Diff: MPU6050.h

Revision:

0:8a2cac9ba89e

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/MPU6050.h	Tue Nov 21 20:29:49 2017 +0000
@@ -0,0 +1,43 @@
+#ifndef MPU6050_H
+#define MPU6050_H
+
+#include "mpu6050_reg.h"
+#include "mbed.h"
+
+enum Ascale {
+  AFS_2G = 0,
+  AFS_4G,
+  AFS_8G,
+  AFS_16G
+};
+
+enum Gscale {
+  GFS_250DPS = 0,
+  GFS_500DPS,
+  GFS_1000DPS,
+  GFS_2000DPS
+};
+
+class mpu6050 {
+protected:
+
+public:
+    //wire.h functions
+    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 count, uint8_t * dest);
+    //mpu6050 functions
+    void getGres();
+    void getAres();
+    void readAccelData(int16_t * destination);
+    void readGyroData(int16_t * destination);
+    int16_t readTempData();
+    void lowPowerAccelOnly();
+    void reset();
+    void init();
+    void calibrate(float * dest1, float * dest2);
+    void selfTest(float * destination); // Should return percent deviation from factory trim values, +/- 14 or less deviation is a pass
+    void MadgwickQuaternionUpdate(float ax, float ay, float az, float gx, float gy, float gz);
+};
+
+#endif
\ No newline at end of file