Corrected for STM32F7
Dependents: DISCO-F746NG_LCDTS_GYRO
MPU6050.h
- Committer:
- BaserK
- Date:
- 2015-07-13
- Revision:
- 1:a248e65a25cc
- Parent:
- 0:954f15bd95f1
- Child:
- 2:3e0dfce73a58
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