Seeed / MPU6050

3 axis gyroscope & 3 axis accelerometer

Dependents:   sgam-lib sgam_mdw_NUCLEOF429ZI_impl

Fork of MPU6050 by Yihui Xiong

Usage

#include "mbed.h"
#include "MPU6050.h"

DigitalOut myled(LED1);
Serial pc(USBTX, USBRX);
I2C    i2c(I2C_SDA, I2C_SCL);
MPU6050 mpu(i2c);
 
int16_t ax, ay, az;
int16_t gx, gy, gz;
 
int main()
{
    pc.printf("MPU6050 test\n\n");
    pc.printf("MPU6050 initialize \n");
 
    mpu.initialize();
    
    pc.printf("MPU6050 testConnection \n");
 
    bool mpu6050TestResult = mpu.testConnection();
    if(mpu6050TestResult) {
        pc.printf("MPU6050 test passed \n");
    } else {
        pc.printf("MPU6050 test failed \n");
    }
   
    while(1) {
        wait(1);
        mpu.getMotion6(&ax, &ay, &az, &gx, &gy, &gz);
        //writing current accelerometer and gyro position 
        pc.printf("%d;%d;%d;%d;%d;%d\n",ax,ay,az,gx,gy,gz);
    }
}

Diff: I2Cdev.h

Revision:
2:8c562a8fed36
Parent:
0:662207e34fba
--- a/I2Cdev.h	Wed May 08 00:34:55 2013 +0000
+++ b/I2Cdev.h	Fri Sep 12 09:28:14 2014 +0800
@@ -9,16 +9,12 @@
 
 #include "mbed.h"
 
-#define I2C_SDA p28
-#define I2C_SCL p27
 
 class I2Cdev {
     private:
         I2C i2c;
-        Serial debugSerial;
     public:
-        I2Cdev();
-        I2Cdev(PinName i2cSda, PinName i2cScl);        
+        I2Cdev(I2C &interface);        
         
         int8_t readBit(uint8_t devAddr, uint8_t regAddr, uint8_t bitNum, uint8_t *data, uint16_t timeout=I2Cdev::readTimeout());
         int8_t readBitW(uint8_t devAddr, uint8_t regAddr, uint8_t bitNum, uint16_t *data, uint16_t timeout=I2Cdev::readTimeout());
@@ -41,4 +37,4 @@
         static uint16_t readTimeout(void);
 };
 
-#endif
\ No newline at end of file
+#endif