Revision 5:dc92d3573d50, committed 2017-11-30

Comitter:

Ishy

Date:

Thu Nov 30 08:59:55 2017 +0000

Parent:

4:ebe4230c882d

Commit message:

test

Changed in this revision

diff -r ebe4230c882d -r dc92d3573d50 MPU6050.cpp
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/MPU6050.cpp	Thu Nov 30 08:59:55 2017 +0000
@@ -0,0 +1,237 @@
+/**
+ * Includes
+ */
+#include "MPU6050.h"
+
+MPU6050::MPU6050(PinName sda, PinName scl) : connection(sda, scl) {
+    this->setSleepMode(false);
+    
+    //Initializations:
+    currentGyroRange = 0;
+    currentAcceleroRange=0;
+}
+
+//--------------------------------------------------
+//-------------------General------------------------
+//--------------------------------------------------
+
+void MPU6050::write(char address, char data) {
+    char temp[2];
+    temp[0]=address;
+    temp[1]=data;
+    
+    connection.write(MPU6050_ADDRESS * 2,temp,2);
+}
+
+char MPU6050::read(char address) {
+    char retval;
+    connection.write(MPU6050_ADDRESS * 2, &address, 1, true);
+    connection.read(MPU6050_ADDRESS * 2, &retval, 1);
+    return retval;
+}
+
+void MPU6050::read(char address, char *data, int length) {
+    connection.write(MPU6050_ADDRESS * 2, &address, 1, true);
+    connection.read(MPU6050_ADDRESS * 2, data, length);
+}
+
+void MPU6050::setSleepMode(bool state) {
+    char temp;
+    temp = this->read(MPU6050_PWR_MGMT_1_REG);
+    if (state == true)
+        temp |= 1<<MPU6050_SLP_BIT;
+    if (state == false)
+        temp &= ~(1<<MPU6050_SLP_BIT);
+    this->write(MPU6050_PWR_MGMT_1_REG, temp);
+}
+
+bool MPU6050::testConnection( void ) {
+    char temp;
+    temp = this->read(MPU6050_WHO_AM_I_REG);
+    return (temp == (MPU6050_ADDRESS & 0xFE));
+}
+
+void MPU6050::setBW(char BW) {
+    char temp;
+    BW=BW & 0x07;
+    temp = this->read(MPU6050_CONFIG_REG);
+    temp &= 0xF8;
+    temp = temp + BW;
+    this->write(MPU6050_CONFIG_REG, temp);
+}
+
+void MPU6050::setI2CBypass(bool state) {
+    char temp;
+    temp = this->read(MPU6050_INT_PIN_CFG);
+    if (state == true)
+        temp |= 1<<MPU6050_BYPASS_BIT;
+    if (state == false)
+        temp &= ~(1<<MPU6050_BYPASS_BIT);
+    this->write(MPU6050_INT_PIN_CFG, temp);
+}
+
+//--------------------------------------------------
+//----------------Accelerometer---------------------
+//--------------------------------------------------
+
+void MPU6050::setAcceleroRange( char range ) {
+    char temp;
+    range = range & 0x03;
+    currentAcceleroRange = range;
+    
+    temp = this->read(MPU6050_ACCELERO_CONFIG_REG);
+    temp &= ~(3<<3);
+    temp = temp + (range<<3);
+    this->write(MPU6050_ACCELERO_CONFIG_REG, temp);
+}
+
+int MPU6050::getAcceleroRawX( void ) {
+    short retval;
+    char data[2];
+    this->read(MPU6050_ACCEL_XOUT_H_REG, data, 2);
+    retval = (data[0]<<8) + data[1];
+    return (int)retval;
+}
+    
+int MPU6050::getAcceleroRawY( void ) {
+    short retval;
+    char data[2];
+    this->read(MPU6050_ACCEL_YOUT_H_REG, data, 2);
+    retval = (data[0]<<8) + data[1];
+    return (int)retval;
+}
+
+int MPU6050::getAcceleroRawZ( void ) {
+    short retval;
+    char data[2];
+    this->read(MPU6050_ACCEL_ZOUT_H_REG, data, 2);
+    retval = (data[0]<<8) + data[1];
+    return (int)retval;
+}
+
+void MPU6050::getAcceleroRaw( int *data ) {
+    char temp[6];
+    this->read(MPU6050_ACCEL_XOUT_H_REG, temp, 6);
+    data[0] = (int)(short)((temp[0]<<8) + temp[1]);
+    data[1] = (int)(short)((temp[2]<<8) + temp[3]);
+    data[2] = (int)(short)((temp[4]<<8) + temp[5]);
+}
+
+void MPU6050::getAccelero( float *data ) {
+    int temp[3];
+    this->getAcceleroRaw(temp);
+    if (currentAcceleroRange == MPU6050_ACCELERO_RANGE_2G) {
+        data[0]=(float)temp[0] / 16384.0 * 9.81;
+        data[1]=(float)temp[1] / 16384.0 * 9.81;
