Corrected header file include guards.
Fork of IMUdriver by
Diff: MPU6000.h
- Revision:
- 6:d9198ff2dcf9
- Parent:
- 5:db1da6bc9dce
- Child:
- 7:5e299dbf98ff
--- a/MPU6000.h Wed Jun 03 17:32:43 2015 +0000 +++ b/MPU6000.h Wed Jun 03 19:00:43 2015 +0000 @@ -39,20 +39,21 @@ #define MPU6000_h #include "mbed.h" -/** class -*/ +/** mpu6000_spi class. +* Used as the driver for the MPU 6000 IMU. Documentation is provided for code written in HEL. +*/ class mpu6000_spi { SPI& spi; DigitalOut cs; public: + // The following were created as a part of the driver and are not documented mpu6000_spi(SPI& _spi, PinName _cs); bool init(int sample_rate_div,int low_pass_filter); float read_acc(int axis); float read_rot(int axis); float getAccTilt(); -// float getTorsoTilt(); unsigned int set_gyro_scale(int scale); unsigned int set_acc_scale(int scale); int calib_acc(int axis); @@ -60,35 +61,47 @@ void select(); void deselect(); unsigned int whoami(); - - /** Create whoami_check() instance. - * whoami_check() masks current whoami() value against expected value. + float acc_divider; + float gyro_divider; + + /** Masks current whoami() value against expected value. * @returns * 0 is safe * 1 is unsafe */ - int whoami_check(); + int whoamiCheck(); - float acc_divider; - float gyro_divider; - //added + /** Combines gyro and accelerometer data to find acceleration + * @returns Acceleration in y. + */ float angle_y(); - //added - float read_angle_y(); + + /** Finds y acceleration without sampling IMU + * @returns Acceleration in y. + */ + float rereadAngle_y(); private: + + // The following were created as a part of the driver and are not documented PinName _CS_pin; PinName _SO_pin; PinName _SCK_pin; - //added - float _error; - //added + + /** Accelerometer acceleration using a complementary filter. + */ float accFilterCurrent; - //added + + /** Acceleration from accelerometer-only sample. + */ float accFilterPre; - //added + + /** Gyro acceleration using a complementary filter. + */ float gyroFilterCurrent; - //added + + /** Acceleration from accelerometer-only sample. + */ float gyroFliterPre; };