Diff: MPU6000.h

Revision:

7:5e299dbf98ff

Parent:

6:d9198ff2dcf9

Child:

9:878fd1610cd2

--- a/MPU6000.h	Wed Jun 03 19:00:43 2015 +0000
+++ b/MPU6000.h	Fri Jun 05 17:25:03 2015 +0000
@@ -53,7 +53,7 @@
     bool init(int sample_rate_div,int low_pass_filter);
     float read_acc(int axis);
     float read_rot(int axis);
-    float getAccTilt();
+
     unsigned int set_gyro_scale(int scale);
     unsigned int set_acc_scale(int scale);
     int calib_acc(int axis);
@@ -63,7 +63,12 @@
     unsigned int whoami();
     float acc_divider;
     float gyro_divider;
-    
+
+    /** Collects torso tilt from vertical using accelerometer only.
+    * @returns Tilt angle relative to vertical
+    */
+    float getAccTilt();
+
     /** Masks current whoami() value against expected value.
     * @returns
     *    0 is safe
@@ -87,7 +92,7 @@
     PinName _CS_pin;
     PinName _SO_pin;
     PinName _SCK_pin;
-    
+
     /** Accelerometer acceleration using a complementary filter.
     */
     float accFilterCurrent;