Sheila Pham / Mbed OS IMU6050Ver1

Added for gyro and testing

MPU6050.cpp@11:9b414412b09e, 2015-02-20 (annotated)

Committer:
moklumbys
Date:
Fri Feb 20 00:13:01 2015 +0000
Revision:
11:9b414412b09e
Parent:
10:bd9665d14241
Child:
13:d66766523196
I modified some small things in the library and additionally added some functions for calculating actual angle values from the one read by the sensor.

Who changed what in which revision?

UserRevisionLine numberNew contents of line
Sissors 0:6757f7363a9f 1 /**
Sissors 0:6757f7363a9f 2 * Includes
Sissors 0:6757f7363a9f 3 */
Sissors 0:6757f7363a9f 4 #include "MPU6050.h"
Sissors 0:6757f7363a9f 5
Sissors 0:6757f7363a9f 6 MPU6050::MPU6050(PinName sda, PinName scl) : connection(sda, scl) {
Sissors 0:6757f7363a9f 7 this->setSleepMode(false);
Sissors 0:6757f7363a9f 8
Sissors 0:6757f7363a9f 9 //Initializations:
Sissors 0:6757f7363a9f 10 currentGyroRange = 0;
Sissors 0:6757f7363a9f 11 currentAcceleroRange=0;
moklumbys 10:bd9665d14241 12 alpha = ALPHA;
Sissors 0:6757f7363a9f 13 }
Sissors 0:6757f7363a9f 14
Sissors 0:6757f7363a9f 15 //--------------------------------------------------
Sissors 0:6757f7363a9f 16 //-------------------General------------------------
Sissors 0:6757f7363a9f 17 //--------------------------------------------------
Sissors 0:6757f7363a9f 18
Sissors 0:6757f7363a9f 19 void MPU6050::write(char address, char data) {
Sissors 0:6757f7363a9f 20 char temp[2];
Sissors 0:6757f7363a9f 21 temp[0]=address;
Sissors 0:6757f7363a9f 22 temp[1]=data;
Sissors 0:6757f7363a9f 23
Sissors 0:6757f7363a9f 24 connection.write(MPU6050_ADDRESS * 2,temp,2);
Sissors 0:6757f7363a9f 25 }
Sissors 0:6757f7363a9f 26
Sissors 0:6757f7363a9f 27 char MPU6050::read(char address) {
Sissors 0:6757f7363a9f 28 char retval;
Sissors 0:6757f7363a9f 29 connection.write(MPU6050_ADDRESS * 2, &address, 1, true);
Sissors 0:6757f7363a9f 30 connection.read(MPU6050_ADDRESS * 2, &retval, 1);
Sissors 0:6757f7363a9f 31 return retval;
Sissors 0:6757f7363a9f 32 }
Sissors 0:6757f7363a9f 33
Sissors 0:6757f7363a9f 34 void MPU6050::read(char address, char *data, int length) {
Sissors 0:6757f7363a9f 35 connection.write(MPU6050_ADDRESS * 2, &address, 1, true);
Sissors 0:6757f7363a9f 36 connection.read(MPU6050_ADDRESS * 2, data, length);
Sissors 0:6757f7363a9f 37 }
Sissors 0:6757f7363a9f 38
Sissors 0:6757f7363a9f 39 void MPU6050::setSleepMode(bool state) {
Sissors 0:6757f7363a9f 40 char temp;
Sissors 0:6757f7363a9f 41 temp = this->read(MPU6050_PWR_MGMT_1_REG);
Sissors 0:6757f7363a9f 42 if (state == true)
Sissors 0:6757f7363a9f 43 temp |= 1<<MPU6050_SLP_BIT;
Sissors 0:6757f7363a9f 44 if (state == false)
Sissors 0:6757f7363a9f 45 temp &= ~(1<<MPU6050_SLP_BIT);
Sissors 0:6757f7363a9f 46 this->write(MPU6050_PWR_MGMT_1_REG, temp);
Sissors 0:6757f7363a9f 47 }
Sissors 0:6757f7363a9f 48
Sissors 0:6757f7363a9f 49 bool MPU6050::testConnection( void ) {
Sissors 0:6757f7363a9f 50 char temp;
Sissors 0:6757f7363a9f 51 temp = this->read(MPU6050_WHO_AM_I_REG);
