File content as of revision 1:a248e65a25cc:

// 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"

#define PI 3.14159265359
#define dt 0.005            // 200 Hz sampling period

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