gy521.hpp

00001 #ifndef GY521_H
00002 #define GY521_H
00003 #include "mbed.h"
00004 
00005 /*GY521を使う。
00006  *I2Cオブジェクトを渡す
00007  *GY521(I2C &i2c,int bit = 2,int calibration = 1000,double user_reg = 1.0);
00008  *example
00009  *L432KC : SDA = PB_7 , SCL = PB_6
00010  *F446RE : SDA = PB_3 , SCL = PB_10
00011  *ループ内で毎回
00012  *<obj>.update()
00013  *を呼び出してください。
00014  */
00015 //I2C i2c(SDA,SCL);
00016 //GY521 gyro(i2c);
00017 
00018 enum GY521RegisterMap {
00019   WHO_AM_I = 0x75,
00020   PWR_MGMT_1 = 0x6B,
00021   LPF = 0x1A,
00022   FS_SEL = 0x1B,
00023   AFS_SEL = 0x1C,
00024   ACCEL_XOUT_H = 0x3B,
00025   ACCEL_YOUT_H = 0x3D,
00026   ACCEL_ZOUT_H = 0x3F,
00027   //TEMPERATURE  = 0x41,
00028   //GYRO_XOUT_H = 0x43,
00029   //GYRO_YOUT_H = 0x45,
00030   GYRO_ZOUT_H = 0x47
00031 };
00032 
00033 class GY521{
00034 public:
00035     GY521(I2C &i2c,int bit = 2,int calibration = 1000,double user_reg = 1.0);
00036     double yaw;
00037     //double temp;
00038     void update();
00039     void reset(int user);
00040     void start(double start = 0){
00041         yaw = start;
00042     }
00043     double checkStatus(int mode);
00044 private:
00045     I2C &i2c_;
00046     Timer timer_;
00047     int16_t gyroRead2(enum GY521RegisterMap reg);
00048     double gyro_z_aver_;
00049     double gyro_z_now_;
00050     double gyro_z_prev_;
00051     double gyro_LSB_;
00052     double diff_yaw_;
00053     int bit_;
00054     int calibration_;
00055     bool flag_;
00056 };
00057 
00058 #endif /* GY521_H */