Sissors 0:6757f7363a9f 52 return (temp == (MPU6050_ADDRESS & 0xFE));
Sissors 0:6757f7363a9f 53 }
Sissors 0:6757f7363a9f 54
Sissors 0:6757f7363a9f 55 void MPU6050::setBW(char BW) {
Sissors 0:6757f7363a9f 56 char temp;
Sissors 0:6757f7363a9f 57 BW=BW & 0x07;
Sissors 0:6757f7363a9f 58 temp = this->read(MPU6050_CONFIG_REG);
Sissors 0:6757f7363a9f 59 temp &= 0xF8;
Sissors 0:6757f7363a9f 60 temp = temp + BW;
Sissors 0:6757f7363a9f 61 this->write(MPU6050_CONFIG_REG, temp);
Sissors 0:6757f7363a9f 62 }
Sissors 0:6757f7363a9f 63
Sissors 0:6757f7363a9f 64 void MPU6050::setI2CBypass(bool state) {
Sissors 0:6757f7363a9f 65 char temp;
Sissors 0:6757f7363a9f 66 temp = this->read(MPU6050_INT_PIN_CFG);
Sissors 0:6757f7363a9f 67 if (state == true)
Sissors 0:6757f7363a9f 68 temp |= 1<<MPU6050_BYPASS_BIT;
Sissors 0:6757f7363a9f 69 if (state == false)
Sissors 0:6757f7363a9f 70 temp &= ~(1<<MPU6050_BYPASS_BIT);
Sissors 0:6757f7363a9f 71 this->write(MPU6050_INT_PIN_CFG, temp);
Sissors 0:6757f7363a9f 72 }
Sissors 0:6757f7363a9f 73
Sissors 0:6757f7363a9f 74 //--------------------------------------------------
Sissors 0:6757f7363a9f 75 //----------------Accelerometer---------------------
Sissors 0:6757f7363a9f 76 //--------------------------------------------------
Sissors 0:6757f7363a9f 77
Sissors 0:6757f7363a9f 78 void MPU6050::setAcceleroRange( char range ) {
Sissors 0:6757f7363a9f 79 char temp;
Sissors 0:6757f7363a9f 80 range = range & 0x03;
Sissors 0:6757f7363a9f 81 currentAcceleroRange = range;
Sissors 0:6757f7363a9f 82
Sissors 0:6757f7363a9f 83 temp = this->read(MPU6050_ACCELERO_CONFIG_REG);
Sissors 0:6757f7363a9f 84 temp &= ~(3<<3);
Sissors 0:6757f7363a9f 85 temp = temp + (range<<3);
Sissors 0:6757f7363a9f 86 this->write(MPU6050_ACCELERO_CONFIG_REG, temp);
Sissors 0:6757f7363a9f 87 }
Sissors 0:6757f7363a9f 88
Sissors 0:6757f7363a9f 89 int MPU6050::getAcceleroRawX( void ) {
Sissors 0:6757f7363a9f 90 short retval;
Sissors 0:6757f7363a9f 91 char data[2];
Sissors 0:6757f7363a9f 92 this->read(MPU6050_ACCEL_XOUT_H_REG, data, 2);
Sissors 0:6757f7363a9f 93 retval = (data[0]<<8) + data[1];
Sissors 0:6757f7363a9f 94 return (int)retval;
Sissors 0:6757f7363a9f 95 }
Sissors 0:6757f7363a9f 96
Sissors 0:6757f7363a9f 97 int MPU6050::getAcceleroRawY( void ) {
Sissors 0:6757f7363a9f 98 short retval;
Sissors 0:6757f7363a9f 99 char data[2];
Sissors 0:6757f7363a9f 100 this->read(MPU6050_ACCEL_YOUT_H_REG, data, 2);
Sissors 0:6757f7363a9f 101 retval = (data[0]<<8) + data[1];
Sissors 0:6757f7363a9f 102 return (int)retval;
Sissors 0:6757f7363a9f 103 }
Sissors 0:6757f7363a9f 104
Sissors 0:6757f7363a9f 105 int MPU6050::getAcceleroRawZ( void ) {
Sissors 0:6757f7363a9f 106 short retval;
Sissors 0:6757f7363a9f 107 char data[2];
Sissors 0:6757f7363a9f 108 this->read(MPU6050_ACCEL_ZOUT_H_REG, data, 2);
Sissors 0:6757f7363a9f 109 retval = (data[0]<<8) + data[1];
Sissors 0:6757f7363a9f 110 return (int)retval;
Sissors 0:6757f7363a9f 111 }
Sissors 0:6757f7363a9f 112
Sissors 0:6757f7363a9f 113 void MPU6050::getAcceleroRaw( int *data ) {
