Nathaniel Honka / IMUdriver

Important changes to repositories hosted on mbed.com

Mbed hosted mercurial repositories are deprecated and are due to be permanently deleted in July 2026.

To keep a copy of this software download the repository Zip archive or clone locally using Mercurial.

It is also possible to export all your personal repositories from the account settings page.

Fork of IMUdriver by HEL's Angels

Files at this revision

API Documentation at this revision

Revision 7:5e299dbf98ff, committed 2015-06-05

Comitter:
cashdollar
Date:
Fri Jun 05 17:25:03 2015 +0000
Parent:
6:d9198ff2dcf9
Child:
8:a8f6366e4b7b
Commit message:
Added documentation for getAccTilt

Changed in this revision

MPU6000.cpp Show annotated file Show diff for this revision Revisions of this file
MPU6000.h Show annotated file Show diff for this revision Revisions of this file 
--- a/MPU6000.cpp	Wed Jun 03 19:00:43 2015 +0000
+++ b/MPU6000.cpp	Fri Jun 05 17:25:03 2015 +0000
@@ -219,8 +219,7 @@
 }
 
 
-// Get Tilt Angle from Accerometer
-
+// Get Tilt Angle from Accelerometer
 float mpu6000_spi::getAccTilt()
 {
     float Z,X;

--- 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;