yotaro morizumi
my new gear...
sensor/gy521.hpp@3:a9b4b2565a23, 2022-03-27 (annotated)
- Committer:
- yootee
- Date:
- Sun Mar 27 04:51:16 2022 +0000
- Revision:
- 3:a9b4b2565a23
my new gear...
Who changed what in which revision?
| User | Revision | Line number | New contents of line |
|---|---|---|---|
| yootee | 3:a9b4b2565a23 | 1 | #ifndef GY521_H |
| yootee | 3:a9b4b2565a23 | 2 | #define GY521_H |
| yootee | 3:a9b4b2565a23 | 3 | #include "mbed.h" |
| yootee | 3:a9b4b2565a23 | 4 | |
| yootee | 3:a9b4b2565a23 | 5 | /*GY521を使う。 |
| yootee | 3:a9b4b2565a23 | 6 | *I2Cオブジェクトを渡す |
| yootee | 3:a9b4b2565a23 | 7 | *GY521(I2C &i2c,int bit = 2,int calibration = 1000,double user_reg = 1.0); |
| yootee | 3:a9b4b2565a23 | 8 | *example |
| yootee | 3:a9b4b2565a23 | 9 | *L432KC : SDA = PB_7 , SCL = PB_6 |
| yootee | 3:a9b4b2565a23 | 10 | *F446RE : SDA = PB_3 , SCL = PB_10 |
| yootee | 3:a9b4b2565a23 | 11 | *ループ内で毎回 |
| yootee | 3:a9b4b2565a23 | 12 | *<obj>.update() |
| yootee | 3:a9b4b2565a23 | 13 | *を呼び出してください。 |
| yootee | 3:a9b4b2565a23 | 14 | */ |
| yootee | 3:a9b4b2565a23 | 15 | //I2C i2c(SDA,SCL); |
| yootee | 3:a9b4b2565a23 | 16 | //GY521 gyro(i2c); |
| yootee | 3:a9b4b2565a23 | 17 | |
| yootee | 3:a9b4b2565a23 | 18 | enum GY521RegisterMap { |
| yootee | 3:a9b4b2565a23 | 19 | WHO_AM_I = 0x75, |
| yootee | 3:a9b4b2565a23 | 20 | PWR_MGMT_1 = 0x6B, |
| yootee | 3:a9b4b2565a23 | 21 | LPF = 0x1A, |
| yootee | 3:a9b4b2565a23 | 22 | FS_SEL = 0x1B, |
| yootee | 3:a9b4b2565a23 | 23 | AFS_SEL = 0x1C, |
| yootee | 3:a9b4b2565a23 | 24 | ACCEL_XOUT_H = 0x3B, |
| yootee | 3:a9b4b2565a23 | 25 | ACCEL_YOUT_H = 0x3D, |
| yootee | 3:a9b4b2565a23 | 26 | ACCEL_ZOUT_H = 0x3F, |
| yootee | 3:a9b4b2565a23 | 27 | //TEMPERATURE = 0x41, |
| yootee | 3:a9b4b2565a23 | 28 | //GYRO_XOUT_H = 0x43, |
| yootee | 3:a9b4b2565a23 | 29 | //GYRO_YOUT_H = 0x45, |
| yootee | 3:a9b4b2565a23 | 30 | GYRO_ZOUT_H = 0x47 |
| yootee | 3:a9b4b2565a23 | 31 | }; |
| yootee | 3:a9b4b2565a23 | 32 | |
| yootee | 3:a9b4b2565a23 | 33 | class GY521{ |
| yootee | 3:a9b4b2565a23 | 34 | public: |
| yootee | 3:a9b4b2565a23 | 35 | GY521(I2C &i2c,int bit = 2,int calibration = 1000,double user_reg = 1.0); |
| yootee | 3:a9b4b2565a23 | 36 | double yaw; |
| yootee | 3:a9b4b2565a23 | 37 | //double temp; |
| yootee | 3:a9b4b2565a23 | 38 | void update(); |
| yootee | 3:a9b4b2565a23 | 39 | void reset(int user); |
| yootee | 3:a9b4b2565a23 | 40 | void start(double start = 0){ |
| yootee | 3:a9b4b2565a23 | 41 | yaw = start; |
| yootee | 3:a9b4b2565a23 | 42 | } |
| yootee | 3:a9b4b2565a23 | 43 | double checkStatus(int mode); |
| yootee | 3:a9b4b2565a23 | 44 | private: |
| yootee | 3:a9b4b2565a23 | 45 | I2C &i2c_; |
| yootee | 3:a9b4b2565a23 | 46 | Timer timer_; |
| yootee | 3:a9b4b2565a23 | 47 | int16_t gyroRead2(enum GY521RegisterMap reg); |
| yootee | 3:a9b4b2565a23 | 48 | double gyro_z_aver_; |
| yootee | 3:a9b4b2565a23 | 49 | double gyro_z_now_; |
| yootee | 3:a9b4b2565a23 | 50 | double gyro_z_prev_; |
| yootee | 3:a9b4b2565a23 | 51 | double gyro_LSB_; |
| yootee | 3:a9b4b2565a23 | 52 | double diff_yaw_; |
| yootee | 3:a9b4b2565a23 | 53 | int bit_; |
| yootee | 3:a9b4b2565a23 | 54 | int calibration_; |
| yootee | 3:a9b4b2565a23 | 55 | bool flag_; |
| yootee | 3:a9b4b2565a23 | 56 | }; |
| yootee | 3:a9b4b2565a23 | 57 | |
| yootee | 3:a9b4b2565a23 | 58 | #endif /* GY521_H */ |