MPU6050のサンプルプログラム2
Dependencies: ConfigFile SDFileSystem mbed
Fork of LAURUS_program by
myConstants.h@9:6d4578dcc1ed, 2015-06-15 (annotated)
- Committer:
- ojan
- Date:
- Mon Jun 15 10:40:18 2015 +0000
- Revision:
- 9:6d4578dcc1ed
- Parent:
- 5:182f6356bce1
- Child:
- 13:df1e8a650185
add code to calculate Euler angle
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
ojan | 0:bc6f14fc60c7 | 1 | #pragma once |
ojan | 0:bc6f14fc60c7 | 2 | |
ojan | 5:182f6356bce1 | 3 | /* Math Constants */ |
ojan | 3:5358a691a100 | 4 | #define NEARLY_ZERO 0.000000001f |
ojan | 3:5358a691a100 | 5 | #define ZERO_TOLERANCE 0.000001f |
ojan | 0:bc6f14fc60c7 | 6 | #define RAD_TO_DEG 57.2957795f // 180 / π |
ojan | 0:bc6f14fc60c7 | 7 | #define DEG_TO_RAD 0.0174532925f // π / 180 |
ojan | 5:182f6356bce1 | 8 | |
ojan | 5:182f6356bce1 | 9 | /* Accelerometer */ |
ojan | 0:bc6f14fc60c7 | 10 | #define ACC_LSB_TO_G 0.0000610351562f // g/LSB (1/2^14 |
ojan | 0:bc6f14fc60c7 | 11 | #define G_TO_MPSS 9.8f // (m/s^2)/g |
ojan | 5:182f6356bce1 | 12 | |
ojan | 5:182f6356bce1 | 13 | /* Gyro Sensor */ |
ojan | 5:182f6356bce1 | 14 | //#define GYRO_LSB_TO_DEG 0.0304878048f // deg/LSB (1/32.8 |
ojan | 5:182f6356bce1 | 15 | #define GYRO_LSB_TO_DEG 0.0152671755f // deg/LSB (1/65.5 |
ojan | 1:6cd6d2760856 | 16 | //#define GYRO_LSB_TO_DEG 0.00763358778f // deg/LSB (1/131 |
ojan | 5:182f6356bce1 | 17 | |
ojan | 5:182f6356bce1 | 18 | /* Pressure Sensor */ |
ojan | 1:6cd6d2760856 | 19 | #define PRES_LSB_TO_HPA 0.000244140625f // hPa/LSB (1/4096 |
ojan | 1:6cd6d2760856 | 20 | |
ojan | 9:6d4578dcc1ed | 21 | /* GPS */ |
ojan | 9:6d4578dcc1ed | 22 | #define GPS_SQ_E 0.00669437999f // (第一離心率)^2 |
ojan | 9:6d4578dcc1ed | 23 | #define GPS_A 6378137.0f // 長半径(赤道半径)(m) |
ojan | 9:6d4578dcc1ed | 24 | #define GPS_B 6356752.3f // 短半径(極半径)(m) |
ojan | 9:6d4578dcc1ed | 25 | |
ojan | 5:182f6356bce1 | 26 | /* Geomagnetic Sensor */ |
ojan | 1:6cd6d2760856 | 27 | #define MAG_LSB_TO_GAUSS 0.00092f // Gauss/LSB |
ojan | 1:6cd6d2760856 | 28 | #define MAG_MAGNITUDE 0.46f // Magnitude of GeoMagnetism (Gauss) |
ojan | 5:182f6356bce1 | 29 | #define MAG_SIN -0.754709580f // Sin-Value of Inclination |
ojan | 5:182f6356bce1 | 30 | |
ojan | 5:182f6356bce1 | 31 | /* ADC */ |
ojan | 5:182f6356bce1 | 32 | #define ADC_LSB_TO_V 0.000050354f // 3.3(V)/65535(LSB) |