Revision 3:56c385fd3617, committed 2018-05-20

Comitter:

c201075

Date:

Sun May 20 05:49:35 2018 +0000

Parent:

2:5c63e20c50f3

Commit message:

mpu????????LED?????????????

Changed in this revision

diff -r 5c63e20c50f3 -r 56c385fd3617 MPU6050.cpp
--- a/MPU6050.cpp	Mon Sep 10 21:26:25 2012 +0000
+++ b/MPU6050.cpp	Sun May 20 05:49:35 2018 +0000
@@ -85,40 +85,40 @@
     this->write(MPU6050_ACCELERO_CONFIG_REG, temp);
 }
 
-int MPU6050::getAcceleroRawX( void ) {
+short MPU6050::getAcceleroRawX( void ) {
     short retval;
     char data[2];
     this->read(MPU6050_ACCEL_XOUT_H_REG, data, 2);
     retval = (data[0]<<8) + data[1];
-    return (int)retval;
+    return retval;
 }
     
-int MPU6050::getAcceleroRawY( void ) {
+short MPU6050::getAcceleroRawY( void ) {
     short retval;
     char data[2];
     this->read(MPU6050_ACCEL_YOUT_H_REG, data, 2);
     retval = (data[0]<<8) + data[1];
-    return (int)retval;
+    return retval;
 }
 
-int MPU6050::getAcceleroRawZ( void ) {
+short MPU6050::getAcceleroRawZ( void ) {
     short retval;
     char data[2];
     this->read(MPU6050_ACCEL_ZOUT_H_REG, data, 2);
     retval = (data[0]<<8) + data[1];
-    return (int)retval;
+    return retval;
 }
 
-void MPU6050::getAcceleroRaw( int *data ) {
+void MPU6050::getAcceleroRaw( short *data ) {
     char temp[6];
     this->read(MPU6050_ACCEL_XOUT_H_REG, temp, 6);
-    data[0] = (int)(short)((temp[0]<<8) + temp[1]);
-    data[1] = (int)(short)((temp[2]<<8) + temp[3]);
-    data[2] = (int)(short)((temp[4]<<8) + temp[5]);
+    data[0] = (short)((temp[0]<<8) + temp[1]);
+    data[1] = (short)((temp[2]<<8) + temp[3]);
+    data[2] = (short)((temp[4]<<8) + temp[5]);
 }
 
 void MPU6050::getAccelero( float *data ) {
-    int temp[3];
+    short temp[3];
     this->getAcceleroRaw(temp);
     if (currentAcceleroRange == MPU6050_ACCELERO_RANGE_2G) {
         data[0]=(float)temp[0] / 16384.0 * 9.81;
@@ -161,40 +161,40 @@
     this->write(MPU6050_GYRO_CONFIG_REG, temp);
 }
 
-int MPU6050::getGyroRawX( void ) {
+short MPU6050::getGyroRawX( void ) {
     short retval;
     char data[2];
     this->read(MPU6050_GYRO_XOUT_H_REG, data, 2);
     retval = (data[0]<<8) + data[1];
-    return (int)retval;
+    return retval;
 }
     
-int MPU6050::getGyroRawY( void ) {
+short MPU6050::getGyroRawY( void ) {
     short retval;
     char data[2];
     this->read(MPU6050_GYRO_YOUT_H_REG, data, 2);
     retval = (data[0]<<8) + data[1];
-    return (int)retval;
+    return retval;
 }
 
-int MPU6050::getGyroRawZ( void ) {
+short MPU6050::getGyroRawZ( void ) {
     short retval;
     char data[2];
     this->read(MPU6050_GYRO_ZOUT_H_REG, data, 2);
     retval = (data[0]<<8) + data[1];
-    return (int)retval;
+    return retval;
 }
 
-void MPU6050::getGyroRaw( int *data ) {
+void MPU6050::getGyroRaw( short *data ) {
     char temp[6];
     this->read(MPU6050_GYRO_XOUT_H_REG, temp, 6);
-    data[0] = (int)(short)((temp[0]<<8) + temp[1]);
-    data[1] = (int)(short)((temp[2]<<8) + temp[3]);
-    data[2] = (int)(short)((temp[4]<<8) + temp[5]);
+    data[0] = (short)((temp[0]<<8) + temp[1]);
+    data[1] = (short)((temp[2]<<8) + temp[3]);
+    data[2] = (short)((temp[4]<<8) + temp[5]);
 }
 
 void MPU6050::getGyro( float *data ) {
-    int temp[3];
+    short temp[3];
     this->getGyroRaw(temp);
     if (currentGyroRange == MPU6050_GYRO_RANGE_250) {
         data[0]=(float)temp[0] / 7505.7;

diff -r 5c63e20c50f3 -r 56c385fd3617 MPU6050.h
--- a/MPU6050.h	Mon Sep 10 21:26:25 2012 +0000
+++ b/MPU6050.h	Sun May 20 05:49:35 2018 +0000
@@ -16,7 +16,7 @@
  * Defines
  */
 #ifndef MPU6050_ADDRESS
-    #define MPU6050_ADDRESS             0x69 // address pin low (GND), default for InvenSense evaluation board
+#define MPU6050_ADDRESS             0x68 // address pin low (GND), default for InvenSense evaluation board
 #endif
 
 #ifdef MPU6050_ES
@@ -132,28 +132,28 @@
      *
      * @return 16-bit signed integer x-axis accelero data
      */   
-     int getAcceleroRawX( void );
+     short getAcceleroRawX( void );
      
      /**
      * Reads the accelero y-axis.
      *
      * @return 16-bit signed integer y-axis accelero data
      */   
-     int getAcceleroRawY( void );
+     short getAcceleroRawY( void );
      
      /**
      * Reads the accelero z-axis.
      *
      * @return 16-bit signed integer z-axis accelero data
      */   
-     int getAcceleroRawZ( void );
+     short getAcceleroRawZ( void );
      
      /**
      * Reads all accelero data.
      *
      * @param data - pointer to signed integer array with length three: data[0] = X, data[1] = Y, data[2] = Z
      */   
-     void getAcceleroRaw( int *data );
+     void getAcceleroRaw( short *data );
      
      /**
      * Reads all accelero data, gives the acceleration in m/s2
@@ -178,28 +178,28 @@
      *
      * @return 16-bit signed integer x-axis gyro data
      */   
-     int getGyroRawX( void );
+     short getGyroRawX( void );
      
      /**
      * Reads the gyro y-axis.
      *
      * @return 16-bit signed integer y-axis gyro data
      */   
-     int getGyroRawY( void );
+     short getGyroRawY( void );
      
      /**
      * Reads the gyro z-axis.
      *
      * @return 16-bit signed integer z-axis gyro data
      */   
-     int getGyroRawZ( void );
+     short getGyroRawZ( void );
      
      /**
      * Reads all gyro data.
      *
      * @param data - pointer to signed integer array with length three: data[0] = X, data[1] = Y, data[2] = Z
      */   
-     void getGyroRaw( int *data );  
+     void getGyroRaw( short *data );  
      
      /**
      * Reads all gyro data, gives the gyro in rad/s