Diff: main.cpp

Revision:

0:5b22d0b5610e

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Sun Jan 23 04:27:39 2022 +0000
@@ -0,0 +1,77 @@
+#include "mbed.h"
+
+Serial pc(USBTX,USBRX);
+I2C i2c(p28, p27);
+
+const int addr_accel_gyro = 0xD0;   //9軸センサ自体のアドレス
+char cmd[2];
+short int xl,xh,yl,yh,zl,zh;
+int main()
+{
+    i2c.frequency(100000);
+//    cmd[0]=0x6B;
+//    cmd[1]=0x00;
+//    i2c.write(addr_accel_gyro,amd,2);
+//    cmd[0] = 0x37;
+//    cmd[1] = 0x02;
+//    i2c.write(adde_accel_gyro,cmd,2);
+//    i2c.stop();
+    pc.printf("AX Start!!\r\n");
+    pc.printf("AY Start!!\r\n");
+    pc.printf("AZ Start!!\r\n");
+
+    while(1) {
+        i2c.start();
+        i2c.write(addr_accel_gyro);
+        i2c.write(0x3b);//read adress
+        i2c.start();
+        i2c.write(addr_accel_gyro|0x01);
+        xh = i2c.read(0);
+        i2c.stop();
+        i2c.start();
+        i2c.write(addr_accel_gyro);
+        i2c.write(0x3c);
+        i2c.start();
+        i2c.write(addr_accel_gyro|0x01);
+        xl = i2c.read(0);
+        i2c.stop();
+        i2c.start();
+        i2c.write(addr_accel_gyro);
+        i2c.write(0x3d);//read adress
+        i2c.start();
+        i2c.write(addr_accel_gyro|0x01);
+        yh = i2c.read(0);
+        i2c.stop();
+        i2c.start();
+        i2c.write(addr_accel_gyro);
+        i2c.write(0x3e);
+        i2c.start();
+        i2c.write(addr_accel_gyro|0x01);
+        yl = i2c.read(0);
+        i2c.stop();
+        i2c.start();
+        i2c.write(addr_accel_gyro);
+        i2c.write(0x3f);//read adress
+        i2c.start();
+        i2c.write(addr_accel_gyro|0x01);
+        zh = i2c.read(0);
+        i2c.stop();
+        i2c.start();
+        i2c.write(addr_accel_gyro);
+        i2c.write(0x40);
+        i2c.start();
+        i2c.write(addr_accel_gyro|0x01);
+        zl = i2c.read(0);
+        i2c.stop();
+        double  acc_ax = short((xh<<8) | (xl));
+        double AX = (acc_ax)*2/32768*9.81;
+        double  acc_ay = short((yh<<8) | (yl));
+        double AY = (acc_ay)*2/32768*9.81;
+        double  acc_az = short((zh<<8) | (zl));
+        double AZ = (acc_az)*2/32768*9.81;
+        pc.printf("AX = %f",AX);
+        pc.printf("  AY = %f",AY);
+        pc.printf("  AZ = %f\r\n",AZ);
+        wait(0.1);
+    }
+}