Diff: MPU6050_DMP6.h

Revision:

0:c3af3416e383

Child:

2:ff025b9c6c7c

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/MPU6050_DMP6.h	Tue Aug 28 07:09:21 2018 +0000
@@ -0,0 +1,62 @@
+#ifndef _MPU6050_DMP_6_H_
+#define _MPU6050_DMP_6_H_
+
+#include "MPU6050.h"
+#include "mbed.h"
+#include "I2Cdev.h"
+
+#define MPU6050_INCLUDE_DMP_MOTIONAPPS20
+
+class MPU6050DMP6 {
+public:
+    MPU6050DMP6(PinName intpin, RawSerial* serial_p);
+    ~MPU6050DMP6();
+
+  int setup();
+  void loop();
+  void getRollPitchYaw_Skipper(float RPY[3]);
+
+
+private:
+    RawSerial* pc_p;
+    InterruptIn *checkpin_p;
+    InterruptIn &checkpin;
+
+    MPU6050 mpu;
+//MPU6050 mpu(0x69); // <-- use for AD0 high
+
+
+// MPU control/status vars
+    bool dmpReady;  // set true if DMP init was successful
+    uint8_t mpuIntStatus;   // holds actual interrupt status byte from MPU
+    uint8_t devStatus;      // return status after each device operation (0 = success, !0 = error)
+    uint16_t packetSize;    // expected DMP packet size (default is 42 bytes)
+    uint16_t fifoCount;     // count of all bytes currently in FIFO
+    uint8_t fifoBuffer[64]; // FIFO storage buffer
+
+// orientation/motion vars
+    Quaternion q,q2;           // [w, x, y, z]         quaternion container
+    VectorInt16 aa;         // [x, y, z]            accel sensor measurements
+    VectorInt16 aaReal;     // [x, y, z]            gravity-free accel sensor measurements
+    VectorInt16 aaWorld;    // [x, y, z]            world-frame accel sensor measurements
+    VectorFloat gravity;    // [x, y, z]            gravity vector
+    float euler[3];         // [psi, theta, phi]    Euler angle container
+    float ypr[3];           // [yaw, pitch, roll]   yaw/pitch/roll container and gravity vector
+
+// packet structure for InvenSense teapot demo
+    uint8_t teapotPacket[14];
+
+// ================================================================
+// ===               INTERRUPT DETECTION ROUTINE                ===
+// ================================================================
+
+    volatile bool mpuInterrupt;     // indicates whether MPU interrupt pin has gone high
+
+    void dmpDataReady();
+    void transformeCoordinate_Skipper(Quaternion* q1, Quaternion* q2);
+    int loopstarting();
+    void initializeValue();
+
+};
+
+#endif /* _MPU6050_DMP_6_H_ */
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