Satoshi Iyobe / MPU6050

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Dependents:   measure_1_BBB measure_1_CCC measure_1_DDD

Files at this revision

API Documentation at this revision

Revision 2:8622f361c1a4, committed 2021-05-14

Comitter:
sato_shi
Date:
Fri May 14 00:48:09 2021 +0000
Parent:
1:c9dc906f8b9f
Commit message:
CCC

Changed in this revision

MPU6050.cpp Show annotated file Show diff for this revision Revisions of this file
MPU6050.h Show annotated file Show diff for this revision Revisions of this file 
--- a/MPU6050.cpp	Thu May 13 05:11:28 2021 +0000
+++ b/MPU6050.cpp	Fri May 14 00:48:09 2021 +0000
@@ -72,6 +72,17 @@
     }
     return false;
 }
+bool MPU6050::readraw2(int16_t *ax, int16_t *ay, int16_t *az)
+{
+    char data2[6];
+    if (read_data(ADDRESS, MPU6050_ACCEL_XOUT_H, data2, 6)) {
+        *ax = short(data2[0] << 8 | data2[1]);
+        *ay = short(data2[2] << 8 | data2[3]);
+        *az = short(data2[4] << 8 | data2[5]);
+        return true;
+    }
+    return false;
+}
 bool MPU6050::write_reg(int addr_i2c,int addr_reg, char v)
 {
     char data[2] = {addr_reg, v};

--- a/MPU6050.h	Thu May 13 05:11:28 2021 +0000
+++ b/MPU6050.h	Fri May 14 00:48:09 2021 +0000
@@ -184,14 +184,16 @@
     */
     bool readraw(int *gx, int *gy, int *gz,int *ax, int *ay, int *az);
     bool readraw2(int *ax, int *ay, int *az);
-
+    bool readraw2(int16_t *ax, int16_t *ay, int16_t *az);
+    bool read_data(char sad, char sub, char *buf, int length);
+    int ADDRESS;
 private:
     I2C _MPU6050;
     float gx, gy, gz,ax,ay,az;
-    int ADDRESS;
+    //int ADDRESS;
     bool write_reg(int addr_i2c,int addr_reg, char v);
     bool read_reg(int addr_i2c,int addr_reg, char *v);
-    bool read_data(char sad, char sub, char *buf, int length);
+    //bool read_data(char sad, char sub, char *buf, int length);
 };
 
 #endif