MPU
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?
User | Revision | Line number | New 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 |