File content as of revision 0:a8a56075e947:

#pragma once
#include "mbed.h"

const double GY521_LSB_MAP[4] = {131, 65.5, 32.8, 16.4};
enum GY521RegisterMap {
  WHO_AM_I = 0x75,
  PWR_MGMT_1 = 0x6B,
  LPF = 0x1A,
  FS_SEL = 0x1B,
  AFS_SEL = 0x1C,
  ACCEL_XOUT_H = 0x3B,
  ACCEL_YOUT_H = 0x3D,
  ACCEL_ZOUT_H = 0x3F,
  //TEMPERATURE  = 0x41,
  //GYRO_XOUT_H = 0x43,
  //GYRO_YOUT_H = 0x45,
  GYRO_ZOUT_H = 0x47
};

class GY521{
public:
    GY521(I2C &i2c,int bit = 2,int calibration = 1000,double user_reg = 1.0);
    double yaw;
    double diffyaw;
    //double temp;
    void updata();
    void reset(int user);
    void start(double start = 0){
        yaw = start;
    }
    double checkStatus(int mode);
private:
    I2C &i2c;
    Timer time;
    unsigned int dev_id;
    int16_t gyroRead2(enum GY521RegisterMap reg);
    double gyro_z_aver;
    double gyro_z_now;
    double gyro_z_prev;
    double gyro_LSB;
    int bit_;
    int calibration;
    bool flag;
};