Diff: MPU6050.cpp

Revision:

3:40559ebef0f1

diff -r 4a6b46653abf -r 40559ebef0f1 MPU6050.cpp
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/MPU6050.cpp	Wed May 13 04:02:27 2015 +0000
@@ -0,0 +1,38 @@
+#include "mbed.h"
+#include "myConstants.h"
+#include "MPU6050.h"
+
+MPU6050::MPU6050(I2C* i2c) {
+    this->i2c = i2c;
+}
+
+MPU6050::~MPU6050() {
+    i2c = NULL;
+}
+
+int MPU6050::init() {
+    char cmd[2] = {0x6b, 0x00};
+    int ret = i2c->write(mpu_addr, cmd, 2);
+    
+    if(ret != 0) return 0;
+    return 1;
+}
+
+int MPU6050::read() {
+    char cmd[1] = {0x3b};
+    int ret = i2c->write(mpu_addr, cmd, 1, true);
+    if(ret != 0) return 0;
+    
+    i2c->read(mpu_addr | 0x01, (char*)data.reg, 14, false);
+    
+    // データのHとLが逆に読み込まれているのでスワップする
+    for(int i=0; i<7; i++) {
+        uint8_t temp = 0;
+        temp = data.reg[i*2];
+        data.reg[i*2] = data.reg[i*2+1];
+        data.reg[i*2+1] = temp;
+    }
+    
+    return 1;
+    
+}
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