+        data[2]=(float)temp[2] / 16384.0 * 9.81;
+        }
+    if (currentAcceleroRange == MPU6050_ACCELERO_RANGE_4G){
+        data[0]=(float)temp[0] / 8192.0 * 9.81;
+        data[1]=(float)temp[1] / 8192.0 * 9.81;
+        data[2]=(float)temp[2] / 8192.0 * 9.81;
+        }
+    if (currentAcceleroRange == MPU6050_ACCELERO_RANGE_8G){
+        data[0]=(float)temp[0] / 4096.0 * 9.81;
+        data[1]=(float)temp[1] / 4096.0 * 9.81;
+        data[2]=(float)temp[2] / 4096.0 * 9.81;
+        }
+    if (currentAcceleroRange == MPU6050_ACCELERO_RANGE_16G){
+        data[0]=(float)temp[0] / 2048.0 * 9.81;
+        data[1]=(float)temp[1] / 2048.0 * 9.81;
+        data[2]=(float)temp[2] / 2048.0 * 9.81;
+        }
+    
+    #ifdef DOUBLE_ACCELERO
+        data[0]*=2;
+        data[1]*=2;   
+        data[2]*=2;
+    #endif   
+}
+
+//--------------------------------------------------
+//------------------Gyroscope-----------------------
+//--------------------------------------------------
+void MPU6050::setGyroRange( char range ) {
+    char temp;
+    currentGyroRange = range;
+    range = range & 0x03;
+    temp = this->read(MPU6050_GYRO_CONFIG_REG);
+    temp &= ~(3<<3);
+    temp = temp + range<<3;
+    this->write(MPU6050_GYRO_CONFIG_REG, temp);
+}
+
+int MPU6050::getGyroRawX( void ) {
+    short retval;
+    char data[2];
+    this->read(MPU6050_GYRO_XOUT_H_REG, data, 2);
+    retval = (data[0]<<8) + data[1];
+    return (int)retval;
+}
+    
+int MPU6050::getGyroRawY( void ) {
+    short retval;
+    char data[2];
+    this->read(MPU6050_GYRO_YOUT_H_REG, data, 2);
+    retval = (data[0]<<8) + data[1];
+    return (int)retval;
+}
+
+int MPU6050::getGyroRawZ( void ) {
+    short retval;
+    char data[2];
+    this->read(MPU6050_GYRO_ZOUT_H_REG, data, 2);
+    retval = (data[0]<<8) + data[1];
+    return (int)retval;
+}
+
+void MPU6050::getGyroRaw( int *data ) {
+    char temp[6];
+    this->read(MPU6050_GYRO_XOUT_H_REG, temp, 6);
+    data[0] = (int)(short)((temp[0]<<8) + temp[1]);
+    data[1] = (int)(short)((temp[2]<<8) + temp[3]);
+    data[2] = (int)(short)((temp[4]<<8) + temp[5]);
+}
+
+void MPU6050::getGyro( float *data ) {
+    int temp[3];
+    this->getGyroRaw(temp);
+    if (currentGyroRange == MPU6050_GYRO_RANGE_250) {
+        data[0]=(float)temp[0] / 7505.7;
+        data[1]=(float)temp[1] / 7505.7;
+        data[2]=(float)temp[2] / 7505.7;
+        }
+    if (currentGyroRange == MPU6050_GYRO_RANGE_500){
+        data[0]=(float)temp[0] / 3752.9;
+        data[1]=(float)temp[1] / 3752.9;
+        data[2]=(float)temp[2] / 3752.9;
+        }
+    if (currentGyroRange == MPU6050_GYRO_RANGE_1000){
+        data[0]=(float)temp[0] / 1879.3;;
+        data[1]=(float)temp[1] / 1879.3;
+        data[2]=(float)temp[2] / 1879.3;
+        }
+    if (currentGyroRange == MPU6050_GYRO_RANGE_2000){
+        data[0]=(float)temp[0] / 939.7;
+        data[1]=(float)temp[1] / 939.7;
+        data[2]=(float)temp[2] / 939.7;
+        }
+}
+//--------------------------------------------------
+//-------------------Temperature--------------------
+//--------------------------------------------------
+int MPU6050::getTempRaw( void ) {
+    short retval;
+    char data[2];
+    this->read(MPU6050_TEMP_H_REG, data, 2);
+    retval = (data[0]<<8) + data[1];
+    return (int)retval;
+}
+
+float MPU6050::getTemp( void ) {
+    float retval;
+    retval=(float)this->getTempRaw();
+    retval=(retval+521.0)/340.0+35.0;
+    return retval;
+}
+

diff -r ebe4230c882d -r dc92d3573d50 MPU6050.h
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/MPU6050.h	Thu Nov 30 08:59:55 2017 +0000
@@ -0,0 +1,274 @@
+/*Use #define MPU6050_ES before you include this file if you have an engineering sample (older EVBs will have them), to find out if you have one, check your accelerometer output. 
