v1
Fork of MPU6050 by
Revision 4:d477e0b6630a, committed 2017-03-09
- Comitter:
- fadi_lad
- Date:
- Thu Mar 09 17:00:02 2017 +0000
- Parent:
- 3:0a077b7133e6
- Commit message:
- hello
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 Fri Feb 17 07:47:38 2017 +0000 +++ b/MPU6050.cpp Thu Mar 09 17:00:02 2017 +0000 @@ -117,28 +117,28 @@ data[2] = (int)(short)((temp[4]<<8) + temp[5]); } -void MPU6050::getAccelero( float *data ) { +void MPU6050::getAccelero( int *data ) { int temp[3]; this->getAcceleroRaw(temp); if (currentAcceleroRange == MPU6050_ACCELERO_RANGE_2G) { - data[0]=(float)temp[0] / 16384.0 * 9.81; - data[1]=(float)temp[1] / 16384.0 * 9.81; - data[2]=(float)temp[2] / 16384.0 * 9.81; + data[0]= temp[0] ;//(float)temp[0] / 16384.0 * 9.81; + data[1]= temp[1] ;//(float)temp[1] / 16384.0 * 9.81; + data[2]= temp[2] ;//(float)temp[2] / 16384.0 * 9.81; } if (currentAcceleroRange == MPU6050_ACCELERO_RANGE_4G){ - data[0]=(float)temp[0] / 8192.0 * 9.81; - data[1]=(float)temp[1] / 8192.0 * 9.81; - data[2]=(float)temp[2] / 8192.0 * 9.81; + data[0]= temp[0] ;//(float)temp[0] / 8192.0 * 9.81; + data[1]= temp[1] ;//(float)temp[1] / 8192.0 * 9.81; + data[2]= temp[2] ;//(float)temp[2] / 8192.0 * 9.81; } if (currentAcceleroRange == MPU6050_ACCELERO_RANGE_8G){ - data[0]=(float)temp[0] / 4096.0 * 9.81; - data[1]=(float)temp[1] / 4096.0 * 9.81; - data[2]=(float)temp[2] / 4096.0 * 9.81; + data[0]= temp[0] ; //(float)temp[0] / 4096.0 * 9.81; + data[1]= temp[1] ; //(float)temp[1] / 4096.0 * 9.81; + data[2]= temp[2] ; //(float)temp[2] / 4096.0 * 9.81; } if (currentAcceleroRange == MPU6050_ACCELERO_RANGE_16G){ - data[0]=(float)temp[0] / 2048.0 * 9.81; - data[1]=(float)temp[1] / 2048.0 * 9.81; - data[2]=(float)temp[2] / 2048.0 * 9.81; + data[0]= temp[0] ; //(float)temp[0] / 2048.0 * 9.81; + data[1]= temp[1] ; //(float)temp[1] / 2048.0 * 9.81; + data[2]= temp[2] ; //(float)temp[2] / 2048.0 * 9.81; } #ifdef DOUBLE_ACCELERO @@ -193,28 +193,28 @@ data[2] = (int)(short)((temp[4]<<8) + temp[5]); } -void MPU6050::getGyro( float *data ) { +void MPU6050::getGyro( int *data ) { int temp[3]; this->getGyroRaw(temp); if (currentGyroRange == MPU6050_GYRO_RANGE_250) { - data[0]=(float)temp[0] / 7505.7; - data[1]=(float)temp[1] / 7505.7; - data[2]=(float)temp[2] / 7505.7; + data[0]= temp[0] ;//(float)temp[0] / 7505.7; + data[1]= temp[1] ;//(float)temp[1] / 7505.7; + data[2]= temp[2] ;//(float)temp[2] / 7505.7; } if (currentGyroRange == MPU6050_GYRO_RANGE_500){ - data[0]=(float)temp[0] / 3752.9; - data[1]=(float)temp[1] / 3752.9; - data[2]=(float)temp[2] / 3752.9; + data[0]= temp[0] ;//(float)temp[0] / 3752.9; + data[1]= temp[1] ;//(float)temp[1] / 3752.9; + data[2]= temp[2] ;//(float)temp[2] / 3752.9; } if (currentGyroRange == MPU6050_GYRO_RANGE_1000){ - data[0]=(float)temp[0] / 1879.3;; - data[1]=(float)temp[1] / 1879.3; - data[2]=(float)temp[2] / 1879.3; + data[0]=temp[0] ;//(float)temp[0] / 1879.3;; + data[1]=temp[1] ;//(float)temp[1] / 1879.3; + data[2]=temp[2] ;//(float)temp[2] / 1879.3; } if (currentGyroRange == MPU6050_GYRO_RANGE_2000){ - data[0]=(float)temp[0] / 939.7; - data[1]=(float)temp[1] / 939.7; - data[2]=(float)temp[2] / 939.7; + data[0]= temp[0] ; //(float)temp[0] / 939.7; + data[1]= temp[1] ;//(float)temp[1] / 939.7; + data[2]= temp[2] ;//(float)temp[2] / 939.7; } } //--------------------------------------------------
--- a/MPU6050.h Fri Feb 17 07:47:38 2017 +0000 +++ b/MPU6050.h Thu Mar 09 17:00:02 2017 +0000 @@ -162,7 +162,7 @@ * * @param data - pointer to float array with length three: data[0] = X, data[1] = Y, data[2] = Z */ - void getAccelero( float *data ); + void getAccelero( int *data ); /** * Sets the Gyro full-scale range @@ -208,7 +208,7 @@ * * @param data - pointer to float array with length three: data[0] = X, data[1] = Y, data[2] = Z */ - void getGyro( float *data); + void getGyro( int *data); /** * Reads temperature data.