Credit for code left in comments
MPU6050.h@1:8f364d5295d8, 2022-05-08 (annotated)
- Committer:
- ahdyer
- Date:
- Sun May 08 16:32:45 2022 +0000
- Revision:
- 1:8f364d5295d8
- Parent:
- 0:ffb90bdc9bb5
Working Alex
Who changed what in which revision?
User | Revision | Line number | New contents of line |
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Forest1213 | 0:ffb90bdc9bb5 | 1 | /* |
Forest1213 | 0:ffb90bdc9bb5 | 2 | * Copyright (c) 2015, Baser Kandehir, baser.kandehir@ieee.metu.edu.tr |
Forest1213 | 0:ffb90bdc9bb5 | 3 | * |
Forest1213 | 0:ffb90bdc9bb5 | 4 | * Permission is hereby granted, free of charge, to any person obtaining a copy |
Forest1213 | 0:ffb90bdc9bb5 | 5 | * of this software and associated documentation files (the "Software"), to deal |
Forest1213 | 0:ffb90bdc9bb5 | 6 | * in the Software without restriction, including without limitation the rights |
Forest1213 | 0:ffb90bdc9bb5 | 7 | * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell |
Forest1213 | 0:ffb90bdc9bb5 | 8 | * copies of the Software, and to permit persons to whom the Software is |
Forest1213 | 0:ffb90bdc9bb5 | 9 | * furnished to do so, subject to the following conditions: |
Forest1213 | 0:ffb90bdc9bb5 | 10 | * |
Forest1213 | 0:ffb90bdc9bb5 | 11 | * The above copyright notice and this permission notice shall be included in |
Forest1213 | 0:ffb90bdc9bb5 | 12 | * all copies or substantial portions of the Software. |
Forest1213 | 0:ffb90bdc9bb5 | 13 | * |
Forest1213 | 0:ffb90bdc9bb5 | 14 | * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR |
Forest1213 | 0:ffb90bdc9bb5 | 15 | * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, |
Forest1213 | 0:ffb90bdc9bb5 | 16 | * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE |
Forest1213 | 0:ffb90bdc9bb5 | 17 | * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER |
Forest1213 | 0:ffb90bdc9bb5 | 18 | * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, |
Forest1213 | 0:ffb90bdc9bb5 | 19 | * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN |
Forest1213 | 0:ffb90bdc9bb5 | 20 | * THE SOFTWARE. |
Forest1213 | 0:ffb90bdc9bb5 | 21 | * |
Forest1213 | 0:ffb90bdc9bb5 | 22 | */ |
Forest1213 | 0:ffb90bdc9bb5 | 23 | |
Forest1213 | 0:ffb90bdc9bb5 | 24 | // Most of the code is adapted from Kris Winer's MPU6050 library |
Forest1213 | 0:ffb90bdc9bb5 | 25 | |
Forest1213 | 0:ffb90bdc9bb5 | 26 | #ifndef MPU6050_H |
Forest1213 | 0:ffb90bdc9bb5 | 27 | #define MPU6050_H |
Forest1213 | 0:ffb90bdc9bb5 | 28 | |
Forest1213 | 0:ffb90bdc9bb5 | 29 | #include "mbed.h" |
Forest1213 | 0:ffb90bdc9bb5 | 30 | #include "math.h" |
Forest1213 | 0:ffb90bdc9bb5 | 31 | #include "MPU6050RegDef.h" |
Forest1213 | 0:ffb90bdc9bb5 | 32 | |
Forest1213 | 0:ffb90bdc9bb5 | 33 | #define PI 3.14159265359 // This value will be used when calculating angles |
ahdyer | 1:8f364d5295d8 | 34 | #define dt 0.004 // 250 Hz sampling period |
Forest1213 | 0:ffb90bdc9bb5 | 35 | |
Forest1213 | 0:ffb90bdc9bb5 | 36 | extern float aRes, gRes; |
Forest1213 | 0:ffb90bdc9bb5 | 37 | |
Forest1213 | 0:ffb90bdc9bb5 | 38 | /* whoAmI func uses this func, variables etc */ |
Forest1213 | 0:ffb90bdc9bb5 | 39 | extern Ticker toggler1; |
Forest1213 | 0:ffb90bdc9bb5 | 40 | extern Serial pc; |
Forest1213 | 0:ffb90bdc9bb5 | 41 | extern DigitalOut led2; |
Forest1213 | 0:ffb90bdc9bb5 | 42 | extern void toggle_led1(); |
Forest1213 | 0:ffb90bdc9bb5 | 43 | |
Forest1213 | 0:ffb90bdc9bb5 | 44 | /* Sensor datas to be used in program */ |
Forest1213 | 0:ffb90bdc9bb5 | 45 | extern float ax,ay,az; |
Forest1213 | 0:ffb90bdc9bb5 | 46 | extern float gx,gy,gz; |
Forest1213 | 0:ffb90bdc9bb5 | 47 | extern float pitchAcc, rollAcc; |
Forest1213 | 0:ffb90bdc9bb5 | 48 | extern int16_t accelData[3],gyroData[3],tempData; |
Forest1213 | 0:ffb90bdc9bb5 | 49 | extern float accelBias[3], gyroBias[3]; |
Forest1213 | 0:ffb90bdc9bb5 | 50 | |
Forest1213 | 0:ffb90bdc9bb5 | 51 | /* Function Prototypes */ |
Forest1213 | 0:ffb90bdc9bb5 | 52 | class MPU6050 |
Forest1213 | 0:ffb90bdc9bb5 | 53 | { |
Forest1213 | 0:ffb90bdc9bb5 | 54 | protected: |
Forest1213 | 0:ffb90bdc9bb5 | 55 | public: |
Forest1213 | 0:ffb90bdc9bb5 | 56 | void getAres(); |
Forest1213 | 0:ffb90bdc9bb5 | 57 | void getGres(); |
Forest1213 | 0:ffb90bdc9bb5 | 58 | void writeByte(uint8_t address, uint8_t subAddress, uint8_t data); |
Forest1213 | 0:ffb90bdc9bb5 | 59 | char readByte(uint8_t address, uint8_t subAddress); |
Forest1213 | 0:ffb90bdc9bb5 | 60 | void readBytes(uint8_t address, uint8_t subAddress, uint8_t byteNum, uint8_t* dest); |
Forest1213 | 0:ffb90bdc9bb5 | 61 | void whoAmI(); |
Forest1213 | 0:ffb90bdc9bb5 | 62 | void init(); |
Forest1213 | 0:ffb90bdc9bb5 | 63 | void reset(); |
Forest1213 | 0:ffb90bdc9bb5 | 64 | void readAccelData(int16_t* dest); |
Forest1213 | 0:ffb90bdc9bb5 | 65 | void readGyroData(int16_t* dest); |
Forest1213 | 0:ffb90bdc9bb5 | 66 | int16_t readTempData(); |
Forest1213 | 0:ffb90bdc9bb5 | 67 | void calibrate(float* dest1, float* dest2); |
Forest1213 | 0:ffb90bdc9bb5 | 68 | void complementaryFilter(float* pitch, float* roll, float* yaw); |
Forest1213 | 0:ffb90bdc9bb5 | 69 | }; |
Forest1213 | 0:ffb90bdc9bb5 | 70 | |
Forest1213 | 0:ffb90bdc9bb5 | 71 | #endif |