Sissors 0:6757f7363a9f 114 char temp[6];
Sissors 0:6757f7363a9f 115 this->read(MPU6050_ACCEL_XOUT_H_REG, temp, 6);
Sissors 0:6757f7363a9f 116 data[0] = (int)(short)((temp[0]<<8) + temp[1]);
Sissors 0:6757f7363a9f 117 data[1] = (int)(short)((temp[2]<<8) + temp[3]);
Sissors 0:6757f7363a9f 118 data[2] = (int)(short)((temp[4]<<8) + temp[5]);
Sissors 0:6757f7363a9f 119 }
Sissors 0:6757f7363a9f 120
Sissors 0:6757f7363a9f 121 void MPU6050::getAccelero( float *data ) {
Sissors 0:6757f7363a9f 122 int temp[3];
Sissors 0:6757f7363a9f 123 this->getAcceleroRaw(temp);
Sissors 0:6757f7363a9f 124 if (currentAcceleroRange == MPU6050_ACCELERO_RANGE_2G) {
Sissors 0:6757f7363a9f 125 data[0]=(float)temp[0] / 16384.0 * 9.81;
Sissors 0:6757f7363a9f 126 data[1]=(float)temp[1] / 16384.0 * 9.81;
Sissors 0:6757f7363a9f 127 data[2]=(float)temp[2] / 16384.0 * 9.81;
Sissors 0:6757f7363a9f 128 }
Sissors 0:6757f7363a9f 129 if (currentAcceleroRange == MPU6050_ACCELERO_RANGE_4G){
Sissors 0:6757f7363a9f 130 data[0]=(float)temp[0] / 8192.0 * 9.81;
Sissors 0:6757f7363a9f 131 data[1]=(float)temp[1] / 8192.0 * 9.81;
Sissors 0:6757f7363a9f 132 data[2]=(float)temp[2] / 8192.0 * 9.81;
Sissors 0:6757f7363a9f 133 }
Sissors 0:6757f7363a9f 134 if (currentAcceleroRange == MPU6050_ACCELERO_RANGE_8G){
Sissors 0:6757f7363a9f 135 data[0]=(float)temp[0] / 4096.0 * 9.81;
Sissors 0:6757f7363a9f 136 data[1]=(float)temp[1] / 4096.0 * 9.81;
Sissors 0:6757f7363a9f 137 data[2]=(float)temp[2] / 4096.0 * 9.81;
Sissors 0:6757f7363a9f 138 }
Sissors 0:6757f7363a9f 139 if (currentAcceleroRange == MPU6050_ACCELERO_RANGE_16G){
Sissors 0:6757f7363a9f 140 data[0]=(float)temp[0] / 2048.0 * 9.81;
Sissors 0:6757f7363a9f 141 data[1]=(float)temp[1] / 2048.0 * 9.81;
Sissors 0:6757f7363a9f 142 data[2]=(float)temp[2] / 2048.0 * 9.81;
Sissors 0:6757f7363a9f 143 }
Sissors 0:6757f7363a9f 144
Sissors 0:6757f7363a9f 145 #ifdef DOUBLE_ACCELERO
Sissors 0:6757f7363a9f 146 data[0]*=2;
Sissors 0:6757f7363a9f 147 data[1]*=2;
Sissors 0:6757f7363a9f 148 data[2]*=2;
Sissors 0:6757f7363a9f 149 #endif
Sissors 0:6757f7363a9f 150 }
Sissors 0:6757f7363a9f 151 //--------------------------------------------------
Sissors 0:6757f7363a9f 152 //------------------Gyroscope-----------------------
Sissors 0:6757f7363a9f 153 //--------------------------------------------------
Sissors 0:6757f7363a9f 154 void MPU6050::setGyroRange( char range ) {
Sissors 0:6757f7363a9f 155 char temp;
Sissors 0:6757f7363a9f 156 currentGyroRange = range;
Sissors 0:6757f7363a9f 157 range = range & 0x03;
Sissors 0:6757f7363a9f 158 temp = this->read(MPU6050_GYRO_CONFIG_REG);
Sissors 0:6757f7363a9f 159 temp &= ~(3<<3);
Sissors 0:6757f7363a9f 160 temp = temp + range<<3;
Sissors 0:6757f7363a9f 161 this->write(MPU6050_GYRO_CONFIG_REG, temp);
Sissors 0:6757f7363a9f 162 }
Sissors 0:6757f7363a9f 163
Sissors 0:6757f7363a9f 164 int MPU6050::getGyroRawX( void ) {
Sissors 0:6757f7363a9f 165 short retval;
Sissors 0:6757f7363a9f 166 char data[2];
Sissors 0:6757f7363a9f 167 this->read(MPU6050_GYRO_XOUT_H_REG, data, 2);