+If it is half of what you expected, and you still are on the correct planet, you got an engineering sample
+*/
+
+
+#ifndef MPU6050_H
+#define MPU6050_H
+
+/**
+ * Includes
+ */
+#include "mbed.h"
+
+
+/**
+ * Defines
+ */
+#ifndef MPU6050_ADDRESS
+    #define MPU6050_ADDRESS             0x68 // address pin low (GND), default for InvenSense evaluation board
+#endif
+
+#ifdef MPU6050_ES
+        #define DOUBLE_ACCELERO
+#endif  
+
+/**
+ * Registers
+ */
+ #define MPU6050_CONFIG_REG         0x1A
+ #define MPU6050_GYRO_CONFIG_REG    0x1B
+ #define MPU6050_ACCELERO_CONFIG_REG    0x1C
+  
+ #define MPU6050_INT_PIN_CFG        0x37
+ 
+ #define MPU6050_ACCEL_XOUT_H_REG   0x3B
+ #define MPU6050_ACCEL_YOUT_H_REG   0x3D
+ #define MPU6050_ACCEL_ZOUT_H_REG   0x3F
+ 
+ #define MPU6050_TEMP_H_REG         0x41
+ 
+ #define MPU6050_GYRO_XOUT_H_REG    0x43
+ #define MPU6050_GYRO_YOUT_H_REG    0x45
+ #define MPU6050_GYRO_ZOUT_H_REG    0x47
+ 
+ 
+ 
+ #define MPU6050_PWR_MGMT_1_REG     0x6B
+ #define MPU6050_WHO_AM_I_REG       0x75
+ 
+                 
+ 
+ /**
+  * Definitions
+  */
+#define MPU6050_SLP_BIT             6
+#define MPU6050_BYPASS_BIT         1
+
+#define MPU6050_BW_256              0
+#define MPU6050_BW_188              1
+#define MPU6050_BW_98               2
+#define MPU6050_BW_42               3
+#define MPU6050_BW_20               4
+#define MPU6050_BW_10               5
+#define MPU6050_BW_5                6
+
+#define MPU6050_ACCELERO_RANGE_2G   0
+#define MPU6050_ACCELERO_RANGE_4G   1
+#define MPU6050_ACCELERO_RANGE_8G   2
+#define MPU6050_ACCELERO_RANGE_16G  3
+
+#define MPU6050_GYRO_RANGE_250      0
+#define MPU6050_GYRO_RANGE_500      1
+#define MPU6050_GYRO_RANGE_1000     2
+#define MPU6050_GYRO_RANGE_2000     3
+
+
+/** MPU6050 IMU library.
+  *
+  * Example:
+  * @code
+  * Later, maybe
+  * @endcode
+  */
+class MPU6050 {
+    public:
+     /**
+     * Constructor.
+     *
+     * Sleep mode of MPU6050 is immediatly disabled
+     *
+     * @param sda - mbed pin to use for the SDA I2C line.
+     * @param scl - mbed pin to use for the SCL I2C line.
+     */
+     MPU6050(PinName sda, PinName scl);
+     
+
+     /**
+     * Tests the I2C connection by reading the WHO_AM_I register. 
+     *
+     * @return True for a working connection, false for an error
+     */     
+     bool testConnection( void );
+     
+     /**
+     * Sets the bandwidth of the digital low-pass filter 
+     *
+     * Macros: MPU6050_BW_256 - MPU6050_BW_188 - MPU6050_BW_98 - MPU6050_BW_42 - MPU6050_BW_20 - MPU6050_BW_10 - MPU6050_BW_5
+     * Last number is the gyro's BW in Hz (accelero BW is virtually identical)
+     *
+     * @param BW - The three bits that set the bandwidth (use the predefined macros)
+     */     
+     void setBW( char BW );
+     
+     /**
+     * Sets the auxiliary I2C bus in bypass mode to read the sensors behind the MPU6050 (useful for eval board, otherwise just connect them to primary I2C bus) 
+     *
+     * @param state - Enables/disables the I2C bypass mode
+     */     
+     void setI2CBypass ( bool state );
+     
+     /**
+     * Sets the Accelero full-scale range
+     *
+     * Macros: MPU6050_ACCELERO_RANGE_2G - MPU6050_ACCELERO_RANGE_4G - MPU6050_ACCELERO_RANGE_8G - MPU6050_ACCELERO_RANGE_16G
+     *
+     * @param range - The two bits that set the full-scale range (use the predefined macros)
+     */
+     void setAcceleroRange(char range);
+     
+     /**
+     * Reads the accelero x-axis.
