Diff: PQMPU9250.cpp

Revision:

7:da63be95c693

Parent:

0:c5ccb9d0afba

--- a/PQMPU9250.cpp	Sun Nov 24 06:08:54 2019 +0000
+++ b/PQMPU9250.cpp	Tue Dec 17 14:08:27 2019 +0000
@@ -10,17 +10,18 @@
 
 void MPU9250::begin()
 {
-    cmd[0] = PWR_MGMT_1;
+    cmd[0] = MPU9250_PWR_MGMT_1;
     cmd[1] = 0x00;
     _i2c->write(_addr, cmd, 2);
-    cmd[0] = INT_PIN_CFG;
+    cmd[0] = MPU9250_INT_PIN_CFG;
     cmd[1] = 0x02;
     _i2c->write(_addr, cmd, 2);
     set(_2G, _250DPS, _16B_8HZ);
 }
 
-bool MPU9250::test(){
-    cmd[0] = WHO_AM_I;
+bool MPU9250::test()
+{
+    cmd[0] = MPU9250_WHO_AM_I;
     _i2c->write(_addr, cmd, 1);
     _i2c->read(_addr, buff, 1);
     if (buff[0] == 0x71) {
@@ -32,9 +33,9 @@
 
 bool MPU9250::test_AK8963()
 {
-    cmd[0] = WIA;
-    _i2c->write(AK8963_ADDR, cmd, 1);
-    _i2c->read(AK8963_ADDR, buff, 1);
+    cmd[0] = MPU9250_WIA;
+    _i2c->write(MPU9250_AK8963_ADDR, cmd, 1);
+    _i2c->read(MPU9250_AK8963_ADDR, buff, 1);
     if (buff[0] == 0x48) {
         return true;
     } else {
@@ -42,7 +43,8 @@
     }
 }
 
-void MPU9250::set(AccelConfig_t accel_config, GyroConfig_t gyro_config, MagConfig_t mag_config){
+void MPU9250::set(AccelConfig_t accel_config, GyroConfig_t gyro_config, MagConfig_t mag_config)
+{
     set_accel(accel_config);
     set_gyro(gyro_config);
     set_mag(mag_config);
@@ -50,42 +52,42 @@
 
 void MPU9250::set_accel(AccelConfig_t accel_config)
 {
-    cmd[0] = ACCEL_CONFIG;
+    cmd[0] = MPU9250_ACCEL_CONFIG;
     cmd[1] = accel_config;
     _i2c->write(_addr, cmd, 2);
     if (accel_config == _2G) {
-        accel_LSB = ACCEL_LSB;
+        accel_LSB = MPU9250_ACCEL_LSB;
     } else if (accel_config == _4G) {
-        accel_LSB = ACCEL_LSB * 2;
+        accel_LSB = MPU9250_ACCEL_LSB * 2;
     } else if (accel_config == _8G) {
-        accel_LSB = ACCEL_LSB * 4;
+        accel_LSB = MPU9250_ACCEL_LSB * 4;
     } else if (accel_config == _16G) {
-        accel_LSB = ACCEL_LSB * 8;
+        accel_LSB = MPU9250_ACCEL_LSB * 8;
     }
 }
 
 void MPU9250::set_gyro(GyroConfig_t gyro_config)
 {
-    cmd[0] = GYRO_CONFIG;
+    cmd[0] = MPU9250_GYRO_CONFIG;
     cmd[1] = gyro_config;
     _i2c->write(_addr, cmd, 2);
     if (gyro_config == _250DPS) {
-        gyro_LSB = GYRO_LSB;
+        gyro_LSB = MPU9250_GYRO_LSB;
     } else if (gyro_config == _500DPS) {
-        gyro_LSB = GYRO_LSB * 2;
+        gyro_LSB = MPU9250_GYRO_LSB * 2;
     } else if (gyro_config == _1000DPS) {
-        gyro_LSB = GYRO_LSB * 4;
+        gyro_LSB = MPU9250_GYRO_LSB * 4;
     } else if (gyro_config == _2000DPS) {
-        gyro_LSB = GYRO_LSB * 8;
+        gyro_LSB = MPU9250_GYRO_LSB * 8;
     }
 }
 
 void MPU9250::set_mag(MagConfig_t mag_config)
 {
-    cmd[0] = CNTL1;
+    cmd[0] = MPU9250_CNTL1;
     cmd[1] = mag_config;
-    _i2c->write(AK8963_ADDR, cmd, 2);
-    mag_LSB = MAG_LSB;
+    _i2c->write(MPU9250_AK8963_ADDR, cmd, 2);
+    mag_LSB = MPU9250_MAG_LSB;
 }
 
 void MPU9250::offset(float *accel, float *gyro, float *mag)
@@ -125,7 +127,7 @@
 
 void MPU9250::read_accel(float *accel)
 {
-    cmd[0] = ACCEL_XOUT_H;
+    cmd[0] = MPU9250_ACCEL_XOUT_H;
     _i2c->write(_addr, cmd, 1);
     _i2c->read(_addr, buff, 6);
     accel[0] = (short)(buff[0] << 8 | buff[1]) * accel_LSB - accel_offset[0];
@@ -135,7 +137,7 @@
 
 void MPU9250::read_gyro(float *gyro)
 {
-    cmd[0] = GYRO_XOUT_H;
+    cmd[0] = MPU9250_GYRO_XOUT_H;
     _i2c->write(_addr, cmd, 1);
     _i2c->read(_addr, buff, 6);
     gyro[0] = (short)(buff[0] << 8 | buff[1]) * gyro_LSB - gyro_offset[0];
@@ -145,9 +147,9 @@
 
 void MPU9250::read_mag(float *mag)
 {
-    cmd[0] = HXL;
-    _i2c->write(AK8963_ADDR, cmd, 1);
-    _i2c->read(AK8963_ADDR, buff, 7);
+    cmd[0] = MPU9250_HXL;
+    _i2c->write(MPU9250_AK8963_ADDR, cmd, 1);
+    _i2c->read(MPU9250_AK8963_ADDR, buff, 7);
     mag[0] = (short)(buff[0] | buff[1] << 8) * mag_LSB - mag_offset[0];
     mag[1] = (short)(buff[2] | buff[3] << 8) * mag_LSB - mag_offset[1];
     mag[2] = (short)(buff[4] | buff[5] << 8) * mag_LSB - mag_offset[2];