Sissors 0:6757f7363a9f 168 retval = (data[0]<<8) + data[1];
Sissors 0:6757f7363a9f 169 return (int)retval;
Sissors 0:6757f7363a9f 170 }
Sissors 0:6757f7363a9f 171
Sissors 0:6757f7363a9f 172 int MPU6050::getGyroRawY( void ) {
Sissors 0:6757f7363a9f 173 short retval;
Sissors 0:6757f7363a9f 174 char data[2];
Sissors 0:6757f7363a9f 175 this->read(MPU6050_GYRO_YOUT_H_REG, data, 2);
Sissors 0:6757f7363a9f 176 retval = (data[0]<<8) + data[1];
Sissors 0:6757f7363a9f 177 return (int)retval;
Sissors 0:6757f7363a9f 178 }
Sissors 0:6757f7363a9f 179
Sissors 0:6757f7363a9f 180 int MPU6050::getGyroRawZ( void ) {
Sissors 0:6757f7363a9f 181 short retval;
Sissors 0:6757f7363a9f 182 char data[2];
Sissors 0:6757f7363a9f 183 this->read(MPU6050_GYRO_ZOUT_H_REG, data, 2);
Sissors 0:6757f7363a9f 184 retval = (data[0]<<8) + data[1];
Sissors 0:6757f7363a9f 185 return (int)retval;
Sissors 0:6757f7363a9f 186 }
Sissors 0:6757f7363a9f 187
Sissors 0:6757f7363a9f 188 void MPU6050::getGyroRaw( int *data ) {
Sissors 0:6757f7363a9f 189 char temp[6];
Sissors 0:6757f7363a9f 190 this->read(MPU6050_GYRO_XOUT_H_REG, temp, 6);
Sissors 0:6757f7363a9f 191 data[0] = (int)(short)((temp[0]<<8) + temp[1]);
Sissors 0:6757f7363a9f 192 data[1] = (int)(short)((temp[2]<<8) + temp[3]);
Sissors 0:6757f7363a9f 193 data[2] = (int)(short)((temp[4]<<8) + temp[5]);
Sissors 0:6757f7363a9f 194 }
Sissors 0:6757f7363a9f 195
Sissors 0:6757f7363a9f 196 void MPU6050::getGyro( float *data ) {
Sissors 0:6757f7363a9f 197 int temp[3];
Sissors 0:6757f7363a9f 198 this->getGyroRaw(temp);
Sissors 1:a3366f09e95c 199 if (currentGyroRange == MPU6050_GYRO_RANGE_250) {
moklumbys 3:187152513f8d 200 data[0]=(float)temp[0] / 301.0;
moklumbys 3:187152513f8d 201 data[1]=(float)temp[1] / 301.0;
moklumbys 3:187152513f8d 202 data[2]=(float)temp[2] / 301.0;
moklumbys 3:187152513f8d 203 } //7505.5
Sissors 1:a3366f09e95c 204 if (currentGyroRange == MPU6050_GYRO_RANGE_500){
Sissors 0:6757f7363a9f 205 data[0]=(float)temp[0] / 3752.9;
Sissors 0:6757f7363a9f 206 data[1]=(float)temp[1] / 3752.9;
Sissors 0:6757f7363a9f 207 data[2]=(float)temp[2] / 3752.9;
Sissors 0:6757f7363a9f 208 }
Sissors 1:a3366f09e95c 209 if (currentGyroRange == MPU6050_GYRO_RANGE_1000){
Sissors 0:6757f7363a9f 210 data[0]=(float)temp[0] / 1879.3;;
Sissors 0:6757f7363a9f 211 data[1]=(float)temp[1] / 1879.3;
Sissors 0:6757f7363a9f 212 data[2]=(float)temp[2] / 1879.3;
Sissors 0:6757f7363a9f 213 }
Sissors 1:a3366f09e95c 214 if (currentGyroRange == MPU6050_GYRO_RANGE_2000){
Sissors 0:6757f7363a9f 215 data[0]=(float)temp[0] / 939.7;
Sissors 0:6757f7363a9f 216 data[1]=(float)temp[1] / 939.7;
Sissors 0:6757f7363a9f 217 data[2]=(float)temp[2] / 939.7;
Sissors 0:6757f7363a9f 218 }
Sissors 0:6757f7363a9f 219 }
Sissors 0:6757f7363a9f 220 //--------------------------------------------------
Sissors 0:6757f7363a9f 221 //-------------------Temperature--------------------
Sissors 0:6757f7363a9f 222 //--------------------------------------------------
Sissors 0:6757f7363a9f 223 int MPU6050::getTempRaw( void ) {
