Sérgio Natan / Mbed OS luva_tatil_repo

teste

Dependencies:   BurstSPI Fonts

MPU6050.h@0:cf17b1f16335, 2017-10-24 (annotated)

Committer:
sergionatan
Date:
Tue Oct 24 20:12:54 2017 +0000
Revision:
0:cf17b1f16335
Initial commit

Who changed what in which revision?

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sergionatan 0:cf17b1f16335 1 /*
sergionatan 0:cf17b1f16335 2 * Copyright (c) 2015, Baser Kandehir, baser.kandehir@ieee.metu.edu.tr
sergionatan 0:cf17b1f16335 3 *
sergionatan 0:cf17b1f16335 4 * Permission is hereby granted, free of charge, to any person obtaining a copy
sergionatan 0:cf17b1f16335 5 * of this software and associated documentation files (the "Software"), to deal
sergionatan 0:cf17b1f16335 6 * in the Software without restriction, including without limitation the rights
sergionatan 0:cf17b1f16335 7 * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
sergionatan 0:cf17b1f16335 8 * copies of the Software, and to permit persons to whom the Software is
sergionatan 0:cf17b1f16335 9 * furnished to do so, subject to the following conditions:
sergionatan 0:cf17b1f16335 10 *
sergionatan 0:cf17b1f16335 11 * The above copyright notice and this permission notice shall be included in
sergionatan 0:cf17b1f16335 12 * all copies or substantial portions of the Software.
sergionatan 0:cf17b1f16335 13 *
sergionatan 0:cf17b1f16335 14 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
sergionatan 0:cf17b1f16335 15 * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
sergionatan 0:cf17b1f16335 16 * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
sergionatan 0:cf17b1f16335 17 * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
sergionatan 0:cf17b1f16335 18 * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
sergionatan 0:cf17b1f16335 19 * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
sergionatan 0:cf17b1f16335 20 * THE SOFTWARE.
sergionatan 0:cf17b1f16335 21 *
sergionatan 0:cf17b1f16335 22 */
sergionatan 0:cf17b1f16335 23
sergionatan 0:cf17b1f16335 24 // Most of the code is adapted from Kris Winer's MPU6050 library
sergionatan 0:cf17b1f16335 25
sergionatan 0:cf17b1f16335 26 #ifndef MPU6050_H
sergionatan 0:cf17b1f16335 27 #define MPU6050_H
sergionatan 0:cf17b1f16335 28
sergionatan 0:cf17b1f16335 29 #include "mbed.h"
sergionatan 0:cf17b1f16335 30 #include "math.h"
sergionatan 0:cf17b1f16335 31 #include "MPU6050RegDef.h"
sergionatan 0:cf17b1f16335 32
sergionatan 0:cf17b1f16335 33 //#define PI 3.14159265359 // This value will be used when calculating angles
sergionatan 0:cf17b1f16335 34 #define dt 0.005 // 200 Hz sampling period
sergionatan 0:cf17b1f16335 35
sergionatan 0:cf17b1f16335 36 extern float aRes, gRes;
sergionatan 0:cf17b1f16335 37
sergionatan 0:cf17b1f16335 38 /* whoAmI func uses this func, variables etc */
sergionatan 0:cf17b1f16335 39 //extern Ticker toggler1;
sergionatan 0:cf17b1f16335 40 extern Serial pc;
sergionatan 0:cf17b1f16335 41 extern DigitalOut led2;
sergionatan 0:cf17b1f16335 42 //extern void toggle_led1();
sergionatan 0:cf17b1f16335 43
sergionatan 0:cf17b1f16335 44 /* Sensor datas to be used in program */
sergionatan 0:cf17b1f16335 45 extern float ax,ay,az;
sergionatan 0:cf17b1f16335 46 extern float gx,gy,gz;
sergionatan 0:cf17b1f16335 47 extern int16_t accelData[3],gyroData[3],tempData;
sergionatan 0:cf17b1f16335 48 extern float accelBias[3], gyroBias[3];
sergionatan 0:cf17b1f16335 49
sergionatan 0:cf17b1f16335 50 /* Function Prototypes */
sergionatan 0:cf17b1f16335 51 class MPU6050
sergionatan 0:cf17b1f16335 52 {
sergionatan 0:cf17b1f16335 53 protected:
sergionatan 0:cf17b1f16335 54 public:
sergionatan 0:cf17b1f16335 55 void getAres();
sergionatan 0:cf17b1f16335 56 void getGres();
sergionatan 0:cf17b1f16335 57 void writeByte(uint8_t address, uint8_t subAddress, uint8_t data);
sergionatan 0:cf17b1f16335 58 char readByte(uint8_t address, uint8_t subAddress);
sergionatan 0:cf17b1f16335 59 void readBytes(uint8_t address, uint8_t subAddress, uint8_t byteNum, uint8_t* dest);
sergionatan 0:cf17b1f16335 60 void whoAmI();
sergionatan 0:cf17b1f16335 61 void init();
sergionatan 0:cf17b1f16335 62 void reset();
sergionatan 0:cf17b1f16335 63 void readAccelData(int16_t* dest);
sergionatan 0:cf17b1f16335 64 void readGyroData(int16_t* dest);
sergionatan 0:cf17b1f16335 65 int16_t readTempData();
sergionatan 0:cf17b1f16335 66 void calibrate(float* dest1, float* dest2);
sergionatan 0:cf17b1f16335 67 void complementaryFilter(float* pitch, float* roll);
sergionatan 0:cf17b1f16335 68 };
sergionatan 0:cf17b1f16335 69
sergionatan 0:cf17b1f16335 70 #endif