Diff: MPU6050.h

Revision:

0:cf17b1f16335

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/MPU6050.h	Tue Oct 24 20:12:54 2017 +0000
@@ -0,0 +1,70 @@
+/*     
+*   Copyright (c) 2015, Baser Kandehir, baser.kandehir@ieee.metu.edu.tr
+*
+*   Permission is hereby granted, free of charge, to any person obtaining a copy
+*   of this software and associated documentation files (the "Software"), to deal
+*   in the Software without restriction, including without limitation the rights
+*   to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+*   copies of the Software, and to permit persons to whom the Software is
+*   furnished to do so, subject to the following conditions:
+*
+*   The above copyright notice and this permission notice shall be included in
+*   all copies or substantial portions of the Software.
+*
+*   THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+*   IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+*   FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+*   AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+*   LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+*   OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+*   THE SOFTWARE.
+*
+*/
+
+// Most of the code is adapted from Kris Winer's MPU6050 library
+
+#ifndef MPU6050_H
+#define MPU6050_H
+
+#include "mbed.h"
+#include "math.h"
+#include "MPU6050RegDef.h"
+
+//#define PI 3.14159265359    // This value will be used when calculating angles
+#define dt 0.005            // 200 Hz sampling period
+
+extern float aRes, gRes; 
+
+/* whoAmI func uses this func, variables etc */
+//extern Ticker toggler1;  
+extern Serial pc;   
+extern DigitalOut led2;
+//extern void toggle_led1();
+
+/* Sensor datas to be used in program */
+extern float ax,ay,az;
+extern float gx,gy,gz;
+extern int16_t accelData[3],gyroData[3],tempData;
+extern float accelBias[3], gyroBias[3];
+ 
+/* Function Prototypes */
+class MPU6050 
+{
+    protected:
+    public: 
+    void getAres();
+    void getGres();
+    void writeByte(uint8_t address, uint8_t subAddress, uint8_t data);
+    char readByte(uint8_t address, uint8_t subAddress); 
+    void readBytes(uint8_t address, uint8_t subAddress, uint8_t byteNum, uint8_t* dest);
+    void whoAmI();
+    void init();
+    void reset();
+    void readAccelData(int16_t* dest);
+    void readGyroData(int16_t* dest);
+    int16_t readTempData();
+    void calibrate(float* dest1, float* dest2);
+    void complementaryFilter(float* pitch, float* roll);
+};
+
+#endif
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