Diff: MPU9250.h

Revision:

12:2b7b98cf595c

Parent:

11:084e8ba240c1

--- a/MPU9250.h	Tue Jul 01 13:59:45 2014 +0000
+++ b/MPU9250.h	Wed Feb 15 12:33:22 2017 +0000
@@ -7,7 +7,6 @@
 #define mpu9250_h
 #include "mbed.h"
 
-
 class mpu9250_spi
 {
     SPI& spi;
@@ -33,7 +32,7 @@
     uint8_t  AK8963_whoami();
     void AK8963_read_Magnetometer();
     void read_all();
-
+    void readAngles();
 
     
     float acc_divider;
@@ -42,16 +41,24 @@
     int calib_data[3];
     float Magnetometer_ASA[3];
 
+    
     float accelerometer_data[3];
     float Temperature;
     float gyroscope_data[3];
     float Magnetometer[3];
     
+    //float dt ;//= 0;
+    //float dt_sensors ;//= 0;
   private:
     PinName _CS_pin;
     PinName _SO_pin;
     PinName _SCK_pin;
     float _error;
+    
+    Timer LoopTimer;               // local time to calculate processing speed for entire loop
+    Timer SensorTimer;             // local time to calculate processing speed for just reading sensors
+    uint8_t Mscale;                 //= 10.*4912./32760.0;   10.*4912./32760.0;  MFS_16BITS
+    uint8_t Mmode ;                 //= 0x02; 
 };
 
 #endif