Diff: Hepta9axis.h

Revision:

0:5aaec0996753

Child:

2:306058b9d04e

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/Hepta9axis.h	Wed Jul 19 08:15:01 2017 +0000
@@ -0,0 +1,36 @@
+#ifndef MBED_HEPTA9AXIS_H
+#define MBED_HEPTA9AXIS_H
+#include "mbed.h"
+
+class HeptaMPU9250
+{
+public:
+    I2C MPU9250;
+    int addr_accel_gyro;
+    int addr_compus;
+    HeptaMPU9250(
+        PinName sda,
+        PinName scl,
+        int aaddr,
+        int agaddr
+    );
+    void setup();
+    void sen_acc(float *ax,float *ay,float *az);
+    void sen_gyro(float *gx,float *gy,float *gz);
+    void sen_mag(float *mx,float *my,float *mz);
+    void sen_gyro_u16(char* gx_u16,char* gy_u16,char* gz_u16, int *dsize);
+    void sen_acc_u16(char* ax_u16,char* ay_u16,char* az_u16, int *dsize);
+    void sen_mag_u16(char* mx_u16,char* my_u16,char* mz_u16, int *dsize);
+
+private:
+    char cmd[2];
+    char g1[8],g2[8];
+    char a1[8],a2[8];
+    char m1[8],m2[8];
+    short int xl,xh,yl,yh,zl,zh;
+    short int gxl,gxh,gyl,gyh,gzl,gzh;
+    short int mxl,mxh,myl,myh,mzl,mzh;
+
+};
+
+#endif
\ No newline at end of file