Diff: MPU9255.h

Revision:

0:5a3104f02775

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/MPU9255.h	Sun Jun 28 11:10:43 2020 +0000
@@ -0,0 +1,53 @@
+#ifndef _MPU9255_H_
+#define _MPU9255_H_
+
+#include"mbed.h"
+#include"MPU9255Regs.h"
+
+// Set initial input parameters
+#define  AFS_2G  0
+#define  AFS_4G  1
+#define  AFS_8G  2
+#define  AFS_16G 3
+
+#define  GFS_250DPS  0
+#define  GFS_500DPS  1
+#define  GFS_1000DPS 2
+#define  GFS_2000DPS 3
+
+#define  MFS_14BITS  0 // 0.6 mG per LSB
+#define  MFS_16BITS  1    // 0.15 mG per LSB
+
+#define M_8Hz   0x02
+#define M_100Hz 0x06
+
+
+class MPU9255
+{
+    I2C *i2c_p;
+    I2C &i2c;
+    RawSerial* pc_p;
+    
+    void writeByte(uint8_t address, uint8_t subAddress, uint8_t data);
+    char readByte(uint8_t address, uint8_t subAddress);
+    void readBytes(uint8_t address, uint8_t subAddress, uint8_t count, uint8_t * dest);
+
+public:
+    MPU9255(PinName sda, PinName scl, RawSerial* serial_p);
+    ~MPU9255();
+    
+    void init_mpu9255(uint8_t Ascale, uint8_t Cscale, uint8_t asmpleRate);
+    uint8_t whoami_mpu9255();
+    void reset_mpu9255();
+    void selftest_mpu9255(float * destination);
+    float getAres(uint8_t Ascale);
+    float getGres(uint8_t Gscale);
+    float getMres(uint8_t Mscale);
+    void calibrate_mpu9255(float * dest1, float * dest2);
+    uint8_t get_AK8963CID();
+    void init_AK8963Slave(uint8_t Mscale, uint8_t Mmode, float * magCalibration);
+    void readMagData_mpu9255(int16_t * destination);
+    void readaccgyrodata_mpu9255(int16_t * destination);
+};
+
+#endif
\ No newline at end of file