Sheila Pham / Mbed OS IMU6050Ver1

Added for gyro and testing

MPU6050.cpp@10:bd9665d14241, 2015-02-19 (annotated)

Committer:
moklumbys
Date:
Thu Feb 19 23:56:16 2015 +0000
Revision:
10:bd9665d14241
Parent:
9:898effccce30
Child:
11:9b414412b09e
Added all the comments

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 10:bd9665d14241 238 //Additional function added by Montvydas Klumbys, which will allow easy offset, angle calculation and much more.
moklumbys 10:bd9665d14241 239 //function for getting angles in degrees from accelerometer
moklumbys 10:bd9665d14241 240 void MPU6050::getAcceleroAngle( float *data ) {
moklumbys 10:bd9665d14241 241 float temp[3];
moklumbys 10:bd9665d14241 242 this->getAccelero(temp);
moklumbys 10:bd9665d14241 243
moklumbys 10:bd9665d14241 244 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 245 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 246 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 247
moklumbys 10:bd9665d14241 248 // 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 249 // 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 250 }
moklumbys 10:bd9665d14241 251
moklumbys 10:bd9665d14241 252 //function for getting offset values for the gyro & accelerometer
moklumbys 10:bd9665d14241 253 void MPU6050::getOffset(float *accOffset, float *gyroOffset, int sampleSize){
moklumbys 10:bd9665d14241 254 float gyro[3];
moklumbys 10:bd9665d14241 255 float accAngle[3];
moklumbys 10:bd9665d14241 256
moklumbys 10:bd9665d14241 257 for (int i = 0; i < 3; i++) {
moklumbys 10:bd9665d14241 258 accOffset[i] = 0.0; //initialise offsets to 0.0
moklumbys 10:bd9665d14241 259 gyroOffset[i] = 0.0;
moklumbys 10:bd9665d14241 260 }
moklumbys 10:bd9665d14241 261
moklumbys 10:bd9665d14241 262 for (int i = 0; i < sampleSize; i++){
moklumbys 10:bd9665d14241 263 this->getGyro(gyro); //take real life measurements
moklumbys 10:bd9665d14241 264 this->getAcceleroAngle (accAngle);
moklumbys 10:bd9665d14241 265
moklumbys 10:bd9665d14241 266 for (int j = 0; j < 3; j++){
moklumbys 10:bd9665d14241 267 *(accOffset+j) += accAngle[j]/sampleSize; //average measurements
moklumbys 10:bd9665d14241 268 *(gyroOffset+j) += gyro[j]/sampleSize;
moklumbys 10:bd9665d14241 269 }
moklumbys 10:bd9665d14241 270 wait (0.01); //wait between each reading for accuracy
moklumbys 10:bd9665d14241 271 }
moklumbys 10:bd9665d14241 272 }
moklumbys 10:bd9665d14241 273
moklumbys 10:bd9665d14241 274 //function for computing angles for roll, pitch anf yaw
moklumbys 10:bd9665d14241 275 void MPU6050::computeAngle (float *angle, float *accOffset, float *gyroOffset, float *currTime, float *prevTime){
moklumbys 10:bd9665d14241 276 float gyro[3];
moklumbys 10:bd9665d14241 277 float accAngle[3];
moklumbys 10:bd9665d14241 278
moklumbys 10:bd9665d14241 279 this->getGyro(gyro); //get gyro value in rad/s
moklumbys 10:bd9665d14241 280 this->getAcceleroAngle(accAngle); //get angle from accelerometer
moklumbys 10:bd9665d14241 281
moklumbys 10:bd9665d14241 282 for (int i = 0; i < 3; i++){
moklumbys 10:bd9665d14241 283 gyro[i] -= gyroOffset[i]; //substract offset values
moklumbys 10:bd9665d14241 284 accAngle[i] -= accOffset[i];
moklumbys 10:bd9665d14241 285 }
moklumbys 10:bd9665d14241 286
moklumbys 10:bd9665d14241 287 //apply filters on pitch and roll to get accurate angle values
moklumbys 10:bd9665d14241 288 angle[X_AXIS] = alpha * (angle[X_AXIS] + GYRO_SCALE*gyro[X_AXIS]*(*currTime-*prevTime)) + (1-alpha)*accAngle[X_AXIS];
moklumbys 10:bd9665d14241 289 angle[Y_AXIS] = alpha * (angle[Y_AXIS] + GYRO_SCALE*gyro[Y_AXIS]*(*currTime-*prevTime)) + (1-alpha)*accAngle[Y_AXIS];
moklumbys 10:bd9665d14241 290
moklumbys 10:bd9665d14241 291 //calculate Yaw using just the gyroscope values - inaccurate
moklumbys 10:bd9665d14241 292 angle[Z_AXIS] = angle[Z_AXIS] + GYRO_SCALE*gyro[Z_AXIS]*(*currTime-*prevTime);
moklumbys 10:bd9665d14241 293 }
moklumbys 10:bd9665d14241 294
moklumbys 10:bd9665d14241 295 //function for setting a different Alpha value, which is used in complemetary filter calculations
moklumbys 10:bd9665d14241 296 void MPU6050::setAlpha(float val){
moklumbys 10:bd9665d14241 297 alpha = val;
moklumbys 10:bd9665d14241 298 }
moklumbys 10:bd9665d14241 299
moklumbys 10:bd9665d14241 300 //function for enabling interrupts on MPU6050 INT pin, when the data is ready to take
moklumbys 10:bd9665d14241 301 void MPU6050::enableInt( void ){
moklumbys 10:bd9665d14241 302 char temp;
moklumbys 10:bd9665d14241 303 temp = this->read(MPU6050_RA_INT_ENABLE);
moklumbys 10:bd9665d14241 304 temp |= 0x01;
moklumbys 10:bd9665d14241 305 this->write(MPU6050_RA_INT_ENABLE, temp);
moklumbys 10:bd9665d14241 306 }
moklumbys 10:bd9665d14241 307
moklumbys 10:bd9665d14241 308 //function for disbling interrupts on MPU6050 INT pin, when the data is ready to take
moklumbys 10:bd9665d14241 309 void MPU6050::disableInt ( void ){
moklumbys 10:bd9665d14241 310 char temp;
moklumbys 10:bd9665d14241 311 temp = this->read(MPU6050_RA_INT_ENABLE);
moklumbys 10:bd9665d14241 312 temp &= 0xFE;
moklumbys 10:bd9665d14241 313 this->write(MPU6050_RA_INT_ENABLE, temp);
moklumbys 10:bd9665d14241 314 }