diff --git a/README.md b/README.md index d7aece9..d5e249b 100644 --- a/README.md +++ b/README.md @@ -44,6 +44,28 @@ void loop() { } ``` +## Gyrometer +```c +```c +#include +MPU9250 mySensor; +float gX, gY, gZ; + +void setup() { + Wire.begin(); + mySensor.setWire(&Wire); + mySensor.beginGyro(); +} + +void loop() { + mySensor.gyroUpdate(); + gX = mySensor.gyroX(); + gY = mySensor.gyroY(); + gZ = mySensor.gyroZ(); + // Do what you want +} +``` + ## Magnetometer ```c #include @@ -118,3 +140,5 @@ MIT - [jrowberg/i2cdevlib/Arduino/AK8963](https://github.com/jrowberg/i2cdevlib/tree/master/Arduino/AK8963) - [SparkFun_MPU-9250](https://github.com/sparkfun/SparkFun_MPU-9250_Breakout_Arduino_Library/blob/master/src/MPU9250.cpp) - [ArduinoでMPU9250（加速度センサ、磁気センサ）を使う方法](http://asukiaaa.blogspot.jp/2017/07/arduinompu9250.html) +- [「MPU-9250 ９軸センサモジュール (メーカー品番：MPU-9250)」を使う](https://qiita.com/boyaki_machine/items/915f7730c737f2a5cc79) +- [【PSoC】MPU-9250のデータを取得（加速度、ジャイロ編）](http://amamitokachi.com/2017/04/12/post-71/) diff --git a/examples/GetData/GetData.ino b/examples/GetData/GetData.ino index aef1b22..0721327 100644 --- a/examples/GetData/GetData.ino +++ b/examples/GetData/GetData.ino @@ -7,7 +7,7 @@ MPU9250 mySensor; -float aX, aY, aZ, aSqrt, mDirection; +float aX, aY, aZ, aSqrt, gX, gY, gZ, mDirection; int16_t mX, mY, mZ; void setup() { @@ -26,6 +26,7 @@ void setup() { mySensor.setWire(&Wire); mySensor.beginAccel(); + mySensor.beginGyro(); mySensor.beginMag(); // you can set your own offset for mag values @@ -40,23 +41,30 @@ void loop() { aY = mySensor.accelY(); aZ = mySensor.accelZ(); aSqrt = mySensor.accelSqrt(); - Serial.println("print accel values"); Serial.println("accelX: " + String(aX)); Serial.println("accelY: " + String(aY)); Serial.println("accelZ: " + String(aZ)); Serial.println("accelSqrt: " + String(aSqrt)); + mySensor.gyroUpdate(); + gX = mySensor.gyroX(); + gY = mySensor.gyroY(); + gZ = mySensor.gyroZ(); + Serial.println("gyroX: " + String(gX)); + Serial.println("gyroY: " + String(gY)); + Serial.println("gyroZ: " + String(gZ)); + mySensor.magUpdate(); mX = mySensor.magX(); mY = mySensor.magY(); mZ = mySensor.magZ(); mDirection = mySensor.magHorizDirection(); - Serial.println("print mag values"); Serial.println("magX: " + String(mX)); Serial.println("maxY: " + String(mY)); Serial.println("magZ: " + String(mZ)); Serial.println("horizontal direction: " + String(mDirection)); Serial.println("at " + String(millis()) + "ms"); + Serial.println(""); // Add an empty line delay(500); } diff --git a/library.properties b/library.properties index 561d53e..b89a196 100644 --- a/library.properties +++ b/library.properties @@ -2,8 +2,8 @@ name=MPU9250_asukiaaa version=1.2.3 author=Asuki Kono maintainer=Asuki Kono -sentence=A library to control MPU9250 -paragraph=It can get sensor value of accelerometer and magnetometer. +sentence=It controls MPU9250 +paragraph=It can get sensor value of accelerometer, gyrometer and magnetometer. category=Sensors