Diff: mpu6050.h

Revision:

0:abd3a0fd55a9

Child:

1:6f743fe9a027

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/mpu6050.h	Wed Dec 12 12:42:30 2018 +0000
@@ -0,0 +1,33 @@
+#include "mbed.h"
+
+enum {
+    MAX_ACC_2G,
+    MAX_ACC_4G,
+    MAX_ACC_8G,
+    MAX_ACC_16G,
+};
+
+enum {
+    MAX_GYRO_250degpersec,
+    MAX_GYRO_500degpersec,
+    MAX_GYRO_1000degpersec,
+    MAX_GYRO_2000degpersec,
+};
+
+class MPU6050
+{
+public:
+    MPU6050(PinName i2c_sda, PinName i2c_scl);
+    ~MPU6050();
+    void readAccelemeter(double &acc_x, double &acc_y, double &acc_z);
+    void readGyroscope(double &gyro_x, double &gyro_y, double &gyro_z);
+    void setMaxScale(int max_acc, int max_gyro);
+    void getMaxScale(int &acc, int &gyro);
+private:
+    I2C i2c;
+    int address;
+    double rate_accelemeter;
+    double rate_gyroscope;
+    char readByte(char reg);
+    void writeByte(char reg, char data);
+};