Diff: MPU6050.h

Revision:

0:954f15bd95f1

Child:

1:a248e65a25cc

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/MPU6050.h	Thu Jul 09 12:13:56 2015 +0000
@@ -0,0 +1,44 @@
+// Most of the code is adapted from Kris Winer's MPU6050 library
+
+#ifndef MPU6050_H
+#define MPU6050_H
+
+#include "mbed.h"
+#include "math.h"
+#include "MPU6050RegDef.h"
+
+extern I2C i2c;             // extern the i2c in order to able to use from other files
+extern float aRes, gRes; 
+
+/* whoAmI func uses this func, variables etc */
+extern Ticker toggler1;  
+extern Serial ftdi;   
+extern DigitalOut led2;
+extern void toggle_led1();
+
+/* Sensor datas to be used in main.cpp */
+extern float ax,ay,az;
+extern float gx,gy,gz;
+extern int16_t accelData[3],gyroData[3],tempData;
+extern float accelBias[3], gyroBias[3];
+ 
+/* Function Prototypes */
+class MPU6050 
+{
+    protected:
+    public: 
+    void getAres();
+    void getGres();
+    void writeByte(uint8_t address, uint8_t subAddress, uint8_t data);
+    char readByte(uint8_t address, uint8_t subAddress); 
+    void readBytes(uint8_t address, uint8_t subAddress, uint8_t byteNum, uint8_t* dest);
+    void whoAmI();
+    void init();
+    void reset();
+    void readAccelData(int16_t* dest);
+    void readGyroData(int16_t* dest);
+    int16_t readTempData();
+    void calibrate(float* dest1, float* dest2);
+};
+
+#endif
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