Diff: library/GY521.hpp

Revision:

0:a202e1bc38a1

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/library/GY521.hpp	Mon Jun 17 13:41:24 2019 +0000
@@ -0,0 +1,44 @@
+#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;
+};
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