Calvin Kalintra / MPU6050

MPU

Dependents:   balance_all

MPU6050.h@0:70eb7a2966f1, 2018-05-16 (annotated)

Committer:
ckalintra
Date:
Wed May 16 10:27:51 2018 +0000
Revision:
0:70eb7a2966f1
MPU6050

Who changed what in which revision?

UserRevisionLine numberNew contents of line
ckalintra 0:70eb7a2966f1 1 #ifndef MPU6050_H
ckalintra 0:70eb7a2966f1 2 #define MPU6050_H
ckalintra 0:70eb7a2966f1 3
ckalintra 0:70eb7a2966f1 4 #include "mbed.h"
ckalintra 0:70eb7a2966f1 5
ckalintra 0:70eb7a2966f1 6
ckalintra 0:70eb7a2966f1 7 #define slaveAddress 0x68<<1
ckalintra 0:70eb7a2966f1 8 extern Serial pc;
ckalintra 0:70eb7a2966f1 9 extern I2C i2c;
ckalintra 0:70eb7a2966f1 10
ckalintra 0:70eb7a2966f1 11 class MPU6050
ckalintra 0:70eb7a2966f1 12 {
ckalintra 0:70eb7a2966f1 13 protected:
ckalintra 0:70eb7a2966f1 14 public:
ckalintra 0:70eb7a2966f1 15 void writeByte(char pointer, char bit);//write byte to register
ckalintra 0:70eb7a2966f1 16 char readByte(char pointer);//read 1 byte from register
ckalintra 0:70eb7a2966f1 17 void readBytes(char pointer, char *bytes, char length);//read more than 1 byte from register
ckalintra 0:70eb7a2966f1 18 void whoAmI();//check the whoAmI register
ckalintra 0:70eb7a2966f1 19 void init();//initialize the mpu
ckalintra 0:70eb7a2966f1 20 void gyro(float *val);//read gyro value (in degree/sec)
ckalintra 0:70eb7a2966f1 21 void acc(float *val);//read acc value (in g)
ckalintra 0:70eb7a2966f1 22 void sleep(bool state);
ckalintra 0:70eb7a2966f1 23 void filtered(float old_p, float *val, float time, float offset, float sp);//complimentary filter
ckalintra 0:70eb7a2966f1 24 };
ckalintra 0:70eb7a2966f1 25
ckalintra 0:70eb7a2966f1 26 #endif