url=https://github.com/asukiaaa/MPU9250_asukiaaa architectures=* diff --git a/src/MPU9250_asukiaaa.cpp b/src/MPU9250_asukiaaa.cpp index 3ef02ce..5e66439 100644 --- a/src/MPU9250_asukiaaa.cpp +++ b/src/MPU9250_asukiaaa.cpp @@ -23,9 +23,6 @@ void MPU9250::setWire(TwoWire* wire) { } void MPU9250::beginAccel() { - delay(40); - - i2cWriteByte(address, 27, GYRO_FULL_SCALE_2000_DPS); i2cWriteByte(address, 28, ACC_FULL_SCALE_16_G); delay(10); } @@ -41,8 +38,6 @@ void MPU9250::magReadAdjustValues() { } void MPU9250::beginMag(uint8_t mode) { - delay(10); - // trun on magnetometor i2cWriteByte(address, 0x37, 0x02); delay(10); @@ -50,6 +45,7 @@ void MPU9250::beginMag(uint8_t mode) { magReadAdjustValues(); magSetMode(AK8963_MODE_POWERDOWN); magSetMode(mode); + delay(10); } void MPU9250::magSetMode(uint8_t mode) { @@ -93,7 +89,7 @@ void MPU9250::accelUpdate() { float MPU9250::accelGet(uint8_t highIndex, uint8_t lowIndex) { int16_t v = -(accelBuf[highIndex]<<8 | accelBuf[lowIndex]); - return ((float)v) * 16.0/32768.0; + return ((float)v) * 16.0 / (float) 0x8000; // (float)0x8000 == 32768.0 } float MPU9250::accelX() { @@ -113,3 +109,47 @@ float MPU9250::accelSqrt() { pow(accelGet(2, 3), 2) + pow(accelGet(4, 5), 2)); } + + +void MPU9250::beginGyro(uint8_t mode) { + i2cWriteByte(address, 27, mode); + switch (mode) { + case GYRO_FULL_SCALE_250_DPS: + gyroRange = 250.0; + break; + case GYRO_FULL_SCALE_500_DPS: + gyroRange = 500.0; + break; + case GYRO_FULL_SCALE_1000_DPS: + gyroRange = 1000.0; + break; + case GYRO_FULL_SCALE_2000_DPS: + gyroRange = 2000.0; + default: + gyroRange = 0; + } + delay(10); +} + +void MPU9250::gyroUpdate() { + Serial.print("gyroRange"); + Serial.println(gyroRange); + i2cRead(address, 0x43, 6, gyroBuf); +} + +float MPU9250::gyroGet(uint8_t highIndex, uint8_t lowIndex) { + int16_t v = -(gyroBuf[highIndex]<<8 | gyroBuf[lowIndex]); + return ((float)v) * gyroRange / (float)0x8000; +} + +float MPU9250::gyroX() { + return gyroGet(0, 1); +} + +float MPU9250::gyroY() { + return gyroGet(2, 3); +} + +float MPU9250::gyroZ() { + return gyroGet(4, 5); +} diff --git a/src/MPU9250_asukiaaa.h b/src/MPU9250_asukiaaa.h index 0307bf0..16d085c 100644 --- a/src/MPU9250_asukiaaa.h +++ b/src/MPU9250_asukiaaa.h @@ -48,6 +48,12 @@ class MPU9250 { float accelZ(); float accelSqrt(); + void beginGyro(uint8_t mode = GYRO_FULL_SCALE_2000_DPS); + void gyroUpdate(); + float gyroX(); + float gyroY(); + float gyroZ(); + void beginMag(uint8_t mode = AK8963_MODE_CONTINUOUS_8HZ); void magUpdate(); int16_t magX(); @@ -60,9 +66,12 @@ class MPU9250 { TwoWire* myWire; uint8_t address; uint8_t accelBuf[14]; + uint8_t gyroBuf[6]; + float gyroRange; uint8_t magBuf[7]; uint8_t magXAdjust, magYAdjust, magZAdjust; float accelGet(uint8_t highIndex, uint8_t lowIndex); + float gyroGet(uint8_t highIndex, uint8_t lowIndex); int16_t magGet(uint8_t highIndex, uint8_t lowIndex); void magReadAdjustValues(); void i2cRead(uint8_t Address, uint8_t Register, uint8_t Nbytes, uint8_t* Data);