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楼主 |
发表于 2019-7-5 16:59:32
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- /*
- 【Arduino】66种传感器模块系列实验（48）
- 实验四十八：GY-291 数字三轴重力加速度倾斜度模块 （IIC/SPI传输）
- 实验代码之二
- */
- #include <Wire.h>
- #define DEVICE (0x53)
- #define TO_READ (6)
- byte buff[TO_READ] ;
- char str[512];
- int regAddress = 0x32;
- int x, y, z;
- double roll = 0.00, pitch = 0.00;
- void setup() {
- Wire.begin();
- Serial.begin(9600);
-
- writeTo(DEVICE, 0x2D, 0);
- writeTo(DEVICE, 0x2D, 16);
- writeTo(DEVICE, 0x2D, 8);
- }
- void loop() {
- readFrom(DEVICE, regAddress, TO_READ, buff);
-
- x = (((int)buff[1]) << 8) | buff[0];
- y = (((int)buff[3])<< 8) | buff[2];
- z = (((int)buff[5]) << 8) | buff[4];
- //we send the x y z values as a string to the serial port
- Serial.print("The acceleration info of x, y, z are:");
- sprintf(str, "%d %d %d", x, y, z);
- Serial.print(str);
- Serial.write(10);
-
- RP_calculate();
- Serial.print("Roll:"); Serial.println( roll );
- Serial.print("Pitch:"); Serial.println( pitch );
- Serial.println("");
-
- delay(300);
- }
- void writeTo(int device, byte address, byte val) {
- Wire.beginTransmission(device);
- Wire.write(address);
- Wire.write(val);
- Wire.endTransmission();
- }
- void readFrom(int device, byte address, int num, byte buff[]) {
- Wire.beginTransmission(device);
- Wire.write(address);
- Wire.endTransmission();
- Wire.beginTransmission(device);
- Wire.requestFrom(device, num);
- int i = 0;
- while(Wire.available())
- {
- buff[i] = Wire.read();
- i++;
- }
- Wire.endTransmission();
- }
- void RP_calculate(){
- double x_Buff = float(x);
- double y_Buff = float(y);
- double z_Buff = float(z);
- roll = atan2(y_Buff , z_Buff) * 57.3;
- pitch = atan2((- x_Buff) , sqrt(y_Buff * y_Buff + z_Buff * z_Buff)) * 57.3;
- }
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楼主: eagler8
