Diff: MPU6050.h

Revision:

11:9b414412b09e

Parent:

10:bd9665d14241

--- a/MPU6050.h	Thu Feb 19 23:56:16 2015 +0000
+++ b/MPU6050.h	Fri Feb 20 00:13:01 2015 +0000
@@ -269,31 +269,54 @@
      */
      void read( char adress, char *data, int length);
      
-    //function for calculating the angle from the accelerometer.
-    //it takes 3 values which correspond acceleration in X, Y and Z direction and calculates angles in degrees
-    //for pitch, roll and one more direction.. (NOT YAW!)
-     void getAcceleroAngle( float *data );
+    /**
+    * function for calculating the angle from the accelerometer.
+    * it takes 3 values which correspond acceleration in X, Y and Z direction and calculates angles in degrees
+    * for pitch, roll and one more direction.. (NOT YAW!)
+    *
+    * @param data - angle calculated using only accelerometer
+    *
+    */ 
+    void getAcceleroAngle( float *data );
      
      
-     //function which allows to produce the offset values for gyro and accelerometer.
-     //offset for gyro is simply a value, which needs to be substracted from original gyro rad/sec speed
-     //but offset for accelerometer is calculated in angles... later on might change that
-     //function simply takes the number of samples to be taken and calculated the average
+     /**function which allows to produce the offset values for gyro and accelerometer.
+     * offset for gyro is simply a value, which needs to be substracted from original gyro rad/sec speed
+     * but offset for accelerometer is calculated in angles... later on might change that
+     * function simply takes the number of samples to be taken and calculated the average
+     * 
+     * @param accOffset - accelerometer offset in angle
+     * @param gyroOffset - gyroscope offset in rad/s
+     * @param sampleSize - number of samples to be taken for calculating offsets
+     *
+     */
      void getOffset(float *accOffset, float *gyroOffset, int sampleSize);
      
-     //function for computing the angle, when accelerometer angle offset and gyro offset are both known.
-     //we also need to know how much time passed from previous calculation to now
-     //it produces the angle in degrees. However angles are produced from -90.0 to 90.0 degrees
-     //if anyone need smth different, they can update this library...
-     void computeAngle (float *angle, float *accOffset, float *gyroOffset, float *currTime, float *prevTime);
+     /**
+     * function for computing the angle, when accelerometer angle offset and gyro offset are both known.
+     * we also need to know how much time passed from previous calculation to now
+     * it produces the angle in degrees. However angles are produced from -90.0 to 90.0 degrees
+     * if anyone need smth different, they can update this library...
+     *
+     * @param angle - calculated accurate angle from complemetary filter
+     * @param accOffset - offset in angle for the accelerometer
+     * @param gyroOffset - offset in rad/s for the gyroscope
+     * @param interval - time before previous angle calculation and now
+     *
+     */
+     void computeAngle (float *angle, float *accOffset, float *gyroOffset, float interval);
      
-     //function, which enables interrupts on MPU6050 INT pin
+     ///function, which enables interrupts on MPU6050 INT pin
      void enableInt( void );
      
-     //disables interrupts
+     ///disables interrupts
      void disableInt( void );
      
-     //function which sets the alpha value - constant for the complementary filter. default alpha = 0.97
+     /**function which sets the alpha value - constant for the complementary filter. default alpha = 0.97
+     *
+     * @param val - value the alpha (complementary filter constant) should be set to
+     *
+     */
      void setAlpha(float val);
      
      private: