Diff: sensor/gy521.hpp

Revision:

3:a9b4b2565a23

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/sensor/gy521.hpp	Sun Mar 27 04:51:16 2022 +0000
@@ -0,0 +1,58 @@
+#ifndef GY521_H
+#define GY521_H
+#include "mbed.h"
+
+/*GY521を使う。
+ *I2Cオブジェクトを渡す
+ *GY521(I2C &i2c,int bit = 2,int calibration = 1000,double user_reg = 1.0);
+ *example
+ *L432KC : SDA = PB_7 , SCL = PB_6
+ *F446RE : SDA = PB_3 , SCL = PB_10
+ *ループ内で毎回
+ *<obj>.update()
+ *を呼び出してください。
+ */
+//I2C i2c(SDA,SCL);
+//GY521 gyro(i2c);
+
+enum GY521RegisterMap {
+  WHO_AM_I = 0x75,
+  PWR_MGMT_1 = 0x6B,
+  LPF = 0x1A,
+  FS_SEL = 0x1B,
+  AFS_SEL = 0x1C,
+  ACCEL_XOUT_H = 0x3B,
+  ACCEL_YOUT_H = 0x3D,
+  ACCEL_ZOUT_H = 0x3F,
+  //TEMPERATURE  = 0x41,
+  //GYRO_XOUT_H = 0x43,
+  //GYRO_YOUT_H = 0x45,
+  GYRO_ZOUT_H = 0x47
+};
+
+class GY521{
+public:
+    GY521(I2C &i2c,int bit = 2,int calibration = 1000,double user_reg = 1.0);
+    double yaw;
+    //double temp;
+    void update();
+    void reset(int user);
+    void start(double start = 0){
+        yaw = start;
+    }
+    double checkStatus(int mode);
+private:
+    I2C &i2c_;
+    Timer timer_;
+    int16_t gyroRead2(enum GY521RegisterMap reg);
+    double gyro_z_aver_;
+    double gyro_z_now_;
+    double gyro_z_prev_;
+    double gyro_LSB_;
+    double diff_yaw_;
+    int bit_;
+    int calibration_;
+    bool flag_;
+};
+
+#endif /* GY521_H */
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