Dima Dudin / MPU6050

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Fork of MPU6050 by Stanislav Dudin

Files at this revision

API Documentation at this revision

Revision 1:cf3a9ec7205e, committed 2017-01-05

Comitter:
ritarosakai
Date:
Thu Jan 05 05:04:56 2017 +0000
Parent:
0:6d1b9bcd64ca
Child:
2:c68be621f2f1
Commit message:
add readraw; change to use FPU

Changed in this revision

MPU6050.cpp Show annotated file Show diff for this revision Revisions of this file
MPU6050.h Show annotated file Show diff for this revision Revisions of this file 
--- a/MPU6050.cpp	Mon Sep 19 05:09:07 2016 +0000
+++ b/MPU6050.cpp	Thu Jan 05 05:04:56 2017 +0000
@@ -30,12 +30,29 @@
     char data2[6];
     if (read_data(ADDRESS, MPU6050_GYRO_XOUT_H, data, 6)) {
         read_data(ADDRESS, MPU6050_ACCEL_XOUT_H, data2, 6);
-        *gx = float(short(data[0] << 8 | data[1]))*0.0305;
-        *gy =  float(short(data[2] << 8 | data[3]))*0.0305;
-        *gz =  float(short(data[4] << 8 | data[5]))*0.0305;
-        *ax = float(short(data2[0] << 8 | data2[1]))*0.000122;
-        *ay =  float(short(data2[2] << 8 | data2[3]))*0.000122;
-        *az =  float(short(data2[4] << 8 | data2[5]))*0.000122;
+        *gx = float(short(data[0] << 8 | data[1]))*0.0305f;
+        *gy =  float(short(data[2] << 8 | data[3]))*0.0305f;
+        *gz =  float(short(data[4] << 8 | data[5]))*0.0305f;
+        *ax = float(short(data2[0] << 8 | data2[1]))*0.000122f;
+        *ay =  float(short(data2[2] << 8 | data2[3]))*0.000122f;
+        *az =  float(short(data2[4] << 8 | data2[5]))*0.000122f;
+        return true;
+    }
+    return false;
+}
+
+bool MPU6050::readraw(int *gx, int *gy, int *gz,int *ax, int *ay, int *az)
+{
+    char data[6];
+    char data2[6];
+    if (read_data(ADDRESS, MPU6050_GYRO_XOUT_H, data, 6)) {
+        read_data(ADDRESS, MPU6050_ACCEL_XOUT_H, data2, 6);
+        *gx = int(short(data[0] << 8 | data[1]));
+        *gy =  int(short(data[2] << 8 | data[3]));
+        *gz =  int(short(data[4] << 8 | data[5]));
+        *ax = int(short(data2[0] << 8 | data2[1]));
+        *ay =  int(short(data2[2] << 8 | data2[3]));
+        *az =  int(short(data2[4] << 8 | data2[5]));
         return true;
     }
     return false;

--- a/MPU6050.h	Mon Sep 19 05:09:07 2016 +0000
+++ b/MPU6050.h	Thu Jan 05 05:04:56 2017 +0000
@@ -120,6 +120,7 @@
     void start(void);
     char getID(void);
     bool read(float *gx, float *gy, float *gz,float *ax, float *ay, float *az);
+    bool readraw(int *gx, int *gy, int *gz,int *ax, int *ay, int *az);
 private:
     I2C _MPU6050;
     float gx, gy, gz,ax,ay,az;