+     *
+     * @return 16-bit signed integer x-axis accelero data
+     */   
+     int getAcceleroRawX( void );
+     
+     /**
+     * Reads the accelero y-axis.
+     *
+     * @return 16-bit signed integer y-axis accelero data
+     */   
+     int getAcceleroRawY( void );
+     
+     /**
+     * Reads the accelero z-axis.
+     *
+     * @return 16-bit signed integer z-axis accelero data
+     */   
+     int getAcceleroRawZ( void );
+     
+     /**
+     * Reads all accelero data.
+     *
+     * @param data - pointer to signed integer array with length three: data[0] = X, data[1] = Y, data[2] = Z
+     */   
+     void getAcceleroRaw( int *data );
+     
+     /**
+     * Reads all accelero data, gives the acceleration in m/s2
+     *
+     * Function uses the last setup value of the full scale range, if you manually set in another range, this won't work.
+     *
+     * @param data - pointer to float array with length three: data[0] = X, data[1] = Y, data[2] = Z
+     */   
+     void getAccelero( float *data );
+     
+     /**
+     * Sets the Gyro full-scale range
+     *
+     * Macros: MPU6050_GYRO_RANGE_250 - MPU6050_GYRO_RANGE_500 - MPU6050_GYRO_RANGE_1000 - MPU6050_GYRO_RANGE_2000
+     *
+     * @param range - The two bits that set the full-scale range (use the predefined macros)
+     */
+     void setGyroRange(char range);
+
+     /**
+     * Reads the gyro x-axis.
+     *
+     * @return 16-bit signed integer x-axis gyro data
+     */   
+     int getGyroRawX( void );
+     
+     /**
+     * Reads the gyro y-axis.
+     *
+     * @return 16-bit signed integer y-axis gyro data
+     */   
+     int getGyroRawY( void );
+     
+     /**
+     * Reads the gyro z-axis.
+     *
+     * @return 16-bit signed integer z-axis gyro data
+     */   
+     int getGyroRawZ( void );
+     
+     /**
+     * Reads all gyro data.
+     *
+     * @param data - pointer to signed integer array with length three: data[0] = X, data[1] = Y, data[2] = Z
+     */   
+     void getGyroRaw( int *data );  
+     
+     /**
+     * Reads all gyro data, gives the gyro in rad/s
+     *
+     * Function uses the last setup value of the full scale range, if you manually set in another range, this won't work.
+     *
+     * @param data - pointer to float array with length three: data[0] = X, data[1] = Y, data[2] = Z
+     */   
+     void getGyro( float *data);     
+     
+     /**
+     * Reads temperature data.
+     *
+     * @return 16 bit signed integer with the raw temperature register value
+     */  
+     int getTempRaw( void );
+     
+     /**
+     * Returns current temperature
+     *
+     * @returns float with the current temperature
+     */  
+     float getTemp( void );
+
+     /**
+     * Sets the sleep mode of the MPU6050 
+     *
+     * @param state - true for sleeping, false for wake up
+     */     
+     void setSleepMode( bool state );
+     
+     
+     /**
+     * Writes data to the device, could be private, but public is handy so you can transmit directly to the MPU. 
+     *
+     * @param adress - register address to write to
+     * @param data - data to write
+     */
+     void write( char address, char data);
+     
+     /**
+     * Read data from the device, could be private, but public is handy so you can transmit directly to the MPU. 
+     *
+     * @param adress - register address to write to
+     * @return - data from the register specified by RA
+     */
+     char read( char adress);
+     
+     /**
+     * Read multtiple regigsters from the device, more efficient than using multiple normal reads. 
