MPU6050 library using i2c interface on LPC1768 - Complementary filter is added. Now program can calculate pitch and roll angles.
Fork of MPU6050 by
MPU6050.h
- Committer:
- kfforex
- Date:
- 2016-11-03
- Revision:
- 7:e4e02c9c1381
- Parent:
- 5:5bff0edcdff8
File content as of revision 7:e4e02c9c1381:
/* * Copyright (c) 2015, Baser Kandehir, baser.kandehir@ieee.metu.edu.tr * * Permission is hereby granted, free of charge, to any person obtaining a copy * of this software and associated documentation files (the "Software"), to deal * in the Software without restriction, including without limitation the rights * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell * copies of the Software, and to permit persons to whom the Software is * furnished to do so, subject to the following conditions: * * The above copyright notice and this permission notice shall be included in * all copies or substantial portions of the Software. * * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN * THE SOFTWARE. * */ // 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 3.141592 // This value will be used when calculating angles #define dt 0.01 extern float aRes, gRes; /* whoAmI func uses this func, variables etc */ extern Ticker toggler1; extern Serial pc; extern DigitalOut led2; extern void toggle_led1(); /* Sensor datas to be used in program */ 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); void complementaryFilter(float* pitch, float* roll); }; #endif