Diff: MPU6000.h

Revision:

5:db1da6bc9dce

Parent:

4:492c7470dbfb

Child:

6:d9198ff2dcf9

--- a/MPU6000.h	Mon Apr 13 17:43:19 2015 +0000
+++ b/MPU6000.h	Wed Jun 03 17:32:43 2015 +0000
@@ -1,49 +1,52 @@
-/*CODED by Bruno Alfano on 07/03/2014
-www.xene.it
- 
-USAGE (example program):
-#include "mbed.h"
-#include "MPU6000.h"        //Include library
-SPI spi(p11, p12, p13);     //define the SPI (mosi, miso, sclk)
-mpu6000_spi imu(spi,p22);   //define the mpu6000 object
-int main(){
-    if(imu.init(1,BITS_DLPF_CFG_5HZ)){  //INIT the mpu6000
-        printf("\nCouldn't initialize MPU6000 via SPI!");
-    }    
-    wait(0.1);    
-    printf("\n\nWHOAMI=%u\n",imu.whoami()); //output the I2C address to know if SPI is working, it should be 104
-    wait(0.1);    
-    printf("\nGyro_scale=%u\n",imu.set_gyro_scale(BITS_FS_2000DPS));    //Set full scale range for gyros
-    wait(1);  
-    printf("\nAcc_scale=%u\n",imu.set_acc_scale(BITS_FS_16G));          //Set full scale range for accs
-    wait(0.1);    
-    while(1) {
-        myled = 1;
-        wait(0.3);
-        myled = 0;
-        wait(0.3);
-        printf("\nT=%.3f",imu.read_temp());
-        printf(" X=%.3f",imu.read_acc(0));  
-        printf(" Y=%.3f",imu.read_acc(1)); 
-        printf(" Z=%.3f",imu.read_acc(2));   
-        printf(" rX=%.3f",imu.read_rot(0));  
-        printf(" rY=%.3f",imu.read_rot(1)); 
-        printf(" rZ=%.3f",imu.read_rot(2));
-    }
-}
+/** CODED by Bruno Alfano on 07/03/2014
+* www.xene.it
+*
+* Example:
+* @code
+* #include "mbed.h"
+* #include "MPU6000.h"        //Include library
+* SPI spi(p11, p12, p13);     //define the SPI (mosi, miso, sclk)
+* mpu6000_spi imu(spi,p22);   //define the mpu6000 object
+* int main(){
+*     if(imu.init(1,BITS_DLPF_CFG_5HZ)){  //INIT the mpu6000
+  *       printf("\nCouldn't initialize MPU6000 via SPI!");
+*     }
+*     wait(0.1);
+*     printf("\n\nWHOAMI=%u\n",imu.whoami()); //output the I2C address to know if SPI is working, it should be 104
+*     wait(0.1);
+*     printf("\nGyro_scale=%u\n",imu.set_gyro_scale(BITS_FS_2000DPS));    //Set full scale range for gyros
+*     wait(1);
+*     printf("\nAcc_scale=%u\n",imu.set_acc_scale(BITS_FS_16G));          //Set full scale range for accs
+*     wait(0.1);
+*     while(1) {
+*         myled = 1;
+*         wait(0.3);
+*         myled = 0;
+*         wait(0.3);
+*         printf("\nT=%.3f",imu.read_temp());
+*         printf(" X=%.3f",imu.read_acc(0));
+*         printf(" Y=%.3f",imu.read_acc(1));
+*         printf(" Z=%.3f",imu.read_acc(2));
+*         printf(" rX=%.3f",imu.read_rot(0));
+*         printf(" rY=%.3f",imu.read_rot(1));
+ *       printf(" rZ=%.3f",imu.read_rot(2));
+*     }
+* }
+* @endcode
 */
-  
+
 #ifndef MPU6000_h
 #define MPU6000_h
 #include "mbed.h"
- 
- 
+
+/** class
+*/ 
 class mpu6000_spi
 {
     SPI& spi;
     DigitalOut cs;
-    
-  public:
+
+public:
     mpu6000_spi(SPI& _spi, PinName _cs);
     bool init(int sample_rate_div,int low_pass_filter);
     float read_acc(int axis);
@@ -57,7 +60,7 @@
     void select();
     void deselect();
     unsigned int whoami();
-    
+
     /** Create whoami_check() instance.
     * whoami_check() masks current whoami() value against expected value.
     * @returns
@@ -65,31 +68,35 @@
     *    1 is unsafe
     */
     int whoami_check();
-    
-    // not used, need to remove HMC 2/25/15
-    int who_error;
-    
+
     float acc_divider;
     float gyro_divider;
+    //added
     float angle_y();
+    //added
     float read_angle_y();
-    
-  private:
+
+private:
     PinName _CS_pin;
     PinName _SO_pin;
     PinName _SCK_pin;
+    //added
     float _error;
+    //added
     float accFilterCurrent;
+    //added
     float accFilterPre;
+    //added
     float gyroFilterCurrent;
+    //added
     float gyroFliterPre;
 };
- 
+
 #endif
 
 #define pi       3.1415926535898 /* Pi */
 #define pio2     1.5707963267949 /* Pi/2 */
- 
+
 // MPU6000 registers
 #define MPUREG_XG_OFFS_TC 0x00
 #define MPUREG_YG_OFFS_TC 0x01
@@ -146,7 +153,7 @@
 #define MPUREG_FIFO_COUNTL 0x73
 #define MPUREG_FIFO_R_W 0x74
 #define MPUREG_WHOAMI 0x75
- 
+
 // Configuration bits MPU6000
 #define BIT_SLEEP 0x40
 #define BIT_H_RESET 0x80
@@ -175,5 +182,5 @@
 #define BIT_INT_ANYRD_2CLEAR        0x10
 #define BIT_RAW_RDY_EN              0x01
 #define BIT_I2C_IF_DIS              0x10
- 
+
 #define READ_FLAG   0x80
\ No newline at end of file