko1939 0:ae23b58fc2d4 111 if(readByte(AK8963_ADDRESS, AK8963_ST1) & 0x01) { // wait for magnetometer data ready bit to be set
ponpoko1939 0:ae23b58fc2d4 112 readBytes(AK8963_ADDRESS, AK8963_XOUT_L, 7, &rawData[0]); // Read the six raw data and ST2 registers sequentially into data array
ponpoko1939 0:ae23b58fc2d4 113 uint8_t c = rawData[6]; // End data read by reading ST2 register
ponpoko1939 0:ae23b58fc2d4 114 if(!(c & 0x08)) { // Check if magnetic sensor overflow set, if not then report data
ponpoko1939 0:ae23b58fc2d4 115 destination[0] = (int16_t)(((int16_t)rawData[1] << 8) | rawData[0]); // Turn the MSB and LSB into a signed 16-bit value
ponpoko1939 0:ae23b58fc2d4 116 destination[1] = (int16_t)(((int16_t)rawData[3] << 8) | rawData[2]) ; // Data stored as little Endian
ponpoko1939 0:ae23b58fc2d4 117 destination[2] = (int16_t)(((int16_t)rawData[5] << 8) | rawData[4]) ;
ponpoko1939 0:ae23b58fc2d4 118 }
ponpoko1939 0:ae23b58fc2d4 119 }
ponpoko1939 0:ae23b58fc2d4 120 }
ponpoko1939 0:ae23b58fc2d4 121
ponpoko1939 0:ae23b58fc2d4 122 void getMres() {
ponpoko1939 0:ae23b58fc2d4 123 switch (Mscale)
ponpoko1939 0:ae23b58fc2d4 124 {
ponpoko1939 0:ae23b58fc2d4 125 // Possible magnetometer scales (and their register bit settings) are:
ponpoko1939 0:ae23b58fc2d4 126 // 14 bit resolution (0) and 16 bit resolution (1)
ponpoko1939 0:ae23b58fc2d4 127 case MFS_14BITS:
ponpoko1939 0:ae23b58fc2d4 128 mRes = 10.0*4912.0/8190.0; // Proper scale to return milliGauss
ponpoko1939 0:ae23b58fc2d4 129 break;
ponpoko1939 0:ae23b58fc2d4 130 case MFS_16BITS:
ponpoko1939 0:ae23b58fc2d4 131 mRes = 10.0*4912.0/32760.0; // Proper scale to return milliGauss
ponpoko1939 0:ae23b58fc2d4 132 break;
ponpoko1939 0:ae23b58fc2d4 133 }
ponpoko1939 0:ae23b58fc2d4 134 }
ponpoko1939 0:ae23b58fc2d4 135 */
ponpoko1939 0:ae23b58fc2d4 136
ponpoko1939 0:ae23b58fc2d4 137 //Who_am_Iアドレスで接続確認ができる。0x48もしくは10進数で72が返ってくればok
ponpoko1939 0:ae23b58fc2d4 138 uint8_t IDcheck(){
ponpoko1939 0:ae23b58fc2d4 139 uint8_t address;
ponpoko1939 0:ae23b58fc2d4 140 i2cRead(AK8963_ADDRESS, Magadd, 1, &address);
ponpoko1939 0:ae23b58fc2d4 141 return address;
ponpoko1939 0:ae23b58fc2d4 142 }