Diff: MPU_Library/MPU.h

Revision:

0:34c1f05d8d2c

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/MPU_Library/MPU.h	Sat Nov 16 10:14:58 2019 +0000
@@ -0,0 +1,35 @@
+#ifndef MBED_MPU_H
+#define MBED_MPU_H
+
+#include "mbed.h"
+
+#define ADDRESS (0x68<<1)//iako je adresa 7 bitna mora biti shiftana za jedno mjesto u lijevo
+#define WHO_AM_I_REG 0x75// vraća adresu 
+#define PWR_MGMT_1_REG 0x6B// podešavanje power mode i izvora sata
+#define CONFIG_REG 0x1A//konfiguracija
+#define GYRO_CONFIG_REG 0x1B//konfiguracija žiroskopa
+#define ACCELERO_CONFIG_REG 0x1C//konfiguracija akcelerometra
+#define GYRO_XOUT_H_REG 0x43
+#define ACCEL_XOUT_H_REG 0x3B
+#define TEMP_H_REG 0x41
+
+class Senzor{
+    public:
+    Senzor(PinName Sda, PinName Scl);
+    char testConnection ();
+    void setBW (char command);
+    void setPowerManagement (char command);
+    void GYRO_CONFIG(char command);
+    void ACCEL_CONFIG(char command);
+    void getAccel(float *accel);
+    void getGyro(float *gyro);
+    void getAccAngle(float *angle);
+    void getOffset(float *accOffset, float *gyroOffset, int sample);
+    void finalAngle (float *angle);
+    float getTemp();
+    
+    private:
+    I2C mpu;
+    
+    };
+#endif
\ No newline at end of file