+     *
+     * @param adress - register address to write to
+     * @param length - number of bytes to read
+     * @param data - pointer where the data needs to be written to 
+     */
+     void read( char adress, char *data, int length);
+     
+
+     
+        
+     private:
+
+     I2C connection;
+     char currentAcceleroRange;
+     char currentGyroRange;
+     
+
+};
+
+
+
+#endif

diff -r ebe4230c882d -r dc92d3573d50 MPU6050_belt.cpp
--- a/MPU6050_belt.cpp	Wed Oct 11 12:54:48 2017 +0000
+++ /dev/null	Thu Jan 01 00:00:00 1970 +0000
@@ -1,237 +0,0 @@
-/**
- * Includes
- */
-#include "MPU6050_belt.h"
-
-MPU6050_belt::MPU6050_belt(PinName sda, PinName scl) : connection(sda, scl) {
-    this->setSleepMode(false);
-    
-    //Initializations:
-    currentGyroRange = 0;
-    currentAcceleroRange=0;
-}
-
-//--------------------------------------------------
-//-------------------General------------------------
-//--------------------------------------------------
-
-void MPU6050_belt::write(char address, char data) {
-    char temp[2];
-    temp[0]=address;
-    temp[1]=data;
-    
-    connection.write(MPU6050_belt_ADDRESS * 2,temp,2);
-}
-
-char MPU6050_belt::read(char address) {
-    char retval;
-    connection.write(MPU6050_belt_ADDRESS * 2, &address, 1, true);
-    connection.read(MPU6050_belt_ADDRESS * 2, &retval, 1);
-    return retval;
-}
-
-void MPU6050_belt::read(char address, char *data, int length) {
-    connection.write(MPU6050_belt_ADDRESS * 2, &address, 1, true);
-    connection.read(MPU6050_belt_ADDRESS * 2, data, length);
-}
-
-void MPU6050_belt::setSleepMode(bool state) {
-    char temp;
-    temp = this->read(MPU6050_belt_PWR_MGMT_1_REG);
-    if (state == true)
-        temp |= 1<<MPU6050_belt_SLP_BIT;
-    if (state == false)
-        temp &= ~(1<<MPU6050_belt_SLP_BIT);
-    this->write(MPU6050_belt_PWR_MGMT_1_REG, temp);
-}
-
-bool MPU6050_belt::testConnection( void ) {
-    char temp;
-    temp = this->read(MPU6050_belt_WHO_AM_I_REG);
-    return (temp == (MPU6050_belt_ADDRESS & 0xFE));
-}
-
-void MPU6050_belt::setBW(char BW) {
-    char temp;
-    BW=BW & 0x07;
-    temp = this->read(MPU6050_belt_CONFIG_REG);
-    temp &= 0xF8;
-    temp = temp + BW;
-    this->write(MPU6050_belt_CONFIG_REG, temp);
-}
-
-void MPU6050_belt::setI2CBypass(bool state) {
-    char temp;
-    temp = this->read(MPU6050_belt_INT_PIN_CFG);
-    if (state == true)
-        temp |= 1<<MPU6050_belt_BYPASS_BIT;
-    if (state == false)
-        temp &= ~(1<<MPU6050_belt_BYPASS_BIT);
-    this->write(MPU6050_belt_INT_PIN_CFG, temp);
-}
-
-//--------------------------------------------------
-//----------------Accelerometer---------------------
-//--------------------------------------------------
-
-void MPU6050_belt::setAcceleroRange( char range ) {
-    char temp;
-    range = range & 0x03;
-    currentAcceleroRange = range;
-    
-    temp = this->read(MPU6050_belt_ACCELERO_CONFIG_REG);
-    temp &= ~(3<<3);
-    temp = temp + (range<<3);
-    this->write(MPU6050_belt_ACCELERO_CONFIG_REG, temp);
-}
-
-int MPU6050_belt::getAcceleroRawX( void ) {
-    short retval;
-    char data[2];
-    this->read(MPU6050_belt_ACCEL_XOUT_H_REG, data, 2);
-    retval = (data[0]<<8) + data[1];
-    return (int)retval;
-}
-    
-int MPU6050_belt::getAcceleroRawY( void ) {
-    short retval;
-    char data[2];
-    this->read(MPU6050_belt_ACCEL_YOUT_H_REG, data, 2);
-    retval = (data[0]<<8) + data[1];
-    return (int)retval;
-}
-
-int MPU6050_belt::getAcceleroRawZ( void ) {
-    short retval;
-    char data[2];
-    this->read(MPU6050_belt_ACCEL_ZOUT_H_REG, data, 2);
-    retval = (data[0]<<8) + data[1];
-    return (int)retval;
-}
-
-void MPU6050_belt::getAcceleroRaw( int *data ) {
-    char temp[6];
-    this->read(MPU6050_belt_ACCEL_XOUT_H_REG, temp, 6);
-    data[0] = (int)(short)((temp[0]<<8) + temp[1]);
-    data[1] = (int)(short)((temp[2]<<8) + temp[3]);
-    data[2] = (int)(short)((temp[4]<<8) + temp[5]);
-}
-
-void MPU6050_belt::getAccelero( float *data ) {
-    int temp[3];
-    this->getAcceleroRaw(temp);
