TVZ2019
/
1_MIKROUPRAVLJACI
Programsko rješenje za uređaj koji mjeri nagib i udaljenost.
MPU_Library/MPU.h@1:024485d1c677, 2019-11-16 (annotated)
- Committer:
- jpapratov
- Date:
- Sat Nov 16 13:15:11 2019 +0000
- Revision:
- 1:024485d1c677
- Parent:
- 0:34c1f05d8d2c
uC
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
jpapratov | 0:34c1f05d8d2c | 1 | #ifndef MBED_MPU_H |
jpapratov | 0:34c1f05d8d2c | 2 | #define MBED_MPU_H |
jpapratov | 0:34c1f05d8d2c | 3 | |
jpapratov | 0:34c1f05d8d2c | 4 | #include "mbed.h" |
jpapratov | 0:34c1f05d8d2c | 5 | |
jpapratov | 0:34c1f05d8d2c | 6 | #define ADDRESS (0x68<<1)//iako je adresa 7 bitna mora biti shiftana za jedno mjesto u lijevo |
jpapratov | 0:34c1f05d8d2c | 7 | #define WHO_AM_I_REG 0x75// vraća adresu |
jpapratov | 0:34c1f05d8d2c | 8 | #define PWR_MGMT_1_REG 0x6B// podešavanje power mode i izvora sata |
jpapratov | 0:34c1f05d8d2c | 9 | #define CONFIG_REG 0x1A//konfiguracija |
jpapratov | 0:34c1f05d8d2c | 10 | #define GYRO_CONFIG_REG 0x1B//konfiguracija žiroskopa |
jpapratov | 0:34c1f05d8d2c | 11 | #define ACCELERO_CONFIG_REG 0x1C//konfiguracija akcelerometra |
jpapratov | 0:34c1f05d8d2c | 12 | #define GYRO_XOUT_H_REG 0x43 |
jpapratov | 0:34c1f05d8d2c | 13 | #define ACCEL_XOUT_H_REG 0x3B |
jpapratov | 0:34c1f05d8d2c | 14 | #define TEMP_H_REG 0x41 |
jpapratov | 0:34c1f05d8d2c | 15 | |
jpapratov | 0:34c1f05d8d2c | 16 | class Senzor{ |
jpapratov | 0:34c1f05d8d2c | 17 | public: |
jpapratov | 0:34c1f05d8d2c | 18 | Senzor(PinName Sda, PinName Scl); |
jpapratov | 0:34c1f05d8d2c | 19 | char testConnection (); |
jpapratov | 0:34c1f05d8d2c | 20 | void setBW (char command); |
jpapratov | 0:34c1f05d8d2c | 21 | void setPowerManagement (char command); |
jpapratov | 0:34c1f05d8d2c | 22 | void GYRO_CONFIG(char command); |
jpapratov | 0:34c1f05d8d2c | 23 | void ACCEL_CONFIG(char command); |
jpapratov | 0:34c1f05d8d2c | 24 | void getAccel(float *accel); |
jpapratov | 0:34c1f05d8d2c | 25 | void getGyro(float *gyro); |
jpapratov | 0:34c1f05d8d2c | 26 | void getAccAngle(float *angle); |
jpapratov | 0:34c1f05d8d2c | 27 | void getOffset(float *accOffset, float *gyroOffset, int sample); |
jpapratov | 0:34c1f05d8d2c | 28 | void finalAngle (float *angle); |
jpapratov | 0:34c1f05d8d2c | 29 | float getTemp(); |
jpapratov | 0:34c1f05d8d2c | 30 | |
jpapratov | 0:34c1f05d8d2c | 31 | private: |
jpapratov | 0:34c1f05d8d2c | 32 | I2C mpu; |
jpapratov | 0:34c1f05d8d2c | 33 | |
jpapratov | 0:34c1f05d8d2c | 34 | }; |
jpapratov | 0:34c1f05d8d2c | 35 | #endif |