kubtss
only gyro and angle accel
Dependencies: mbed MPU9250_test
Revision 3:aa8f84e4244f, committed 2019-02-16
- Comitter:
- yukiTakezawa
- Date:
- Sat Feb 16 09:46:10 2019 +0000
- Parent:
- 2:617daf2877fa
- Commit message:
- init;
Changed in this revision
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/MPU9250.cpp Sat Feb 16 09:46:10 2019 +0000
@@ -0,0 +1,61 @@
+#include "MPU9250.h"
+
+MPU9250::MPU9250(PinName sda,PinName scl) : i2c(sda,scl){
+ wakeUp();
+};
+
+int MPU9250::wakeUp(){
+ int errorFlag = write2Bytes(MPU9250_ADDRESS,PWR_MGMT_1,0x00);
+ int errorFlag2 = write2Bytes(MPU9250_ADDRESS,0x37,0x02);
+ if(errorFlag ==0 && errorFlag2==0){
+ return 0;
+ }
+ return -1;
+}
+
+int MPU9250::getAccelAndGyroRawData(float* accelX,float* accelY,float* accelZ,float* gyroX,float* gyroY,float* gyroZ){
+ int16_t ax,ay,az,gx,gy,gz;
+ int errorFlag = getAccelAndGyroBitData(&ax,&ay,&az,&gx,&gy,&gz);
+
+ /*実際の値に変換*/
+ *accelX = (float)ax * ACCEL_RANGE / 32768.0;
+ *accelY = (float)ay * ACCEL_RANGE / 32768.0;
+ *accelZ = (float)az * ACCEL_RANGE / 32768.0;
+
+ /*あとで*/
+ *gyroX = gx;
+ *gyroY = gy;
+ *gyroZ = gz;
+ return errorFlag;
+}
+
+int MPU9250::getAccelAndGyroBitData(int16_t* ax,int16_t* ay,int16_t* az,int16_t* gx,int16_t* gy,int16_t* gz){
+ const char cmd[1] = {0x3b};
+ char data[14];
+ int errorFlag = i2c.write(MPU9250_ADDRESS,cmd,1);
+ int errorFlag2 = i2c.read(MPU9250_ADDRESS,data,14);
+ if(errorFlag == 0 && errorFlag2 == 0){
+ *ax = ((int)data[0] << 8) | (int)data[1];
+ *ay = ((int)data[2] << 8) | (int)data[3];
+ *az = ((int)data[4] << 8) | (int)data[5];
+ *gx = ((int)data[8] << 8) | (int)data[9];
+ *gy = ((int)data[10] << 8) | (int)data[11];
+ *gz = ((int)data[12] << 8) | (int)data[13];
+ return 0;
+ }
+ return -1;
+}
+
+int MPU9250::whoAmI(char* address){
+ char data = WHO_AM_I;
+ i2c.write(MPU9250_ADDRESS,&data,1);
+ wait(0.07);
+ int errorFlag = i2c.read(MPU9250_ADDRESS,&data,1);;
+ *address = data;
+ return errorFlag;
+}
+
+int MPU9250::write2Bytes(char address,char reg,char data){
+ char tmp[2] = {reg,data};
+ return i2c.write(address,tmp,2);
+}
\ No newline at end of file
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/MPU9250.h Sat Feb 16 09:46:10 2019 +0000
@@ -0,0 +1,33 @@
+#ifndef MPU9250_INCLUDED
+#define MPU9250_INCLUDED
+
+#include "mbed.h"
+
+#define MPU9250_ADDRESS (0x68 << 1)
+#define PWR_MGMT_1 0x6b
+#define WHO_AM_I 0x75
+
+class MPU9250{
+ I2C i2c;
+ const static int ACCEL_RANGE = 2;
+
+public:
+ MPU9250(PinName sda,PinName scl);
+
+ /*データシートによると0x75が返ってくるはずが0x73が返ってくる。原因不明*/
+ int whoAmI(char* address);
+
+ /*ジャイロと加速度の補正前の生データ*/
+ int getAccelAndGyroRawData(float* accelX,float* accelY,float* accelZ,float* gyroX,float* gyroY,float* gyroZ);
+
+ /*ジャイロと加速度のbitデータ*/
+ int getAccelAndGyroBitData(int16_t* ax,int16_t* ay,int16_t* az,int16_t* gx,int16_t* gy,int16_t* gz);
+
+private:
+ /*最初はsleep modeなので起動する*/
+ int wakeUp();
+
+ int write2Bytes(char address,char register,char data);
+};
+
+#endif
\ No newline at end of file
--- a/MPU9250.lib Sat Feb 16 09:37:29 2019 +0000 +++ /dev/null Thu Jan 01 00:00:00 1970 +0000 @@ -1,1 +0,0 @@ -https://os.mbed.com/teams/kubtss/code/MPU9250/#e0755540a52a
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/MPU9250_test.lib Sat Feb 16 09:46:10 2019 +0000 @@ -0,0 +1,1 @@ +https://os.mbed.com/teams/kubtss/code/MPU9250_test/#617daf2877fa