-    if (currentAcceleroRange == MPU6050_belt_ACCELERO_RANGE_2G) {
-        data[0]=(float)temp[0] / 16384.0 * 9.81;
-        data[1]=(float)temp[1] / 16384.0 * 9.81;
-        data[2]=(float)temp[2] / 16384.0 * 9.81;
-        }
-    if (currentAcceleroRange == MPU6050_belt_ACCELERO_RANGE_4G){
-        data[0]=(float)temp[0] / 8192.0 * 9.81;
-        data[1]=(float)temp[1] / 8192.0 * 9.81;
-        data[2]=(float)temp[2] / 8192.0 * 9.81;
-        }
-    if (currentAcceleroRange == MPU6050_belt_ACCELERO_RANGE_8G){
-        data[0]=(float)temp[0] / 4096.0 * 9.81;
-        data[1]=(float)temp[1] / 4096.0 * 9.81;
-        data[2]=(float)temp[2] / 4096.0 * 9.81;
-        }
-    if (currentAcceleroRange == MPU6050_belt_ACCELERO_RANGE_16G){
-        data[0]=(float)temp[0] / 2048.0 * 9.81;
-        data[1]=(float)temp[1] / 2048.0 * 9.81;
-        data[2]=(float)temp[2] / 2048.0 * 9.81;
-        }
-    
-    #ifdef DOUBLE_ACCELERO
-        data[0]*=2;
-        data[1]*=2;   
-        data[2]*=2;
-    #endif   
-}
-
-//--------------------------------------------------
-//------------------Gyroscope-----------------------
-//--------------------------------------------------
-void MPU6050_belt::setGyroRange( char range ) {
-    char temp;
-    currentGyroRange = range;
-    range = range & 0x03;
-    temp = this->read(MPU6050_belt_GYRO_CONFIG_REG);
-    temp &= ~(3<<3);
-    temp = temp + range<<3;
-    this->write(MPU6050_belt_GYRO_CONFIG_REG, temp);
-}
-
-int MPU6050_belt::getGyroRawX( void ) {
-    short retval;
-    char data[2];
-    this->read(MPU6050_belt_GYRO_XOUT_H_REG, data, 2);
-    retval = (data[0]<<8) + data[1];
-    return (int)retval;
-}
-    
-int MPU6050_belt::getGyroRawY( void ) {
-    short retval;
-    char data[2];
-    this->read(MPU6050_belt_GYRO_YOUT_H_REG, data, 2);
-    retval = (data[0]<<8) + data[1];
-    return (int)retval;
-}
-
-int MPU6050_belt::getGyroRawZ( void ) {
-    short retval;
-    char data[2];
-    this->read(MPU6050_belt_GYRO_ZOUT_H_REG, data, 2);
-    retval = (data[0]<<8) + data[1];
-    return (int)retval;
-}
-
-void MPU6050_belt::getGyroRaw( int *data ) {
-    char temp[6];
-    this->read(MPU6050_belt_GYRO_XOUT_H_REG, temp, 6);
-    data[0] = (int)(short)((temp[0]<<8) + temp[1]);
-    data[1] = (int)(short)((temp[2]<<8) + temp[3]);
-    data[2] = (int)(short)((temp[4]<<8) + temp[5]);
-}
-
-void MPU6050_belt::getGyro( float *data ) {
-    int temp[3];
-    this->getGyroRaw(temp);
-    if (currentGyroRange == MPU6050_belt_GYRO_RANGE_250) {
-        data[0]=(float)temp[0] / 7505.7;
-        data[1]=(float)temp[1] / 7505.7;
-        data[2]=(float)temp[2] / 7505.7;
-        }
-    if (currentGyroRange == MPU6050_belt_GYRO_RANGE_500){
-        data[0]=(float)temp[0] / 3752.9;
-        data[1]=(float)temp[1] / 3752.9;
-        data[2]=(float)temp[2] / 3752.9;
-        }
-    if (currentGyroRange == MPU6050_belt_GYRO_RANGE_1000){
-        data[0]=(float)temp[0] / 1879.3;;
-        data[1]=(float)temp[1] / 1879.3;
-        data[2]=(float)temp[2] / 1879.3;
-        }
-    if (currentGyroRange == MPU6050_belt_GYRO_RANGE_2000){
-        data[0]=(float)temp[0] / 939.7;
-        data[1]=(float)temp[1] / 939.7;
-        data[2]=(float)temp[2] / 939.7;
-        }
-}
-//--------------------------------------------------
-//-------------------Temperature--------------------
-//--------------------------------------------------
-int MPU6050_belt::getTempRaw( void ) {
-    short retval;
-    char data[2];
-    this->read(MPU6050_belt_TEMP_H_REG, data, 2);
-    retval = (data[0]<<8) + data[1];
-    return (int)retval;
-}
-
-float MPU6050_belt::getTemp( void ) {
-    float retval;
-    retval=(float)this->getTempRaw();
-    retval=(retval+521.0)/340.0+35.0;
-    return retval;
-}
-

diff -r ebe4230c882d -r dc92d3573d50 MPU6050_belt.h
--- a/MPU6050_belt.h	Wed Oct 11 12:54:48 2017 +0000
+++ /dev/null	Thu Jan 01 00:00:00 1970 +0000
@@ -1,274 +0,0 @@
-/*Use #define MPU6050_belt_ES before you include this file if you have an engineering sample (older EVBs will have them), to find out if you have one, check your accelerometer output. 
