3 axis gyroscope & 3 axis accelerometer
Dependents: sgam-lib sgam_mdw_NUCLEOF429ZI_impl
Fork of MPU6050 by
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: MPU6050.h
- Revision:
- 2:8c562a8fed36
- Parent:
- 1:1e0baaf91e96
diff -r 1e0baaf91e96 -r 8c562a8fed36 MPU6050.h --- a/MPU6050.h Wed May 08 00:34:55 2013 +0000 +++ b/MPU6050.h Fri Sep 12 09:28:14 2014 +0800 @@ -48,7 +48,7 @@ #define MPU6050_ADDRESS_AD0_LOW 0x68 // address pin low (GND), default for InvenSense evaluation board #define MPU6050_ADDRESS_AD0_HIGH 0x69 // address pin high (VCC) -#define MPU6050_DEFAULT_ADDRESS MPU6050_ADDRESS_AD0_LOW +#define MPU6050_DEFAULT_ADDRESS MPU6050_ADDRESS_AD0_HIGH #define MPU6050_RA_XG_OFFS_TC 0x00 //[7] PWR_MODE, [6:1] XG_OFFS_TC, [0] OTP_BNK_VLD #define MPU6050_RA_YG_OFFS_TC 0x01 //[7] PWR_MODE, [6:1] YG_OFFS_TC, [0] OTP_BNK_VLD @@ -405,10 +405,8 @@ class MPU6050 { private: I2Cdev i2Cdev; - Serial debugSerial; public: - MPU6050(); - MPU6050(uint8_t address); + MPU6050(I2C &i2c, uint8_t address = MPU6050_DEFAULT_ADDRESS); void initialize(); bool testConnection(); @@ -991,4 +989,4 @@ uint8_t buffer[14]; }; -#endif /* _MPU6050_H_ */ \ No newline at end of file +#endif /* _MPU6050_H_ */