Sissors 0:6757f7363a9f 224 short retval;
Sissors 0:6757f7363a9f 225 char data[2];
Sissors 0:6757f7363a9f 226 this->read(MPU6050_TEMP_H_REG, data, 2);
Sissors 0:6757f7363a9f 227 retval = (data[0]<<8) + data[1];
Sissors 0:6757f7363a9f 228 return (int)retval;
Sissors 0:6757f7363a9f 229 }
Sissors 0:6757f7363a9f 230
Sissors 0:6757f7363a9f 231 float MPU6050::getTemp( void ) {
Sissors 0:6757f7363a9f 232 float retval;
Sissors 0:6757f7363a9f 233 retval=(float)this->getTempRaw();
Sissors 0:6757f7363a9f 234 retval=(retval+521.0)/340.0+35.0;
Sissors 0:6757f7363a9f 235 return retval;
Sissors 0:6757f7363a9f 236 }
Sissors 0:6757f7363a9f 237
moklumbys 11:9b414412b09e 238 /**Additional function added by Montvydas Klumbys, which will allow easy offset, angle calculation and much more.
moklumbys 11:9b414412b09e 239 function for getting angles in degrees from accelerometer
moklumbys 11:9b414412b09e 240 */
moklumbys 10:bd9665d14241 241 void MPU6050::getAcceleroAngle( float *data ) {
moklumbys 10:bd9665d14241 242 float temp[3];
moklumbys 10:bd9665d14241 243 this->getAccelero(temp);
moklumbys 10:bd9665d14241 244
moklumbys 10:bd9665d14241 245 data[X_AXIS] = atan (temp[Y_AXIS]/sqrt(pow(temp[X_AXIS], 2) + pow(temp[Z_AXIS], 2))) * RADIANS_TO_DEGREES; //calculate angle x(pitch/roll?) from accellerometer reading
moklumbys 10:bd9665d14241 246 data[Y_AXIS] = atan (-1*temp[X_AXIS]/sqrt(pow(temp[Y_AXIS], 2) + pow(temp[Z_AXIS], 2))) * RADIANS_TO_DEGREES; //calculate angle x(pitch/roll?) from accellerometer reading
moklumbys 10:bd9665d14241 247 data[Z_AXIS] = atan (sqrt(pow(temp[X_AXIS], 2) + pow(temp[Y_AXIS], 2))/temp[Z_AXIS]) * RADIANS_TO_DEGREES; //This one is not used anywhere later on
moklumbys 10:bd9665d14241 248
moklumbys 10:bd9665d14241 249 // data[Y_AXIS] = atan2 (temp[Y_AXIS],temp[Z_AXIS]) * RADIANS_TO_DEGREES; //This spits out values between -180 to 180 (360 degrees)
moklumbys 10:bd9665d14241 250 // data[X_AXIS] = atan2 (-1*temp[X_AXIS], temp[Z_AXIS]) * RADIANS_TO_DEGREES; //but it takes longer and system gets unstable when angles ~90 degrees
moklumbys 10:bd9665d14241 251 }
moklumbys 10:bd9665d14241 252
moklumbys 11:9b414412b09e 253 ///function for getting offset values for the gyro & accelerometer
moklumbys 10:bd9665d14241 254 void MPU6050::getOffset(float *accOffset, float *gyroOffset, int sampleSize){
moklumbys 10:bd9665d14241 255 float gyro[3];
moklumbys 10:bd9665d14241 256 float accAngle[3];
moklumbys 10:bd9665d14241 257
moklumbys 10:bd9665d14241 258 for (int i = 0; i < 3; i++) {
moklumbys 10:bd9665d14241 259 accOffset[i] = 0.0; //initialise offsets to 0.0
moklumbys 10:bd9665d14241 260 gyroOffset[i] = 0.0;
moklumbys 10:bd9665d14241 261 }
moklumbys 10:bd9665d14241 262
moklumbys 10:bd9665d14241 263 for (int i = 0; i < sampleSize; i++){
moklumbys 10:bd9665d14241 264 this->getGyro(gyro); //take real life measurements
moklumbys 10:bd9665d14241 265 this->getAcceleroAngle (accAngle);
moklumbys 10:bd9665d14241 266
moklumbys 10:bd9665d14241 267 for (int j = 0; j < 3; j++){