-If it is half of what you expected, and you still are on the correct planet, you got an engineering sample
-*/
-
-
-#ifndef MPU6050_belt_H
-#define MPU6050_belt_H
-
-/**
- * Includes
- */
-#include "mbed.h"
-
-
-/**
- * Defines
- */
-#ifndef MPU6050_belt_ADDRESS
-    #define MPU6050_belt_ADDRESS             0x69 // address pin low (GND), default for InvenSense evaluation board
-#endif
-
-#ifdef MPU6050_belt_ES
-        #define DOUBLE_ACCELERO
-#endif  
-
-/**
- * Registers
- */
- #define MPU6050_belt_CONFIG_REG         0x1A
- #define MPU6050_belt_GYRO_CONFIG_REG    0x1B
- #define MPU6050_belt_ACCELERO_CONFIG_REG    0x1C
-  
- #define MPU6050_belt_INT_PIN_CFG        0x37
- 
- #define MPU6050_belt_ACCEL_XOUT_H_REG   0x3B
- #define MPU6050_belt_ACCEL_YOUT_H_REG   0x3D
- #define MPU6050_belt_ACCEL_ZOUT_H_REG   0x3F
- 
- #define MPU6050_belt_TEMP_H_REG         0x41
- 
- #define MPU6050_belt_GYRO_XOUT_H_REG    0x43
- #define MPU6050_belt_GYRO_YOUT_H_REG    0x45
- #define MPU6050_belt_GYRO_ZOUT_H_REG    0x47
- 
- 
- 
- #define MPU6050_belt_PWR_MGMT_1_REG     0x6B
- #define MPU6050_belt_WHO_AM_I_REG       0x75
- 
-                 
- 
- /**
-  * Definitions
-  */
-#define MPU6050_belt_SLP_BIT             6
-#define MPU6050_belt_BYPASS_BIT         1
-
-#define MPU6050_belt_BW_256              0
-#define MPU6050_belt_BW_188              1
-#define MPU6050_belt_BW_98               2
-#define MPU6050_belt_BW_42               3
-#define MPU6050_belt_BW_20               4
-#define MPU6050_belt_BW_10               5
-#define MPU6050_belt_BW_5                6
-
-#define MPU6050_belt_ACCELERO_RANGE_2G   0
-#define MPU6050_belt_ACCELERO_RANGE_4G   1
-#define MPU6050_belt_ACCELERO_RANGE_8G   2
-#define MPU6050_belt_ACCELERO_RANGE_16G  3
-
-#define MPU6050_belt_GYRO_RANGE_250      0
-#define MPU6050_belt_GYRO_RANGE_500      1
-#define MPU6050_belt_GYRO_RANGE_1000     2
-#define MPU6050_belt_GYRO_RANGE_2000     3
-
-
-/** MPU6050_belt IMU library.
-  *
-  * Example:
-  * @code
-  * Later, maybe
-  * @endcode
-  */
-class MPU6050_belt {
-    public:
-     /**
-     * Constructor.
-     *
-     * Sleep mode of MPU6050_belt is immediatly disabled
-     *
-     * @param sda - mbed pin to use for the SDA I2C line.
-     * @param scl - mbed pin to use for the SCL I2C line.
-     */
-     MPU6050_belt(PinName sda, PinName scl);
-     
-
-     /**
-     * Tests the I2C connection by reading the WHO_AM_I register. 
-     *
-     * @return True for a working connection, false for an error
-     */     
-     bool testConnection( void );
-     
-     /**
-     * Sets the bandwidth of the digital low-pass filter 
-     *
-     * Macros: MPU6050_belt_BW_256 - MPU6050_belt_BW_188 - MPU6050_belt_BW_98 - MPU6050_belt_BW_42 - MPU6050_belt_BW_20 - MPU6050_belt_BW_10 - MPU6050_belt_BW_5
-     * Last number is the gyro's BW in Hz (accelero BW is virtually identical)
-     *
-     * @param BW - The three bits that set the bandwidth (use the predefined macros)
-     */     
-     void setBW( char BW );
-     
-     /**
-     * Sets the auxiliary I2C bus in bypass mode to read the sensors behind the MPU6050_belt (useful for eval board, otherwise just connect them to primary I2C bus) 
-     *
-     * @param state - Enables/disables the I2C bypass mode
-     */     
-     void setI2CBypass ( bool state );
-     
-     /**
-     * Sets the Accelero full-scale range
-     *
-     * Macros: MPU6050_belt_ACCELERO_RANGE_2G - MPU6050_belt_ACCELERO_RANGE_4G - MPU6050_belt_ACCELERO_RANGE_8G - MPU6050_belt_ACCELERO_RANGE_16G
-     *
-     * @param range - The two bits that set the full-scale range (use the predefined macros)
-     */
-     void setAcceleroRange(char range);
-     
-     /**
-     * Reads the accelero x-axis.
