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Fork of MPU6050 by
Diff: MPU6050.cpp
- Revision:
- 4:2d0953219845
- Parent:
- 3:48773a5c8d48
- Child:
- 5:f806657f0009
diff -r 48773a5c8d48 -r 2d0953219845 MPU6050.cpp --- a/MPU6050.cpp Sun May 21 12:03:43 2017 +0000 +++ b/MPU6050.cpp Fri Aug 18 08:53:05 2017 +0000 @@ -14,8 +14,8 @@ write_reg(ADDRESS,MPU6050_PWR_MGMT_1,0x00); write_reg(ADDRESS,MPU6050_GYRO_CONFIG,0x08);//gyro +-500deg/s //0x10);//gyro +-1000deg/s write_reg(ADDRESS,MPU6050_ACCEL_CONFIG,0x00);//accel +-2G //0x08);//accel +-4G - write_reg(ADDRESS,MPU6050_CONFIG,0x05);//bandwidth 10Hz, delay 14 mS - write_reg(ADDRESS,MPU6050_SMPLRT_DIV,0x04);//sample rate 200Hz (1000/5) + write_reg(ADDRESS,MPU6050_CONFIG,0x02);//2 - bandwidth 94Hz, delay 3 mS; 3 - bandwidth 44Hz, delay 5 mS; 4 - bandwidth 21Hz, delay 8.5 mS; 5 - bandwidth 10Hz, delay 14 mS + write_reg(ADDRESS,MPU6050_SMPLRT_DIV,0x0);//sample rate 1000Hz (1000/5) } char MPU6050::getID(void) @@ -34,7 +34,7 @@ *gx = float(short(data[0] << 8 | data[1]))*1.526e-2; //deg/s *gy = float(short(data[2] << 8 | data[3]))*1.526e-2; *gz = float(short(data[4] << 8 | data[5]))*1.526e-2; - *ax = float(short(data2[0] << 8 | data2[1]))*5.9875e-4; //cm^2/s + *ax = float(short(data2[0] << 8 | data2[1]))*5.9875e-4; //cm/s^2 *ay = float(short(data2[2] << 8 | data2[3]))*5.9875e-4; *az = float(short(data2[4] << 8 | data2[5]))*5.9875e-4; return true;