moklumbys 10:bd9665d14241 268 *(accOffset+j) += accAngle[j]/sampleSize; //average measurements
moklumbys 10:bd9665d14241 269 *(gyroOffset+j) += gyro[j]/sampleSize;
moklumbys 10:bd9665d14241 270 }
moklumbys 10:bd9665d14241 271 wait (0.01); //wait between each reading for accuracy
moklumbys 10:bd9665d14241 272 }
moklumbys 10:bd9665d14241 273 }
moklumbys 10:bd9665d14241 274
moklumbys 11:9b414412b09e 275 ///function for computing angles for roll, pitch anf yaw
moklumbys 11:9b414412b09e 276 void MPU6050::computeAngle (float *angle, float *accOffset, float *gyroOffset, float interval){
moklumbys 10:bd9665d14241 277 float gyro[3];
moklumbys 10:bd9665d14241 278 float accAngle[3];
moklumbys 10:bd9665d14241 279
moklumbys 10:bd9665d14241 280 this->getGyro(gyro); //get gyro value in rad/s
moklumbys 10:bd9665d14241 281 this->getAcceleroAngle(accAngle); //get angle from accelerometer
moklumbys 10:bd9665d14241 282
moklumbys 10:bd9665d14241 283 for (int i = 0; i < 3; i++){
moklumbys 10:bd9665d14241 284 gyro[i] -= gyroOffset[i]; //substract offset values
moklumbys 10:bd9665d14241 285 accAngle[i] -= accOffset[i];
moklumbys 10:bd9665d14241 286 }
moklumbys 10:bd9665d14241 287
moklumbys 10:bd9665d14241 288 //apply filters on pitch and roll to get accurate angle values
moklumbys 11:9b414412b09e 289 angle[X_AXIS] = alpha * (angle[X_AXIS] + GYRO_SCALE*gyro[X_AXIS]*interval) + (1-alpha)*accAngle[X_AXIS];
moklumbys 11:9b414412b09e 290 angle[Y_AXIS] = alpha * (angle[Y_AXIS] + GYRO_SCALE*gyro[Y_AXIS]*interval) + (1-alpha)*accAngle[Y_AXIS];
moklumbys 10:bd9665d14241 291
moklumbys 10:bd9665d14241 292 //calculate Yaw using just the gyroscope values - inaccurate
moklumbys 11:9b414412b09e 293 angle[Z_AXIS] = angle[Z_AXIS] + GYRO_SCALE*gyro[Z_AXIS]*interval;
moklumbys 10:bd9665d14241 294 }
moklumbys 10:bd9665d14241 295
moklumbys 11:9b414412b09e 296 ///function for setting a different Alpha value, which is used in complemetary filter calculations
moklumbys 10:bd9665d14241 297 void MPU6050::setAlpha(float val){
moklumbys 10:bd9665d14241 298 alpha = val;
moklumbys 10:bd9665d14241 299 }
moklumbys 10:bd9665d14241 300
moklumbys 11:9b414412b09e 301 ///function for enabling interrupts on MPU6050 INT pin, when the data is ready to take
moklumbys 10:bd9665d14241 302 void MPU6050::enableInt( void ){
moklumbys 10:bd9665d14241 303 char temp;
moklumbys 10:bd9665d14241 304 temp = this->read(MPU6050_RA_INT_ENABLE);
moklumbys 10:bd9665d14241 305 temp |= 0x01;
moklumbys 10:bd9665d14241 306 this->write(MPU6050_RA_INT_ENABLE, temp);
moklumbys 10:bd9665d14241 307 }
moklumbys 10:bd9665d14241 308
moklumbys 11:9b414412b09e 309 ///function for disbling interrupts on MPU6050 INT pin, when the data is ready to take
moklumbys 10:bd9665d14241 310 void MPU6050::disableInt ( void ){
moklumbys 10:bd9665d14241 311 char temp;
moklumbys 10:bd9665d14241 312 temp = this->read(MPU6050_RA_INT_ENABLE);
moklumbys 10:bd9665d14241 313 temp &= 0xFE;
moklumbys 10:bd9665d14241 314 this->write(MPU6050_RA_INT_ENABLE, temp);
moklumbys 10:bd9665d14241 315 }