-     *
-     * @return 16-bit signed integer x-axis accelero data
-     */   
-     int getAcceleroRawX( void );
-     
-     /**
-     * Reads the accelero y-axis.
-     *
-     * @return 16-bit signed integer y-axis accelero data
-     */   
-     int getAcceleroRawY( void );
-     
-     /**
-     * Reads the accelero z-axis.
-     *
-     * @return 16-bit signed integer z-axis accelero data
-     */   
-     int getAcceleroRawZ( void );
-     
-     /**
-     * Reads all accelero data.
-     *
-     * @param data - pointer to signed integer array with length three: data[0] = X, data[1] = Y, data[2] = Z
-     */   
-     void getAcceleroRaw( int *data );
-     
-     /**
-     * Reads all accelero data, gives the acceleration in m/s2
-     *
-     * Function uses the last setup value of the full scale range, if you manually set in another range, this won't work.
-     *
-     * @param data - pointer to float array with length three: data[0] = X, data[1] = Y, data[2] = Z
-     */   
-     void getAccelero( float *data );
-     
-     /**
-     * Sets the Gyro full-scale range
-     *
-     * Macros: MPU6050_belt_GYRO_RANGE_250 - MPU6050_belt_GYRO_RANGE_500 - MPU6050_belt_GYRO_RANGE_1000 - MPU6050_belt_GYRO_RANGE_2000
-     *
-     * @param range - The two bits that set the full-scale range (use the predefined macros)
-     */
-     void setGyroRange(char range);
-
-     /**
-     * Reads the gyro x-axis.
-     *
-     * @return 16-bit signed integer x-axis gyro data
-     */   
-     int getGyroRawX( void );
-     
-     /**
-     * Reads the gyro y-axis.
-     *
-     * @return 16-bit signed integer y-axis gyro data
-     */   
-     int getGyroRawY( void );
-     
-     /**
-     * Reads the gyro z-axis.
-     *
-     * @return 16-bit signed integer z-axis gyro data
-     */   
-     int getGyroRawZ( void );
-     
-     /**
-     * Reads all gyro data.
-     *
-     * @param data - pointer to signed integer array with length three: data[0] = X, data[1] = Y, data[2] = Z
-     */   
-     void getGyroRaw( int *data );  
-     
-     /**
-     * Reads all gyro data, gives the gyro in rad/s
-     *
-     * Function uses the last setup value of the full scale range, if you manually set in another range, this won't work.
-     *
-     * @param data - pointer to float array with length three: data[0] = X, data[1] = Y, data[2] = Z
-     */   
-     void getGyro( float *data);     
-     
-     /**
-     * Reads temperature data.
-     *
-     * @return 16 bit signed integer with the raw temperature register value
-     */  
-     int getTempRaw( void );
-     
-     /**
-     * Returns current temperature
-     *
-     * @returns float with the current temperature
-     */  
-     float getTemp( void );
-
-     /**
-     * Sets the sleep mode of the MPU6050_belt 
-     *
-     * @param state - true for sleeping, false for wake up
-     */     
-     void setSleepMode( bool state );
-     
-     
-     /**
-     * Writes data to the device, could be private, but public is handy so you can transmit directly to the MPU. 
-     *
-     * @param adress - register address to write to
-     * @param data - data to write
-     */
-     void write( char address, char data);
-     
-     /**
-     * Read data from the device, could be private, but public is handy so you can transmit directly to the MPU. 
-     *
-     * @param adress - register address to write to
-     * @return - data from the register specified by RA
-     */
-     char read( char adress);
-     
-     /**
-     * Read multtiple regigsters from the device, more efficient than using multiple normal reads. 
-     *
-     * @param adress - register address to write to
-     * @param length - number of bytes to read
-     * @param data - pointer where the data needs to be written to 
-     */
-     void read( char adress, char *data, int length);
-     
-
-     
-        
-     private:
-
-     I2C connection;
-     char currentAcceleroRange;
-     char currentGyroRange;
-     
-
-};
-
-
-
-#endif